CN116641714A - Multi-reference-object-based rectangular push bench posture monitoring equipment and adjustment method - Google Patents

Abstract

The invention discloses a multi-reference-object-based rectangular push bench posture monitoring device and an adjusting method, wherein the device comprises a support frame, and a displacement device, an angle device, a monitoring device and an assembling device are arranged on the support frame; the support frame is portal structure, fixedly connected with arc electronic slide rail between the support frame, fixedly connected with interconnection board between the arc electronic slide rail, fixedly connected with mounting bracket between the moving part of arc electronic slide rail. Through displacement device, angle means, monitoring device, assembly quality, maneuvering device and reference device's cooperation, can make the gesture of push bench when the tunnel is under construction receive accurate control, have the quantization to the gesture control of push bench, can provide accurate data support when the push bench rectifies, can not receive the influence of ground degree of depth and reduce the accuracy, can consult the setting to various construction routes in the tunnel.

Description

Multi-reference-object-based rectangular push bench posture monitoring equipment and adjustment method

Technical Field

The invention relates to tunnel construction, in particular to a rectangular push bench posture monitoring device based on multiple references and an adjusting method.

Background

In the tunnel construction process, a shield tunneling machine is generally adopted for tunnel excavation, in the rectangular tunnel construction process, a push bench is used for excavation, no matter what tunnel excavation mode is, equipment is required for excavation in a tunnel, but at present, the push bench is difficult to monitor in the process of excavation in the tunnel, a reference object is not arranged in the tunnel, whether the excavation posture of the push bench is offset or not is difficult to determine, the excavation direction of the push bench is difficult to monitor, even if a ground base station mode is adopted, but a large error still exists, because the tunnel is under the ground, a ground base station signal generally needs to adopt long wave transmission, the transmission information amount is small, the propagation precision is low, if the tunnel excavation depth is large, positioning is more difficult to perform, the position mapping is often required in the push bench construction process, and the problem of low construction efficiency is caused.

Therefore, it is necessary to design a rectangular push bench posture monitoring device and an adjusting method based on multiple references to solve the above problems.

Disclosure of Invention

The invention aims to provide a rectangular push bench posture monitoring device and an adjusting method based on multiple references, which can accurately monitor the posture of a push bench in a tunnel by matching a displacement device, an angle device, a monitoring device, an assembly device, a maneuvering device and a reference device, quantify the posture monitoring of the push bench, provide accurate data support when the push bench rectifies, avoid the influence of ground depth to reduce the accuracy, and set the reference of various construction routes in the tunnel.

In order to achieve the above purpose, the present invention provides the following technical solutions: the rectangular push bench posture monitoring equipment based on the multiple references comprises a support frame, wherein a displacement device, an angle device, a monitoring device and an assembling device are arranged on the support frame;

the support frames are of a portal structure, arc-shaped electric sliding rails are fixedly connected between the support frames, interconnecting plates are fixedly connected between the arc-shaped electric sliding rails, and mounting frames are fixedly connected between moving parts of the arc-shaped electric sliding rails;

the mounting frame department is equipped with displacement device, displacement device department is equipped with angle device, angle device department is equipped with monitoring device, monitoring device is used for detecting assembly device's gesture, displacement device with angle device is used for adjusting monitoring device's gesture, monitoring device one side is equipped with assembly device, assembly device is used for installing in push bench department, assembly device with the monitoring device position corresponds.

As a further improvement of the invention, the displacement device comprises a transverse plate, the transverse plate is fixedly connected between the mounting frames, a transverse electric sliding rail is fixedly connected to the transverse plate, the transverse electric sliding rail is controlled by a servo, a vertical plate is fixedly connected to a moving part of the transverse electric sliding rail, a vertical electric sliding rail is fixedly connected to the vertical plate, the vertical electric sliding rail is controlled by a servo, and the angle device is arranged at the moving part of the vertical electric sliding rail.

As a further improvement of the invention, the angle device comprises a fixed frame, the fixed frame is fixedly connected to the vertical electric sliding rail moving part, the fixed frame is rotationally connected with a forward shaft, the forward shaft is fixedly connected with a forward rotating frame, the fixed frame is fixedly connected with a forward servo motor, an output shaft of the forward servo motor is connected with the forward shaft, the forward rotating frame is rotationally connected with a vertical shaft, the vertical shaft is fixedly connected with a vertical rotating frame, the forward rotating frame is fixedly connected with a vertical servo motor, an output shaft of the vertical servo motor is connected with the vertical shaft, the vertical rotating frame is rotationally connected with a longitudinal shaft, the longitudinal shaft is fixedly connected with a longitudinal rotating frame, the vertical rotating frame is fixedly connected with a longitudinal servo motor, the output shaft of the longitudinal servo motor is connected with the longitudinal shaft, and the monitoring device is arranged at the longitudinal rotating frame.

As a further improvement of the invention, the monitoring device comprises a mounting module which is fixedly connected to the longitudinal rotating frame, a matrix type photosensitive sensor is arranged on the other side of the mounting module, the matrix type photosensitive sensor is a set of a plurality of photosensitive resistor units, each unit of the matrix type photosensitive sensor is an independent circuit, and both sides of the mounting module are provided with first laser ranging receivers.

As a further improvement of the invention, the assembly device comprises an assembly frame, the assembly frame is arranged on one side of the installation module, the center of the assembly frame is fixedly connected with a light emitting head, the light emitting head emits high-frequency pulse light signals when in operation, the light signals emitted by the light emitting head are light signals representing positions, the light signals representing the positions are received and analyzed by the matrix photosensitive sensor, the two sides of the installation module are fixedly connected with first laser ranging transmitters, the first laser ranging transmitters emit high-frequency pulse light signals when in operation, and the signals emitted by the first laser ranging transmitters are light signals representing distances, and the light signals representing the distances are received and analyzed by the first photometry ranging receiver.

The invention further improves, the invention further comprises a motor device, wherein the motor device is arranged at the support frame, the motor device is used for enabling the rectangular push bench gesture monitoring equipment based on multiple references to have mobility and self gesture quick adjustment, two sides of the support frame are fixedly connected with electric push rods, the electric push rods are in servo control, the base of each electric push rod is fixedly connected with a steering frame, the steering frames are rotatably connected with four corner frames, steering servo motors are arranged at the four corner frames, the steering servo motors are connected with the shaft connection parts of the adjacent steering frames, and one sides of the four corner frames are fixedly connected with crawler belt driving wheel modules.

The invention further improves, still include the reference device, the reference device locates this rectangle push bench gesture supervisory equipment one side based on many references, the reference device is used for as the reference thing to carry out accurate demarcation this rectangle push bench gesture supervisory equipment based on many references's position and travel route, this rectangle push bench gesture supervisory equipment one side based on many references is equipped with external frame, external frame is the structure that has the mounting hole, external frame department symmetrical fixedly connected with support, the support opposite side all fixedly connected with second laser rangefinder receiver, external frame department fixedly connected with U-shaped frame, U-shaped frame department rotation type is connected with first alignment jig, U-shaped frame department fixedly connected with first alignment servo motor, first alignment jig both sides symmetrical fixedly connected with extension frame, extension frame department all is connected with the second alignment jig, second alignment jig department all fixedly connected with second laser rangefinder, first alignment jig output shaft and second alignment jig eccentric shaft, eccentric location servo motor.

As a further improvement of the invention, the positioning assembly comprises connecting frames, the connecting frames are respectively and fixedly connected to two sides of the mounting frame, and the other sides of the inner connecting frames are respectively and fixedly connected with a host laser ranging receiver.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, by adopting a mode of a support frame portal structure, the posture monitoring equipment of the rectangular push bench based on multiple references can not occupy the device space of the push bench for transporting earthwork, and the position and the distance of the assembly device can be accurately detected by the monitoring device arranged at the equipment and three high-frequency pulse light signals emitted by the assembly device arranged at the back side of the push bench.

2. According to the invention, the displacement device and the angle device are arranged to drive the monitoring device to move so as to follow the optical signals emitted by the assembly device, so that the monitoring device can rapidly and accurately determine various postures of the push bench, including linear offset and axial offset, and the offset can be rapidly dataized, so that the deviation rectifying process of the push bench has accurate data support.

3. According to the invention, by adopting a motor device mode, the rectangular push bench posture monitoring equipment based on multiple references can have quick maneuverability in a tunnel, and can adjust and maintain the posture of the equipment in the tunnel after excavation.

4. According to the invention, by adopting a mode that a plurality of groups of reference devices are arranged in the tunnel and a mode that a firm reference surface is paved on the bottom surfaces of the tunnel and the ground vertical shaft and a group of reference devices are installed as reference references for tunnel construction, the posture monitoring equipment of the rectangular pipe jacking machine based on the plurality of reference objects can have accurate control of the posture of the equipment, the posture monitoring of the pipe jacking machine is further ensured, meanwhile, the problem of poor signals of the ground base station in the process of large-depth tunnel construction can be solved, and the tunnel construction direction can be accurately set.

Drawings

Fig. 1 is a schematic perspective view of a first embodiment of the present invention.

Fig. 2 is a schematic perspective view of a second embodiment of the present invention.

Fig. 3 is a schematic perspective view of a third embodiment of the present invention.

Fig. 4 is a schematic perspective view of a fourth embodiment of the present invention.

Fig. 5 is a schematic perspective view of a fifth embodiment of the present invention.

Fig. 6 is a schematic partial perspective view of the first embodiment of the present invention.

Fig. 7 is a schematic partial perspective view of a second embodiment of the present invention.

Fig. 8 is a schematic view showing a first perspective structure of a displacement device part according to the present invention.

Fig. 9 is a schematic view showing a second perspective structure of a displacement device part of the present invention.

Fig. 10 is a schematic view showing a first perspective structure of the angle device part of the present invention.

Fig. 11 is a schematic view showing a second perspective structure of the angle device part of the present invention.

Fig. 12 is a schematic perspective view of a portion of the mounting device of the present invention.

Fig. 13 is a schematic view showing a first perspective structure of a portion of the reference device according to the present invention.

Fig. 14 is a schematic view showing a second perspective structure of a portion of the reference device according to the present invention.

Fig. 15 is a schematic view showing a third perspective structure of a portion of the reference device according to the present invention.

Fig. 16 is a schematic view of the assembly construction of the present invention.

In the figure: 1_support frame, 2_arc-shaped motorized rail, 3_interconnecting plate, 4_mounting frame, 5_displacement device, 6_angle device, 7_monitoring device, 8_assembly device, 51_transverse plate, 52_transverse motorized rail, 53_vertical plate, 54_vertical motorized rail, 61_mount, 62_forward shaft, 63_forward rotation frame, 64_forward servo motor, 65_vertical shaft, 66_vertical rotation frame, 67_vertical servo motor, 68_longitudinal shaft, 69_longitudinal rotation frame, 610_longitudinal servo motor, 71_mounting module, 72_matrix photosensor, 73_first laser ranging receiver, 81_assembly frame, 82_light emitting head, 83_first laser ranging transmitter, 9_motor, 91_electric putter, 92_steering rack, 93_four corner rack, 94_steering servo motor, 95_track wheel module, 10_reference, 101_external rack, 102_rack, 103_second laser ranging receiver, 104_u-shaped rack, 105_first adjustment rack, 106_first adjustment servo motor, 107_extension rack, 108_second adjustment rack, 109_second laser ranging transmitter, 1010_second adjustment servo motor, 1011_eccentric rack, 1012_link, 11_positioning assembly, 111_link, 112_host laser ranging receiver.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

Example 1

As shown in fig. 1-7, a rectangular push bench posture monitoring device based on multiple references comprises a supporting frame 1, arc-shaped electric sliding rails 2, interconnection plates 3, a mounting frame 4, a displacement device 5, an angle device 6, a monitoring device 7 and an assembling device 8, wherein the supporting frame 1 is of a portal structure, the arc-shaped electric sliding rails 2 are fixedly connected between the supporting frames 1, the interconnection plates 3 are fixedly connected between the arc-shaped electric sliding rails 2, the mounting frame 4 is fixedly connected between moving parts of the arc-shaped electric sliding rails 2, the displacement device 5 is arranged at the mounting frame 4, the angle device 6 is arranged at the displacement device 5, the monitoring device 7 is used for detecting the posture of the assembling device 8, the displacement device 5 and the angle device 6 are used for adjusting the posture of the monitoring device 7, the assembling device 8 is arranged on one side of the monitoring device 7, the assembling device 8 is used for being installed at the push bench, and the position of the monitoring device 8 corresponds to the position of the monitoring device 7.

Through adopting the mode of support frame portal structure, can make this rectangular push bench gesture supervisory equipment based on many references can not occupy the device space of push bench transportation earthwork, through the monitoring device of equipment department installation to and install the three high frequency pulse light signals that the assembly device of push bench dorsal part sent out, can make the accurate position and the distance of detecting assembly device of monitoring device.

Example 2

As shown in fig. 8-9, the displacement device 5 includes a transverse plate 51, a transverse electric sliding rail 52, a vertical plate 53 and a vertical electric sliding rail 54, the transverse plate 51 is fixedly connected between the mounting frames 4, the transverse plate 51 is fixedly connected with the transverse electric sliding rail 52, the transverse electric sliding rail 52 is controlled by a servo, a moving part of the transverse electric sliding rail 52 is fixedly connected with the vertical plate 53, the vertical plate 53 is fixedly connected with the vertical electric sliding rail 54, the vertical electric sliding rail 54 is controlled by a servo, and the angle device 6 is installed at the moving part of the vertical electric sliding rail 54.

As shown in fig. 10-11, the angle device 6 includes a fixing frame 61, an advance shaft 62, an advance rotating frame 63, an advance servo motor 64, a vertical shaft 65, a vertical rotating frame 66, a vertical servo motor 67, a longitudinal shaft 68, a longitudinal rotating frame 69 and a longitudinal servo motor 610, the fixing frame 61 is fixedly connected to the moving part of the vertical electric sliding rail 54, the advance shaft 62 is rotatably connected to the fixing frame 61, the advance rotating frame 63 is fixedly connected to the fixing frame 61, the advance servo motor 64 is fixedly connected to the advance rotating frame 62, the advance rotating frame 63 is rotatably connected to the vertical shaft 65, the vertical shaft 65 is fixedly connected to the vertical rotating frame 66, the vertical servo motor 67 is fixedly connected to the vertical shaft 65, the longitudinal rotating frame 66 is rotatably connected to the longitudinal shaft 68, the longitudinal shaft 68 is fixedly connected to the longitudinal rotating frame 69, the vertical rotating frame 66 is fixedly connected to the longitudinal servo motor 69, and the longitudinal rotating frame 610 is fixedly connected to the longitudinal servo motor 610.

As shown in fig. 8, the monitoring device 7 includes a mounting module 71, a matrix photosensitive sensor 72 and a first laser ranging receiver 73, the mounting module 71 is fixedly connected to the longitudinal rotating frame 69, the matrix photosensitive sensor 72 is mounted on the other side of the mounting module 71, the matrix photosensitive sensor 72 is a set of a plurality of photoresistor units, each unit of the matrix photosensitive sensor 72 is an independent circuit, and the first laser ranging receiver 73 is mounted on two sides of the mounting module 71.

The displacement device and the angle device are arranged to drive the monitoring device to move so as to follow the optical signals emitted by the assembly device, so that the monitoring device can rapidly and accurately determine various postures of the push bench, including linear offset and axial offset, and the offset can be rapidly dataized, so that the deviation rectifying process of the push bench has accurate data support.

As shown in fig. 12, the assembly device 8 includes an assembly frame 81, a light emitting head 82 and a first laser ranging emitter 83, the assembly frame 81 is disposed on one side of the mounting module 71, the light emitting head 82 is fixedly connected to the center of the assembly frame 81, the light emitting head 82 emits a high-frequency pulse light signal when operating, the light emitting head 82 emits a light signal representing a position, the light signal representing the position is received and analyzed by the matrix photosensitive sensor 72, the first laser ranging emitters 83 are fixedly connected to both sides of the mounting module 71, the first laser ranging emitters 83 emit a high-frequency pulse light signal when operating, and the first laser ranging emitter 83 emits a light signal representing a distance, which is received and analyzed by the first ranging receiver.

Example 3

As shown in fig. 2, the automatic steering device is further comprised of a motor device 9, the motor device 9 comprises an electric push rod 91, a steering frame 92, four corner frames 93, a steering servo motor 94 and a track motor wheel module 95, the motor device 9 is arranged at the position of the support frame 1, the motor device 9 is used for enabling the rectangular push bench posture monitoring equipment based on multiple references to have mobility and self posture rapid adjustability, the electric push rod 91 is fixedly connected with two sides of the support frame 1, the electric push rod 91 is in servo control, the steering frame 92 is fixedly connected with the base of the electric push rod 91, the steering frame 92 is rotatably connected with the four corner frames 93, the steering servo motor 94 is mounted at the four corner frames 93, the steering servo motor 94 is connected with the shaft connection position of the adjacent steering frame 92, and the track motor wheel module 95 is fixedly connected with one side of the four corner frames 93.

By adopting a motor device, the posture monitoring equipment of the rectangular push bench based on the multiple references can have quick maneuverability in a tunnel, and can adjust and maintain the posture of the equipment in the uneven tunnel after excavation.

As shown in fig. 13-15, the reference device 10 further comprises a reference device 10, the reference device 10 comprises an external frame 101, a bracket 102, a second laser ranging receiver 103, a U-shaped frame 104, a first adjusting frame 105, a first adjusting servo motor 106, an extension frame 107, a second adjusting frame 108, a second laser ranging transmitter 109, a second adjusting servo motor 1010, an eccentric frame 1011, a connecting rod 1012 and a positioning component 11, the reference device 10 is arranged on one side of the rectangular pipe-jacking machine posture monitoring device based on multiple reference objects, the reference device 10 is used for precisely calibrating the position and the travel route of the rectangular pipe-jacking machine posture monitoring device based on multiple reference objects, the external frame 101 is provided with an external frame 101, the external frame 101 is symmetrically and fixedly connected with the bracket 102, the other side of the bracket 102 is fixedly connected with the second laser ranging receiver 103, the external frame 101 is fixedly connected with the U-shaped frame 104, the first adjusting frame 105 is rotatably connected with the first adjusting frame 105, the first adjusting frame 104 is fixedly connected with the second adjusting frame 108, the first adjusting frame 105 is fixedly connected with the second adjusting frame 101, the second adjusting frame 108 is fixedly connected with the second adjusting frame 107, the extension frame 106 is fixedly connected with the second adjusting frame 107, the first adjusting frame is fixedly connected with the second adjusting frame 101 is fixedly connected with the second adjusting frame 107, the mounting frame 4 is provided with a positioning assembly 11.

As shown in fig. 2, the positioning assembly 11 includes a connecting frame 111 and a host laser ranging receiver 112, the connecting frame 111 is respectively and fixedly connected to two sides of the mounting frame 4, and the host laser ranging receiver 112 is fixedly connected to the other side of the inner connecting frame 111.

The mode that adopts multiunit reference device to lay in the tunnel, and through lay firm reference surface at tunnel and ground shaft bottom surface, as the mode of the reference benchmark installation a set of reference device of tunnel construction, can make this rectangular push bench gesture supervisory equipment based on many references have the accurate controllability of self gesture, further ensured the gesture control of push bench, can solve the poor condition of ground basic station signal simultaneously in the tunnel construction process of deep tunnel to the tunnel construction direction can be accurate settlement.

Example 4

As shown in fig. 1 to 16, a method for adjusting a posture monitoring device of a rectangular push bench based on multiple references comprises the following steps:

when the push bench is in the tunnel, the rectangular push bench gesture monitoring equipment based on the multiple references can be placed in the tunnel with a section of standard route excavated, the rectangular push bench gesture monitoring equipment based on the multiple references is positioned on the back side of the push bench in the tunnel, then the assembly device 8 is horizontally and vertically arranged at the center position of the back side of the push bench, then the rectangular push bench gesture monitoring equipment based on the multiple references is arranged in the tunnel through the external bracket 102, the mounting bracket 4 is driven to rotate through the arc-shaped electric sliding rail 2, the rectangular push bench gesture monitoring equipment based on the multiple references is kept horizontal and vertical through the level bar or the level meter, the tunneling directions required by the rectangular push bench gesture monitoring equipment based on the multiple references and the tunnel are positioned on the same center line, at the moment, the assembly device 8 and the monitoring device 7 are positioned on the same center line, and then the rectangular push bench gesture monitoring equipment based on the multiple references can be started; when the push bench is in a tunneling state, the assembling device 8 can be started, one of the assembling devices 8 is an optical signal representing the position of the assembling device 8, the other is an optical signal representing the distance of the assembling device 8, the high-frequency pulse optical signal emitted by the assembling device 8 is irradiated to the monitoring device 7, the monitoring device 7 analyzes the emitted high-frequency optical signal, and the analysis items are the emission distance and the emission position of the emitted high-frequency optical signal, namely, the monitoring device 7 is enabled to analyze the position and the distance of the assembling device 8, the position and the distance of the push bench can be analyzed through analyzing the position and the distance of the assembling device 8, and the gesture of the push bench can be further known through the separated position and the separated distance; when the monitoring device 7 receives and analyzes the high-frequency pulse light signals emitted by the assembling device 8 in real time, if the tunneling position of the pipe jacking machine is shifted, the light signals emitted by the assembling device 8 are shifted at the monitoring device 7, the monitoring device 7 receives the light signals emitted by the assembling device 8 from different positions, the light signals which are emitted by the assembling device 8 and represent the distance cannot be irradiated at the monitoring device 7, at the moment, the monitoring device 7 loses the light signals which represent the distance, at the moment, the monitoring device 7 controls the displacement device 5 to work, the displacement device 5 drives the angle device 6 and the monitoring device 7 to run in parallel or vertically, so that the center of the monitoring device 7 moves to the light signals which represent the position and are emitted by the assembling device 8 again, and if the center of the displacement device 5 receives the light signals which represent the position and the light signals which represent the distance and represent the distance after the operation, the distance represented by the two light signals which represent the distance are equal, the assembling device 8 is in one horizontal direction or vertical direction, the displacement device 8 is in the vertical direction or the horizontal direction or the vertical direction, and the linear displacement device 8 is in the state can be realized, and the displacement machine can be assembled through the displacement device is known; if the displacement device 5 is operated and the center of the monitoring device 7 only receives the optical signal representing the position, and when only one optical signal representing the distance or no optical signal can be received by the monitoring device 7, the displacement device represents that the assembly device 8 and the push bench are in axial deviation of one or more axes, namely, the push bench is inclined of one or more axes, at this time, the monitoring device 7 controls the angle device 6 to operate, the angle device 6 drives the monitoring device 7 to perform triaxial rotation, so that the monitoring device 7 performs scanning operation until the monitoring device 7 receives two optical signals representing the distance again, and at this time, the axial deviation values of the assembly device 8 and the push bench can be known through the rotation information of each axis of the angle device 6; after the offset values of the push bench and the assembly device 8 are determined, the push bench can be corrected accurately in a targeted manner, and in the correction process of the push bench, the monitoring device 7 also receives optical signals in real time until the displacement device 5 and the angle device 6 are reset, so that the push bench can be determined to be in a required tunneling posture; thus, through the high-frequency pulse signal that assembly device 8 launched, through the receipt state of monitoring device 7 and right displacement device 5 with angle device 6's control, the tunnelling gesture that the push bench is in the tunnel that can be quick is known to carry out accurate quantization to the gesture of push bench, so that rectify the push bench, have accurate data support to the process of rectifying of push bench.

When the center of the monitoring device 7 does not receive the light signal representing the position emitted by the assembling device 8, namely, when the light signal representing the position emitted by the assembling device 8 is located at the non-center position of the monitoring device 7, the monitoring device 7 controls the transverse electric sliding rail 52 and the vertical electric sliding rail 54 to move so as to enable the angle device 6 and the monitoring device 7 to linearly move, thereby enabling the center of the monitoring device 7 to move to the light signal representing the position emitted by the assembling device 8; the linear offset values of the assembling device 8 and the push bench can be known through the displacement information of the transverse electric slide rail 52 and the vertical electric slide rail 54.

When the center of the monitoring device 7 receives the optical signals indicating the positions emitted by the assembling device 8 and the optical signals indicating the distances emitted by the assembling device 8 are not received by the monitoring device 7, the monitoring device 7 controls the forward servo motor 64, the vertical servo motor 67 and the longitudinal servo motor 610 to operate so as to enable the forward rotating frame 63, the vertical rotating frame 66 and the longitudinal rotating frame 69 to rotate, thereby enabling the monitoring device 7 to rotate along three axes until the monitoring device 7 receives two optical signals indicating the distances emitted by the assembling device 8; the axial offset values of the assembly device 8 and the push bench can be known through the rotation information of the forward servo motor 64, the vertical servo motor 67 and the longitudinal servo motor 610.

The optical signal indicating the position emitted by the assembling device 8 irradiates the matrix-type photosensitive sensor 72, the default of the optical signal indicating the position irradiates the center independent unit of the matrix-type photosensitive sensor 72 as the initial position, namely the center of the direction of the tunnel to be excavated, and the optical signal indicating the distance emitted by the assembling device 8 irradiates the first laser ranging receiver 73; when the push bench and the assembling device 8 generate position deviation in the tunneling process, the optical signal representing the position emitted by the assembling device 8 irradiates the non-central unit of the matrix-type photosensitive sensor 72, the optical signal representing the distance is not received by the first laser ranging receiver 73, at this time, the mounting module 71 is driven to move, so that the central unit of the matrix-type photosensitive sensor 72 moves to the optical signal representing the position, the central unit of the matrix-type photosensitive sensor 72 can receive the optical signal representing the position, and if the upper unit of the matrix-type photosensitive sensor 72 receives the optical signal representing the position, the mounting module 71 is driven to move downwards; after that, if neither of the first laser ranging receivers 73 can receive the optical signal indicating the distance, the mounting module 71 rotates so that both of the first laser ranging receivers 73 can receive the optical signal indicating the distance; thus, the angle and relative position of the mounting module 71 indicate the angle and relative position of the push bench.

The assembly frame 81 may be installed at the center of the back side of the push bench, and when the light emitter and the first laser ranging emitter 83 are started, three high-frequency pulse light signals are emitted, wherein one of the three high-frequency pulse light signals is an optical signal representing the position of the assembly device 8, and the other one of the three high-frequency pulse light signals is an optical signal representing the distance between the assembly device 8, and the other one of the three high-frequency pulse light signals is two.

The track motorized wheel module 95 is started to enable the rectangular push bench posture monitoring device based on the multiple references to be motorized in a tunnel rapidly, and the height position and the self inclination angle of the support frame 1 can be changed by controlling the steering servo motor 94 and the electric push rod 91 so as to cope with uneven terrains after excavation in the tunnel, and the rectangular push bench posture monitoring device based on the multiple references can be kept in a required posture in the tunnel.

The method comprises the steps that a group of reference devices 10 are installed at the bottom of a vertical shaft on the ground of tunnel communication at the initial stage of tunnel construction, a firm reference surface is paved to serve as a reference of tunnel construction, an external frame 101 of the group of reference devices 10 is installed at the reference surface, a second laser ranging transmitter 109 faces the tunnel excavation direction, when the rectangular pipe jacking machine posture monitoring equipment based on multiple references is placed in a tunnel, the second laser ranging transmitter 109 can be started, the second laser transmitter transmits a high-frequency pulse optical signal, the optical signal is an optical signal representing reference, the optical signal is irradiated to a positioning assembly 11, and after the positioning assembly 11 receives the optical signal, the distance between the rectangular pipe jacking machine posture monitoring equipment based on multiple references and the reference position and the self posture of the rectangular pipe jacking machine posture monitoring equipment based on multiple references can be determined; in the tunnel construction process, a plurality of groups of reference devices 10 can be arranged in the tunnel, so that the reference devices 10 are communicated with each other through a second laser ranging transmitter 109 and a second laser ranging receiver 103, and the innermost group of reference devices 10 in the tunnel is used as a relay datum point of the rectangular push bench posture monitoring equipment based on the multiple references, so that the reference devices 10 can exist as a datum through the way that the second laser ranging transmitter 109 and the second laser ranging receiver 103 are communicated with each other; if the first adjusting servo motor 106 and the second adjusting servo motor 1010 are controlled to perform angle adjustment on the second laser ranging transmitter 109 during tunnel curve or gradient construction, so that the second laser ranging transmitter 109 can transmit an optical signal having an angle with respect to a reference position, after analyzing the angles and distances between the plurality of groups of reference devices 10, the curve position of the multi-reference-object-based rectangular push bench posture monitoring device can be accurately controlled by taking the distance between two sections of reference devices 10 as a chord length, and the multi-reference-object-based rectangular push bench posture monitoring device can be made to assist in the push bench to have accuracy during tunnel curve construction.

The optical signals emitted by the second laser ranging transmitters 109 at the innermost side of the tunnel irradiate the host laser ranging receiver 112, and the optical signals which are emitted by the two second laser ranging transmitters 109 and represent references can enable the posture monitoring equipment of the rectangular push bench based on multiple references to have accurate control of the posture of the equipment, so that the posture monitoring of the push bench is further ensured, meanwhile, the problem of poor ground base station signals in the process of large-depth tunnel construction can be solved, and the tunnel construction direction can be accurately set.

Through displacement device, angle means, monitoring device, assembly quality, maneuvering device and reference device's cooperation, can make the gesture of push bench when the tunnel is under construction receive accurate control, have the quantization to the gesture control of push bench, can provide accurate data support when the push bench rectifies, can not receive the influence of ground degree of depth and reduce the accuracy, can consult the setting to various construction routes in the tunnel.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides a rectangle push bench gesture supervisory equipment and adjustment method based on many references, includes support frame (1), its characterized in that: the support frame (1) is provided with a displacement device (5), an angle device (6), a monitoring device (7) and an assembling device (8);

the support frame (1) is of a portal structure, arc-shaped electric sliding rails (2) are fixedly connected between the support frames (1), interconnection plates (3) are fixedly connected between the arc-shaped electric sliding rails (2), and mounting frames (4) are fixedly connected between moving parts of the arc-shaped electric sliding rails (2);

the utility model discloses a push bench, including mounting bracket (4) department, displacement device (5) department is equipped with displacement device (5), displacement device (5) department is equipped with angle device (6), angle device (6) department is equipped with monitoring device (7), monitoring device (7) are used for detecting the gesture of assembly device (8), displacement device (5) with angle device (6) are used for adjusting the gesture of monitoring device (7), monitoring device (7) one side is equipped with assembly device (8), assembly device (8) are used for installing in push bench department, assembly device (8) with monitoring device (7) position corresponds.

2. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 1, wherein the device is characterized in that: the displacement device (5) comprises a transverse plate (51), the transverse plate (51) is fixedly connected with the mounting frame (4), a transverse electric sliding rail (52) is fixedly connected to the transverse plate (51), the transverse electric sliding rail (52) is controlled by a servo, a vertical plate (53) is fixedly connected to a moving part of the transverse electric sliding rail (52), a vertical electric sliding rail (54) is fixedly connected to the vertical plate (53), the vertical electric sliding rail (54) is controlled by a servo, and the angle device (6) is mounted at the moving part of the vertical electric sliding rail (54).

3. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 2, wherein the device is characterized in that: the angle device (6) comprises a fixing frame (61), the fixing frame (61) is fixedly connected to a moving part of the vertical electric sliding rail (54), a forward shaft (62) is rotatably connected to the fixing frame (61), a forward rotating frame (63) is fixedly connected to the position of the forward shaft (62), a forward servo motor (64) is fixedly connected to the position of the fixing frame (61), an output shaft of the forward servo motor (64) is connected with the forward shaft (62), a vertical shaft (65) is rotatably connected to the position of the forward rotating frame (63), a vertical servo motor (67) is fixedly connected to the position of the vertical rotating frame (63), a longitudinal shaft (68) is rotatably connected to the position of the vertical rotating frame (66), a longitudinal servo motor (610) is fixedly connected to the position of the vertical rotating frame (66), and the output shaft (610) is connected with the longitudinal servo motor (69), and the longitudinal servo motor (610) is mounted on the longitudinal rotating frame (69).

4. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 3, wherein the device is characterized in that: the monitoring device (7) comprises an installation module (71), the installation module (71) is fixedly connected to a longitudinal rotating frame (69), a matrix type photosensitive sensor (72) is installed on the other side of the installation module (71), the matrix type photosensitive sensor (72) is a collection of a plurality of photosensitive resistor units, each unit of the matrix type photosensitive sensor (72) is an independent circuit, and first laser ranging receivers (73) are installed on two sides of the installation module (71).

5. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 4, wherein the device is characterized in that: the assembly device (8) comprises an assembly frame (81), the assembly frame (81) is arranged on one side of the installation module (71), a light emitting head (82) is fixedly connected to the center of the assembly frame (81), a high-frequency pulse light signal is emitted when the light emitting head (82) operates, the light signal emitted by the light emitting head (82) is a light signal representing a position, the light signal representing the position is received and analyzed by the matrix type photosensitive sensor (72), first laser ranging transmitters (83) are fixedly connected to two sides of the installation module (71), high-frequency pulse light signals are emitted when the first laser ranging transmitters (83) operate, and the signals emitted by the first laser ranging transmitters (83) are light signals representing distances, and the light signals representing the distances are received and analyzed by the first ranging receivers.

6. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 5, wherein the device is characterized in that: still include motor arrangement (9), motor arrangement (9) locate support frame (1) department, motor arrangement (9) are used for making this rectangle push bench gesture supervisory equipment based on many references have mobility and self gesture quick adjustment nature, support frame (1) both sides all fixedly connected with electric putter (91), electric putter (91) are servo control, the equal fixedly connected with steering frame (92) of base department of electric putter (91), steering frame (92) department all rotates and is connected with four corners frame (93), steering servo motor (94) are all installed to four corners frame (93) department, steering servo motor (94) all are connected with adjacent steering frame (92) hub connection department, four corners frame (93) one side all fixedly connected with track motor wheel module (95).

7. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 6, wherein the device is characterized in that: the device also comprises a reference device (10), the reference device (10) is arranged on one side of the rectangular push bench gesture monitoring equipment based on multiple references, the reference device (10) is used for accurately calibrating the position and the travel route of the rectangular push bench gesture monitoring equipment based on multiple references as the reference, one side of the rectangular push bench gesture monitoring equipment based on multiple references is provided with an external frame (101), the external frame (101) is of a structure with a mounting hole, a bracket (102) is symmetrically and fixedly connected to the external frame (101), a second laser ranging receiver (103) is fixedly connected to the other side of the bracket (102), a U-shaped frame (104) is fixedly connected to the external frame (101), a first adjusting frame (105) is rotatably connected to the U-shaped frame (104), a first adjusting servo motor (106) is fixedly connected to the position of the U-shaped frame (104), an output shaft of the first adjusting servo motor (106) is connected to the shaft connection position of the first adjusting frame (105), two sides of the first adjusting frame (105) are symmetrically and fixedly connected with a second laser ranging receiver (103), a second adjusting frame (108) is fixedly connected to the second adjusting frame (107), a second adjusting frame (107) is fixedly connected to the second adjusting frame (107), the eccentric frames (1011) are fixedly connected to the shaft connection positions of the output shaft of the second adjusting servo motor (1010) and the second adjusting frame (108), connecting rods (1012) are connected between the eccentric frames (1011), and positioning assemblies (11) are arranged at the installation frames (4).

8. The multi-reference-based rectangular push bench posture monitoring device and the adjusting method according to claim 7, wherein the device is characterized in that: the positioning assembly (11) comprises a connecting frame (111), the connecting frame (111) is fixedly connected to two sides of the mounting frame (4) respectively, and a host laser ranging receiver (112) is fixedly connected to the other side of the inner connecting frame (111).

9. The method for adjusting the posture monitoring equipment of the rectangular push bench based on the multiple references is applicable to the posture monitoring equipment of the rectangular push bench based on the multiple references, and is characterized in that:

when the push bench is in a tunnel, the rectangular push bench posture monitoring equipment based on the multiple references can be placed in the tunnel with a section of standard route excavated, the rectangular push bench posture monitoring equipment based on the multiple references is positioned on the back side of the push bench in the tunnel, then the assembly device (8) is horizontally and vertically arranged at the center position of the back side of the push bench, the rectangular push bench posture monitoring equipment based on the multiple references is arranged in the tunnel through an external bracket (102), the mounting frame (4) is driven to rotate through the arc-shaped electric sliding rail (2), the rectangular push bench posture monitoring equipment based on the multiple references is kept horizontal and vertical through a level bar or a level meter, the rectangular push bench posture monitoring equipment based on the multiple references and the tunneling direction required by the tunnel are positioned on the same central line, at the moment, the assembly device (8) and the monitoring device (7) are positioned on the same central line, and then the rectangular push bench posture monitoring equipment based on the multiple references can be started; when the pipe jacking machine is in a tunneling state, the assembling device (8) can be started, the assembling device (8) can emit high-frequency pulse optical signals, one of the high-frequency pulse optical signals is an optical signal representing the position of the assembling device (8), the other high-frequency pulse optical signal is an optical signal representing the distance of the assembling device (8), the high-frequency pulse optical signals emitted by the assembling device (8) are irradiated to the monitoring device (7), the monitoring device (7) can analyze the emitted high-frequency optical signals, the analysis items are the emission distance and the emission position of the emitted high-frequency optical signals, namely, the position and the distance of the assembling device (8) can be analyzed by analyzing the position and the distance of the assembling device (8), and the tunneling state of the pipe jacking machine can be further known by analyzing the position and the distance of the assembling device; when the monitoring device (7) receives and analyzes the high-frequency pulse light signals emitted by the assembling device (8) in real time, if the tunneling position of the pipe jacking machine is shifted, the light signals emitted by the assembling device (8) are shifted at the monitoring device (7), the monitoring device (7) receives the light signals emitted by the assembling device (8) from different positions, the light signals which are emitted by the assembling device (8) and represent the distance cannot be irradiated at the monitoring device (7), at the moment, the monitoring device (7) loses the light signals which represent the distance, at the moment, the monitoring device (7) controls the displacement device (5) to work, the displacement device (5) drives the angle device (6) and the monitoring device (7) to move in parallel or vertically, so that the center of the monitoring device (7) is moved to the light signals which represent the position and are emitted by the assembling device (8), if the light signals which represent the position and the light signals which represent the position are received at the center of the monitoring device (7) after the operation of the displacement device (5) are not irradiated at the monitoring device (8), the distance and the displacement device (5) are in a linear state, the displacement state is achieved, and the distance is equal to the distance of the pipe jacking machine is reached, the linear offset values of the assembling device (8) and the push bench can be known; if the displacement device (5) operates and then the center of the monitoring device (7) only receives optical signals representing positions, and when only one optical signal representing distances or no optical signals representing distances can be received by the monitoring device (7), the displacement device (7) can control the angle device (6) to operate, the angle device (6) can drive the monitoring device (7) to perform triaxial rotation, so that the monitoring device (7) can perform scanning operation until the monitoring device (7) receives two optical signals representing distances again, and at the moment, the axial displacement values of the assembly device (8) and the push bench can be known through the rotation information of each axis of the angle device (6); after the offset values of the push bench and the assembly device (8) are determined, the push bench can be corrected accurately in a targeted manner, and in the correction process of the push bench, the monitoring device (7) also receives optical signals in real time until the displacement device (5) and the angle device (6) are reset, and the push bench can be determined to be in a required tunneling posture; thus, through the high-frequency pulse signals emitted by the assembly device (8), through the receiving state of the monitoring device (7) and the control of the displacement device (5) and the angle device (6), the tunneling posture of the push bench in a tunnel can be rapidly known, and the posture of the push bench is accurately quantized, so that the push bench is corrected, and the correction process of the push bench is accurately data supported.

When the center of the monitoring device (7) does not receive the light signal which is transmitted by the assembling device (8) and represents the position, namely, when the light signal which is transmitted by the assembling device (8) and represents the position is positioned at the non-center position of the monitoring device (7), the monitoring device (7) controls the transverse electric sliding rail (52) and the vertical electric sliding rail (54) to move so as to enable the angle device (6) and the monitoring device (7) to linearly move, thereby enabling the center of the monitoring device (7) to move to the light signal which is transmitted by the assembling device (8) and represents the position; and the linear offset values of the assembling device (8) and the push bench can be known through the displacement information of the transverse electric slide rail (52) and the vertical electric slide rail (54).

When the center of the monitoring device (7) receives the optical signals which are transmitted by the assembling device (8) and indicate the positions, and the optical signals which are transmitted by the assembling device (8) and indicate the distances are not received by the monitoring device (7), the monitoring device (7) controls the forward servo motor (64), the vertical servo motor (67) and the longitudinal servo motor (610) to operate, so that the forward rotating frame (63), the vertical rotating frame (66) and the longitudinal rotating frame (69) rotate, and the monitoring device (7) rotates along the three axes until the monitoring device (7) receives two optical signals which are transmitted by the assembling device (8) and indicate the distances; the axial offset values of the assembly device (8) and the push bench can be known through the rotation information of the forward servo motor (64), the vertical servo motor (67) and the longitudinal servo motor (610).

The light signal which is emitted by the assembling device (8) and represents the position irradiates the matrix type photosensitive sensor (72), the default irradiation is that the position of a central independent unit of the matrix type photosensitive sensor (72) is an initial position, namely the direction center of a tunnel to be excavated, and the light signal which is emitted by the assembling device (8) and represents the distance irradiates the position of a first laser ranging receiver (73); when the pipe pushing machine and the assembling device (8) generate position offset in the tunneling process, an optical signal representing the position emitted by the assembling device (8) irradiates a non-central unit of the matrix type photosensitive sensor (72), an optical signal representing the distance is not received by the first laser ranging receiver (73), at the moment, the mounting module (71) is driven to move, the central unit of the matrix type photosensitive sensor (72) moves to the optical signal representing the position, the central unit of the matrix type photosensitive sensor (72) can receive the optical signal representing the position, and if an upper layer unit of the matrix type photosensitive sensor (72) receives the optical signal representing the position, the mounting module (71) is driven to move downwards; then, if the first laser ranging receivers (73) cannot receive the optical signals representing the distance, the mounting module (71) rotates so that the two first laser ranging receivers (73) can receive the optical signals representing the distance; thus, the angle and the relative position of the mounting module (71) indicate the angle and the relative position of the push bench.

The assembly frame (81) can be arranged at the center of the back side of the push bench, and three high-frequency pulse optical signals are emitted when the optical transmitter and the first laser ranging transmitter (83) are started, wherein one optical signal is used for indicating the position of the assembly device (8), the other optical signal is used for indicating the distance of the assembly device (8), and the number of the optical signals is two.

The track maneuvering wheel module (95) is started to enable the rectangular push bench posture monitoring equipment based on the multiple references to maneuver rapidly in a tunnel, and the height position and the self inclination angle of the support frame (1) can be changed by controlling the steering servo motor (94) and the electric push rod (91) so as to cope with uneven terrains after excavation in the tunnel, and the rectangular push bench posture monitoring equipment based on the multiple references can keep a required posture in the tunnel.

The method comprises the steps that a group of reference devices (10) are installed at the bottom of a vertical shaft on the ground of tunnel communication at the initial stage of tunnel construction, a firm datum plane is paved to serve as a reference datum for tunnel construction, an external frame (101) of the group of reference devices (10) is installed at the datum plane, a second laser ranging emitter (109) faces the tunnel excavation direction, when a rectangular pipe jacking machine posture monitoring device based on multiple references is placed in a tunnel, the second laser ranging emitter (109) can be started, the second laser emitter emits a high-frequency pulse optical signal, the optical signal is an optical signal representing reference, the optical signal is irradiated to a positioning component (11), and after the positioning component (11) receives the optical signal, the distance and the self posture between the rectangular pipe jacking machine posture monitoring device based on multiple references and the datum position can be determined; in the tunnel construction process, a plurality of groups of reference devices (10) can be distributed in the tunnel, the reference devices (10) are communicated with each other through a second laser ranging transmitter (109) and a second laser ranging receiver (103), and the innermost group of reference devices (10) in the tunnel is used as a relay datum point of the rectangular push bench posture monitoring equipment based on multiple references, so that the reference devices (10) can be used as a datum in a mode that the second laser ranging transmitter (109) and the second laser ranging receiver (103) are communicated with each other; if, during tunnel curve or slope construction, the first adjusting servo motor (106) and the second adjusting servo motor (1010) can be controlled to perform angle adjustment on the second laser ranging transmitter (109), so that the second laser ranging transmitter (109) can transmit an optical signal with an angle relative to a reference position, after analyzing the angles and distances among multiple groups of reference devices (10), the curve position of the rectangular push bench posture monitoring device based on multiple references can be accurately controlled by taking the distance between two sections of reference devices (10) as the chord length, and the rectangular push bench posture monitoring device based on multiple references can be enabled to have accuracy during tunnel curve construction.

The optical signals emitted by the second laser ranging transmitters (109) at the innermost side of the tunnel are irradiated to the host laser ranging receiver (112), and the optical signals which are emitted by the two second laser ranging transmitters (109) and are used for representing reference can enable the posture monitoring equipment of the rectangular push bench based on multiple references to have accurate control of the posture of the equipment, so that the posture monitoring of the push bench is further ensured, meanwhile, the problem of poor ground base station signals in the large-depth tunnel construction process can be solved, and the tunnel construction direction can be accurately set.