Fully automatic low headroom segment transporter and segment transport method based on binocular vision technology

Abstract

The invention discloses a full-automatic low-clearance segment conveyor based on binocular vision technology, which is used in conjunction with the track arranged on the top of the constructed tunnel, including a traveling mechanism, a segment pick-and-place mechanism and a mechanism for the traveling mechanism and pipe The power mechanism that provides power for the slice pick-and-place mechanism. The slice pick-and-place mechanism includes a lift pick-and-place device and a binocular camera; the lift pick-and-place device includes a long strip main frame; The forward and reverse hydraulic motor is used to connect the trapezoidal screw, the forward rotation part of the trapezoidal screw is threaded with the first moving block, and the anti-rotation part of the trapezoidal screw is threaded with the second moving block; the main frame is connected with the mounting plate downward , the binocular camera is installed on the mounting plate. The main body of the invention is installed in the track in the tunnel and is located on the same plane as the track, which meets the requirements of low headroom and automatic operation, adapts to the industry trend of miniaturization of shield machines, and improves work efficiency.

Description

technical field [0001] The invention relates to the technical field of shield tunneling, in particular to a segment conveying device. Background technique [0002] The shield machine is widely used in various underground tunnel construction sites around the world due to its high degree of automation, high construction efficiency, small disturbance to the ground, suitable for large depth and long distance operations, and many other advantages. [0003] With the continuous subdivision of the shield machine market, the miniaturization and low headroom operation of the shield machine have become an important development direction. The micro-shield machine can effectively save construction costs, shorten the construction period, and minimize the impact on the geological environment. [0004] During the entire construction process of the shield machine, segment assembly is one of the key processes of the whole set of equipment, and segment transportation is the "stuck neck" proce...

AI Technical Summary

Problems solved by technology

[0010] The common disadvantages of the above three types of segment conveyors are: the main parts of all existing conveyors cannot be arranged in the same plane as the track mechanism, cannot be arranged in the track, and occupy a large three-dimensional space in the up and down direction, so It is not suitable for low headroom work occasions, and cannot adapt to the industry trend of shield machine miniaturization

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