CN114086438B - Linear fine adjustment device for track Liang Kongjian in tunnel and intelligent control method thereof - Google Patents
Linear fine adjustment device for track Liang Kongjian in tunnel and intelligent control method thereof Download PDFInfo
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- CN114086438B CN114086438B CN202111450457.9A CN202111450457A CN114086438B CN 114086438 B CN114086438 B CN 114086438B CN 202111450457 A CN202111450457 A CN 202111450457A CN 114086438 B CN114086438 B CN 114086438B
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- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
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- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 description 6
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- 230000008602 contraction Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
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- 230000032258 transport Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
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- 238000009434 installation Methods 0.000 description 2
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- 230000002457 bidirectional effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/04—Lifting or levelling of tracks
Abstract
The invention discloses track Liang Kongjian linear fine adjustment equipment in a tunnel, which is used for linear adjustment of a track beam; the track Liang Kongjian linear fine adjustment device in the tunnel comprises an intelligent fine adjustment vehicle, the intelligent fine adjustment vehicle further comprises a transverse adjustment assembly for adjusting the transverse position of the track beam, and the intelligent fine adjustment vehicle further comprises a height adjustment assembly which is connected with the inner frame and the outer frame and is used for adjusting the height of the track beam; the intelligent fine tuning vehicle further comprises a longitudinal swing angle adjusting component used for adjusting the swing angle of the track beam. The invention also discloses an intelligent control method of the track Liang Kongjian linear fine tuning device in the tunnel, which comprises the following steps: establishing a track Liang Xianlu linear BIM model, intelligent detection of a three-dimensional scanning system, intelligent beam adjustment and intelligent rechecking. Compared with the prior art, the invention aims to solve the technical problem that the single track rail beam transportation frame moving equipment in the tunnel in the prior art cannot meet the requirement of high-precision bridge linear adjustment operation.
Description
Technical Field
The invention belongs to the technical field of monorail track beam erection devices, and particularly relates to Liang Kongjian linear fine adjustment equipment for a track in a tunnel and an intelligent control method thereof.
Background
In the construction process of the track, the transportation of the monorail track beam and the laying of the monorail track beam are required to be realized by adopting a self-walking operation vehicle.
In the prior art, chinese patent publication No. CN113335317A discloses a single track rail beam transporting and frame moving device in a tunnel, which comprises 2 transporting and frame vehicles capable of being arranged on the same rail front and back, and comprises a frame, a rail wheel travelling mechanism, a lifting device, a bearing device and a rail beam position installation fine adjustment device; the rail wheel travelling mechanism comprises wheels which are arranged below the frame and are used for being matched with the rail; the hoisting device is arranged on the frame; the bearing device is positioned below the lifting device and comprises a bearing driving assembly arranged on the frame and a track beam supporting plate movably arranged at the lower part of the frame; the track beam position installation fine adjustment device comprises an adjustment driving device and an adjustment piece, wherein the adjustment driving device is installed on the frame, the adjustment piece is in transmission connection with the adjustment driving device, and the track beam transportation and frame moving equipment in the tunnel aims at solving the technical problem that the existing large-tonnage long narrow single track PC track beam is transported, erected and climbs in a limited space of a small-radius tunnel.
The technical problem that the single track rail roof beam fortune frame mobile device among the prior art mainly solves is, how under the operating mode that has the limited space, climbing danger, smoothly transport the rail roof beam to appointed place smoothly.
In the high-precision bridge erection operation, for example, the track beam requires X (transverse) +/-1.5 mm precision, the height difference (the height difference between two beams) is not more than 1mm, and the track beam transportation frame mobile equipment in the tunnel in the prior art does not have the function of accurately adjusting the track beam position, so that the track beam cannot be accurately placed at a designated position, and therefore, the requirement of the high-precision straddle type single-track bridge erection operation cannot be met.
Disclosure of Invention
First, the technical problem to be solved
Based on the above, the invention provides a track Liang Kongjian linear fine adjustment device in a tunnel and an intelligent control method thereof, and the track Liang Kongjian linear fine adjustment device in the tunnel and the intelligent control method thereof aim to solve the technical problem that the track girder transporting and frame moving equipment in the tunnel in the prior art cannot meet the requirement of high-precision straddle type monorail bridge erection operation.
(II) technical scheme
In order to solve the technical problems, the invention provides a track Liang Kongjian linear fine adjustment device in a tunnel, which is used for linear adjustment of a track beam; the linear fine adjustment device for the track Liang Kongjian in the tunnel comprises an intelligent fine adjustment vehicle, wherein the intelligent fine adjustment vehicle comprises an inner frame and an outer frame, the whole outer frame is in a door frame shape, and the inner frame is arranged in the outer frame; the inner frame is provided with a beam taking space with a downward opening, and a clamping assembly for clamping the track beam is arranged in the beam taking space;
The intelligent fine tuning vehicle further comprises a transverse adjusting assembly for adjusting the transverse position of the track beam, the transverse adjusting assembly comprises a clamping linear telescopic power piece for controlling the clamping assembly to open and close, one end of the clamping linear telescopic power piece is connected with the inner frame, and the other end of the clamping linear telescopic power piece is connected with the clamping assembly;
the intelligent fine tuning vehicle further comprises a height adjusting assembly which is connected with the inner frame and the outer frame and is used for adjusting the height of the track beam;
the intelligent fine tuning vehicle further comprises a longitudinal swing angle adjusting assembly for adjusting the swing angle of the track beam, and the longitudinal swing angle adjusting assembly comprises: the rotary power piece is connected with the gear and is used for driving the gear to rotate.
Preferably, the clamping assembly comprises a first clamping rod and a second clamping rod which are oppositely arranged, the linear telescopic power piece comprises a first clamping cylinder and a second clamping cylinder, one end of the first clamping cylinder is connected with one side of the inner frame, the other end of the first clamping cylinder is connected with the middle part of the first clamping rod, one end of the second clamping cylinder is connected with the other side of the inner frame, and the other end of the second clamping cylinder is connected with the middle part of the second clamping rod.
Preferably, the transverse adjusting assembly further comprises a fine adjusting oil cylinder, wherein the fine adjusting oil cylinder comprises a first upper fine adjusting cylinder, a second upper fine adjusting cylinder, a first lower fine adjusting cylinder and a second lower fine adjusting cylinder; the first upper fine adjustment cylinder and the first lower fine adjustment cylinder are respectively arranged above and below the first clamping cylinder, one side of the first upper fine adjustment cylinder and one side of the first lower fine adjustment cylinder, which are in the same direction, are respectively connected with one side of the inner frame, and one side of the first upper fine adjustment cylinder and one side of the first lower fine adjustment cylinder, which are in the same direction, respectively penetrate through the first clamping rod; the second up-fine tuning cylinder and the second down-fine tuning cylinder are respectively arranged above and below the second clamping cylinder, one side of the second up-fine tuning cylinder and one side of the second down-fine tuning cylinder, which are in the same direction, are respectively connected with the other side of the inner frame, and one side of the second up-fine tuning cylinder and one side of the second down-fine tuning cylinder, which are in the same direction, respectively penetrate through the second clamping rod.
Preferably, the first upper fine tuning cylinder and the second upper fine tuning cylinder are symmetrically arranged at two sides of the clamping assembly; the first lower fine tuning cylinder and the second lower fine tuning cylinder are symmetrically arranged on two sides of the clamping assembly.
Preferably, the top of outer frame is equipped with the hydro-cylinder mount pad, altitude mixture control subassembly includes high sharp flexible power spare and link, the top of high sharp flexible power spare install in on the hydro-cylinder mount pad, the bottom of hydro-cylinder is passed through the link with the inner frame links to each other.
Preferably, two raised connecting lugs are arranged at the top of the inner frame, two ends of the connecting frame are respectively connected with the two connecting lugs, and the bottom end of the height linear telescopic power piece is connected with the middle part of the connecting frame; the height linear telescopic power piece is an oil cylinder.
Preferably, the intelligent fine tuning vehicle further comprises two sets of traveling systems respectively arranged at the lower parts of two sides of the outer frame, and each set of traveling system comprises: the walking assembly comprises a walking top frame and a walking unit;
the whole walking top frame is rectangular, one side of the walking top frame in the length direction is hinged with the outer frame, the number of the walking wheel opening angle adjusting cylinders is two, one side of the two walking wheel opening angle adjusting cylinders in the same direction is respectively hinged with the other side of the walking top frame in the length direction, and the other side of the two walking wheel opening angle adjusting cylinders in the same direction is respectively hinged with the outer frame;
the walking unit is located the below of walking roof-rack, just the quantity of walking unit is many sets, and is many sets of the walking unit is followed the length direction interval setting of walking roof-rack, the walking unit includes: the walking wheel box is fixed below the walking top frame, the walking wheel is arranged at the lower part of the walking wheel box, and the driving motor with the brake is used for driving the walking wheel to rotate.
Preferably, the intelligent fine shunting vehicle further comprises a motor pump set and a control room arranged at the top of the outer frame, wherein an intelligent control system is arranged in the control room and comprises a three-dimensional scanning system, an automatic control system and an electric system.
Preferably, the number of the intelligent fine shunting vehicles is two, and two sets of clamping assemblies in the intelligent fine shunting vehicles respectively clamp the front end and the rear end of the track beam, the two intelligent fine shunting vehicles are respectively arranged into a first vehicle and a second vehicle, and the two intelligent fine shunting vehicles are connected through Bluetooth in a wireless mode to realize synchronous and asynchronous control of actions.
The invention also discloses an intelligent control method of the track Liang Kongjian linear fine tuning device in the tunnel, which comprises the following steps:
s1, establishing a track Liang Xianlu linear BIM model;
s2, intelligent detection of three-dimensional scanning system
S21, moving two intelligent fine-tuning vehicles to the top of a track beam needing to be adjusted, and setting the track beam needing to be adjusted as the track beam to be adjusted;
s22, scanning the position of the track beam to be adjusted and the position of the beam end of the previous beam of the track beam to be adjusted through a three-dimensional scanning system on the intelligent fine-tuning vehicle; after receiving the primary scanning result, the automatic control system compares the primary scanning result with a track Liang Xianlu linear BIM model, automatically calculates the target adjustment position of the track beam to be adjusted and the space size to be adjusted, and stores the target adjustment position and the space size to be adjusted in a position adjustment program of the automatic control system;
S23, the automatic control system controls the first clamping cylinder and the second clamping cylinder to extend out, so that the clamping assembly clamps the track beam to be adjusted;
s3, intelligent beam adjusting
S31, controlling the action of a height linear telescopic power piece in the first vehicle by the automatic control system, so that the difference between the height of one end of the track beam to be adjusted and the horizontal height of the beam end of the previous truss is within +/-0.5 mm; the automatic control system controls the action of the height linear telescopic power piece in the second vehicle, so that the difference between the height of the other end of the track beam to be adjusted and the height of the track Liang Xianlu linear BIM model is within +/-0.5 mm;
s32, controlling and adjusting the transverse position of the track beam to be adjusted and the torsion angle of the track beam to be adjusted along the Z axis through an automatic control system;
the transverse position of the track beam to be adjusted, which is close to one end of the first vehicle, is adjusted through the combined action of a first upper fine adjustment cylinder, a second upper fine adjustment cylinder, a first lower fine adjustment cylinder and a second lower fine adjustment cylinder in the first vehicle; the transverse position of the track beam to be adjusted, which is close to one end of the second vehicle, is adjusted through the combined action of a first upper fine adjustment cylinder, a second upper fine adjustment cylinder, a first lower fine adjustment cylinder and a second lower fine adjustment cylinder in the second vehicle;
the method for adjusting the transverse position of the track beam to be adjusted is as follows: when the position of the track beam to be adjusted needs to be adjusted leftwards, the automatic control system synchronously controls the first upper fine adjustment cylinder and the first lower fine adjustment cylinder to retract, and the second upper fine adjustment cylinder and the second lower fine adjustment cylinder extend; when the position of the track beam to be adjusted needs to be adjusted rightwards, the automatic control system synchronously controls the first upper fine adjustment cylinder and the first lower fine adjustment cylinder to extend out, and the second upper fine adjustment cylinder and the second lower fine adjustment cylinder retract; until the difference between the transverse position of the track beam to be adjusted and the line-shaped BIM model position is within +/-0.5 mm;
The direction of the Z axis is the height direction of the track beam to be adjusted, and the method for adjusting the torsion angle of the track beam along the Z axis is as follows: when the track beam to be adjusted is required to rotate clockwise around the Z axis, the automatic control system synchronously controls the first upper fine tuning cylinder and the first lower fine tuning cylinder in the first vehicle to retract, and the second upper fine tuning cylinder and the second lower fine tuning cylinder in the second vehicle extend; when the track beam to be adjusted is required to rotate anticlockwise around the Z axis, the automatic control system synchronously controls the first upper fine tuning cylinder and the first lower fine tuning cylinder in the first vehicle to extend out, and the second upper fine tuning cylinder and the second lower fine tuning cylinder in the second vehicle to retract;
s33, controlling and adjusting the inclination angle of the track beam to be adjusted along the Y direction through an automatic control system, wherein the Y direction is the longitudinal direction of the track beam to be adjusted;
the method for controlling and adjusting the inclination angle of the track beam to be adjusted along the Y direction by the automatic control system comprises the following steps: the rotation of the rotary power part in the first vehicle is controlled to drive the gear to rotate, so that the arc-shaped rack and one end of the track beam to be adjusted are driven to integrally rotate, and the inclination angle of one end of the track beam to be adjusted, which is close to the first vehicle, along the Y direction is controlled; the rotation of the rotary power part in the second vehicle is controlled to drive the gear to rotate, so that the arc-shaped rack and one end of the track beam to be adjusted are driven to integrally rotate, and the inclination angle of one end of the track beam to be adjusted, which is close to the second vehicle, along the Y direction is controlled; until the difference between the inclination angle of the track beam to be adjusted along the Y direction and the line linear BIM model position is regulated to be within +/-0.1 degrees;
S4, intelligent rechecking
The position of the track beam to be adjusted is scanned again through a three-dimensional scanning system on the intelligent fine tuning vehicle, after the automatic control system receives the rescanning result, the rescanning result is compared with a track Liang Xianlu linear BIM model, the linear precision of the current track beam is judged, and if the adjustment precision requirement is met, the adjustment is completed; if the adjustment accuracy requirement is not met, repeating the step S3 until the adjustment accuracy requirement is met.
(III) beneficial effects
Compared with the prior art, the track Liang Kongjian linear fine adjustment device in the tunnel has the advantages that:
the track Liang Kongjian linear fine adjustment device in the tunnel is designed according to the characteristics of the straddle type single-rail track beam and the operation requirements, is an operation vehicle capable of automatically moving in a limited space of the tunnel to realize transition, can perform millimeter-level line linear fine adjustment on the position of the track beam, and meets the requirements of high-precision bridge erection operation. The track Liang Kongjian linear fine adjustment device in the tunnel can run bidirectionally, has small operation space, higher integration, safety and reliability, and can realize intelligent linear detection, intelligent linear adjustment, high construction efficiency, safety and reliability.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
fig. 1 is a perspective view of a mobile intelligent fine tuning vehicle in a track Liang Kongjian linear fine tuning device in a tunnel according to an embodiment of the present invention;
fig. 2 is a front view of an intelligent fine tuning vehicle in a track Liang Kongjian linear fine tuning device in a tunnel according to an embodiment of the present invention;
fig. 3 is a top view of an intelligent fine tuning vehicle in the track Liang Kongjian linear fine tuning device in the tunnel according to the embodiment of the invention;
fig. 4 is a left side view of an intelligent fine tuning vehicle in the track Liang Kongjian linear fine tuning device in the tunnel according to the embodiment of the present invention;
fig. 5 is a schematic diagram of an internal structure of an intelligent fine tuning vehicle in a track Liang Kongjian linear fine tuning device in a tunnel according to an embodiment of the present invention;
fig. 6 is a schematic view of the overall structure of the track Liang Kongjian linear fine tuning device in the tunnel (one intelligent fine tuning vehicle with the outside cover and cab removed) according to the embodiment of the present invention;
FIG. 7 is a state diagram of track Liang Kongjian linear fine tuning equipment in a tunnel in accordance with an embodiment of the present invention;
Fig. 8 is a flowchart of an intelligent control method of track Liang Kongjian linear fine adjustment equipment in a tunnel according to an embodiment of the present invention.
Reference numerals illustrate:
100. the intelligent fine tuning vehicle comprises a track beam, 200, an inner frame, 2, an outer frame, 3, an oil cylinder mounting seat, 4, an arc-shaped rack, 5, gears, 6, a rotary power part, 7, a first clamping rod, 8, a second clamping rod, 9, a first clamping cylinder, 10, a second clamping cylinder, 11, a first upper fine tuning cylinder, 12, a second upper fine tuning cylinder, 13, a first lower fine tuning cylinder, 14, a second lower fine tuning cylinder, 15, a height linear telescopic power part, 16, a connecting frame, 17, a connecting lug, 18, a walking wheel opening angle adjusting oil cylinder, 19, a walking top frame, 20, a walking wheel box, 21, walking wheels, 22, a driving motor, 23, a motor pump set, 24, a control room, 25, an intelligent control system and 26.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the connection may be mechanical connection, electrical connection, direct connection, indirect connection through an intermediate medium, communication between two elements, or "transmission connection", i.e. power connection by various suitable means such as belt transmission, gear transmission or sprocket transmission. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The track Liang Kongjian alignment fine tuning apparatus in tunnels according to the present invention will be further described with reference to fig. 1 to 7.
Referring to fig. 1-5, a track Liang Kongjian alignment device for an in-tunnel track is provided for alignment adjustment of a track beam 100. Wherein, track Liang Kongjian line-shaped fine tuning equipment in the tunnel includes intelligent fine tuning car 200, and intelligent fine tuning car 200 includes interior frame 1 and outer frame 2, and outer frame 2 is whole to be the door frame form, and interior frame 1 locates in outer frame 2. The inner frame 1 is provided with a beam taking space 26 with a downward opening, and a clamping assembly for clamping the track beam 100 is arranged in the beam taking space 26.
The intelligent fine tuning vehicle 200 further comprises a transverse adjusting component for adjusting the transverse position of the track beam 100, wherein the transverse adjusting component comprises a clamping linear telescopic power piece for controlling the clamping component to open and close, one end of the clamping linear telescopic power piece is connected with the inner frame 1, and the other end of the clamping linear telescopic power piece is connected with the clamping component.
The intelligent fine tuning vehicle 200 further includes a height adjusting assembly connecting the inner frame 1 and the outer frame 2 and for adjusting the height of the track beam 100.
The intelligent fine tuning vehicle 200 further includes a longitudinal swing angle adjusting assembly for adjusting the swing angle of the track beam 100, the longitudinal swing angle adjusting assembly including: arc rack 4, gear 5 and rotation power spare 6, arc rack 4 is fixed with inner frame 1, and gear 5 is fixed in on outer frame 2 and with arc rack 4 meshing, rotation power spare 6 links to each other with gear 5 and is used for driving gear 5 rotation.
In this embodiment, the outer frame 2 is used to provide external support, the inner frame 1 is disposed within the outer frame 2, and the inner frame 1 is used to provide internal support. By clamping the expansion and contraction of the linear expansion and contraction power piece, the clamping assembly is opened and closed, and the rail beam 100 can be clamped and put down by the clamping assembly. The height adjusting component is used for adjusting the height of the clamping component connected with the inner frame 1, so that the track beam 100 can be downwards clamped, the height of the track beam 100 clamped on the clamping component can be adjusted according to the requirement of the laying position, and the accurate adjustment of the height can be realized. The longitudinal swing angle adjusting assembly is used for adjusting the swing angle of the clamping assembly connected with the inner frame 1. In the present invention, the longitudinal direction of the rail beam 100 is the longitudinal direction, and the width direction of the rail beam 100 is the transverse direction. The longitudinal direction of the rail beam 100 is defined as a longitudinal axis, and the swinging of the clip assembly means a rotation operation about the longitudinal axis. In this embodiment, the gear 5 is driven to rotate by the rotary power member 6, and then the arc-shaped rack 4 is driven to rotate, so that the inner frame 1, the clamping assembly connected with the inner frame 1 and the track beam 100 are driven to integrally rotate when the arc-shaped rack 4 rotates, and the swing angle of the track beam 100 can be accurately adjusted, so that the accurate adjustment of the swing angle is realized.
Referring to fig. 6 to 7, more specifically, the number of the intelligent fine tuning vehicles 200 is two, and two sets of clamping assemblies in the two intelligent fine tuning vehicles 200 respectively clamp the front end and the rear end of the track beam 100, the two intelligent fine tuning vehicles 200 are respectively set to be a first vehicle and a second vehicle, and the two intelligent fine tuning vehicles 200 are connected by bluetooth in a wireless manner to realize synchronous and asynchronous control of actions. In this embodiment, each intelligent fine tuning vehicle 200 can independently or cooperatively work through bluetooth wireless transmission, and can respectively adjust the front and rear positions of the track beam 100, which is beneficial to further improving the accuracy of position adjustment.
The following specifically describes the use process of the track Liang Kongjian linear fine adjustment device in the tunnel of the present invention.
(1) Rails are laid on two sides of the roughly erected track beam 100 in the tunnel, two intelligent fine-tuning vehicles 200 are arranged on the rails one after the other and work together, and travel along the rails from the ground into the tunnel. The bottom clamping assembly is opened, the clamping assembly is controlled by the height adjusting assembly to move downwards to two sides of the track beam 100, and the clamping assembly is closed again, so that the track beam 100 is clamped. The two intelligent fine tuning carts 200 clamp the same track beam 100 in tandem, so that the track beam 100 is clamped and fixed. Two intelligent fine tuning carts 200 together transport the rail beam 100 along the rails to the laying location.
(2) After the intelligent fine tuning vehicle 200 transports the track beam 100 to a laying site, a height adjusting component works, the track beam 100 is lifted, a clamping component is opened, the track beam 100 is put down by the height adjusting component, the clamping component is matched with the height adjusting component, the track beam 100 can be put down afterwards, the height adjusting component and a longitudinal swing angle adjusting component are matched to work, the accurate adjustment of the height and the swing angle of the track beam 100 can be realized (the specific content of an intelligent control method of the track Liang Kongjian linear fine tuning device in a tunnel is described below), and when a required position is reached, the laying of the track beam 100 is completed.
(3) After the track beam 100 is laid, the intelligent fine tuning vehicle 200 keeps the state, exits the tunnel along the steel rail, returns to the beam taking position, and starts the next track beam 100 to be laid.
According to a specific embodiment of the invention, the clamping assembly comprises a first clamping rod 7 and a second clamping rod 8 which are oppositely arranged, the clamping linear telescopic power piece comprises a first clamping cylinder 9 and a second clamping cylinder 10, one end of the first clamping cylinder 9 is connected with one side of the inner frame 1, the other end of the first clamping cylinder 9 is connected with the middle part of the first clamping rod 7, one end of the second clamping cylinder 10 is connected with the other side of the inner frame 1, and the other end of the second clamping cylinder 10 is connected with the middle part of the second clamping rod 8. In this embodiment, the first clamping rod 7 and the second clamping rod 8 together form an openable clamping assembly, the first clamping cylinder 9 is used for controlling the first clamping rod 7 to move, and the second clamping cylinder 10 is used for controlling the second clamping rod 8 to move.
More specifically, the lateral adjustment assembly further includes a fine adjustment cylinder including a first upper fine adjustment cylinder 11, a second upper fine adjustment cylinder 12, a first lower fine adjustment cylinder 13, and a second lower fine adjustment cylinder 14. The first upper fine tuning cylinder 11 and the first lower fine tuning cylinder 13 are respectively arranged above and below the first clamping cylinder 9, one side of the first upper fine tuning cylinder 11 and one side of the first lower fine tuning cylinder 13, which are in the same direction, are respectively connected with one side of the inner frame 1, and one side of the first upper fine tuning cylinder 11 and one side of the first lower fine tuning cylinder 13, which are in the same direction, respectively penetrate through the first clamping rod 7. The second up-fine tuning cylinder 12 and the second down-fine tuning cylinder 14 are respectively arranged above and below the second clamping cylinder 10, one side of the second up-fine tuning cylinder 12 and one side of the second down-fine tuning cylinder 14, which are in the same direction, are respectively connected with the other side of the inner frame 1, and one side of the second up-fine tuning cylinder 12 and one side of the second down-fine tuning cylinder 14, which are in the same direction, respectively penetrate through the second clamping rod 8.
In the present embodiment, by providing four fine adjustment cylinders of the first upper fine adjustment cylinder 11, the second upper fine adjustment cylinder 12, the first lower fine adjustment cylinder 13, and the second lower fine adjustment cylinder 14, accurate adjustment of the lateral position of the rail beam 100 can be achieved. Specifically, when the clamping assembly lowers the rail beam 100, the lateral position of the rail beam 100 can be precisely adjusted by controlling the first upper fine adjustment cylinder 11, the second upper fine adjustment cylinder 12, the first lower fine adjustment cylinder 13, and the second lower fine adjustment cylinder 14 and the expansion and contraction, respectively, to further improve the position adjustment accuracy. That is, in the present invention, preliminary adjustment of the lateral position of the rail beam 100 can be achieved by controlling the expansion and contraction of the first clamping cylinder 9 and the second clamping cylinder 10 in the clamping assembly, respectively, while accurate adjustment of the lateral position of the rail beam 100 can be achieved by controlling the contraction of the four fine adjustment cylinders, respectively, and the clamping cylinders and the fine adjustment cylinders are used in cooperation with each other, thereby greatly improving the convenience and accuracy of the position adjustment.
According to the specific embodiment of the invention, the first upper fine tuning cylinder 11 and the second upper fine tuning cylinder 12 are symmetrically arranged at two sides of the clamping assembly. The first lower fine tuning cylinder 13 and the second lower fine tuning cylinder 14 are symmetrically arranged on two sides of the clamping assembly. In this embodiment, this structure is adopted, does benefit to and realizes symmetrical regulation, does benefit to effect and the efficiency that further improves the position adjustment. And the situations of skew and bad callback are avoided.
According to the specific embodiment of the invention, the top of the outer frame 2 is provided with an oil cylinder mounting seat 3, the height adjusting component comprises a height linear telescopic power piece 15 and a connecting frame 16, the top end of the height linear telescopic power piece 15 is mounted on the oil cylinder mounting seat 3, and the bottom end of the oil cylinder is connected with the inner frame 1 through the connecting frame 16.
More specifically, the top of the inner frame 1 is provided with two convex connecting lugs 17, two ends of the connecting frame 16 are respectively connected with the two connecting lugs 17, and the bottom end of the height linear expansion power piece 15 is connected with the middle part of the connecting frame 16. The height linear telescopic power piece 15 is an oil cylinder.
More specifically, both ends of the connecting frame 16 are respectively hinged with two connecting lugs 17, and the bottom end of the height linear expansion power piece 15 is hinged with the middle part of the connecting frame 16.
In this embodiment, by adopting this structure, on the one hand, it is possible to ensure that the connection frame 16 and the cylinder are connected in a stretched state, and to avoid stress concentration and skew fixation that may be caused by rigid connection. On the other hand, the connecting frame 16 is movably hung below the high linear telescopic power piece 15, so that the connecting frame 16 and the inner frame 1 are beneficial to guaranteeing a vertical state under the action of dead weight, and the difficulty of position adjustment is reduced.
In the present embodiment, the height linear expansion power element 15 may be a member capable of achieving linear expansion, such as a cylinder or a winding/unwinding device, in addition to an oil cylinder. The hydraulic actuator is preferably an oil cylinder, so that the hydraulic actuator is favorable for ensuring accurate adjustment, and other actuating elements in the device also adopt hydraulic actuating elements (such as the oil cylinder and a hydraulic motor) after the oil cylinder is adopted, so that a set of hydraulic power system (a motor pump set 23) can be shared for providing power for the hydraulic actuating elements, the high integration of the elements is favorable, and the hydraulic actuator is suitable for the environment of a small space of a tunnel.
According to an embodiment of the invention, the rotary power member 6 is an electric or hydraulic motor and the rotary power member 6 is mounted on the outer frame 2.
According to an embodiment of the present invention, the intelligent fine tuning vehicle 200 further includes two sets of traveling systems respectively disposed at lower portions of both sides of the outer frame 2, each set of traveling systems including: the walking assembly and the walking wheel opening angle adjusting cylinder 18 are arranged, and the walking assembly comprises a walking top frame 19 and a walking unit.
The whole walking roof rack 19 is rectangular, one side of the walking roof rack 19 in the length direction is hinged with the outer rack 2, the number of the walking wheel opening angle adjusting oil cylinders 18 is two, one side of the two walking wheel opening angle adjusting oil cylinders 18 in the same direction is respectively hinged with the other side of the walking roof rack 19 in the length direction, and the other side of the two walking wheel opening angle adjusting oil cylinders 18 in the same direction is respectively hinged with the outer rack 2.
The walking unit is located the below of walking roof-rack 19, and the quantity of walking unit is many sets, and many sets of walking units set up along the length direction interval of walking roof-rack 19, and the walking unit includes: a traveling wheel 21 box 20 fixed below the traveling top frame 19, a traveling wheel 21 mounted on the lower part of the traveling wheel 21 box 20, and a driving motor 22 with a brake for driving the traveling wheel 21 to rotate.
More specifically, the road wheels 21 are steel wheels, and the rails for supporting the road wheels 21 are steel rails.
In this embodiment, the traveling system is used to implement self-traveling of the intelligent fine shunting 200, which is beneficial to flexible movement of the intelligent fine shunting 200 in the tunnel enclosed space.
Because the track of the intelligent fine tuning vehicle 200 will change, for example, after the intelligent fine tuning vehicle 200 enters the tunnel, the inner surface of the tunnel for supporting the traveling system is mostly a circular surface, but there are some places of the tunnel that are not circular surfaces or the supporting surface of the intelligent fine tuning vehicle 200 before entering the tunnel is not circular surfaces. In order to ensure that the intelligent fine shunting 200 stably runs, the expansion angle of the travelling wheel 21 can be controlled by controlling the expansion angle of the travelling wheel expansion angle adjusting cylinder 18, so that the travelling wheel 21 is tightly attached to a travelling supporting surface, and the condition that the intelligent fine shunting 200 is turned over is avoided. Ensuring that the intelligent fine tuning vehicle 200 runs steadily. In addition, with the structure, the traveling wheels 21 travel on the track, so that concentrated stress can be avoided, and the damage to the pipe piece after construction is less.
According to the specific embodiment of the invention, the intelligent fine tuning vehicle 200 further comprises a motor pump set 23 and a control room 24 arranged at the top of the outer frame 2, wherein an intelligent control system 25 is arranged in the control room 24, and the intelligent control system 25 comprises a three-dimensional scanning system, an automatic control system and an electric system.
In this embodiment, the motor pump unit 23 is used as a hydraulic power system in the present apparatus, and can provide power for the hydraulic actuator in the present apparatus.
The three-dimensional scanning system in the intelligent control system 25 is used for scanning the position state of the track beam 100 in real time and transmitting the position state to the automatic control system when the track Liang Kongjian linear fine adjustment equipment in the tunnel is operated, so that the position adjustment of the track beam 100 can be conveniently and efficiently completed. The electric system is connected with the components such as the clamping cylinder, the fine tuning cylinder, the hydraulic motor, the hydraulic valve and the like in the track Liang Kongjian linear fine tuning equipment in the tunnel, and the intelligent control is realized by the automatic control system.
In this embodiment, two intelligent fine-tuning vehicles 200 are used for synchronous operation, so that bidirectional traveling can be realized. Through the structure, the fine tuning structure is integrated on the fine tuning vehicle to form the self-walking intelligent fine tuning vehicle 200, and the fine tuning structure adopts the integrated arrangement, so that the intelligent fine tuning vehicle can work in a limited tunnel space and can adapt to different environments in a tunnel. In addition, the fine tuning structure is integrated on the fine tuning vehicle to form a linear fine tuning millimeter-level fine tuning structure, and the fine tuning structure can move up and down and left and right to realize the linear adjustment of the track beam at the level of 1 millimeter. The requirement of high-precision bridge erection operation is met.
The intelligent control method of the track Liang Kongjian linear fine adjustment device in the tunnel of the invention is further described with reference to fig. 8.
Referring to fig. 8, the invention also discloses an intelligent control method of the track Liang Kongjian linear fine tuning device in the tunnel, which comprises the following steps:
s1, establishing a track Liang Xianlu linear BIM model.
S2, intelligent detection of three-dimensional scanning system
S21, moving the two intelligent fine tuning carts 200 to the top of the track beam 100 needing to be adjusted, and setting the track beam 100 needing to be adjusted as the track beam to be adjusted.
S22, scanning the position of the track beam to be adjusted and the position of the beam end of the previous beam of the track beam to be adjusted through a three-dimensional scanning system on the intelligent fine tuning vehicle 200. After receiving the primary scanning result, the automatic control system compares the primary scanning result with the linear BIM model of the track Liang Xianlu, automatically calculates the target adjustment position of the track beam to be adjusted and the space size to be adjusted, and stores the target adjustment position and the space size to be adjusted in a position adjustment program of the automatic control system.
S23, the automatic control system controls the first clamping cylinder 9 and the second clamping cylinder 10 to extend out, so that the clamping assembly clamps the track beam to be adjusted.
S3, intelligent beam adjusting
S31, the automatic control system controls the action of the height linear telescopic power piece 15 in the first vehicle, so that the difference between the height of one end of the track beam to be adjusted and the horizontal height of the beam end of the previous frame is within +/-0.5 mm. The automatic control system controls the action of the height linear telescopic power piece 15 in the second vehicle, so that the difference between the height of the other end of the track beam to be adjusted and the height of the linear BIM model of the track Liang Xianlu is within +/-0.5 mm.
S32, controlling and adjusting the transverse position of the track beam to be adjusted and the torsion angle of the track beam to be adjusted along the Z axis through an automatic control system.
The transverse position of the track beam to be adjusted, which is close to one end of the first vehicle, is adjusted through the combined action of the first upper fine adjustment cylinder 11, the second upper fine adjustment cylinder 12, the first lower fine adjustment cylinder 13 and the second lower fine adjustment cylinder 14 in the first vehicle. The transverse position of the track beam to be adjusted, which is close to one end of the second vehicle, is adjusted through the combined action of the first upper fine adjustment cylinder 11, the second upper fine adjustment cylinder 12, the first lower fine adjustment cylinder 13 and the second lower fine adjustment cylinder 14 in the second vehicle.
The method for adjusting the transverse position of the track beam to be adjusted is as follows: when the position of the track beam to be adjusted needs to be adjusted leftwards, the automatic control system synchronously controls the first upper fine adjustment cylinder 11 and the first lower fine adjustment cylinder 13 to retract, and the second upper fine adjustment cylinder 12 and the second lower fine adjustment cylinder 14 extend. When the position of the track beam to be adjusted needs to be adjusted to the right, the automatic control system synchronously controls the first upper fine adjustment cylinder 11 and the first lower fine adjustment cylinder 13 to extend, and the second upper fine adjustment cylinder 12 and the second lower fine adjustment cylinder 14 to retract. Until the difference between the transverse position of the track beam to be adjusted and the line-shaped BIM model position is within +/-0.5 mm.
The direction of the Z axis is the height direction of the track beam to be adjusted, and the method for adjusting the torsion angle of the track beam along the Z axis is as follows: when the track beam to be adjusted is required to rotate clockwise around the Z axis, the automatic control system synchronously controls the first upper fine adjustment cylinder 11 and the first lower fine adjustment cylinder 13 in the first vehicle to retract, and the second upper fine adjustment cylinder 12 and the second lower fine adjustment cylinder 14 in the second vehicle to extend. When the track beam to be adjusted is required to rotate anticlockwise around the Z axis, the automatic control system synchronously controls the first upper fine adjustment cylinder 11 and the first lower fine adjustment cylinder 13 in the first vehicle to extend, and the second upper fine adjustment cylinder 12 and the second lower fine adjustment cylinder 14 in the second vehicle to retract.
S33, controlling and adjusting the inclination angle of the track beam to be adjusted along the Y direction through an automatic control system, wherein the Y direction is the longitudinal direction of the track beam to be adjusted.
The method for controlling and adjusting the inclination angle of the track beam to be adjusted along the Y direction by the automatic control system comprises the following steps: the rotation of the rotary power part 6 in the first vehicle is controlled to drive the gear 5 to rotate, so that the arc-shaped rack 4 and one end of the track beam to be adjusted are driven to integrally rotate, and the inclination angle of one end of the track beam to be adjusted, which is close to the first vehicle, along the Y direction is controlled. The rotation of the rotary power piece 6 in the second vehicle is controlled to drive the gear 5 to rotate, so that the arc-shaped rack 4 and one end of the track beam to be adjusted are driven to integrally rotate, and the inclination angle of one end of the track beam to be adjusted, which is close to the second vehicle, along the Y direction is controlled. Until the difference between the inclination angle of the track beam to be adjusted along the Y direction and the line-shaped BIM model position is within +/-0.1 degrees.
S4, intelligent rechecking
The position of the track beam to be adjusted is scanned again through the three-dimensional scanning system on the intelligent fine tuning vehicle 200, after the automatic control system receives the rescanning result, the rescanning result is compared with the linear BIM model of the track Liang Xianlu, the linear precision of the current track beam 100 is judged, and if the adjustment precision requirement is met, the adjustment is completed. If the adjustment accuracy requirement is not met, repeating the step S3 until the adjustment accuracy requirement is met. The requirement of high-precision bridge erection operation is met.
In this embodiment, by using the track Liang Kongjian linear fine adjustment device in the tunnel and the intelligent control method thereof, the track beam to be adjusted can be intelligently detected and adjusted, the detection data is linked with the automatic control system, and then each actuator of the fine adjustment device in the track Liang Kongjian linear fine adjustment device in the tunnel is guided to adjust the position of the track beam to be adjusted. The fine adjustment device in the track Liang Kongjian linear fine adjustment device in the tunnel can adjust the spatial position of the track beam under automatic control, and control errors within 1mm in all directions of the track beam are met.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (8)
1. A track Liang Kongjian linear fine adjustment device in a tunnel, which is used for linear adjustment of a track beam; the intelligent fine tuning device is characterized in that the linear fine tuning device of the track Liang Kongjian in the tunnel comprises an intelligent fine tuning vehicle, the intelligent fine tuning vehicle comprises an inner frame and an outer frame, the whole outer frame is in a door frame shape, and the inner frame is arranged in the outer frame; the inner frame is provided with a beam taking space with a downward opening, and a clamping assembly for clamping the track beam is arranged in the beam taking space;
the intelligent fine tuning vehicle further comprises a transverse adjusting assembly for adjusting the transverse position of the track beam, the transverse adjusting assembly comprises a clamping linear telescopic power piece for controlling the clamping assembly to open and close, one end of the clamping linear telescopic power piece is connected with the inner frame, and the other end of the clamping linear telescopic power piece is connected with the clamping assembly;
the intelligent fine tuning vehicle further comprises a height adjusting assembly which is connected with the inner frame and the outer frame and is used for adjusting the height of the track beam;
the intelligent fine tuning vehicle further comprises a longitudinal swing angle adjusting assembly for adjusting the swing angle of the track beam, and the longitudinal swing angle adjusting assembly comprises: the arc-shaped rack is fixed with the inner frame, the gear is fixed on the outer frame and meshed with the arc-shaped rack, and the rotary power piece is connected with the gear and used for driving the gear to rotate; the clamping assembly comprises a first clamping rod and a second clamping rod which are oppositely arranged, and the clamping linear telescopic power piece comprises a first clamping cylinder and a second clamping cylinder;
The transverse adjusting assembly further comprises a fine adjusting oil cylinder, wherein the fine adjusting oil cylinder comprises a first upper fine adjusting cylinder, a second upper fine adjusting cylinder, a first lower fine adjusting cylinder and a second lower fine adjusting cylinder; the first upper fine adjustment cylinder and the first lower fine adjustment cylinder are respectively arranged above and below the first clamping cylinder, one side of the first upper fine adjustment cylinder and one side of the first lower fine adjustment cylinder, which are in the same direction, are respectively connected with one side of the inner frame, and one side of the first upper fine adjustment cylinder and one side of the first lower fine adjustment cylinder, which are in the same direction, respectively penetrate through the first clamping rod; the second upper fine adjustment cylinder and the second lower fine adjustment cylinder are respectively arranged above and below the second clamping cylinder, one side of the second upper fine adjustment cylinder and one side of the second lower fine adjustment cylinder, which are in the same direction, are respectively connected with the other side of the inner frame, and one side of the second upper fine adjustment cylinder and one side of the second lower fine adjustment cylinder, which are in the same direction, respectively penetrate through the second clamping rod; the first upper fine adjustment cylinder and the second upper fine adjustment cylinder are symmetrically arranged on two sides of the clamping assembly; the first lower fine tuning cylinder and the second lower fine tuning cylinder are symmetrically arranged on two sides of the clamping assembly.
2. The track Liang Kongjian linear fine tuning device of claim 1, wherein one end of the first clamping cylinder is connected to one side of the inner frame, the other end of the first clamping cylinder is connected to the middle of the first clamping rod, one end of the second clamping cylinder is connected to the other side of the inner frame, and the other end of the second clamping cylinder is connected to the middle of the second clamping rod.
3. The linear fine adjustment device for the track Liang Kongjian in the tunnel according to claim 2, wherein an oil cylinder mounting seat is arranged at the top of the outer frame, the height adjustment assembly comprises a height linear telescopic power piece and a connecting frame, the top end of the height linear telescopic power piece is mounted on the oil cylinder mounting seat, and the bottom end of the oil cylinder is connected with the inner frame through the connecting frame.
4. The linear fine adjustment device for the track Liang Kongjian in the tunnel according to claim 3, wherein two raised connecting lugs are arranged at the top of the inner frame, two ends of the connecting frame are respectively connected with the two connecting lugs, and the bottom end of the high linear expansion power piece is connected with the middle part of the connecting frame; the height linear telescopic power piece is an oil cylinder.
5. The track Liang Kongjian linear fine tuning device in a tunnel according to claim 4, wherein the intelligent fine tuning vehicle further comprises two sets of traveling systems respectively arranged at lower parts of two sides of the outer frame, each set of traveling systems comprising: the walking assembly comprises a walking top frame and a walking unit;
the whole walking top frame is rectangular, one side of the walking top frame in the length direction is hinged with the outer frame, the number of the walking wheel opening angle adjusting cylinders is two, one side of the two walking wheel opening angle adjusting cylinders in the same direction is respectively hinged with the other side of the walking top frame in the length direction, and the other side of the two walking wheel opening angle adjusting cylinders in the same direction is respectively hinged with the outer frame;
The walking unit is located the below of walking roof-rack, just the quantity of walking unit is many sets, and is many sets of the walking unit is followed the length direction interval setting of walking roof-rack, the walking unit includes: the walking wheel box is fixed below the walking top frame, the walking wheel is arranged at the lower part of the walking wheel box, and the driving motor with the brake is used for driving the walking wheel to rotate.
6. The track Liang Kongjian linear fine tuning device in a tunnel according to claim 5, wherein the intelligent fine tuning vehicle further comprises a motor pump group and a control room arranged at the top of the outer frame, and an intelligent control system is arranged in the control room and comprises a three-dimensional scanning system, an automatic control system and an electrical system.
7. The track Liang Kongjian linear fine tuning device in a tunnel according to claim 6, wherein the number of the intelligent fine tuning vehicles is two, two sets of clamping assemblies in the two intelligent fine tuning vehicles respectively clamp the front end and the rear end of the track beam, the two intelligent fine tuning vehicles are respectively arranged into a first vehicle and a second vehicle, and the two intelligent fine tuning vehicles are connected through Bluetooth in a wireless mode to realize synchronous and asynchronous control of actions.
8. An intelligent control method of track Liang Kongjian linear fine tuning equipment in a tunnel as claimed in claim 7, comprising the steps of:
s1, establishing a track Liang Xianlu linear BIM model;
s2, intelligent detection of three-dimensional scanning system
S21, moving two intelligent fine-tuning vehicles to the top of a track beam needing to be adjusted, and setting the track beam needing to be adjusted as the track beam to be adjusted;
s22, scanning the position of the track beam to be adjusted and the position of the beam end of the previous beam of the track beam to be adjusted through a three-dimensional scanning system on the intelligent fine-tuning vehicle; after receiving the primary scanning result, the automatic control system compares the primary scanning result with a track Liang Xianlu linear BIM model, automatically calculates the target adjustment position of the track beam to be adjusted and the space size to be adjusted, and stores the target adjustment position and the space size to be adjusted in a position adjustment program of the automatic control system;
s23, the automatic control system controls the first clamping cylinder and the second clamping cylinder to extend out, so that the clamping assembly clamps the track beam to be adjusted;
s3, intelligent beam adjusting
S31, controlling the action of a height linear telescopic power piece in the first vehicle by the automatic control system, so that the difference between the height of one end of the track beam to be adjusted and the horizontal height of the beam end of the previous truss is within +/-0.5 mm; the automatic control system controls the action of the height linear telescopic power piece in the second vehicle, so that the difference between the height of the other end of the track beam to be adjusted and the height of the track Liang Xianlu linear BIM model is within +/-0.5 mm;
S32, controlling and adjusting the transverse position of the track beam to be adjusted and the torsion angle of the track beam to be adjusted along the Z axis through an automatic control system;
the transverse position of the track beam to be adjusted, which is close to one end of the first vehicle, is adjusted through the combined action of a first upper fine adjustment cylinder, a second upper fine adjustment cylinder, a first lower fine adjustment cylinder and a second lower fine adjustment cylinder in the first vehicle; the transverse position of the track beam to be adjusted, which is close to one end of the second vehicle, is adjusted through the combined action of a first upper fine adjustment cylinder, a second upper fine adjustment cylinder, a first lower fine adjustment cylinder and a second lower fine adjustment cylinder in the second vehicle;
the method for adjusting the transverse position of the track beam to be adjusted is as follows: when the position of the track beam to be adjusted needs to be adjusted leftwards, the automatic control system synchronously controls the first upper fine adjustment cylinder and the first lower fine adjustment cylinder to retract, and the second upper fine adjustment cylinder and the second lower fine adjustment cylinder extend; when the position of the track beam to be adjusted needs to be adjusted rightwards, the automatic control system synchronously controls the first upper fine adjustment cylinder and the first lower fine adjustment cylinder to extend out, and the second upper fine adjustment cylinder and the second lower fine adjustment cylinder retract; until the difference between the transverse position of the track beam to be adjusted and the line-shaped BIM model position is within +/-0.5 mm;
the direction of the Z axis is the height direction of the track beam to be adjusted, and the method for adjusting the torsion angle of the track beam along the Z axis is as follows: when the track beam to be adjusted is required to rotate clockwise around the Z axis, the automatic control system synchronously controls the first upper fine tuning cylinder and the first lower fine tuning cylinder in the first vehicle to retract, and the second upper fine tuning cylinder and the second lower fine tuning cylinder in the second vehicle extend; when the track beam to be adjusted is required to rotate anticlockwise around the Z axis, the automatic control system synchronously controls the first upper fine tuning cylinder and the first lower fine tuning cylinder in the first vehicle to extend out, and the second upper fine tuning cylinder and the second lower fine tuning cylinder in the second vehicle to retract;
S33, controlling and adjusting the inclination angle of the track beam to be adjusted along the Y direction through an automatic control system, wherein the Y direction is the longitudinal direction of the track beam to be adjusted;
the method for controlling and adjusting the inclination angle of the track beam to be adjusted along the Y direction by the automatic control system comprises the following steps: the rotation of the rotary power part in the first vehicle is controlled to drive the gear to rotate, so that the arc-shaped rack and one end of the track beam to be adjusted are driven to integrally rotate, and the inclination angle of one end of the track beam to be adjusted, which is close to the first vehicle, along the Y direction is controlled; the rotation of the rotary power part in the second vehicle is controlled to drive the gear to rotate, so that the arc-shaped rack and one end of the track beam to be adjusted are driven to integrally rotate, and the inclination angle of one end of the track beam to be adjusted, which is close to the second vehicle, along the Y direction is controlled; until the difference between the inclination angle of the track beam to be adjusted along the Y direction and the line linear BIM model position is regulated to be within +/-0.1 degrees;
s4, intelligent rechecking
The position of the track beam to be adjusted is scanned again through a three-dimensional scanning system on the intelligent fine tuning vehicle, after the automatic control system receives the rescanning result, the rescanning result is compared with a track Liang Xianlu linear BIM model, the linear precision of the current track beam is judged, and if the adjustment precision requirement is met, the adjustment is completed; if the adjustment accuracy requirement is not met, repeating the step S3 until the adjustment accuracy requirement is met.
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| CN202111450457.9A CN114086438B (en) | 2021-12-01 | 2021-12-01 | Linear fine adjustment device for track Liang Kongjian in tunnel and intelligent control method thereof |
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| CN202111450457.9A CN114086438B (en) | 2021-12-01 | 2021-12-01 | Linear fine adjustment device for track Liang Kongjian in tunnel and intelligent control method thereof |
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| CN114086438A (en) | 2022-02-25 |
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