CN215565965U - Automatic handling system of section of jurisdiction - Google Patents

Abstract

The utility model discloses an automatic hoisting system for a shield machine duct piece, which belongs to the technical field of shield machines and comprises an identification detection control unit, a wireless communication device and a carrying device, wherein the identification detection control unit can detect the space attitude information of the duct piece and is used for attitude adjustment and action logic control of the hoisting device. The wireless communication device can realize the communication between the segment hoisting equipment and the segment carrying equipment, the device can automatically complete the hoisting of segments of the shield machine, the manual hoisting period is shortened, the construction cost of the shield machine is saved, the segment automatic hoisting system can effectively detect the posture information of the hoisted segments, the hoisting device and the loading device establish a wireless communication link, the state information of the segments is transmitted in real time, the automatic hoisting work is carried out more efficiently and safely, and the problems of operation construction safety and hoisting risk can be solved.

Description

Automatic handling system of section of jurisdiction

Technical Field

The utility model relates to the technical field of shield tunneling machines, in particular to an automatic hoisting system for pipe sheets.

Background

In the traditional shield construction process, the segment is lifted and transported by remote control of field workers, and the requirement on the proficiency of the operators is high. The segment lifting process has the characteristics of repeatability, rigor and the like, can be replaced by an automatic process, and improves the construction efficiency.

In the tunnel outer duct piece transport vechicle transported the tunnel with the section of jurisdiction, manual operation section of jurisdiction lifting device snatched the section of jurisdiction, and the section of jurisdiction after snatching lifts by crane and transports to feeding machine region, accurately places the handling section of jurisdiction at feeding machine end, loads by manual operation feeding machine again, and the delivery section of jurisdiction is regional to the erector, accomplishes the handling operation of a section of jurisdiction. At present, the segment is hoisted by generally adopting a mechanical locating pin type grabbing mode, personnel operate the segment to grab the posture position of the hoisting device which needs to be accurately adjusted, the control precision requirement is high, the requirement on the operating proficiency of the personnel is also high, and the operation error is easy to occur. Based on the technical scheme, the utility model designs an automatic hoisting system for the pipe slices to solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic lifting system for a shield machine duct piece, which can effectively detect the posture information of the lifted duct piece, establish a wireless communication link between a lifting device and a loading device, transmit the state information of the duct piece in real time, more efficiently and safely carry out automatic lifting work, and solve the problems of operation construction safety and lifting risk.

In order to achieve the purpose, the utility model provides the following technical scheme: an automatic lifting system for duct pieces comprises an identification detection control unit, a wireless communication device and a carrying device, wherein the identification detection control unit is used for detecting space attitude information of the duct pieces and adjusting lifting attitudes and performing action logic control; the wireless communication device is used for realizing communication between the segment hoisting equipment and the segment carrying equipment and detecting the motion states of the segment hoisting equipment and the segment carrying equipment; the carrying device judges the state position of the carrying duct piece through the limiting detection devices arranged on the dragging mechanism and the jacking mechanism, carries the duct piece to the area of the erector, and sends the duct piece in-place signal to the hoisting equipment through the wireless communication device to hoist the next duct piece.

Preferably, discernment detection control unit is section of jurisdiction hoist and intelligent camera, arrange the location round hole on two intelligent cameras of installation dynamic identification section of jurisdiction respectively on the section of jurisdiction hoist, analytic current section of jurisdiction space coordinate, the section of jurisdiction hoist can carry out the electricity to the overhead hoist gesture and drive the adjustment, the section of jurisdiction hoist snatchs the section of jurisdiction through adjusting the left and right sides locating pin, accurate positioning.

Preferably, the intelligent camera comprises a segment image recognition module and an image noise reduction module, provides a segment space position coordinate, analyzes and processes the intelligent camera analysis coordinate through an upper computer end, sends an action instruction and an action distance and sends information to the PLC logic controller, and controls the segment lifting appliance actuating mechanism to act.

Preferably, the wireless communication device is arranged on the segment lifting appliance for equipment communication, and sends a grabbing completion action signal.

Preferably, the carrying device is a sheet feeder, a wireless signal receiving device is deployed at the end of the sheet feeder, the wireless signal receiving device remotely receives signals of the wireless communication device, the signals are transmitted to the sheet feeder and automatically loaded through a dragging mechanism and a jacking mechanism, and the carrying device carries the duct pieces to the splicing area.

Compared with the prior art, the utility model has the beneficial effects that: the utility model automatically finishes the lifting of the shield machine segment, shortens the manual lifting period and saves the construction cost of the shield machine. This automatic handling system of section of jurisdiction passes through the analytic current section of jurisdiction space coordinate of intelligent camera, can effectively detect handling section of jurisdiction gesture information, and handling device and loading attachment establish wireless communication link, real-time transmission section of jurisdiction state information carries out automatic handling work more high-efficiently safely, can solve operation construction safety and handling risk problem.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the installation of the automatic segment handling equipment of the present invention;

fig. 2 is a logic diagram of automatic handling of duct pieces according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

the method comprises the following steps of 1-segment lifting appliance, 2-intelligent camera, 3-wireless communication device, 4-positioning pin and 5-positioning round hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution: an automatic hoisting system for pipe slices comprises an identification detection control unit, a wireless communication device 3 and a carrying device;

discernment detection control unit is used for detecting section of jurisdiction space gesture information, adjust and action logic control the handling gesture, it is concrete, discernment detection control unit is section of jurisdiction hoist 1 and smart camera 2, arrange on the section of jurisdiction hoist 1 and install two smart cameras 2 location round holes 5 on the dynamic identification section of jurisdiction respectively, current section of jurisdiction space coordinate is analytic, section of jurisdiction hoist 1 can drive the adjustment to the overhead hoist gesture of electricity, section of jurisdiction hoist 1 is through adjusting left and right sides locating pin 4, the section of jurisdiction is snatched in the accurate positioning.

The intelligent camera 2 comprises a segment image recognition module and an image noise reduction module, provides a segment space position coordinate, analyzes and processes the analytic coordinate of the intelligent camera 2 through an upper computer end, sends an action instruction and an action distance and sends information to a PLC (programmable logic controller), and controls the action of an actuating mechanism of the segment lifting appliance 1.

The wireless communication device 3 realizes the communication between the segment hoisting equipment and the segment carrying equipment, detects the motion states of the segment hoisting equipment and the segment carrying equipment, and the wireless communication device 3 is installed on the segment lifting appliance 1 for equipment communication and sends a grabbing completion action signal.

The carrying device judges the state position of carrying segments through the limiting detection devices arranged on the dragging mechanism and the jacking mechanism, carries the segments to the area of the erector, and the segment in-place signal can be lifted and transported by the next segment through the wireless communication device 3 to the lifting device. Specifically, the carrying device is a sheet feeder, a wireless signal receiving device is deployed at the end of the sheet feeder, the wireless signal receiving device remotely receives signals of the wireless communication device 3, the signals are transmitted to the sheet feeder and automatically loaded through a dragging mechanism and a jacking mechanism, and the carrying device carries the duct pieces to an assembling area.

As shown in fig. 1, a segment lifting appliance 1 picks a segment by means of accurate positioning of a positioning pin 4, the segment lifting appliance 1 is provided with two intelligent cameras 2 for respectively adjusting the positioning pins 4 on the left and right sides, a dynamic identification positioning round hole 5 for resolving the space coordinate of the current segment, and segment picking actions are completed by accurately adjusting the posture of the segment lifting appliance 1.

When the segment grabbing action is completed, the wireless communication device 3 is used for carrying out equipment communication and sending grabbing completion action signals, the wireless signal receiving device is deployed at the end part of the segment feeding machine, and the signals are received to carry out segment feeding machine automatic action initialization. And releasing the segment lifting appliance 1 to complete the automatic loading action of the segment feeding machine and carrying the segments to an assembling area. The segment release signal is sent to the segment lifting tool 1 through the wireless communication device 3, and the segment lifting tool 1 can perform next segment lifting action.

As shown in fig. 2, for segment automatic lifting logic, the intelligent camera 2 can identify the type of segment to be grabbed, a proper image preprocessing method is selected according to the segment type, image marking is realized after Huogh transformation identification preprocessing, the segment type, the positioning hole distance, the prior information of the positioning holes and the grouting holes on the same straight line are utilized at the processor end to judge the position of the positioning round hole 5, the action direction and the distance of the segment lifting appliance 1 are calculated according to the position information and the current position information of the positioning round hole 5, the upper computer end sends the action information to the PLC logical controller, and the action of the segment lifting appliance 1 is controlled.

The segment transport vehicle is used for loading segments and placing the segments in a designated area, the intelligent camera 2 installed on the segment lifting appliance 1 identifies segment positioning hole marks, image interference factors are removed through image noise reduction algorithm processing, and effective information of the segment positioning marks is extracted. Image sign fuzzifies, binaryzation is handled and is analyzed section of jurisdiction spatial position coordinate, and the host computer end carries out analysis processes to the analytic coordinate of intelligent camera 2 and sends action instruction and action distance to PLC logic controller, and control section of jurisdiction hoist 1 carries out the gesture adjustment, can accurately insert the location round hole 5 of section of jurisdiction up to locating pin 4 of section of jurisdiction hoist 1, accomplishes the automatic action of snatching of section of jurisdiction. The segment grabbing completion signal is sent to the segment carrying device through the wireless communication device 3 by the segment lifting appliance 1, the segment feeding machine end receives the grabbing completion signal to perform initialization action, the segment lifting appliance 1 performs automatic logic action, the segment carrying device carries the segment action to a target area, and the segment release is performed. The segment release completion signal is transmitted to the segment lifting appliance 1 through the wireless communication device 3, otherwise, the attitude adjustment of the segment lifting appliance 1 is carried out.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the utility model to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best utilize the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims (5)

1. The automatic lifting system for the duct pieces is characterized by comprising an identification detection control unit, a wireless communication device (3) and a carrying device, wherein the identification detection control unit is used for detecting space attitude information of the duct pieces and adjusting lifting attitudes and performing action logic control; the wireless communication device (3) is used for realizing communication between the segment hoisting equipment and the segment carrying equipment and detecting the motion states of the segment hoisting equipment and the segment carrying equipment; the carrying device judges the state position of the carrying segment through the limiting detection devices arranged on the dragging mechanism and the jacking mechanism, carries the segment to the area of the erector, and sends the segment in-place signal to the hoisting equipment through the wireless communication device (3) so as to hoist the next segment.

2. The automatic handling system of pipe piece of claim 1, characterized in that: discernment detection control unit is section of jurisdiction hoist (1) and intelligent camera (2), arrange on section of jurisdiction hoist (1) two intelligent cameras of installation (2) location round hole (5) on the dynamic identification section of jurisdiction respectively, resolve current section of jurisdiction space coordinate, section of jurisdiction hoist (1) can carry out the electricity to the overhead hoist gesture and drive the adjustment, section of jurisdiction hoist (1) snatchs the section of jurisdiction through adjustment left and right sides locating pin (4), accurate positioning.

3. The automatic handling system of pipe piece of claim 2, characterized in that: the intelligent camera (2) comprises a segment image recognition module and an image noise reduction module, provides a segment space position coordinate, analyzes and processes the analysis coordinate of the intelligent camera (2) through an upper computer end, sends an action instruction and an action distance and sends information to the PLC logic controller, and controls the action of an actuating mechanism of the segment lifting appliance (1).

4. The automatic handling system of pipe piece of claim 1, characterized in that: the wireless communication device (3) is arranged on the segment lifting appliance (1) for equipment communication, and sends a grabbing completion action signal.

5. The automatic handling system of pipe piece of claim 4, characterized in that: the carrying device is a sheet feeder, a wireless signal receiving device is deployed at the end of the sheet feeder, the wireless signal receiving device remotely receives signals of the wireless communication device (3), the signals are transmitted to the sheet feeder and automatically loaded through a dragging mechanism and a jacking mechanism, and the duct pieces are carried to an assembling area.

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