Method for positioning and grabbing duct pieces by erector, erector and heading machine

A technology for assembling machines and segments, which is applied in vertical shaft equipment, earthwork drilling, wellbore lining, etc., can solve the problems of low positioning and grabbing efficiency, achieve the effect of improving efficiency and quality, and improving working conditions

Pending Publication Date: 2022-05-13
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Some embodiments of the present invention propose a method for positioning and grabbing segments of an assembly

Method used

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  • Method for positioning and grabbing duct pieces by erector, erector and heading machine
  • Method for positioning and grabbing duct pieces by erector, erector and heading machine
  • Method for positioning and grabbing duct pieces by erector, erector and heading machine

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Example Embodiment

[0044]Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the invention and its application or use. The invention can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the invention thorough and complete, and fully express the scope of the invention to those skilled in the art. It should be noted that, unless otherwise specified, the relative arrangement of components and steps, the composition of materials, numerical expressions and values set forth in these embodiments should be interpreted as merely exemplary and not as a limitation.

[0045] The words "first", "second" and similar words used in the invention do not mean any order, quantity or importance, but are only used to distinguish different parts. Similar wor...

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PUM

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Abstract

The invention relates to a method for positioning and grabbing segments by an erector, the erector and a heading machine. The method comprises the following steps: enabling the erector to successfully position and grab standard segments; enabling the erector to release the standard segment, carrying a camera arranged on the erector to move forwards along an X axis by a first distance threshold value and move forwards along a Z axis by a second distance threshold value to reach a standard shooting position, enabling the camera to shoot the standard segment as a standard image, and recording standard telescopic parameters of each oil cylinder driving the erector to move at the moment; each oil cylinder is recovered to the initial state; enabling each oil cylinder to stretch out and draw back from an initial state according to a standard stretching parameter to reach a standard shooting position, and enabling a camera to shoot a real-time segment as a real-time image; comparing the real-time image with the standard image, and adjusting the coordinate of the erector on the Y axis, so that the coordinate of the erector on the Y axis is consistent with the coordinate of the real-time segment on the Y axis; and the erector moves to the accurate grabbing position from the current position so as to grab the real-time duct pieces. The duct piece grabbing device can improve the duct piece grabbing efficiency.

Description

technical field [0001] The invention relates to the technical field of excavation, in particular to a method for positioning and grabbing segments by an assembly machine, an assembly machine and an excavation machine. Background technique [0002] In some related technologies, the operation of the assembly machine mainly relies on the operator (assembly hand) to remotely operate the axial translation, circumferential rotation, radial expansion of the assembly machine and the roll, pitch, Deflection and other actions, so that the grasping part of the assembly machine is aligned with the grasped part of the segment to achieve grasping. In order to achieve more accurate observation, the operators need to constantly find alignment points in the working area outside the assembly machine, and constantly control the remote control to adjust the movements of the assembly machine in all dimensions, which is cumbersome and inefficient. Contents of the invention [0003] Some embodi...

Claims

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Application Information

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IPC IPC(8): E21D11/40E21D11/08
CPCE21D11/40E21D11/08
Inventor 李光贺飞林福龙郭俊可郑康泰王震魏晓龙贺开伟周罘鑫张发亮
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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