CN215057467U - Pipe piece hoisting system - Google Patents
Pipe piece hoisting system Download PDFInfo
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- CN215057467U CN215057467U CN202121087776.3U CN202121087776U CN215057467U CN 215057467 U CN215057467 U CN 215057467U CN 202121087776 U CN202121087776 U CN 202121087776U CN 215057467 U CN215057467 U CN 215057467U
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Abstract
The utility model relates to a section of jurisdiction handling system. Segment handling system includes: the trailer is fixedly provided with a walking beam; the segment crane is used for hoisting segments, is hung on the walking beam and walks on the walking beam along the front-back direction of the tunnel; the first driving device is connected with the segment crane to drive the segment crane to travel; the segment unloading device is arranged on the trailer and used for supporting the segments; the manipulator is positioned behind the segment crane, is hung on the walking beam and walks on the walking beam along the front-back direction of the tunnel; the second driving device is connected with the manipulator to drive the manipulator to walk; a connecting pin supply device equipped with a plurality of connecting pins to supply the connecting pins to the robot; and the gripper is arranged on the manipulator and used for gripping the connecting pin and the skid above the duct piece. Above-mentioned section of jurisdiction handling system has realized the automation of bolt and skid and has snatched, has reduced the cost of labor, has ensured personal safety, is favorable to improving the efficiency of construction of section of jurisdiction handling simultaneously.
Description
Technical Field
The utility model relates to a section of jurisdiction handling system.
Background
When the tunnel boring machine carries out tunnel construction, the duct pieces to be assembled are conveyed to a shield machine rear matching duct piece unloading area through marshalling stock or a multifunctional transport vehicle (MSV), and the duct pieces are conveyed to a duct piece assembling machine for assembling through a series of actions such as an unloading device, a lifting device and a transfer device.
Marshalling or multi-functional transport vechicle usually transport two pile or three pile of section of jurisdiction to satisfy the quantity of a ring section of jurisdiction, the side department of every section of jurisdiction all opens has the pinhole, need insert in the pinhole with connecting pin one end before assembling the section of jurisdiction, aims at last ring pipe piece pinhole by the erector again and assembles, with this stability that strengthens the section of jurisdiction between ring and the ring. In addition, because all there is the skid that is used for keeping apart, protection section of jurisdiction between every pile of section of jurisdiction, after the section of jurisdiction is got in the section of jurisdiction loop wheel machine hoist, the skid will be stayed on next section of jurisdiction, needs the operating personnel manual skid of leaving over on getting rid of the section of jurisdiction, just can realize that the section of jurisdiction loop wheel machine snatchs next section of jurisdiction.
The connecting pin is usually inserted into the duct piece manually in the current tunnel construction, a plurality of operators are required to work simultaneously in the mode, the efficiency is low, the labor cost is high, and potential safety hazards exist. The method for taking the skid is also manually completed, and a constructor generally stands on the pipe piece or marshalling to take the skid down; in some construction projects, operators firstly drop the skid from the pipe piece into the tunnel, and then enter the tunnel to pick up the skid. However, from the perspective of safe construction, these methods are very likely to cause accidents, resulting in casualties.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a section of jurisdiction handling system to solve among the prior art artifical with the connecting pin insert the section of jurisdiction and the artifical mode of taking the skid cause accident's problem easily.
In order to achieve the above object, the utility model discloses section of jurisdiction handling system's technical scheme is:
segment handling system includes:
the trailer is fixedly provided with a walking beam;
the segment crane is used for hoisting segments, is hung on the walking beam and walks on the walking beam along the front-back direction of the tunnel;
the first driving device is connected with the segment crane to drive the segment crane to travel;
the segment unloading device is arranged on the trailer and used for supporting the segments;
the manipulator is positioned behind the segment crane, is hung on the walking beam and walks on the walking beam along the front-back direction of the tunnel;
the second driving device is connected with the manipulator to drive the manipulator to walk;
a connecting pin supply device equipped with a plurality of connecting pins to supply the connecting pins to the robot;
and the gripper is arranged on the manipulator and used for gripping the connecting pin and the skid above the duct piece.
The beneficial effects are that: the utility model discloses a section of jurisdiction handling system has realized that the automation of bolt and skid snatchs, is favorable to improving the whole efficiency of construction of section of jurisdiction handling and assembly, only needs a small amount of necessary supplementary constructor moreover, has reduced the cost of labor, has improved section of jurisdiction handling system's intellectuality, has ensured constructor's personal safety simultaneously, satisfies domestic and foreign contractor to the demand of automatic section of jurisdiction handling system increase day by day.
Furthermore, the manipulator is provided with a recognition device, and the recognition device is used for recognizing the shapes and the positions of the connecting pins and the skid.
The beneficial effects are that: design like this, can improve the manipulator and snatch the degree of accuracy of connecting pin and skid.
Further, the recognition device is an image recognition device or a laser recognition device.
The beneficial effects are that: the image recognition device or the laser recognition device is an existing mature product, and is beneficial to recognizing the shapes and the positions of the connecting pin and the skid.
Further, the connecting pin supply device is an automatic position supplementing supply device.
The beneficial effects are that: design like this for each connecting pin that the manipulator snatched all is in the same position, with the position adjustment who reduces the manipulator, is favorable to the manipulator to snatch the connecting pin.
Furthermore, automatic position supplementing and supplying device includes the box, is equipped with pressure spring and supporting seat in the box, and the pressure spring is used for applying ascending elastic force to the supporting seat, and each connecting pin from top to bottom arranges in proper order, and the connecting pin of below supports on the supporting seat.
The beneficial effects are that: the automatic position supplementing and supplying device is simple and easy to realize automatic position supplementing of the connecting pin.
Further, the segment handling system further comprises a skid collecting box, and the skid collecting box is arranged on a platform of the trailer.
The beneficial effects are that: design like this, after multi-functional transport vechicle reaches, on removing to multi-functional transport vechicle through the lumber skid collecting box that will be equipped with the lumber skid, can reduce the transport number of times of lumber skid, improve work efficiency.
Further, the number of the segment unloading devices is two, and the skid collecting box is arranged between the two segment unloading devices in the front-rear direction.
The beneficial effects are that: design like this is favorable to snatching the section of jurisdiction on two section of jurisdiction uninstallation devices to the skid collecting box in.
Furthermore, the skid collecting boxes are arranged in two numbers, and the two skid collecting boxes are respectively arranged on the left side and the right side of the walking beam.
The beneficial effects are that: design like this for the ascending size of single lumber skid collecting box is less in the left and right sides, avoids the lumber skid collecting box to influence staff's walking space.
Further, the connecting pin and the skid share the manipulator.
The beneficial effects are that: by the design, not only is the cost reduced, but also the structure is simplified.
Furthermore, an interlock is arranged between the first driving device and the second driving device so as to avoid the interference of the segment crane and the manipulator.
The beneficial effects are that: by the design, the automatic operation of the segment lifting system can be ensured.
Drawings
Fig. 1 is a schematic structural diagram of the segment lifting system of the present invention;
FIG. 2 is a schematic view of a robot grasping a connecting pin;
FIG. 3 is a schematic view of a robot inserting a connecting pin to a segment;
FIG. 4 is a cross-sectional view of a segment ready-to-insert connector pin;
FIG. 5 is a cross-sectional view of the robot inserting the connecting pin;
FIG. 6 is a top view of the robot pushing the skid to move;
FIG. 7 is a schematic view of a robot gripping skid;
FIG. 8 is a cross-sectional view of a robot gripping skid;
in the figure: 1. a tube sheet ring; 2. a trailer; 3. a segment trolley; 4. a connecting pin supply device; 5. a connecting pin; 6. a walking beam; 7. a duct piece; 8. a segment unloading device; 9. a segment crane; 10. wood padding; 11. a skid collecting box; 12. a manipulator; 13. a walking device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present 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 invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as 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 invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. Furthermore, the terms "upper" and "lower" are based on the orientation and positional relationship shown in the drawings and are only for convenience of description of the present invention, and do not indicate that the referred device or component must have a specific orientation, and thus, should not be construed as limiting the present invention.
The features and properties of the present invention are described in further detail below with reference to examples.
The utility model discloses segment handling system's embodiment 1:
as shown in fig. 1 and 4, the segment handling system comprises a trailer 2 and a segment unloading device 8, the traveling direction of the trailer 2 is the front-back direction, two walking beams 6 are fixedly arranged at the top of the trailer 2, the two walking beams 6 are arranged at intervals along the left-right direction, and the two walking beams 6 have the same height. Wherein, the walking beam 6 is provided with a rack track.
In this embodiment, the segment unloading device 8 is provided on the trailer 2, and the segment unloading device 8 is used to support the segment 7. Wherein, every section of jurisdiction uninstallation device 8 supports three section of jurisdiction 7, is equipped with skid 10 between two adjacent section of jurisdiction 7 to protection section of jurisdiction 7 can not damage. Wherein, segment uninstallation device 8 has two at the fore-and-aft direction interval arrangement, and all segments 7 on two segment uninstallation devices 8 can splice into a segment ring 1. In other embodiments, the number of segment offloading devices may be set as desired, such as one or more than three.
In this embodiment, the segment cranes 9 and the manipulators 12 are suspended on the two walking beams 6, the segment cranes 9 are used for hoisting the segments 7, and the segment cranes 9 are connected with the first driving device and driven by the first driving device so as to walk on the walking beams 6 in the front-back direction of the tunnel.
In this embodiment, the manipulator 12 is located behind the segment crane 9, and the manipulator 12 is connected to and driven by the second driving device to travel on the travel beam 6 in the front-rear direction of the tunnel. Wherein the second driving device is a walking device 13.
In the embodiment, the manipulator 12 is provided with a gripper and a recognition device, the gripper has six degrees of freedom, rotation in three directions and translation in three directions can be realized, and the gripper is used for gripping the connecting pin 5 and the skid 10 above the duct piece 7; the recognition device can recognize the shapes of the connecting pin 5 and the skid 10 to quickly and accurately grab the connecting pin 5 and the skid 10, and can also recognize the position of the pin hole in the duct piece 7 to ensure that the connecting pin 5 is accurately inserted into the pin hole. The identification device is an image identification device, such as a CCD industrial camera, which is an existing mature product, and the structure and operation principle thereof are not described in detail herein. In other embodiments, the identification device is a laser identification device, which is an existing mature product.
The first driving device and the second driving device have the same structure, and for example, the second driving device includes a driving motor and a gear, the gear is engaged with the rack track on the walking beam 6, and when the driving motor drives the gear to rotate, the second driving device moves on the walking beam 6, and further drives the manipulator 12 to move.
As shown in fig. 1, the connecting pin supply device 4 is placed on the right platform of the trailer 2, wherein the connecting pin supply device 4 is an automatic replenishment supply device. Concretely, automatic supply device that mends includes the box, is equipped with pressure spring and supporting seat in the box, and the pressure spring is used for applying ascending elastic force to the supporting seat, and each connecting pin 5 from top to bottom arranges in proper order, and connecting pin 5 below supports on the supporting seat, and after connecting pin 5 the top was grabbed away by manipulator 12, under the effect of pressure spring, the vacancy is mended automatically to connecting pin 5 to realize automatic feeding.
As shown in fig. 1 and 6, the segment handling system further comprises a skid collecting box 11, and the skid collecting box 11 is arranged on the platform of the trailer 2; the skid collecting boxes 11 are arranged in two, the two skid collecting boxes 11 are arranged between the two segment unloading devices 8 in the front-back direction and are respectively arranged on the left side and the right side of the walking beam 6, and the design is carried out so that the size of the single skid collecting box 11 in the left-right direction is smaller, and the skid collecting box 11 is prevented from influencing the walking space of workers.
In this embodiment, the connecting pin 5 and the skid 10 share the manipulator 12 for grasping, and the first driving device and the second driving device are provided with an interlock and a safety distance to avoid interference or collision caused by simultaneous actions of the segment crane 9 and the manipulator 12. When the segment crane 9 hoists the segment 7 to the position right above the segment trolley 3, the manipulator 12 can grab the pin and the bolt. In addition, the manipulator 12 can complete the grabbing of the skid 10 by utilizing the time for placing the duct piece 7 by the duct piece crane 9, so that the normal transfer efficiency of the duct piece can not be influenced.
The specific working process of the segment lifting system is as follows:
step 1: the multifunctional transport vehicle transports the segments 7 to an unloading area, and the segment unloading device 8 acts to unload the stacks of segments 7. The segment crane 9 moves backward from the upper side of the segment trolley 3 to the position right above the segment 7, at this time, as shown in fig. 1, the manipulator 12 and the segment crane 9 keep a safe distance, the manipulator 12 does not move, and the segment crane 9 lifts the segment 7 to move forward to the position right above the segment trolley 3 and rotates the segment 7 to 90 degrees.
Step 2: as shown in fig. 2, after the segment crane 9 is in place, the manipulator 12 moves forward to the connecting pin supply device 4, and the manipulator 12 acts to identify the position of the connecting pin 5 through the identification device and grab the connecting pin; after the connecting pins 5 are grabbed, as shown in fig. 3 to 5, the manipulator 12 moves upwards first, then continues to move forwards to the side end of the segment 7 in a small range, and then the pin hole positions are identified by the identification device and the connecting pins 5 are inserted until the pin holes of the segment 7 are full of the connecting pins 5.
And step 3: after the bolt is completed, the manipulator 12 moves backwards to the position above the segment 7 to be ready to grab the skid 10, and at the moment, the segment crane 9 synchronously moves downwards to the segment trolley 3 to put down the segment 7. After the segment crane 9 is used for placing the segment 7, the segment crane moves upwards to the original position and rotates 90 degrees to prepare for hoisting the next segment 7.
And 4, step 4: as shown in fig. 6, the recognition means carried by the robot arm 12 recognizes the position of the skid 10, moves to the left end skid 10 and pushes the skid 10 close to another skid 10; then, as shown in fig. 7 and 8, two skids 10 are simultaneously grabbed and placed in the skid collecting boxes 11 on the left and right of the trailer 2.
And 5: after the manipulator 12 has placed the skid 10, it moves backward to the original position, and waits for the next cycle of operation, the segment crane 9 starts moving backward to above the segment 7, and a new cycle of operation starts.
Step 6: after the bolt is completed to the last segment 7 lifted by the segment crane 9, the manipulator 12 moves backwards to the skid collecting box 11 to grab the skid collecting box 11 and continues to move to the rightmost end of the walking beam 6, the multifunctional transport vehicle waits for the new segment 7 to be unloaded, the multifunctional transport vehicle moves to the lower part of the manipulator 12 after unloading the segment, the manipulator 12 places the skid collecting box 11 provided with the skid 10 on the multifunctional transport vehicle and sends out of the tunnel, and the skid collecting box 11 overhead on the multifunctional transport vehicle is placed on the trailer 2. Finally, the manipulator 12 moves forward to the original position of the segment handling cycle, and a new handling action cycle is started.
The utility model discloses a section of jurisdiction handling system has realized that the automation of bolt and skid snatchs, is favorable to improving the whole efficiency of construction of section of jurisdiction handling and assembly, only needs a small amount of necessary supplementary constructor moreover, has reduced the cost of labor, has improved section of jurisdiction handling system's intellectuality, has ensured constructor's personal safety simultaneously, satisfies domestic and foreign contractor to the demand of automatic section of jurisdiction handling system increase day by day.
The utility model discloses segment handling system's embodiment 2:
the present embodiment is different from embodiment 1 in that in embodiment 1, a recognition device for recognizing the shapes of the connecting pins 5 and the skid 10 is provided on the robot arm 12 to automatically and accurately grasp the connecting pins 5 and the skid 10. In this embodiment, not set up recognition device on the manipulator, staff manual control manipulator to automatic accurate snatch connecting pin and skid.
The utility model discloses embodiment 3 of section of jurisdiction handling system:
the present embodiment is different from embodiment 1 in that in embodiment 1, the connecting pin supplying device 4 is an automatic padding supplying device. In this embodiment, the connecting pin supply device cannot automatically compensate the position, and the connecting pin supply device includes a support frame, and the support frame has a plurality of jacks thereon, and a connecting pin is inserted in each jack, and the manipulator snatchs one of the connecting pins at a time, wherein, the jacks can be arranged in an array.
The utility model discloses segment handling system's embodiment 4:
the difference between this embodiment and embodiment 1 is that, in embodiment 1, the automatic supply device for supplementing a position includes a box, a pressure spring and a supporting seat are arranged in the box, the pressure spring is used for applying an upward elastic acting force to the supporting seat, each connecting pin 5 is sequentially arranged from top to bottom, the connecting pin 5 at the lowest part is supported on the supporting seat, and after the connecting pin 5 at the highest part is grabbed away by the manipulator 12, the connecting pin 5 automatically supplements a vacant position under the action of the pressure spring, so as to realize automatic supply. In this embodiment, automatic supply device that mends includes the support frame, is equipped with the hang plate on the support frame, and the hang plate sets up along left right direction slope, and the connecting pin is arranged on the hang plate from left to right in proper order, and after the connecting pin of below was snatched, under the action of gravity, the connecting pin can automatic replenishment vacancy to realize automatic feeding.
The utility model discloses segment handling system's embodiment 5:
the difference between the embodiment and the embodiment 1 is that in the embodiment 1, the segment handling system comprises a skid collecting box 11, the skid collecting box 11 is arranged on the platform of the trailer 2, and a skid 10 grabbed by a manipulator 12 is placed in the skid collecting box 11. In this embodiment, not set up the lumber skid collecting box, the lumber skid after the collection is put on the platform of trailer earlier, arrives after multi-functional transport vechicle, places the lumber skid again and transports outside the tunnel on multi-functional transport vechicle.
The utility model discloses segment handling system's embodiment 6:
the present embodiment is different from embodiment 1 in that in embodiment 1, the connecting pin 5 and the skid 10 share the robot arm 12 to simplify the structure. In this embodiment, set up two sets of manipulators, one set of manipulator snatchs the connecting pin, and another set of manipulator snatchs the lumber skid, and every set of manipulator corresponds a second drive arrangement, is equipped with the interlocking between two second drive arrangements to avoid interfering. Wherein, the manipulator for grabbing the connecting pin is positioned in front of the manipulator for grabbing the skid.
The above description is only for the preferred embodiment of the present invention, and the present invention is not limited thereto, the protection scope of the present invention is defined by the claims, and all structural changes equivalent to the contents of the description and drawings of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Segment handling system, its characterized in that includes:
the trailer (2) is fixedly provided with a walking beam (6);
the segment crane (9) is used for lifting segments (7), and the segment crane (9) is hung on the walking beam (6) and walks on the walking beam (6) along the front-back direction of the tunnel;
the first driving device is connected with the segment crane (9) to drive the segment crane (9) to travel;
a segment unloading device (8) arranged on the trailer (2) and used for supporting the segment (7);
the manipulator (12) is positioned behind the segment crane (9), and the manipulator (12) is hung on the walking beam (6) and walks on the walking beam (6) along the front-back direction of the tunnel;
the second driving device is connected with the manipulator (12) to drive the manipulator (12) to move;
a connecting pin supply device (4) equipped with a plurality of connecting pins (5) to supply the connecting pins (5) to the robot (12);
and the gripper is arranged on the manipulator (12) and is used for gripping the skid (10) above the connecting pin (5) and the pipe piece (7).
2. The segment handling system of claim 1, wherein the manipulator (12) is provided with an identification device for identifying the shape and position of the connecting pin (5) and the skid (10).
3. The segment handling system of claim 2, wherein the recognition device is an image recognition device or a laser recognition device.
4. Segment handling system according to claim 1 or 2 or 3, where the connecting pin supply (4) is an automatic reseating supply.
5. The segment lifting system of claim 4, wherein the automatic position supplementing and supplying device comprises a box body, a pressure spring and a supporting seat are arranged in the box body, the pressure spring is used for applying upward elastic acting force to the supporting seat, the connecting pins (5) are sequentially arranged from top to bottom, and the connecting pin (5) at the lowest position is supported on the supporting seat.
6. A segment handling system according to claim 1, 2 or 3, further comprising a skid collection box (11), the skid collection box (11) being arranged on the platform of the trailer (2).
7. Segment handling system according to claim 6, where there are two segment unloading devices (8) and the skid collecting box (11) is located between the two segment unloading devices (8) in the front-rear direction.
8. The segment lifting system of claim 7, wherein two skid collecting boxes (11) are arranged, and the two skid collecting boxes (11) are respectively arranged on the left side and the right side of the walking beam (6).
9. Segment handling system according to claim 1 or 2 or 3, characterized in that the connecting pin (5) and skid (10) share the robot (12).
10. A segment handling system according to claim 9, wherein an interlock is provided between the first and second drives to avoid interference between the segment crane (9) and the robot (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121087776.3U CN215057467U (en) | 2021-05-20 | 2021-05-20 | Pipe piece hoisting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121087776.3U CN215057467U (en) | 2021-05-20 | 2021-05-20 | Pipe piece hoisting system |
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| Publication Number | Publication Date |
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| CN215057467U true CN215057467U (en) | 2021-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121087776.3U Active CN215057467U (en) | 2021-05-20 | 2021-05-20 | Pipe piece hoisting system |
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| CN (1) | CN215057467U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114165264A (en) * | 2021-12-17 | 2022-03-11 | 成都工投装备有限公司 | Automatic hoisting system for shield machine pipe pieces and construction method |
| CN114320346A (en) * | 2021-12-27 | 2022-04-12 | 中铁工程装备集团有限公司 | Segment conveying device and segment conveying method thereof |
| CN114320347A (en) * | 2021-12-27 | 2022-04-12 | 中铁工程装备集团有限公司 | Pipe piece hoisting system and hoisting method |
-
2021
- 2021-05-20 CN CN202121087776.3U patent/CN215057467U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114165264A (en) * | 2021-12-17 | 2022-03-11 | 成都工投装备有限公司 | Automatic hoisting system for shield machine pipe pieces and construction method |
| CN114320346A (en) * | 2021-12-27 | 2022-04-12 | 中铁工程装备集团有限公司 | Segment conveying device and segment conveying method thereof |
| CN114320347A (en) * | 2021-12-27 | 2022-04-12 | 中铁工程装备集团有限公司 | Pipe piece hoisting system and hoisting method |
| CN114320347B (en) * | 2021-12-27 | 2024-03-26 | 中铁工程装备集团有限公司 | Segment lifting system and method |
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