CN114165264A - Automatic hoisting system for shield machine pipe pieces and construction method - Google Patents
Automatic hoisting system for shield machine pipe pieces and construction method Download PDFInfo
- Publication number
- CN114165264A CN114165264A CN202111554350.9A CN202111554350A CN114165264A CN 114165264 A CN114165264 A CN 114165264A CN 202111554350 A CN202111554350 A CN 202111554350A CN 114165264 A CN114165264 A CN 114165264A
- Authority
- CN
- China
- Prior art keywords
- vacuum
- pressure
- lifting
- walking
- gripping device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 title claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims description 41
- 230000001502 supplementing effect Effects 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 10
- 238000005086 pumping Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000000605 extraction Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000005641 tunneling Effects 0.000 claims 3
- 230000010354 integration Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 5
- 239000012535 impurity Substances 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses an automatic hoisting system and a construction method for a shield machine duct piece, belongs to the technical field of tunnel engineering construction equipment, and solves the problems of potential safety hazards and high equipment failure rate caused by shaking and shaking of a duct piece in a hoisting process in a traditional duct piece grabbing mode. The method comprises the following steps: the tunnel segment lifting device comprises a vacuum gripping device, a walking system, a lifting system and a PLC (programmable logic controller) control system, wherein the vacuum gripping device is used for sucking tunnel segments; the lifting system is connected with the vacuum gripping device and is used for driving the vacuum gripping device to move in the vertical direction; the walking system is connected with the lifting system and used for driving the vacuum gripping device to move in the horizontal direction; and the PLC control system is respectively electrically connected with the vacuum gripping device, the traveling system and the lifting system. The automation and integration degree of the equipment is improved, the equipment is safer and more reliable in the grabbing and hoisting process, the use efficiency and the economical efficiency of the equipment are improved, and the failure rate of the equipment and the labor intensity of phenomenon workers are reduced.
Description
Technical Field
The invention belongs to the technical field of tunnel engineering construction equipment, and particularly relates to an automatic hoisting system and a construction method for a shield machine pipe sheet.
Background
At present, in the construction of the shield machine in the underground tunnel engineering, due to the characteristics of a rear matched structure, shield segments on a marshalling train cannot be directly conveyed to a segment assembling position, the shield segments on the marshalling train are lifted to a segment conveying trolley by a segment crane, and then the shield segments are conveyed to the lower part of a segment erector by the segment trolley to be grabbed and assembled by the segment erector.
At present, a shield machine segment lifting system used on a shield machine is formed by a beam crane in a mode that the beam crane is clamped by a grabbing head, and then segments are grabbed by a walking motor of the artificial control beam crane, so that the walking motor drives a walking device to move forwards and backwards. The principle of the lifting duct piece of the beam crane is as follows: when a segment of a piled tunnel is transported to a station where a shield machine can be hoisted, a crane manipulator controls the beam crane to move forward by using a crane remote controller, the beam crane is driven to move to the position above the segment of the tunnel from a parking position, meanwhile, the crane manipulator installs a bolt head at the center of the bottom of the segment of the tunnel, when the beam crane walks to the position above the segment of the tunnel, the crane remote controller is controlled to enable a grabbing head to slowly descend along with a chain, then the grabbing head is manually clamped on the bolt head at the center of the segment of the tunnel, the position of the beam crane is adjusted, the crane, the chain, the grabbing head and the bolt head of the segment of the tunnel are located on the same vertical straight line, the crane is tightly connected with the manipulator to control the remote controller, the grabbing head is slowly lifted to lift the segment of the tunnel together, and the segment is transported together with the beam crane. Treat that beam crane walks to appointed position, the manipulator control snatchs the head and makes its decline slowly, places the section of jurisdiction in specific area, places the section of jurisdiction after specific area, continues to make and snatchs the head and descend slowly, treats that the head of snatching separates the back with the bolt head at section of jurisdiction bottom center, will snatch the head and release the bolt head region, makes the snatching head promote afterwards, continues to hoist next section of jurisdiction to this circulation is until all the handling of 6 sections of jurisdiction of a ring to appointed area.
The above prior art solution has the following disadvantages:
1) because the grasping mode of the duct piece is only lifted by the bolt connection at the center of the bottom, the phenomenon that the thread is easy to slide due to the long-term repeated disassembly and assembly of the bolt head is caused, and potential safety hazards exist in the lifting process.
2) Because the section of jurisdiction is in the transportation, only for the mode of picking the first mechanical clamp and getting through bottom bolt head and beam crane, consequently the section of jurisdiction is not fixed in the section of jurisdiction transportation, can rotate, has certain potential safety hazard.
3) In the process of handling, because workman's operation experience is not enough, has askew phenomenon of drawing to hang to one side, leads to equipment failure rate higher.
4) Because the grabbing head of the beam crane is connected with the chain, the duct piece has the phenomena of shaking and shaking in the hoisting process, and certain potential safety hazards exist.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an automatic hoisting system for a shield machine pipe slice.
The technical scheme adopted by the invention is as follows:
the utility model provides a shield constructs quick-witted section of thick bamboo automatic handling system which includes: the tunnel segment fixing device comprises a vacuum gripping device, a walking system, a lifting system and a PLC (programmable logic controller) control system, wherein the vacuum gripping device is used for fixing tunnel segments; the lifting system is connected with the vacuum gripping device and is used for driving the vacuum gripping device to move in the vertical direction; the walking system is connected with the lifting system and used for driving the vacuum gripping device to move in the horizontal direction; and the PLC control system is respectively electrically connected with the vacuum gripping device, the traveling system and the lifting system.
By adopting the technical scheme, the invention changes the traditional mechanical clamping and manual equipment operation modes through the modes of adsorbing and fixing the duct piece, the walking system and the lifting system by the PLC automatic control and vacuum gripping device. The automation and integration degree of the equipment are improved, the use efficiency and the economy of the equipment are improved, and the failure rate of the equipment and the labor intensity of phenomenon workers are reduced.
Further, vacuum grabbing device includes that link, bottom surface are curved vacuum chuck and vacuum pump, link and hoisting system fixed connection, vacuum chuck is the third of section of jurisdiction internal diameter area with the area of section of jurisdiction internal diameter contact department, and vacuum chuck evenly is provided with several air and takes out row mouth on, and 9 are no less than to the quantity of air row mouth, air row mouth and vacuum pump pipe connection are taken out to the air. Vacuum chuck bottom and section of jurisdiction internal surface laminating, the vacuum pump provides the negative pressure between air exhaust mouth and the section of jurisdiction, makes the section of jurisdiction stabilize and adsorbs on vacuum chuck, avoids the section of jurisdiction to take place to rock and the phenomenon of shake at the handling in-process, stops the potential safety hazard.
Further, be provided with annular sealing strip on vacuum chuck's the arc surface, annular sealing strip adopts flexible material to make, and apart from sucking disc outward flange 30 mm. The annular sealing strip helps the air exhaust port and the duct piece to form a vacuum negative pressure environment, and the surface of the duct piece is prevented from being damaged by adopting flexible materials.
Furthermore, a filter screen is arranged on the air pumping and exhausting opening. When preventing to adsorb, the impurity on section of jurisdiction surface gets into inside the vacuum chuck, causes vacuum pipe blockage and vacuum pump damage.
Furthermore, the traveling system comprises a rack, a traveling trolley, a traveling motor and a gear transmission system, wherein a sliding groove is formed in the rack, the traveling trolley is in sliding fit with the rack, the traveling motor is fixedly arranged on the rack, and the traveling motor is connected with the traveling trolley through the gear transmission system. The PLC control system drives the walking trolley to move on the rack through automatically controlling the walking motor, so that the vacuum sucker adsorbing the duct piece is driven to move in the horizontal direction. The phenomenon that the duct piece is obliquely pulled and obliquely hung in the hoisting process is avoided, and the equipment failure rate is reduced.
Furthermore, laser range finders are installed at the left end and the right end of the walking trolley, and laser targets are installed on stations at the segment transportation end point. Through setting up the position of laser target in advance, and then set for the section of jurisdiction uninstallation position of walking dolly in advance, realize automatic unloading.
Further, still include vacuum pressure detecting system, vacuum pressure detecting system is connected with the PLC control system electricity, and vacuum pressure detecting system comprises several barometers and the valve that sets up in vacuum chuck inside. The pressure gauge is used for monitoring the gas pressure inside the vacuum chuck in real time and transmitting a monitoring signal to the PLC.
The pressure compensation system is electrically connected with the PLC control system and comprises a pressure compensation pump and a valve, and the pressure compensation pump is connected with the vacuum sucker through a pipeline. And setting the negative pressure value of safe operation of the hoisting system to A0 in advance. When the pressure sensor on the vacuum chuck detects that the pressure value in the chuck does not meet the specified requirements or the vacuum pressure detection system detects that the negative pressure value in the system is smaller than the safe operation negative pressure value A0 of the hoisting system, the system pressure is smaller than the safe operation pressure, the detection element transmits a signal to the alarm system signal receiver immediately, and the audible and visual alarm gives an alarm response through the processing and the transportation of the signal. Meanwhile, the PLC control system receives a signal that the system negative pressure value is smaller than the safe operation pressure value, controls the pressure supplementing system to start, and extracts air from the vacuum sucker and the segment region to increase the system negative pressure. When the instrument of the pressure supplementing system detects that the pressure of the system meets the safe operation requirement or the pressure value of the vacuum chuck meets the requirement, the pressure supplementing is finished.
Further, the intelligent monitoring system further comprises an environment detection system, wherein the environment detection system is electrically connected with the PLC control system and comprises an image acquisition device, a three-dimensional scanning imaging device, an infrared distance meter, a vibration sensor and a speed measuring sensor, and parts of the environment detection system are installed on a walking trolley of the walking system. The image acquisition device is installed in four positions of walking dolly all around, about, the infrared distance meter is installed in four positions of walking dolly all around, three-dimensional scanning image device is the same installs in four positions of section of jurisdiction dolly all around for portrait and foreign matter detect, vibrations sensor and speed sensor install on the walking dolly, can real-time supervision during operation through environment detecting system, and the image information of walking dolly judges whether the interval between walking dolly and the object is less than the safe interval, judges whether portrait or other foreign matters appear around, judges whether the vibrations value exceeds the settlement threshold value, if the judgement result is unusual, then control alarm system sends alarm signal suggestion staff and trigger emergency braking system emergency stop, avoids the device to take place to damage and take place the incident.
The emergency braking system is electrically connected with the vacuum pressure detection system, the environment detection system and the PLC control system respectively, the alarm system is composed of a power supply, an audible and visual alarm, a signal receiver and related pipelines, when the vacuum pressure detection system and the environment detection system detect an alarm signal, the signal is transmitted to the PLC system, the PLC system sends an instruction to enable the audible and visual alarm to work to send out an alarm signal, and the emergency braking system is triggered to stop emergently.
A construction method of an automatic hoisting system for shield machine pipe slices comprises the following steps:
s1, when the vacuum chuck adsorbs the pipe piece, the chuck adsorbs the pipe piece to lift along with the retraction of a telescopic oil cylinder of the lifting system;
s2, when the duct piece is lifted in place, the PLC system controls the traveling motor of the running system to rotate reversely, so that the traveling trolley returns with the duct piece, meanwhile, the environment detection system detects the surrounding safe working environment, and the surrounding environment is uploaded to the monitoring display screen by the three-dimensional scanning imaging device and the image acquisition device for real-time monitoring;
s3, if the vacuum pressure detection system or the pressure sensor in the sucker detects that the negative pressure in the system does not meet the working pressure, the alarm system sends out an alarm signal or the pressure compensation system performs air extraction on the contact area of the sucker and the duct piece to increase the negative pressure of the system;
s4, if the vacuum pressure detection system or the pressure sensor in the sucker detects that the negative pressure in the system meets the working pressure, the walking trolley stops when the walking trolley reaches the segment unloading station as detected by the walking trolley laser range finder and the laser target;
and S5, transmitting the signal to a PLC control system by the laser range finder, issuing an instruction by the PLC control system, starting a lifting system, and controlling the extension Y2 of the telescopic oil cylinder by controlling a built-in displacement sensor of the telescopic oil cylinder. When the telescopic oil cylinder extends out of Y2, the pipe piece on the sucker is placed on the station;
s6, the PLC control system gives an instruction to open a pressure relief valve of the pipeline to reduce the negative pressure value in the pipeline to be consistent with the atmospheric pressure;
s7, retracting a telescopic oil cylinder of the PLC control system lifting system, separating the vacuum chuck from the segment, and controlling the walking trolley to continuously move above the segment to continuously carry out grabbing and lifting procedures by the PLC control system;
and S8, sequentially circulating until all the pipe pieces are lifted.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
according to the invention, the traditional mechanical clamping and manual equipment operation modes are changed by the modes of adsorbing and fixing the duct piece, the walking system and the lifting system for lifting the duct piece through the PLC automatic control and vacuum gripping device. The automation and integration degree of the equipment is improved, the equipment is safer and more reliable in the grabbing and hoisting process, the use efficiency and the economical efficiency of the equipment are improved, and the failure rate of the equipment and the labor intensity of phenomenon workers are reduced.
2. Vacuum grabbing device adopts the bottom surface to fix the section of jurisdiction for curved vacuum chuck, makes the section of jurisdiction stabilize and adsorbs on vacuum chuck, avoids the section of jurisdiction to take place the phenomenon of rotation, rocking and shake at the handling in-process, has stopped the potential safety hazard.
3. The vacuum chuck is characterized in that an annular sealing strip is arranged on the arc surface of the vacuum chuck, the annular sealing strip helps the air pumping port and the duct piece to form a vacuum negative pressure environment, and the surface of the duct piece is prevented from being damaged by adopting flexible materials.
4. And a filter screen is arranged on the air pumping and discharging port. Prevent that the impurity on section of jurisdiction surface from getting into inside the vacuum chuck, causing vacuum pipe blockage and vacuum pump damage.
5. The walking system comprises a rack, a walking trolley, a walking motor and a gear transmission system, and the PLC control system controls the walking motor through automation so as to drive the walking trolley to move on the rack and realize that the vacuum chuck adsorbed with the duct piece is driven to move in the horizontal direction. The phenomenon that the duct piece is obliquely pulled and obliquely hung in the hoisting process is avoided, and the equipment failure rate is reduced.
6. The environment detection system can monitor image information of the walking trolley in real time during working, judge whether the distance between the walking trolley and an object is smaller than a safety distance, judge whether a portrait or other foreign matters appear around, judge whether a vibration value exceeds a set threshold value, and control the alarm system to send an alarm signal to prompt a worker and trigger the emergency brake system to stop emergently if the judgment result is abnormal, so that the device is prevented from being damaged and safety accidents are avoided.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic structural diagram of an automatic hoisting system for shield machine segments in the invention;
FIG. 2 is a flow chart of a construction method of an automatic hoisting system for shield machine pipe slices in the invention;
FIG. 3 is a perspective view of the vacuum gripping apparatus of the present invention;
FIG. 4 is a schematic front view of the vacuum gripper of the present invention;
fig. 5 is a bottom schematic view of the vacuum gripping apparatus of the present invention.
Reference numerals
1-connecting frame, 2-vacuum sucker, 3-telescopic oil cylinder, 4-air pumping port, 5-filter screen and 6-annular sealing strip.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of embodiments of the present application, generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are usually placed in when used, and are only used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements that are referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
The present invention will be described in detail with reference to fig. 1 to 5.
Example 1:
an automatic handling system of shield constructs quick-witted section of jurisdiction refers to fig. 1, and it includes: the tunnel segment fixing device comprises a vacuum gripping device, a walking system, a lifting system and a PLC (programmable logic controller) control system, wherein the vacuum gripping device is used for fixing tunnel segments; the lifting system is connected with the vacuum gripping device and is used for driving the vacuum gripping device to move in the vertical direction; the walking system is connected with the lifting system and used for driving the vacuum gripping device to move in the horizontal direction; and the PLC control system is respectively electrically connected with the vacuum gripping device, the traveling system and the lifting system.
As a preferred embodiment, referring to fig. 3-5, the vacuum gripping device includes a connecting frame 1, a vacuum chuck 2 whose bottom surface is arc-shaped, and a vacuum pump, the connecting frame 1 is fixedly connected with an end of a telescopic cylinder 3 of the lifting system, and can realize height adjustment in the vertical direction under the driving of the telescopic cylinder 3, an area of a contact portion between the vacuum chuck 2 and an inner diameter of a segment is one third of an inner diameter area of the segment, a plurality of air exhaust ports 4 are uniformly arranged on the vacuum chuck 2, the number of the air exhaust ports 4 is not less than 9, preferably 10 in this embodiment, and the air exhaust ports 4 are connected with a pipeline of the vacuum pump; the vacuum sucker 2 is also provided with flexible damping nylon strips which are distributed on the sucker in a uniform line way; the sucker is provided with a pressure sensor for detecting the pressure when the sucker is sucked; the vacuum chuck 2 bottom and the laminating of section of jurisdiction internal surface, the vacuum pump provides the air and takes out the negative pressure between row mouth 4 and the section of jurisdiction, makes the section of jurisdiction stabilize and adsorbs on vacuum chuck 2, avoids the section of jurisdiction to take place to rock and the phenomenon of shake at the handling in-process, stops the potential safety hazard.
As a preferred embodiment, the arc-shaped surface of the vacuum chuck 2 is provided with an annular sealing strip 6, and the annular sealing strip 6 is made of a flexible material and is 30mm away from the outer edge of the chuck. The annular sealing strip 6 helps the air pumping and exhausting port 4 and the duct piece to form a vacuum negative pressure environment, and the surface of the duct piece is prevented from being damaged by adopting a flexible material.
In a preferred embodiment, a filter screen 5 is arranged on the air exhaust opening 4. When preventing to adsorb, the impurity on section of jurisdiction surface gets into inside vacuum chuck 2, causes vacuum pipe blockage and vacuum pump damage.
As a preferred embodiment, the traveling system includes a frame, a traveling trolley, a traveling motor, and a gear transmission system (not shown), the frame is provided with a sliding groove, the traveling trolley is in sliding fit with the frame, the traveling motor is fixedly disposed on the frame, and the traveling motor is connected with the traveling trolley through the gear transmission system. The PLC control system controls the walking motor automatically to drive the walking trolley to move on the rack, so that the vacuum sucker 2 with the duct piece adsorbed on the walking motor is driven to move in the horizontal direction, the speed is controllable, the walking motor is a self-locking motor, and when an emergency happens, the walking motor is locked, so that the walking trolley is prevented from continuously moving and causing safety accidents. The phenomenon that the duct piece is obliquely pulled and obliquely hung in the hoisting process is avoided, and the equipment failure rate is reduced.
Further, the advancing section: 4 infrared distance measuring instruments (not shown in the figure) are respectively arranged on the walking trolley in the horizontal direction and the vertical direction. The distance value of the system in the horizontal direction is set to be X1, and the distance value in the vertical direction is set to be Y1. A return section: the left end and the right end of the walking trolley are provided with the laser range finders. And a laser target is arranged on a station at the segment transportation terminal point. When the walking trolley grabs the duct piece and returns, the laser distance measuring instruments and the laser targets on the left side and the right side of the walking trolley locate the coordinates. The coordinate value of the system is set to-X. When the walking trolley runs to a segment unloading station, the distance between the walking trolley and the laser target is set to be-X. And when the positioning coordinate of the walking trolley meets-X, the walking trolley stops running. The traveling system is switched to the lifting system, and the duct piece is placed to the station.
As a preferred embodiment, the vacuum pressure detection system is further included, and the vacuum pressure detection system is electrically connected with the PLC control system, and the vacuum pressure detection system is composed of a plurality of pressure meters and valves (not shown in the figure) arranged inside the vacuum chuck 2. The manometer is arranged in the inside gas pressure of real-time supervision vacuum chuck 2, with monitoring signal transmission to the PLC controller in, sets for system vacuum negative pressure value A1, and system alarm negative pressure value is A2.
As a preferred embodiment, the vacuum chuck device further comprises a pressure supplementing system, wherein the pressure supplementing system is electrically connected with the PLC control system, the pressure supplementing system consists of a pressure supplementing pump and a valve (not shown in the figure), and the pressure supplementing pump is connected with the vacuum chuck 2 through a pipeline. And setting the negative pressure value of safe operation of the hoisting system to A0 in advance. When the pressure sensor on the vacuum chuck 2 detects that the pressure value in the chuck does not meet the specified requirements or the vacuum pressure detection system detects that the negative pressure value in the system is smaller than the safe operation negative pressure value A0 of the hoisting system, the system pressure is smaller than the safe operation pressure, the detection element transmits a signal to the alarm system signal receiver immediately, and the audible and visual alarm sends out an alarm response through the processing and the transportation of the signal. Meanwhile, the PLC control system receives a signal that the system negative pressure value is smaller than the safe operation pressure value, controls the pressure supplementing system to start, and performs air extraction on the vacuum chuck 2 and the segment region to increase the system negative pressure. When the instrument of the pressure supplementing system detects that the pressure of the system meets the safe operation requirement or the pressure value of the vacuum chuck 2 meets the requirement, the pressure supplementing is finished.
As a preferred embodiment, the system further comprises an environment detection system, wherein the environment detection system is electrically connected with the PLC control system and comprises an image acquisition device, a three-dimensional scanning imaging device, an infrared distance meter, a vibration sensor and a speed measurement sensor (not shown in the figure); 1 the parts of the environment detection system are arranged on a walking trolley of the walking system. The image acquisition devices are arranged at the front, back, left and right directions of the walking trolley and feed the acquired image information back to the monitoring display screen. 2 the infrared distance measuring instrument of the environment detection system is arranged in four directions of the walking trolley, namely front, back, left and right directions, and a system safety distance value XO is set. When any one of the distance meters in the four directions detects that the distance between the walking trolley and the object is smaller than the safe distance X0, the walking trolley immediately brakes emergently and stops running; the 3 three-position scanning imaging device is equally arranged in four directions of the segment trolley, and is mainly used for detecting the portrait and the foreign matters, when the system runs, the image information of the scanning imaging is transmitted to the display screen of the monitoring system, and meanwhile, if the portrait or other foreign matters are found in the set range, an alarm signal is immediately sent. And reminding related personnel to be far away from the safe operation area of the hoisting system. And if other foreign matters are found to obstruct the system from running in the running process, reminding workers of the phenomenon to clean in time. If the foreign matters are not cleaned in time or the personnel do not leave the safe area in time, the hoisting system adopts emergency braking to stop running and sends out an alarm signal at the same time. And 4, the vibration sensor and the speed measuring sensor are arranged on the walking trolley. And meanwhile, a safety limit value of the vibration sensor is set to be Z, and a speed limit value of the speed measuring sensor is set to be V. When the vibration value or the speed detected by the system is higher than a set limit value, the system emergently brakes and sends out an alarm signal; the environment detection system can monitor image information of the walking trolley in real time during working, judge whether the distance between the walking trolley and an object is smaller than a safety distance, judge whether a portrait or other foreign matters appear around, judge whether a vibration value exceeds a set threshold value, and control the alarm system to send an alarm signal to prompt a worker and trigger the emergency brake system to stop emergently if the judgment result is abnormal, so that the device is prevented from being damaged and safety accidents are avoided.
The emergency braking system is electrically connected with the vacuum pressure detection system, the environment detection system and the PLC control system respectively, the alarm system is composed of a power supply, an audible and visual alarm, a signal receiver and related pipelines, when the vacuum pressure detection system and the environment detection system detect an alarm signal, the signal is transmitted to the PLC system, the PLC system sends an instruction to enable the audible and visual alarm to work to send out an alarm signal, and the emergency braking system is triggered to stop emergently.
Example 2:
on the other hand, the invention also provides a construction method of the shield machine pipe slice automatic lifting system, which specifically comprises the following steps with reference to the attached figure 2:
s1, after the vacuum chuck 2 adsorbs the pipe piece, the chuck adsorbs the pipe piece to lift along with the retraction of the telescopic oil cylinder 3 of the lifting system, and the detection data values of related instruments in the system meet the safe operation requirements of the system;
s2, when the segment is lifted in place, the PLC system controls a traveling motor of the operation system to rotate reversely, and the segment is transported back to an unloading station; in the segment lifting process, the environment detection system detects the surrounding safe working environment, the surrounding environment is uploaded to the monitoring display screen by the three-dimensional scanning imaging device and the image acquisition device for real-time monitoring, meanwhile, the three-dimensional scanning device and the infrared distance meter jointly monitor the safe working environment of the walking trolley carrying the segment on the way of returning, and if personnel or foreign matters are detected to enter the safe working environment, the walking trolley emergently stops and sends an alarm signal; meanwhile, the vibration sensor and the speed measuring sensor monitor the safe operation state of the hoisting system, and if vibration occurs or the speed exceeds a set limit value, the system stops emergently and gives an alarm. The segment is carried by the walking trolley in the transportation process;
s3, if the vacuum pressure detecting system or the pressure sensor in the sucker detects that the negative pressure in the system does not meet the working pressure, the alarm system sends out an alarm signal and transmits the signal to the PLC control system, the PLC control system drives the pressure compensating pump in the pressure compensating system to vacuumize the inside of the sucker, and the negative pressure increase is stopped after the negative pressure value meets the operating condition;
and S4, if the negative pressure value in the system is higher than the set alarm pressure value A2 of the system, the system automatically releases pressure through a safety valve. The pressure limit value set by the safety valve is 1.2 times of the safe working pressure of the system; the phenomenon that the negative pressure value in the system is reduced too fast due to pressure relief of the system, so that the segment is lifted and unstabilized is avoided; the segment trolley continuously returns, and when the distance between the laser range finders on the left and right of the segment trolley and the laser target of the segment unloading station meets-X, the walking trolley runs to the segment unloading station; at the moment, the trolley stops running;
s5, the laser range finder transmits a signal to a PLC control system, the PLC control system gives an instruction to start a lifting system, and the extension Y2 of the telescopic oil cylinder 3 is controlled by controlling a built-in displacement sensor of the telescopic oil cylinder 3; when the telescopic oil cylinder 3 extends out of the Y2, the pipe piece on the suction cup is placed on the station;
s6, the PLC control system gives an instruction to open a pressure relief valve of the pipeline, the pressure relief valve is installed on the unmanned side, and the pressure in the system is consistent with the atmospheric pressure through the pressure relief in the system;
s7, retracting the telescopic oil cylinder 3 of the PLC control system lifting system, separating the vacuum chuck 2 from the segment, and controlling the walking trolley to continuously move above the segment to continuously carry out the grabbing and lifting procedures by the PLC control system;
and S8, sequentially circulating until all the pipe pieces are lifted.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a shield constructs automatic handling system of quick-witted section of jurisdiction which characterized in that includes: the tunnel segment lifting device comprises a vacuum gripping device, a walking system, a lifting system and a PLC (programmable logic controller) control system, wherein the vacuum gripping device is used for sucking tunnel segments; the lifting system is connected with the vacuum gripping device and is used for driving the vacuum gripping device to move in the vertical direction; the walking system is connected with the lifting system and used for driving the vacuum gripping device to move in the horizontal direction; and the PLC control system is respectively electrically connected with the vacuum gripping device, the traveling system and the lifting system.
2. The automatic hoisting system for the pipe sheet of the shield tunneling machine according to claim 1, wherein the vacuum gripping device comprises a connecting frame (1), a vacuum chuck (2) with an arc-shaped bottom surface and a vacuum pump, the connecting frame (1) is fixedly connected with the lifting system, a plurality of air pumping ports (4) are arranged on the vacuum chuck (2), a filter screen (5) is arranged on each air pumping port (4), and each air pumping port (4) is connected with a vacuum pump pipeline.
3. The automatic hoisting system for the shield machine pipe slice according to claim 2 is characterized in that an annular sealing strip (6) is arranged on the arc-shaped surface of the vacuum chuck (2).
4. The automatic hoisting system for the shield machine pipe sheet according to claim 2, wherein the traveling system comprises a frame, a traveling trolley, a traveling motor and a gear transmission system, the frame is provided with a sliding chute, the traveling trolley is in sliding fit with the frame, the traveling motor is fixedly arranged on the frame, and the traveling motor is connected with the traveling trolley through the gear transmission system.
5. The automatic hoisting system for the pipe piece of the shield tunneling machine as claimed in claim 4, wherein the walking trolley is provided with a laser range finder, and a station at the end point of the pipe piece transportation is provided with a laser target.
6. The automatic hoisting system for the shield machine pipe slice according to claim 4, characterized by further comprising a vacuum pressure detection system, wherein the vacuum pressure detection system is electrically connected with the PLC control system and consists of a plurality of pressure meters and valves arranged in the vacuum chuck (2).
7. The automatic hoisting system for the shield machine pipe slice according to claim 2 is characterized by further comprising a pressure supplementing system, wherein the pressure supplementing system is electrically connected with the PLC control system and comprises a pressure supplementing pump and a valve, and the pressure supplementing pump is connected with the vacuum chuck (2) through a pipeline.
8. The automatic hoisting system for the pipe piece of the shield tunneling machine as claimed in claim 6, further comprising an environment detection system, wherein the environment detection system is electrically connected with the PLC control system and comprises an image acquisition device, a three-dimensional scanning imaging device, an infrared distance meter, a vibration sensor and a speed measurement sensor, parts of the environment detection system are installed on a walking trolley of the walking system, the image acquisition device is installed in four directions of the walking trolley, the infrared distance meter is installed in four directions of the walking trolley, the three-position scanning imaging device is installed in the four directions of the pipe piece trolley, the three-position scanning imaging device is installed in the four directions of the walking trolley, the three-position scanning imaging device is used for detecting human images and foreign matters, and the vibration sensor and the speed measurement sensor are installed on the walking trolley.
9. The automatic hoisting system for the shield machine pipe slice according to claim 8 is characterized by further comprising an alarm system and an emergency brake system, wherein the alarm system and the emergency brake system are respectively electrically connected with the vacuum pressure detection system, the environment detection system and the PLC control system, the alarm system comprises a power supply, an audible and visual alarm, a signal receiver and related pipelines, when the vacuum pressure detection system and the environment detection system detect an alarm signal, the signal is transmitted to the PLC system, and the PLC system sends an instruction to enable the audible and visual alarm to work to send out an alarm signal and trigger the emergency brake system to stop emergently.
10. The construction method of the automatic hoisting system of the shield machine pipe slice according to any one of claims 1 to 9, characterized by comprising the following steps:
s1, when the vacuum chuck (2) adsorbs the duct piece, the chuck adsorbs the duct piece to be lifted together with the retraction of the telescopic oil cylinder (3) of the lifting system;
s2, when the duct piece is lifted in place, the PLC system controls the traveling motor of the running system to rotate reversely, so that the traveling trolley returns with the duct piece, meanwhile, the environment detection system detects the surrounding safe working environment, and the surrounding environment is uploaded to the monitoring display screen by the three-dimensional scanning imaging device and the image acquisition device for real-time monitoring;
s3, if the vacuum pressure detection system or the pressure sensor in the sucker detects that the negative pressure in the system does not meet the working pressure, the alarm system sends out an alarm signal or the pressure compensation system performs air extraction on the contact area of the sucker and the duct piece to increase the negative pressure of the system;
s4, if the vacuum pressure detection system or the pressure sensor in the sucker detects that the negative pressure in the system meets the working pressure, the walking trolley stops when the walking trolley reaches the segment unloading station as detected by the walking trolley laser range finder and the laser target;
and S5, transmitting the signal to a PLC control system by the laser range finder, issuing an instruction by the PLC control system, starting a lifting system, and controlling the extension Y2 of the telescopic oil cylinder (3) by controlling a built-in displacement sensor of the telescopic oil cylinder (3). When the telescopic oil cylinder (3) extends out of Y2, the pipe piece on the suction disc is placed on the station;
s6, the PLC control system gives an instruction to open a pressure relief valve of the pipeline to reduce the negative pressure value in the pipeline to be consistent with the atmospheric pressure;
s7, retracting a telescopic oil cylinder (3) of the PLC control system lifting system, separating the vacuum chuck (2) from the segment, and controlling the walking trolley to continuously move to the position above the segment to continuously carry out grabbing and lifting procedures by the PLC control system;
and S8, sequentially circulating until all the pipe pieces are lifted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111554350.9A CN114165264A (en) | 2021-12-17 | 2021-12-17 | Automatic hoisting system for shield machine pipe pieces and construction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111554350.9A CN114165264A (en) | 2021-12-17 | 2021-12-17 | Automatic hoisting system for shield machine pipe pieces and construction method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114165264A true CN114165264A (en) | 2022-03-11 |
Family
ID=80487313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111554350.9A Pending CN114165264A (en) | 2021-12-17 | 2021-12-17 | Automatic hoisting system for shield machine pipe pieces and construction method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114165264A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2352156A1 (en) * | 1976-05-22 | 1977-12-16 | Gewerk Eisenhuette Westfalia | Tunnel tubbing ring erector - has peripheral opening for guided grabs to insert tubbing segment |
| JP2001200700A (en) * | 2000-01-18 | 2001-07-27 | Marufuji Sheet Piling Co Ltd | Segment conveying method and device for small-diameter shield |
| KR20020036802A (en) * | 2002-03-09 | 2002-05-16 | 강길박 | Vacumm adsorbtion machine of wireless remote control equipment |
| CN206397521U (en) * | 2017-01-13 | 2017-08-11 | 常州中铁蓝焰构件有限公司 | A kind of tunnel duct piece gripping device |
| CN206972278U (en) * | 2017-06-05 | 2018-02-06 | 广州华隧威预制件有限公司 | A kind of shield duct piece of drawing binds the vacuum cup and system of block |
| CN108625877A (en) * | 2018-03-13 | 2018-10-09 | 中铁二局工程有限公司城通分公司 | A kind of shield machine vacuum pumping slurry system |
| CN112983506A (en) * | 2021-03-11 | 2021-06-18 | 辽宁三三工业有限公司 | Automatic control system for vacuum chuck of shield machine |
| CN113184678A (en) * | 2021-06-08 | 2021-07-30 | 北京建工土木工程有限公司 | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof |
| CN113356900A (en) * | 2021-06-18 | 2021-09-07 | 中铁工程服务有限公司 | Segment hoisting and conveying device |
| CN215057467U (en) * | 2021-05-20 | 2021-12-07 | 中铁工程装备集团有限公司 | Pipe piece hoisting system |
-
2021
- 2021-12-17 CN CN202111554350.9A patent/CN114165264A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2352156A1 (en) * | 1976-05-22 | 1977-12-16 | Gewerk Eisenhuette Westfalia | Tunnel tubbing ring erector - has peripheral opening for guided grabs to insert tubbing segment |
| JP2001200700A (en) * | 2000-01-18 | 2001-07-27 | Marufuji Sheet Piling Co Ltd | Segment conveying method and device for small-diameter shield |
| KR20020036802A (en) * | 2002-03-09 | 2002-05-16 | 강길박 | Vacumm adsorbtion machine of wireless remote control equipment |
| CN206397521U (en) * | 2017-01-13 | 2017-08-11 | 常州中铁蓝焰构件有限公司 | A kind of tunnel duct piece gripping device |
| CN206972278U (en) * | 2017-06-05 | 2018-02-06 | 广州华隧威预制件有限公司 | A kind of shield duct piece of drawing binds the vacuum cup and system of block |
| CN108625877A (en) * | 2018-03-13 | 2018-10-09 | 中铁二局工程有限公司城通分公司 | A kind of shield machine vacuum pumping slurry system |
| CN112983506A (en) * | 2021-03-11 | 2021-06-18 | 辽宁三三工业有限公司 | Automatic control system for vacuum chuck of shield machine |
| CN215057467U (en) * | 2021-05-20 | 2021-12-07 | 中铁工程装备集团有限公司 | Pipe piece hoisting system |
| CN113184678A (en) * | 2021-06-08 | 2021-07-30 | 北京建工土木工程有限公司 | Automatic cruise-based intelligent hoisting system for tunnel inner pipe sheets and working method thereof |
| CN113356900A (en) * | 2021-06-18 | 2021-09-07 | 中铁工程服务有限公司 | Segment hoisting and conveying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104799756B (en) | Exterior wall cleaning and maintaining robot | |
| CN108797239B (en) | Robot and maintenance method of railway track thereof | |
| CN104828707B (en) | Automatic loading and unloading device for heat treatment and operation method thereof | |
| CN106799737B (en) | Safe storage, transportation and fixed-point placement method for hazardous chemical liquid based on mobile robot | |
| CN106843213B (en) | Method for automatically planning movement and operation paths based on mobile robot | |
| US20150144582A1 (en) | Crane and related method of operation | |
| CN113233216A (en) | Box drawing robot and using method thereof | |
| CN206486175U (en) | Coil grab device for automating unmanned crane | |
| CN106813943B (en) | Dangerous chemical solution automatic positioning and quantitative extraction method based on mobile robot | |
| CN110940547A (en) | Fixed intelligent sampler | |
| CN216583732U (en) | Automatic hoisting system for shield machine pipe piece | |
| TWI572547B (en) | Automatic crane device for loading steel coil and loading method | |
| CN103612989B (en) | Automatic control system of portal crane and control method | |
| CN114165264A (en) | Automatic hoisting system for shield machine pipe pieces and construction method | |
| CN110589485A (en) | Glass suction and hoisting transportation device based on optical-mechanical-electrical integration technology | |
| CN108358072B (en) | A kind of the auxiliary hanging device and control method of climbing robot | |
| CN104907577B (en) | A kind of boat location self adaptation push-out device | |
| CN106799734B (en) | Method for automatically processing redundant hazardous chemical solution based on mobile robot | |
| CN115508506B (en) | Intelligent wall climbing robot and riser monitoring method | |
| DK179917B1 (en) | System with a robot on a wire, method of its operation, operation site with such system, and use thereof | |
| CN106873588B (en) | Hazardous chemical solution extraction method based on mobile robot | |
| CN109540412A (en) | Interior jet-preventing tool pressure checking device | |
| CN212560341U (en) | Horizontal traversing type full-automatic argon receiving system for steel ladle | |
| CN211292043U (en) | Fixed intelligent sampler | |
| CN209225419U (en) | The cargo compartment delivery installation on logistics unmanned plane airport |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |