A multi-purpose shield machine vacuum suction cup segment assembly remote control system

Abstract

The present invention discloses a multi-purpose shield machine vacuum suction cup segment assembly remote control system, including a transmitter, a control mainboard, a receiver and a housing. The transmitter is connected to the control mainboard and is located in the housing. The receiver is installed on the shield machine and is used to receive instructions sent by a matching receiver. The receiver is installed on the target device and adopts a modular plug-in structure, which is convenient for expansion and upgrading. The output can be intelligently adjusted and is suitable for various types of output control, which is convenient for maintenance. The installation is simple and quick, which greatly shortens the installation and debugging time of the equipment. By setting the output control type of the receiver, the control system can control different equipment, including the shield machine vacuum suction cup grab plate and the shield machine mechanical grab plate. The wireless communication data of this system is transmitted in a secure encrypted manner. When there is co-frequency interference, the frequency used by the remote control system can be changed to ensure the normal operation of the remote control system.

Description

Technical Field

[0001] The invention relates to the field of remote controllers, in particular to a multi-purpose shield machine vacuum suction cup segment assembly remote control system. Background Art

[0002] A shield machine is a tunnel boring machine that uses the shield method. The shield construction method is that the tunnel boring machine lays the pipe segments that support the tunnel while excavating. Using a shield machine for tunnel construction has the advantages of high automation, labor saving, fast construction speed, one-time tunneling, and no climate impact. During excavation, ground settlement can be controlled, reducing the impact on ground buildings, and underwater excavation does not affect ground traffic. In the case of a long tunnel line and a large buried depth, it is more economical and reasonable to use a shield machine for construction. Summary of the invention

[0003] At present, shield machine segment assembly is basically controlled by remote control. When the control distance exceeds the limit, signal interference and signal interruption are prone to occur. At present, my country's shield machine vacuum suction cup segment assembly remote control mainly uses imported equipment.

[0004] Based on this, a domestic shield machine vacuum suction cup segment assembly remote control system is designed. The technical solution is as follows:

[0005] A multi-purpose shield machine vacuum suction cup segment assembly remote control system comprises a transmitter, a control mainboard, a receiver and a shell. The transmitter is connected to the control mainboard and is located in the shell to form a remote control. The receiver is installed on the shield machine and is used to receive instructions sent by the matching transmitter.

[0006] Furthermore, the control main board includes: a button terminal block and an ARM processor connected to a 24V DC power supply, an emergency stop switch, a grab switch, a release switch, a slow rotation switch, a confirmation switch, a large pipe segment switch, a small pipe segment switch, a spare switch 1, a spare switch 2, a cylinder propulsion extension switch, a cylinder propulsion retraction switch, propulsion cylinders 1 to 22 switches, an analog output module, a feedback module, a cylinder selection switch and a frequency selection switch. The button terminal block is connected to the ARM, and the ARM processor is used to generate corresponding control instructions according to different switch actions or analog output quantities of different amplitudes.

[0007] Furthermore, the frame structure of the shell is higher than the joystick or various operating switches to avoid collision with the joystick and switch. The shell is made of high-quality engineering plastics. The built-in transmitting antenna is used to ensure that the antenna is not damaged by external forces.

[0008] Furthermore, the frequency selection switch is used to change the frequency used by the remote control system to avoid co-frequency interference.

[0009] Furthermore, the analog output module can output -10V to 10V voltage, and the output analog quantities include: forward and backward tilt of the grab head, left and right tilt of the grab head, left and right rotation of the assembling machine, left and right rotation of the grab head, extension and retraction of the boom, forward and backward movement of the boom, spare left and right control, and spare up and down control.

[0010] Furthermore, the feedback module includes a large-piece pressure indicator light and a small-piece pressure indicator light.

[0011] Furthermore, the oil cylinder selection switch is an 8-bit binary switch.

[0012] Furthermore, by presetting the position of the cylinder selection switch, the remote control system can control the shield machine segment splicing grab plate with 16, 19, 20 or 22 cylinders.

[0013] Furthermore, the control panel of the remote control is divided into three rows. The top row from left to right is the first four-sided dual-axis universal analog joystick with buttons, a 2.8-inch display screen, the second four-sided dual-axis universal analog joystick with buttons, the second row from left to right are the self-reset grab button, the self-reset release button, the three-position reset type dial propulsion cylinder extension and retraction switch, the self-reset confirmation button, the two-position holding type pipe segment large and small dial switch, the third row from left to right are the self-reset cylinder selection and cancel buttons, the self-reset spare button one, the self-reset spare button two, the multi-speed cylinder selection switch with buttons, the self-reset rotation slow button, there is a power switch on the left side of the control panel, there are emergency stop and start buttons on the right side of the control panel, and there are status indicator light and power indicator light on the upper part of the control panel.

[0014] Furthermore, the first four-week dual-axis universal analog joystick with buttons has the upward direction for the snatch head to tilt forward, the downward direction for the snatch head to tilt backward, the left direction for the snatch head to tilt left, the right direction for the snatch head to tilt right, the upper button for the assembly machine to rotate left, the lower button for the assembly machine to rotate right, the left side is the spare left button, and the right side is the spare right button. The second four-week dual-axis universal analog joystick with buttons has the upward direction for the spare upper direction, the downward direction for the spare lower direction, the left direction for the snatch head to rotate left, the right direction for the snatch head to rotate right, the upper direction for the boom extension button, the lower direction for the boom retraction button, the left side for the boom forward button, and the right side for the boom backward button.

[0015] Furthermore, the emergency stop button is used to stop the equipment in an emergency, and the start button is used to start the remote control function. The grab button cooperates with the confirmation button to realize the extraction action of the pipe segment. The release button cooperates with the confirmation button to realize the release action of the pipe segment. The rotation slow switch cooperates with the rotation action of the assembly machine to realize the slow action of the assembly machine. The large and small pipe segment switches are used to select whether to grab a large pipe segment or a small pipe segment. The extension and retraction switch of the propulsion cylinder is used to realize the extension or retraction of the propulsion cylinder. The cylinder cancel switch is used to cancel the cylinder selection.

[0016] Furthermore, the receiver is installed on the target equipment, and adopts a modular plug-in structure, which is easy to expand and upgrade, and the output can be adjusted intelligently, suitable for various types of output control, and easy to maintain; the installation is simple and fast, which greatly shortens the installation and debugging time of the equipment. By setting the output control type of the receiver, the control system can control different equipment, including the shield machine vacuum suction cup grab plate and the shield machine mechanical grab plate.

[0017] Furthermore, when the effective communication distance between the receiver and the transmitter is exceeded, the button on the control system remote controller will be in the zero position state and the target device will stop working.

[0018] Furthermore, wireless communication data is transmitted using secure encryption.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention can replace the imported shield machine vacuum suction cup segment assembly remote control.

[0021] 2. The remote control system can be used to control the shield machine vacuum suction cup grab plate and the shield machine mechanical grab plate.

[0022] 3. The remote controller can be used to control a single cylinder or multiple cylinders at the same time, and the cylinder control method is flexible.

[0023] 4. The structural layout of the remote control buttons is simple and reasonable, and different buttons can be used in combination to achieve complex control actions.

[0024] 5. The operating frequency of the remote control is adjustable, avoiding the problem of same-frequency interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of a control panel of a remote controller of the present invention;

[0026] Figure 2 It is a schematic diagram of the button terminal block of the present invention;

[0027] Figure 3 It is a schematic diagram of the display screen of the remote controller of the present invention. DETAILED DESCRIPTION

[0028] like Figure 1As shown, the control panel of the control system remote controller is divided into three rows. The top row from left to right is the first four-week dual-axis universal analog joystick with buttons, 2.8-inch display screen, the second four-week dual-axis universal analog joystick with buttons, the second row from left to right is the self-reset grab button, the self-reset release button, the three-position reset type dial push cylinder extension and retraction switch, the self-reset confirmation button, the two-position holding type pipe segment large and small dial switch, the third row from left to right is the self-reset cylinder selection and cancellation button, the self-reset spare button 1, the self-reset spare button 2, the multi-position cylinder selection switch with buttons, the self-reset slow rotation button, the power interface on the left side of the control panel, the emergency stop and start buttons on the right side of the control panel, and the status indicator and power indicator on the top of the control panel. The first four-week dual-axis universal analog joystick with buttons is tilted forward for the snatch head, tilted backward for the snatch head, tilted left for the snatch head, tilted right for the snatch head, the upper button is for the assembly machine to rotate left, the lower button is for the assembly machine to rotate right, the left side is the spare left button, and the right side is the spare right button. When the buttons on the four sides of the universal analog joystick are pressed, the functions of the joystick are consistent with the text descriptions of the buttons. The second four-side dual-axis universal analog joystick with buttons is up for standby up, down for standby down, left for left rotation of the snatch head, right for right rotation of the snatch head, the top is the arm extension button, the bottom is the arm retraction button, the left is the arm forward button, and the right is the arm backward button.

[0029] The emergency stop button is used to stop the equipment in an emergency, and the start button is used to start the remote control function. The grab button cooperates with the confirmation button to realize the extraction action of the pipe segment. The release button cooperates with the confirmation button to realize the release action of the pipe segment. The rotation slow switch cooperates with the rotation action of the assembly machine to realize the slow action of the assembly machine. The large and small pipe segment switches are used to select whether to grab a large pipe segment or a small pipe segment. The extension and retraction switch of the propulsion cylinder is used to realize the extension or retraction of the propulsion cylinder. The cylinder cancel switch is used to cancel the cylinder selection.

[0030] When using this remote control system, the receiver on the target device should be configured in advance so that it can correctly interpret the instructions sent by the transmitter. After the remote control is powered on, the internal electronic circuit performs self-test. If the status indicator flashes 3 times, it means that the self-test is normal. Turn on the emergency stop switch, and after each button is in the "zero position", press the start button and the status indicator flashes once, indicating that the remote control has been activated. At this time, the status indicator flashes during the action, and the various mechanisms can be operated normally. The transmitter converts the operation command into a digital signal, encodes it, and transmits it through a wireless transmission device at a set frequency. The receiver receives the digital signal transmitted by the transmitter and executes its operation command after decoding.

[0031] The remote control is powered by a 5000mAH lithium battery. When the battery voltage is low, the battery light will light up and the battery should be replaced. When the voltage is too low, the battery light will flash and the transmitter will stop working.

[0032] like Figure 2 As shown, the control mainboard of the control system remote controller includes a button terminal block and an ARM processor. The button terminal block is connected to a 24V DC power supply, an emergency stop switch, a grab switch, a release switch, a slow rotation switch, a confirmation switch, a large pipe switch, a small pipe switch, a spare switch 1, a spare switch 2, a cylinder push-in extension switch, a cylinder push-in retraction switch, a push cylinder 1 to 22 switch, an analog output module, a feedback module, a cylinder selection switch, and a frequency selection switch. The button terminal block is connected to the ARM, and the ARM processor is used to generate corresponding control instructions according to different switch actions or analog output quantities of different amplitudes.

[0033] like Figure 3 As shown, there are large and small pressure indicators, communication indicators, and cylinder selection indicators on the display screen. When the communication is normal, the communication indicator flashes at a uniform speed, when the signal is weak, it flashes at an uneven speed, and when there is no signal, it goes out. The number represents the cylinder number. If there is a black solid circle under the number, it means that the cylinder is controllable. If the hollow circle under the number flashes, it means that the cylinder has been selected.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-purpose shield machine vacuum suction cup segment assembly remote control system, characterized in that: It includes a transmitter, a control mainboard, a receiver and a shell. The transmitter is connected to the control mainboard and is located in the shell to form a remote controller. The receiver is installed on the shield machine to receive instructions sent by the matching transmitter. The control mainboard includes: a button terminal block and an ARM processor connected to a 24V DC power supply, an emergency stop switch, a grab switch, a release switch, a slow rotation switch, a confirmation switch, a large pipe switch, a small pipe switch, a spare switch 1, a spare switch 2, a cylinder push-in extension switch, a cylinder push-in retraction switch, a push cylinder 1 to 22 switch, an analog output module, a feedback module, a cylinder selection switch and a frequency selection switch, the button terminal block is connected to the ARM processor, and the ARM processor is used to generate corresponding control instructions according to different switch actions or analog output quantities of different amplitudes; The analog output module outputs -10V to 10V voltage. The output analog quantities include: forward and backward tilt of the snatch head, left and right tilt of the snatch head, left and right rotation of the assembler, left and right rotation of the snatch head, extension and retraction of the boom, forward and backward movement of the boom, spare left and right control, and spare up and down control; The feedback module includes a large-piece pressure indicator light and a small-piece pressure indicator light; The control panel of the remote control is divided into three rows. The top row from left to right is the first four-sided dual-axis universal analog joystick with buttons, a 2.8-inch display screen, the second four-sided dual-axis universal analog joystick with buttons, the second row from left to right are the self-reset grab button, the self-reset release button, the three-position reset type dial propulsion cylinder extension and retraction switch, the self-reset confirmation button, the two-position holding type pipe segment large and small dial switch, the third row from left to right are the self-reset cylinder selection and cancel buttons, the self-reset spare button 2, the self-reset spare button 1, the multi-speed cylinder selection switch with button, the self-reset rotation slow button, there is a power switch on the left side of the control panel, there are emergency stop and start buttons on the right side of the control panel, and there are status indicator and power indicator on the upper part of the control panel.

2. A multi-purpose shield machine vacuum suction cup segment assembly remote control system as claimed in claim 1, characterized in that: The cylinder selection switch is an 8-bit binary switch.

3. A multi-purpose shield machine vacuum suction cup segment assembly remote control system as claimed in claim 2, characterized in that: By presetting the position of the cylinder selection switch, the remote control system can control the shield machine segment splicing grab plate with 16, 19, 20 or 22 cylinders.

4. A multi-purpose shield machine vacuum suction cup segment assembly remote control system as claimed in claim 1, characterized in that: When the effective communication distance between the receiver and transmitter is exceeded, the buttons on the remote control will be in the zero position and the target device will stop working.

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