CN201818317U - Duct piece intelligent assembling system of shield tunnelling machine - Google Patents
Duct piece intelligent assembling system of shield tunnelling machine Download PDFInfo
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- CN201818317U CN201818317U CN2010205407558U CN201020540755U CN201818317U CN 201818317 U CN201818317 U CN 201818317U CN 2010205407558 U CN2010205407558 U CN 2010205407558U CN 201020540755 U CN201020540755 U CN 201020540755U CN 201818317 U CN201818317 U CN 201818317U
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Abstract
The utility model relates to a duct piece intelligent assembling system of a shield tunnelling machine, belonging to the technical field of mechanical engineering. A duct piece conveying and supplying module is arranged at the rear end of a duct piece positioning and installing module, a duct piece conveying trolley in the duct piece conveying and supplying module loads duct pieces, and arranged in an assembling, grasping and lifting range of the duct piece positioning and installing module in a moving way, a duct piece position identifying and analyzing module is fixedly connected on a lifting cylinder in the duct piece positioning and installing module, a three-dimensional visual system in the duct piece position identifying and analyzing module is fixed by aligning with duct pieces to be load and loaded duct pieces, and a neural network control system is connected with the lifting cylinder, a translation cylinder, a rotary motor, a deflection cylinder, a derricking cylinder and a rolling cylinder in the duct piece positioning and installing module. The duct piece intelligent assembling system can realize automatic duct piece conveying, duct piece position intelligent identification and automatic duct piece assembly of the shield tunnelling machine, and the duct piece assembly is safe, accurate and reliable, and high in efficiency and quality, thus effectively reducing accidents, and ensuring life safety of operation staff.
Description
Technical field
The utility model belongs to mechanical engineering technical field, is specifically related to a kind of shield tunnel construction machinery.
Background technology
At present, relying on artificial part most in the work system of shield excavation machine is exactly pipe sheet assembling.If do not solve the problem of pipe sheet assembling automation, just can't realize the full-automation of shield machine, particularly be today of heavy caliber trend at shield machine, development pipe sheet assembling automatic device seems particularly important.
Application number discloses a kind of shield pipe sheet assembling machine with six-freedom degree for the patent of invention of " 200610025189.5 ", include the rotation disk body, drive unit, two semi girders, two translation oil cylinders, two lift cylinders, promote crossbeam, rotatable platform, the astrosphere oscillating bearing, the section of jurisdiction dump ram, devices such as section of jurisdiction rotational fuel tank, its mechanism has six degrees of freedom of motion, thereby make moving of section of jurisdiction binding clip device, position and attitude can satisfy the needs of section of jurisdiction, the various locus of assembly unit fully, and this invention can be used for shield excavation machine and carry out for a long time, the pipe sheet assembling operation of high capacity.But this patent does not relate to the automatic installation of section of jurisdiction, and pipe sheet assembling still relies on manually-operated, can not realize the full-automation of shield machine, therefore, assembly unit efficient and of low quality, the constructing operation danger coefficient is big.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, a kind of section of jurisdiction intelligent splicing system of shield excavation machine is provided, realize the automatic transport of shield duct piece, the function of the automatic assembly unit of position, section of jurisdiction Intelligent Recognition and section of jurisdiction, because these unique functions that this system possesses have replaced manually-operated, make that the pipe sheet assembling process is safe and reliable, accurate, can improve the efficient and the quality of pipe sheet assembling.
In order to achieve the above object, the utility model by following technical solution (referring to figs. 1 through Fig. 3) solve its technical problem:
The utility model is carried supplying module A by the section of jurisdiction, section of jurisdiction location recognition and analysis module B and section of jurisdiction location and installation module C form, wherein the section of jurisdiction carries supplying module A to place location and installation module C rear end, section of jurisdiction, the section of jurisdiction is carried the section of jurisdiction among the supplying module A to transport dolly 5 and is loaded with section of jurisdiction 14, and place with motion mode in the assembly unit snatch scope of section of jurisdiction location and installation module C, section of jurisdiction location recognition and analysis module B are fixed on the elevating ram 8 among the location and installation module C of section of jurisdiction, the stereo visual system 6 among section of jurisdiction location recognition and the analysis module B with aim at section of jurisdiction 15 to be installed and the mode of tubulature sheet 16 fix; Nerve network control system 7 among section of jurisdiction location recognition and the analysis module B is connected with elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12 and the rolling oil cylinder 13 among the location and installation module C of section of jurisdiction.
Section of jurisdiction conveying supplying module A transports dolly 5 by straddle truck 1, storage battery section of jurisdiction car 2, electric block 3, connection bridge track 4 and section of jurisdiction and forms, and is connected in series; The section of jurisdiction is transported dolly 5 and is loaded with section of jurisdiction 14, and places with motion mode in the assembly unit snatch scope of section of jurisdiction location and installation module C.
Section of jurisdiction location recognition and analysis module B are made up of stereo visual system 6 and nerve network control system 7, and are connected in series; Wherein stereo visual system 6 with aim at section of jurisdiction 15 to be installed and the mode of tubulature sheet 16 fix, nerve network control system 7 is connected with elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12 and rolling oil cylinder 13 among the location and installation module C of section of jurisdiction.
Nerve network control system 7 is made up of multi-channel analog input channel D, neuron controller and multi-channel analog output channel E, and wherein multi-channel analog input channel D is made up of variable connector and A/D converter, and is connected in series; Multi-channel analog output channel E is formed, and is connected in series by D/A converter, anti-variable connector; The input of neuron controller is connected with the A/D converter of multi-channel analog input channel D, and the output of neuron controller is connected with the D/A converter of multi-channel analog output channel E.
Section of jurisdiction location and installation module C is made up of elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12, rolling oil cylinder 13, and wherein elevating ram 8 is installed with the tunnel radial parallel; Translation oil cylinder 9 is installed with the tunnel axially parallel; Deflection oil cylinder 11, pitching oil cylinder 12 and rolling oil cylinder 13 are connected in parallel, and the axis of rotary motor (10) and tunnel axially parallel are installed.
The section of jurisdiction carries supplying module A to provide section of jurisdiction 14 for whole system, section of jurisdiction location recognition and analysis module B treat the attitude of tubulature sheet 15 and the position of tubulature sheet 16 discern, and to section of jurisdiction location and installation module C output control signal, section of jurisdiction location and installation module C moves according to the control signal that section of jurisdiction location recognition and analysis module B are exported, and section of jurisdiction 15 the most to be installed is mounted to accurate position.
Section of jurisdiction 14 winches on the storage battery section of jurisdiction car 2 of vertical shaft by straddle truck 1 from ground, be transported to electric block 3 then, and sling, be transported to the section of jurisdiction along connection bridge track 4 and transport on the dolly 5 by electric block 3, transport dolly 5 by the section of jurisdiction and transport forward again, use for section of jurisdiction location and installation module C.
Stereo visual system 6 among section of jurisdiction location recognition and the analysis module B detects the position of tubulature sheet 16 in real time, and the attitude of section of jurisdiction 15 to be installed, and information is transferred to nerve network control system 7 with the form of analog signals, the hardware of nerve network control system 7 comprises:
1. neuron controller: work in discrete state, I/O is a digital quantity, realizes neural control and systemic-function by its inner digital computer.
2. multi-channel analog input channel D is made up of variable connector, two links of A/D converter, and the digital quantity signal that the analog signals neuralward controller of stereo visual system 6 inputs can be discerned is changed.
3. multi-channel analog output channel E is made up of D/A converter, two links of anti-variable connector, finishes the conversion by digital quantity analog signals of each oil cylinder in control section of jurisdiction location and installation module C of neuron controller output.
Elevating ram 8, translation oil cylinder 9, deflection oil cylinder 11, pitching oil cylinder 12, rolling oil cylinder 13 among the location and installation module C of section of jurisdiction are the proportional servo oil cylinder, rotary motor 10 is a stepper motor, section of jurisdiction location and installation module C receives the analog signals from section of jurisdiction location recognition and analysis module B, realizes lifting, revolution, translation, deflection, pitching and six actions of rolling of section of jurisdiction 15 to be installed.Wherein, elevating ram 8, translation oil cylinder 9, rotary motor 10 are treated tubulature sheet 15 and are carried out coarse positioning, and deflection oil cylinder 11, pitching oil cylinder 12, rolling oil cylinder 13 are treated tubulature sheet 15 and finely tuned, and realize finally location.
Good effect of the present utility model is: can realize automatic transport, the automatic assembly unit of position, section of jurisdiction Intelligent Recognition and section of jurisdiction of shield excavation machine section of jurisdiction, because these unique functions that this system possesses have replaced manually-operated, make the pipe sheet assembling process safe and reliable, accurate.By the application of this system, will improve pipe sheet assembling efficient and quality largely, and reduce the accident that takes place in the pipe sheet assembling process effectively, guarantee operating personnel's life security.
Description of drawings
Fig. 1 is a shield duct piece intelligent splicing system schematic
Fig. 2 is a nerve network control system hardware schematic diagram
Fig. 3 treats the example sketch that the tubulature sheet carries out assembly unit
Wherein: the A. section of jurisdiction carries supplying module B. section of jurisdiction location recognition and location and installation module D. multi-channel analog input channel E. multi-channel analog output channel 1. straddle trucks 2. storage battery segment cars 3. electric blocks 4. connecting bridge tracks 5. sections of jurisdiction, analysis module C. section of jurisdiction to transport tubulature sheet of 15. sections of jurisdiction 16. to be installed, dolly 6. stereo visual system 7. nerve network control systems, 8. elevating ram 9. translation oil cylinders, 10. rotary motor 11. deflection oil cylinders, 12. pitching oil cylinder 13. rolling oil cylinders, 14. sections of jurisdiction
The specific embodiment
Carry supplying module A by the section of jurisdiction, section of jurisdiction location recognition and analysis module B and section of jurisdiction location and installation module C form, wherein the section of jurisdiction carries supplying module A to place location and installation module C rear end, section of jurisdiction, the section of jurisdiction is carried the section of jurisdiction among the supplying module A to transport dolly 5 and is loaded with section of jurisdiction 14, and place with motion mode in the assembly unit snatch scope of section of jurisdiction location and installation module C, section of jurisdiction location recognition and analysis module B are fixed on the elevating ram 8 among the location and installation module C of section of jurisdiction, the stereo visual system 6 among section of jurisdiction location recognition and the analysis module B with aim at section of jurisdiction 15 to be installed and the mode of tubulature sheet 16 fix; Nerve network control system 7 among section of jurisdiction location recognition and the analysis module B is connected with elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12 and the rolling oil cylinder 13 among the location and installation module C of section of jurisdiction.
Section of jurisdiction conveying supplying module A transports dolly 5 by straddle truck 1, storage battery section of jurisdiction car 2, electric block 3, connection bridge track 4 and section of jurisdiction and forms, and is connected in series; The section of jurisdiction is transported dolly 5 and is loaded with section of jurisdiction 14, and places with motion mode in the assembly unit snatch scope of section of jurisdiction location and installation module C.
Section of jurisdiction location recognition and analysis module B are made up of stereo visual system 6 and nerve network control system 7, and are connected in series; Wherein stereo visual system 6 with aim at section of jurisdiction 15 to be installed and the mode of tubulature sheet 16 fix, nerve network control system 7 is connected with elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12 and rolling oil cylinder 13 among the location and installation module C of section of jurisdiction.
Nerve network control system 7 is made up of multi-channel analog input channel D, neuron controller and multi-channel analog output channel E, and wherein multi-channel analog input channel D is made up of variable connector and A/D converter, and is connected in series; Multi-channel analog output channel E is formed, and is connected in series by D/A converter, anti-variable connector; The input of neuron controller is connected with the A/D converter of multi-channel analog input channel D, and the output of neuron controller is connected with the D/A converter of multi-channel analog output channel E.
Section of jurisdiction location and installation module C is made up of elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12, rolling oil cylinder 13, and wherein elevating ram 8 is installed with the tunnel radial parallel; Translation oil cylinder 9 is installed with the tunnel axially parallel; Deflection oil cylinder 11, pitching oil cylinder 12 and rolling oil cylinder 13 are connected in parallel, and the axis of rotary motor (10) and tunnel axially parallel are installed.
During the utility model concrete operations, as shown in figures 1 and 3, be example, follow these steps to carry out to locate section of jurisdiction 15 to be installed:
1. make section of jurisdiction 15 to be installed carry out coarse positioning by predefined program;
2. measure the coordinate of 2 of M, N on the tubulature sheet 16 and M ', N ' on the section of jurisdiction to be installed 15 at 2 by the stereo visual system 6 among section of jurisdiction location recognition and the analysis module B, and between the geometric center point O ' of section of jurisdiction to be installed 15 and the tunnel initial point O apart from r ';
3. stereo visual system 6 inputs to nerve network control system 7 among section of jurisdiction location recognition and the analysis module B with the coordinate information of the premises with apart from signals such as r ', analyzes;
4. the nerve network control system among section of jurisdiction location recognition and the analysis module B 7 is exported analog signalses, elevating ram 8, translation oil cylinder 9, rotary motor 10, deflection oil cylinder 11, pitching oil cylinder 12, rolling oil cylinder 13 among the control section of jurisdiction location and installation module C carry out corresponding actions, the attitude of section of jurisdiction 15 to be installed is changed, the coordinate that M is ordered on the coordinate of the M ' point on the section of jurisdiction 15 to be installed and the tubulature sheet 16 is overlapped, the coordinate that N is ordered on the coordinate of N ' point and the tubulature sheet 16 on the section of jurisdiction 15 to be installed overlaps, and is tending towards the tunnel radius r apart from r '.
So far, the assembly unit location work of section of jurisdiction 15 to be installed is finished.
Claims (5)
1. the section of jurisdiction intelligent splicing system of a shield excavation machine, it is characterized in that carrying supplying module (A) by the section of jurisdiction, section of jurisdiction location recognition and analysis module (B) and section of jurisdiction location and installation module (C) are formed, wherein the section of jurisdiction carries supplying module (A) to place rear end, section of jurisdiction location and installation module (C), the section of jurisdiction is carried the section of jurisdiction in the supplying module (A) to transport dolly (5) and is loaded with section of jurisdiction (14), and place with motion mode in the assembly unit snatch scope of section of jurisdiction location and installation module (C), section of jurisdiction location recognition and analysis module (B) are fixed on the elevating ram (8) in the section of jurisdiction location and installation module (C), stereo visual system (6) in section of jurisdiction location recognition and the analysis module (B) with aim at section of jurisdiction to be installed (15) and the mode of tubulature sheet (16) fix the elevating ram (8) in the nerve network control system (7) in section of jurisdiction location recognition and the analysis module (B) and the section of jurisdiction location and installation module (C), translation oil cylinder (9), rotary motor (10), deflection oil cylinder (11), pitching oil cylinder (12) is connected with rolling oil cylinder (13).
2. press the section of jurisdiction intelligent splicing system of the described shield excavation machine of claim 1, it is characterized in that described section of jurisdiction conveying supplying module (A) transports dolly (5) by straddle truck (1), storage battery section of jurisdiction car (2), electric block (3), connection bridge track (4) and section of jurisdiction and forms, and be connected in series, the section of jurisdiction is transported dolly (5) and is loaded with section of jurisdiction (14), and places with motion mode in the assembly unit snatch scope of section of jurisdiction location and installation module (C).
3. by the section of jurisdiction intelligent splicing system of the described shield excavation machine of claim 1, it is characterized in that described section of jurisdiction location recognition and analysis module (B) be made up of stereo visual system (6) and nerve network control system (7), and be connected in series; Wherein stereo visual system (6) with aim at section of jurisdiction to be installed (15) and the mode of tubulature sheet (16) fix, nerve network control system (7) is connected with elevating ram (8), translation oil cylinder (9), rotary motor (10), deflection oil cylinder (11), pitching oil cylinder (12) and rolling oil cylinder (13) in the section of jurisdiction location and installation module (C).
4. press the section of jurisdiction intelligent splicing system of the described shield excavation machine of claim 1, it is characterized in that described section of jurisdiction location and installation module (C) is made up of elevating ram (8), translation oil cylinder (9), rotary motor (10), deflection oil cylinder (11), pitching oil cylinder (12), rolling oil cylinder (13), wherein elevating ram (8) is installed with the tunnel radial parallel, translation oil cylinder (9) is installed with the tunnel axially parallel, deflection oil cylinder (11), pitching oil cylinder (12) and rolling oil cylinder (13) are connected in parallel, and the axis of rotary motor (10) and tunnel axially parallel are installed.
5. press the section of jurisdiction intelligent splicing system of the described shield excavation machine of claim 3, it is characterized in that described nerve network control system (7) is made up of multi-channel analog input channel (D), neuron controller and multi-channel analog output channel (E), wherein multi-channel analog input channel (D) is made up of variable connector and A/D converter, and is connected in series; Multi-channel analog output channel (E) is formed, and is connected in series by D/A converter, anti-variable connector; The input of neuron controller is connected with the A/D converter of multi-channel analog input channel (D), and the output of neuron controller is connected with the D/A converter of multi-channel analog output channel (E).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205407558U CN201818317U (en) | 2010-09-21 | 2010-09-21 | Duct piece intelligent assembling system of shield tunnelling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205407558U CN201818317U (en) | 2010-09-21 | 2010-09-21 | Duct piece intelligent assembling system of shield tunnelling machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201818317U true CN201818317U (en) | 2011-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205407558U Expired - Fee Related CN201818317U (en) | 2010-09-21 | 2010-09-21 | Duct piece intelligent assembling system of shield tunnelling machine |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102359384A (en) * | 2011-09-21 | 2012-02-22 | 上海隧道工程股份有限公司 | Separation wall duct piece splicing device in tunnel |
| CN103510963A (en) * | 2013-10-27 | 2014-01-15 | 吉林大学 | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method |
| CN106979019A (en) * | 2017-05-25 | 2017-07-25 | 中交第二航务工程局有限公司 | A kind of pipe sheet assembling cabin structure for burst prefabrication and assembly construction underground pipe gallery |
| CN107542481A (en) * | 2016-06-28 | 2018-01-05 | 成都航天烽火精密机电有限公司 | Spell coating apparatus in the section of jurisdiction of hole tunnel/tunnel wall |
| CN108104834A (en) * | 2018-01-05 | 2018-06-01 | 杭州图溪科技有限公司 | Shield duct piece automatic assembling method and system |
| CN109736836A (en) * | 2019-01-22 | 2019-05-10 | 长沙理工大学 | A kind of shield machine segment automatic assembling method based on Tag code vision measurement |
| CN109826648A (en) * | 2019-04-22 | 2019-05-31 | 中国铁建重工集团有限公司 | A kind of binocular pipe sheet assembling identifying system and its assembled recognition methods |
| CN109891052A (en) * | 2016-10-04 | 2019-06-14 | 布伊古公共工程公司 | For automatic Picking and section of jurisdiction is laid with to form the device and method of tunnel-liner |
| CN109947117A (en) * | 2019-04-19 | 2019-06-28 | 辽宁工业大学 | A kind of servo synchronization control system and control method suitable for monocular vision logistics distribution trolley |
| CN111335356A (en) * | 2020-04-01 | 2020-06-26 | 北京建工土木工程有限公司 | Automatic assembling system for pipe culvert prefabricated part and construction method |
| CN112065434A (en) * | 2020-10-12 | 2020-12-11 | 郑州轻工业大学 | Full-automatic low-clearance duct piece conveyor based on binocular vision technology and duct piece conveying method |
| 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 |
-
2010
- 2010-09-21 CN CN2010205407558U patent/CN201818317U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102359384A (en) * | 2011-09-21 | 2012-02-22 | 上海隧道工程股份有限公司 | Separation wall duct piece splicing device in tunnel |
| CN103510963A (en) * | 2013-10-27 | 2014-01-15 | 吉林大学 | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method |
| CN103510963B (en) * | 2013-10-27 | 2015-06-24 | 吉林大学 | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method |
| CN107542481A (en) * | 2016-06-28 | 2018-01-05 | 成都航天烽火精密机电有限公司 | Spell coating apparatus in the section of jurisdiction of hole tunnel/tunnel wall |
| CN109891052A (en) * | 2016-10-04 | 2019-06-14 | 布伊古公共工程公司 | For automatic Picking and section of jurisdiction is laid with to form the device and method of tunnel-liner |
| CN106979019B (en) * | 2017-05-25 | 2023-09-12 | 中交第二航务工程局有限公司 | Segment assembly cabin structure for segment prefabricated underground pipe gallery |
| CN106979019A (en) * | 2017-05-25 | 2017-07-25 | 中交第二航务工程局有限公司 | A kind of pipe sheet assembling cabin structure for burst prefabrication and assembly construction underground pipe gallery |
| CN108104834B (en) * | 2018-01-05 | 2019-08-20 | 杭州图溪科技有限公司 | Shield duct piece automatic assembling method and system |
| CN108104834A (en) * | 2018-01-05 | 2018-06-01 | 杭州图溪科技有限公司 | Shield duct piece automatic assembling method and system |
| CN109736836A (en) * | 2019-01-22 | 2019-05-10 | 长沙理工大学 | A kind of shield machine segment automatic assembling method based on Tag code vision measurement |
| CN109736836B (en) * | 2019-01-22 | 2020-08-28 | 长沙理工大学 | Automatic shield tunneling machine segment assembling method based on Tag code visual measurement |
| CN109947117A (en) * | 2019-04-19 | 2019-06-28 | 辽宁工业大学 | A kind of servo synchronization control system and control method suitable for monocular vision logistics distribution trolley |
| CN109826648A (en) * | 2019-04-22 | 2019-05-31 | 中国铁建重工集团有限公司 | A kind of binocular pipe sheet assembling identifying system and its assembled recognition methods |
| CN111335356A (en) * | 2020-04-01 | 2020-06-26 | 北京建工土木工程有限公司 | Automatic assembling system for pipe culvert prefabricated part and construction method |
| CN112065434B (en) * | 2020-10-12 | 2021-07-02 | 郑州轻工业大学 | Full-automatic low-clearance duct piece conveyor based on binocular vision technology and duct piece conveying method |
| CN112065434A (en) * | 2020-10-12 | 2020-12-11 | 郑州轻工业大学 | Full-automatic low-clearance duct piece conveyor based on binocular vision technology and duct piece conveying method |
| 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 |
| CN113184678B (en) * | 2021-06-08 | 2022-01-28 | 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 |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110504 Termination date: 20110921 |