Automatic segment lifting system, automatic segment lifting method and shield machine

Abstract

A segment automatic lifting system, segment automatic lifting method and shield machine. The segment automatic lifting system includes a segment lifting device, a contour measuring device, a visual device and an intermediate transfer platform. The segment lifting device includes a lifting device, and is configured to lift multiple segments to be lifted in a first area to a second area; the contour measuring device is fixed on the segment lifting device, and is configured to perform contour scanning on multiple segments to be lifted in the first area to obtain contour information of multiple segments to be lifted; the visual device is fixed on the segment lifting device, and is configured to obtain image information of the current segment to be lifted. Multiple segments to be lifted include wedge-shaped capped segments, and the intermediate transfer platform is configured to carry wedge-shaped capped segments. The segment automatic lifting system realizes automatic identification of the segments to be lifted through the contour measuring device and the visual device, and realizes automatic lifting of multiple segments to be lifted from the first area to the second area.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to an automatic segment lifting system, an automatic segment lifting method, and a shield machine. Background Art

[0002] The shield machine, whose full name is shield tunnel boring machine, is a special engineering machine for tunnel excavation, which has the functions of excavating and cutting soil, conveying soil and ballast, lifting and transporting pipe segments, and assembling pipe segments. Shield tunnel boring machines have been widely used in tunnel projects such as subways, railways, highways, municipal engineering, and hydropower.

[0003] The main process of lifting the shield machine segments in the tunnel is as follows: the segment transport vehicle transports the segments to the designated location, unloads the segments on the transport vehicle onto the unloader, and remotely controls the segment crane to lift the segments one by one to the designated release point of the segment feeder for segment assembly. Summary of the invention

[0004] The embodiments of the present disclosure provide an automatic segment lifting system, an automatic segment lifting method and a shield machine. The automatic segment lifting system realizes automatic identification of segments to be lifted through a contour measuring device and a visual device, and realizes automatic lifting of multiple segments to be lifted from a first area to a second area through a segment lifting device.

[0005] At least one embodiment of the present disclosure provides an automatic segment lifting system, comprising: a segment lifting device, comprising a lifting device, and configured to lift a plurality of segments to be lifted in a first area to a second area; a contour measuring device, fixed on the segment lifting device, and configured to perform contour scanning on the plurality of segments to be lifted in the first area to obtain contour information of the plurality of segments to be lifted; a visual device, fixed on the segment lifting device, and configured to obtain image information of the current segment to be lifted; and an intermediate transfer platform, the plurality of segments to be lifted include wedge-shaped capped segments, and the intermediate transfer platform is configured to carry the wedge-shaped capped segments.

[0006] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system further including: a control device including a contour scanning module, a visual detection module and a crane control module, the crane control module being communicatively connected to the contour scanning module and the visual detection module respectively, the contour scanning module being communicatively connected to the contour measuring device and being configured to obtain position and height information of the multiple segments to be lifted according to the contour information, and to identify the type of the current segment to be lifted, the crane control module being configured to roughly position the multiple segments to be lifted according to the position and height information of the multiple segments to be lifted, and to control the lifting device to move above the current segment to be lifted, the visual detection module being communicatively connected to the visual device, and being configured to obtain the position of a fixing on the current segment to be lifted according to the image information, and the crane control module being further configured to align the lifting device with the fixing device according to the position of the fixing device, and to control the lifting device to be connected to the fixing device.

[0007] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system, wherein when the type of the segment to be lifted is the wedge-shaped capped segment, the crane control module is configured to control the lift to lift the wedge-shaped capped segment to the intermediate transfer platform, and when the type of the segment to be lifted is not the wedge-shaped capped segment, the crane control module is configured to control the lift to lift the segment to be lifted to the second area.

[0008] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system which also includes: a counter, which is fixed on the segment lifting device and records the number of segments lifted by the segment lifting device, and the control device also includes a judgment module, which is communicatively connected to the counter and is configured to judge whether only the wedge-shaped capping segment has not been lifted to the second area based on the number of segments recorded by the counter.

[0009] For example, at least one embodiment of the present disclosure provides a segment automatic lifting system, wherein the crane control module is communicatively connected to the judgment module, and when the judgment module judges as yes, the crane control module is configured to control the lifting device to move to the middle transfer platform, and lift the wedge-shaped capping segment on the middle transfer platform to the second area, and when the judgment module judges as no, the crane control module is configured to control the lifting device to move to the first area.

[0010] For example, at least one embodiment of the present disclosure provides a segment automatic lifting system, wherein the segment lifting device further includes: a walking beam extending in a first direction; a segment lifting trolley connected to the walking beam; a first drive mechanism configured to drive the segment lifting trolley to move in the first direction; a second drive mechanism configured to drive the hoist to move in a second direction, the second direction being perpendicular to the first direction; a lifting mechanism configured to drive the hoist to move in a third direction, the third direction being perpendicular to the first direction and the second direction; and a rotating mechanism configured to drive the hoist to rotate around an axis extending in the third direction. For example, at least one embodiment of the present disclosure provides a segment automatic lifting system, wherein the contour measuring device includes a distance sensor, and the visual device includes an image sensor.

[0011] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system further comprising: an unloader, located in the first area and configured to carry the multiple segments to be lifted.

[0012] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system that also includes: a block removing robot configured to remove the block under the segment after the lifting device grabs the segment.

[0013] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system further comprising: a lifting equipment anti-sway and anti-twist device configured to prevent the lifting equipment from shaking and twisting violently.

[0014] For example, at least one embodiment of the present disclosure provides an automatic segment lifting system further including: a segment feeder configured to transport the multiple segments to be lifted to a segment assembly machine, the segment feeder including a release area, and the second area being located within the release area.

[0015] At least one embodiment of the present disclosure provides an automatic segment lifting system including any one of the above-mentioned ones.

[0016] At least one embodiment of the present disclosure provides a method for automatically lifting a pipe segment, which comprises: performing contour scanning on a plurality of pipe segments to be lifted in a first area to obtain contour information of the plurality of pipe segments to be lifted; obtaining position and height information of the plurality of pipe segments to be lifted according to the contour information, and identifying the type of the current pipe segment to be lifted; performing rough positioning on the plurality of pipe segments to be lifted according to the position and height information of the plurality of pipe segments to be lifted, and controlling a lifting device of a pipe segment lifting device to move to above the current pipe segment to be lifted; and when the type of the current pipe segment to be lifted is a wedge-shaped capped pipe segment, controlling the lifting device to lift the wedge-shaped capped pipe segment to an intermediate transfer platform, and when the type of the current pipe segment to be lifted is not the wedge-shaped capped pipe segment, controlling the lifting device to lift the current pipe segment to be lifted to a second area.

[0017] For example, at least one embodiment of the present disclosure provides a method for automatic segment lifting, in which contour scanning is performed on the multiple segments to be lifted in the first area to obtain contour information of the multiple segments to be lifted, including: using a contour measuring device to perform contour scanning on the multiple segments to be lifted in the first area to obtain contour information of the multiple segments to be lifted, and the contour measuring device is fixed on the segment lifting device.

[0018] For example, at least one embodiment of the present disclosure provides a method for automatically lifting a pipe segment, which also includes: after the lifting device moves to the top of the pipe segment to be lifted, obtaining image information of the pipe segment to be lifted; obtaining the position of a fixing part on the pipe segment to be lifted according to the image information; and controlling the lifting device to align with the fixing part according to the position of the fixing part, and controlling the lifting device to be connected to the fixing part.

[0019] For example, at least one embodiment of the present disclosure provides a method for automatically lifting a pipe segment, wherein obtaining the image information of the pipe segment to be lifted includes: using a visual device to obtain the image information of the pipe segment to be lifted, and the visual device is fixed on the pipe segment lifting device.

[0020] For example, at least one embodiment of the present disclosure provides a method for automatically lifting pipe segments, further comprising: determining whether only the wedge-shaped capped pipe segment has not been lifted to the second area; and when it is determined that only the wedge-shaped capped pipe segment has not been lifted to the second area, controlling the lifting device to move to the intermediate transfer platform, and lifting the wedge-shaped capped pipe segment on the intermediate transfer platform to the second area; and when it is determined that more than the wedge-shaped capped pipe segment has not been lifted to the second area, controlling the lifting device to move to the first area.

[0021] For example, at least one embodiment of the present disclosure provides a method for automatically lifting pipe segments, wherein N pipe segments to be lifted form an annular pipeline, and determining whether only the wedge-shaped capped pipe segments have not been lifted to the second area comprises: using a counter to record the number of pipe segments lifted by the pipe segment lifting device; when the number of pipe segments recorded by the counter is equal to N-1, determining that only the wedge-shaped capped pipe segments have not been lifted to the second area; when the number of pipe segments recorded by the counter is less than N-1, determining that more than the wedge-shaped capped pipe segments have not been lifted to the second area; and when the number of pipe segments recorded by the counter is equal to N, the counter is cleared.

[0022] For example, at least one embodiment of the present disclosure provides a method for automatically lifting a pipe segment, which further includes: after the lifting device grabs the pipe segment, a pad under the pipe segment is removed.

[0023] For example, at least one embodiment of the present disclosure provides a method for automatically lifting a pipe segment, which further includes: rotating the lifting device to change the orientation of the pipe segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present disclosure, but are not intended to limit the present disclosure.

[0025] Figure 1 A schematic diagram of an automatic segment lifting system provided by an embodiment of the present disclosure;

[0026] Figure 2 A schematic diagram of another automatic segment lifting system provided by an embodiment of the present disclosure;

[0027] Figure 3 A schematic diagram of another automatic segment lifting system provided by an embodiment of the present disclosure;

[0028] Figure 4 A schematic diagram of a control device for an automatic segment lifting system provided by an embodiment of the present disclosure;

[0029] Figure 5 A schematic diagram of a method for automatically lifting a pipe segment provided in one embodiment of the present disclosure; and

[0030] Figure 6 A schematic diagram of another automatic segment lifting method provided in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0032] Unless otherwise defined, the technical terms or scientific terms used in the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0033] The various components or structures in the drawings are not drawn strictly to scale, and the size of the various components or structures may be exaggerated or reduced for clarity, but these should not be used to limit the scope of the present disclosure. In order to keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and known components may be omitted.

[0034] The shield machine is a special engineering machinery for tunnel excavation, which has the functions of excavating and cutting soil, transporting soil and ballast, lifting segments, and assembling segments. The lifting process of the shield machine segments in the tunnel usually requires the operator to control the segment crane and other mechanical devices to complete. The main process is as follows: the segment transport vehicle transports the segments to the designated location; the operator unloads the segments on the transport vehicle onto the unloader; then, the operator remotely controls the segment crane to lift the segments piece by piece to the designated release area on the segment feeder. During the above-mentioned lifting process, the sleepers between the segments also need to be manually removed by the operator. Therefore, during the lifting process of the segments, the operator needs to participate in the control of the segment lifting and the removal of sleepers. The degree of automation of the segment lifting is not high, and there are certain safety risks for the operator.

[0035] In this regard, the embodiments of the present disclosure provide an automatic segment lifting system, an automatic segment lifting method and a shield machine. The automatic segment lifting system includes a segment lifting device, a contour measuring device, a visual device and an intermediate transfer platform. The segment lifting device includes a lifting device, which is configured to lift multiple segments to be lifted in a first area to a second area; the contour measuring device is fixed on the segment lifting device, and the contour measuring device is configured to perform contour scanning on multiple segments to be lifted in the first area to obtain contour information of multiple segments to be lifted; the visual device is fixed on the segment lifting device, and the visual device is configured to obtain image information of the current segment to be lifted. Multiple segments to be lifted include wedge-shaped capped segments, and the intermediate transfer platform is configured to carry wedge-shaped capped segments. The automatic segment lifting system can realize automatic identification of the segments to be lifted through the contour measuring device and the visual device, and realize automatic lifting of multiple segments to be lifted from the first area to the second area through the segment lifting device.

[0036] Below, the automatic segment lifting system, the automatic segment lifting method and the shield machine provided in the embodiments of the present disclosure are described in detail with reference to the accompanying drawings.

[0037] An embodiment of the present disclosure provides an automatic segment lifting system. Figure 1 This is a schematic diagram of an automatic segment lifting system provided by an embodiment of the present disclosure. Figure 1 As shown, the automatic segment lifting system includes a segment lifting device 100, a contour measuring device 200, a visual device 300 and an intermediate transfer platform 400. The segment lifting device 100 includes a lifting device 101, which is configured to lift a plurality of segments 501 to be lifted in a first area 500 to a second area 600; the contour measuring device 200 is fixed on the segment lifting device 100, and the contour measuring device 200 is configured to perform contour scanning on the plurality of segments 501 to be lifted in the first area 500 to obtain contour information of the plurality of segments 501 to be lifted; the visual device 300 is fixed on the segment lifting device 100, and the visual device 300 is configured to obtain image information of the current segment to be lifted. The plurality of segments 501 to be lifted include a wedge-shaped capped segment 502, and the intermediate transfer platform 400 is configured to carry the wedge-shaped capped segment 502.

[0038] It should be noted that the above-mentioned first area can be an unloading area for multiple segments to be hoisted, and the above-mentioned second area can be a designated release area on the segment feeder. The above-mentioned segments to be hoisted refer to the segments waiting to be hoisted to the second area by the segment hoisting device, and the current segments to be hoisted refer to the segments that the segment hoisting device is currently preparing to hoist. In addition, the above-mentioned wedge-shaped capping segments are also called capping blocks or K blocks, which are the segments that need to be installed or assembled last among multiple segments for assembling an annular pipeline. However, due to the relatively small size of the wedge-shaped capping segments, the wedge-shaped capping segments are usually located at the top of the stack formed by multiple segments to be hoisted; therefore, how to identify the wedge-shaped capping segments and hoist the wedge-shaped capping segments to the designated release area in the order of the last one is one of the key issues that need to be solved to achieve automatic segment lifting.

[0039] In the automatic segment lifting system provided by the embodiment of the present disclosure, the contour measuring device can scan multiple segments to be lifted to obtain the contour information of the multiple segments to be lifted, so that the position and height information of the multiple segments to be lifted can be obtained according to the contour information, and the type of the current segment to be lifted can be identified. The position and height information of the multiple segments to be lifted can be used to roughly locate the multiple segments to be lifted, so that the segment lifting device can approach the multiple segments to be lifted, and prevent the segment lifting device from colliding with the segments to be lifted; the type of the current segment to be lifted can be used to determine whether the current segment to be lifted is a wedge-shaped capped segment, and the wedge-shaped capped segment is first placed on the intermediate transfer platform for standby use, and finally the wedge-shaped capped segment is lifted from the intermediate transfer platform to the second area. The visual device can obtain the image information of the current segment to be lifted, and the graphic information can be used to obtain the position of the fixings on the current segment to be lifted, so that the lifting device of the segment lifting device can be automatically connected and fixed to the current segment to be lifted. Therefore, through the above-mentioned contour measuring device, visual device and intermediate transfer platform, the automatic segment lifting system can realize automatic lifting of multiple segments to be lifted from the first area to the second area in a reasonable order through the segment lifting device.

[0040] In some examples, such as Figure 1 As shown, the above-mentioned contour measuring device 200 can be a contour measuring instrument, so that contour scanning can be performed on multiple pipe segments to be hoisted in the first area to obtain contour information of the multiple pipe segments to be hoisted.

[0041] In some examples, such as Figure 1 As shown, the above-mentioned profile measuring device 200 may include a distance sensor 210 so as to perform profile scanning on a plurality of segments to be hoisted in the first area.

[0042] For example, the distance sensor may be one or more of an infrared distance sensor, a laser distance sensor, and an ultrasonic distance sensor. Of course, the embodiments of the present disclosure include but are not limited to these, and the distance sensor may also be other types of distance sensors.

[0043] In some examples, such as Figure 1 As shown, the visual device 300 may include an image sensor 310, so as to obtain image information of the pipe segment to be hoisted.

[0044] In some examples, the visual device 300 can also monitor the intrusion into the lifting area, thereby ensuring the safe operation of the automatic lifting system for the pipe segment.

[0045] For example, the visual device can use human recognition to determine whether a person has entered the lifting area and issue an alarm, thereby improving the safety of the automatic segment lifting system. Figure 1 As shown, the automatic segment lifting system also includes a segment feeder 601, which is configured to transport multiple segments 501 to be lifted to the segment assembly machine. The segment feeder 601 includes a release area P, and the second area is located within the release area P.

[0046] For example, the visual device 300 can also identify and locate the release area P after a plurality of pipe segments 501 to be hoisted are hoisted to the release area P, thereby confirming the second area.

[0047] Figure 2 This is a schematic diagram of another automatic segment lifting system provided by an embodiment of the present disclosure. Figure 2 As shown, the automatic segment lifting system also includes a control device 700; the control device 700 includes a contour scanning module 701, a visual detection module 702 and a crane control module 703, and the crane control module 703 is communicatively connected with the contour scanning module 701 and the visual detection module 702 respectively.

[0048] It should be noted that the above-mentioned communication connection can be achieved through wired communication or wireless communication; the wired communication method includes realizing the communication connection between the two through wires or optical fibers, and the wireless communication method includes wireless communication methods such as Wifi, mobile communication networks or Bluetooth. When the communication connection adopts wireless communication, it can be understood that the above-mentioned modules or control devices may include wireless communication modules.

[0049] like Figure 2As shown, the contour scanning module 701 is connected to the contour measuring device 200 for communication, and the contour scanning module 701 is configured to obtain the position and height information of the multiple segments to be hoisted 501 according to the contour information of the multiple segments to be hoisted 501, and identify the type of the current segment to be hoisted. The crane control module 703 is configured to roughly locate the multiple segments to be hoisted 501 according to the position and height information of the multiple segments to be hoisted 501, and control the hoist 101 to move above the current segment to be hoisted. The visual inspection module 702 is connected to the visual device 300 for communication, and the visual inspection module 702 is configured to obtain the position of the fixing member 505 on the current segment to be hoisted according to the image information of the current segment to be hoisted. The crane control module 703 is also configured to align the hoist 101 with the fixing member 505 according to the position of the fixing member 505, and control the hoist 101 to be connected to the fixing member 505. Therefore, the automatic segment lifting system can realize automatic lifting of multiple segments to be lifted from the first area to the second area in a reasonable order through the segment lifting device.

[0050] In some examples, such as Figure 2 As shown, when the type of the segment to be hoisted is the wedge-shaped capped segment 502, the crane control module 703 is configured to control the hoist 101 to hoist the wedge-shaped capped segment 502 to the intermediate transfer platform 400; when the type of the segment to be hoisted is not the wedge-shaped capped segment, the crane control module 703 is configured to control the hoist 101 to hoist the segment to be hoisted to the second area. Therefore, when the segment automatic hoisting system recognizes that the type of the segment to be hoisted is the wedge-shaped capped segment, the wedge-shaped capped segment can be hoisted to the intermediate transfer platform first, so that the wedge-shaped capped segment can be hoisted to the designated release area in the order of the last one.

[0051] In some examples, such as Figure 2 As shown, the automatic segment lifting system further includes a counter 900 fixed on the segment lifting device 100, and the counter 900 can record the number of segments lifted by the segment lifting device 100. The control device 700 further includes a judgment module 704, which is in communication with the counter 900. The judgment module 704 is configured to judge whether only the wedge-shaped capping segment is left to be lifted to the second area according to the number of segments recorded by the counter 900.

[0052] In some examples, such as Figure 2As shown, the crane control module 703 is connected to the judgment module 704 in communication. When the judgment module 704 judges to be yes, the crane control module 703 is configured to control the hoist 101 to move to the middle transfer platform, and lift the wedge-shaped capping segment on the middle transfer platform to the second area. When the judgment module 704 judges to be no, the crane control module 703 is configured to control the hoist 101 to move to the first area. Thus, the automatic segment lifting system can lift the wedge-shaped capping segment to the designated release area in the order of the last one.

[0053] For example, the plurality of segments to be hoisted may be 9, including 1 wedge-shaped capped segment, and the 9 segments to be hoisted form an annular pipeline; the initial count of the counter 900 is 0 or the counter is reset after the hoisting of an annular segment is completed. When the judgment module 704 judges as no, the crane control module 703 controls the hoist 101 to move to the first area, and after the segment hoisting device 100 hoists a segment, the counter 900 is incremented by 1; and so on, after the segment hoisting device 100 hoists the 8th segment, the counter 900 counts to 8. At this time, the judgment module 704 judges that only the wedge-shaped capped segment has not been hoisted to the second area based on the number of segments recorded by the counter 900, and the crane control module 703 controls the hoist 101 to move to the middle transfer platform, and hoists the wedge-shaped capped segment on the middle transfer platform to the second area. At the same time, the counter 900 counts to 9, and the counter is reset after the hoisting is completed.

[0054] In some examples, such as Figure 2 As shown, the fixing member 505 may be a fixing bolt. Of course, the embodiments of the present disclosure include but are not limited to this, and the fixing member may also adopt other fixing structures. For example, the fixing member may also be at least one pin hole set on the pipe segment to be hoisted.

[0055] In some examples, when the fixing member adopts a fixing bolt, the hanger directly grabs the fixing bolt to lift the pipe segment; when the fixing member adopts a pin hole, the hanger adopts a fixing pin that matches the pin hole to lift the pipe segment.

[0056] For example, a trigger device such as a trigger switch may be provided on the spreader. After the spreader grabs the fixing bolt or the pin hole is engaged, the trigger switch responds, and the spreader 101 grabs the pipe segment according to the response.

[0057] In some examples, such as Figure 2 As shown, the automatic segment lifting system further includes an unloader 504 , which is located in the first area 500 and is configured to carry a plurality of segments 501 to be lifted.

[0058] For example, multiple pipe segments 501 to be hoisted can also be directly stored on the pipe segment transport vehicle. After all the pipe segments 501 to be hoisted are hoisted, the pipe segment transport vehicle leaves.

[0059] For example, a plurality of segments 501 to be hoisted are loaded onto a truck according to a predetermined assembly sequence and transported to the segment unloader 504 or the first area 500 .

[0060] In some examples, such as Figure 2 As shown, the automatic segment lifting system further includes a block removing robot 800 , which is configured to remove the block 503 under the segment after the lifting device 101 grabs a segment.

[0061] For example, the cushion block 503 may be a sleeper. Of course, the embodiments of the present disclosure include but are not limited to this, and the cushion block may also be made of other materials.

[0062] For example, Figure 2 As shown, the pad removal robot 800 can be connected to the walking beam 102, thereby walking on the walking beam 102 to remove the pads 503 between the pipe segments. Of course, the embodiments of the present disclosure include but are not limited to this, and the pad removal robot can also be an independent mechanical arm or robot, not connected to the walking beam.

[0063] Figure 3 This is a schematic diagram of another automatic segment lifting system provided by an embodiment of the present disclosure. Figure 2 and Figure 3 As shown, the segment lifting device 100 also includes a walking beam 102, a segment lifting trolley 103, a first driving mechanism 107A, a second driving mechanism 107B, a lifting mechanism 107C and a rotating mechanism 107D. The walking beam 102 extends along a first direction; the segment lifting trolley 103 is connected to the walking beam 102; the first driving mechanism 107A is configured to drive the segment lifting trolley 103 to move along the first direction; the second driving mechanism 107B is configured to drive the lifting device 101 to move along a second direction, which is perpendicular to the first direction; the lifting mechanism 107C is configured to drive the lifting device 101 to move along a third direction, which is perpendicular to the first direction and the second direction; and the rotating mechanism 107D is configured to drive the lifting device 101 to rotate around an axis extending along the third direction.

[0064] For example, Figure 2 and Figure 3 As shown, the segment lifting trolley 103 can be connected to the walking beam 102, and can move along the walking beam 102 under the drive of the first driving mechanism 107A. The hoisting device 101 can be connected to the segment lifting trolley 103 through a connecting mechanism such as a sprocket.

[0065] For example, Figure 2 and Figure 3 As shown, the automatic segment lifting system also includes a segment rotation point T. After the lifting device 101 lifts the segment and moves to the segment rotation point T, the rotating mechanism 107D drives the lifting device 101 to rotate around an axis extending along a third direction, thereby changing the orientation of the segment on the lifting device 101.

[0066] It should be noted that the orientation of the segment can be, for example, the direction of the length of the segment, and changing the orientation of the segment on the hanger can be changing the direction of the length of the segment, for example, adjusting the direction of the length of the segment from along the first direction to along the second direction, so as to facilitate the subsequent segment assembly machine to grab and assemble.

[0067] In some examples, such as Figure 3 As shown, the automatic segment lifting system further includes a lifting device anti-sway and anti-twist device 108, which is configured to prevent the lifting device 101 from shaking and twisting violently.

[0068] For example, the spreader anti-sway and anti-twist device 108 may include a frequency converter, which controls the travel speed of the spreader 101 during movement in the first direction, the second direction, and the third direction to prevent the spreader 101 from shaking and twisting violently.

[0069] For example, Figure 3 As shown, the crane control module 703 also includes a spreader anti-sway and anti-twist module 707, which is in communication with the spreader anti-sway and anti-twist device and is configured to control the spreader anti-sway and anti-twist device to prevent the spreader from shaking and twisting violently.

[0070] Figure 4 A schematic diagram of a control device for an automatic segment lifting system provided in one embodiment of the present disclosure.

[0071] For example, Figure 4 As shown, the automatic segment lifting system also includes an operation station 705, which is configured to operate the start-up, emergency stop, maintenance, etc. of the automatic segment lifting system. For example, it can also be configured to view the operation signals, fault alarm information, etc. of the automatic segment lifting system. For example, it can also be configured to have an identity recognition function, thereby ensuring the safe start-up and stop of the automatic segment lifting system.

[0072] For example, Figure 4 As shown, the automatic segment lifting system also includes a communication system 706, which is configured to connect various devices and modules installed on the automatic segment lifting system, and access the network system or PLC (Programmable Logic Controller) to establish communication with the control device 700.

[0073] For example, Figure 4 As shown, the automatic segment lifting system also includes a hoisting equipment anti-sway and anti-twist module 707, which is in communication connection with the hoisting equipment anti-sway and anti-twist device and is configured to control the hoisting equipment anti-sway and anti-twist device to prevent the hoisting equipment from shaking and twisting violently.

[0074] For example, Figure 4As shown, the automatic segment lifting system also includes a mechanism positioning module 708, which is configured to position the operation of the segment lifting trolley and the lifting device.

[0075] For example, Figure 4 As shown, the mechanism positioning module 708 includes a trolley operation positioning submodule 709, which is communicatively connected to the segment lifting trolley and is configured to position the segment lifting trolley along a first direction.

[0076] For example, a position sensor may be provided on the segment lifting trolley, so that the trolley operation positioning submodule 709 can locate the position of the segment lifting trolley in the first direction.

[0077] For example, Figure 4 As shown, the mechanism positioning module 708 further includes a translation operation positioning submodule 710, which is communicatively connected to the spreader and configured to position the spreader along the second direction.

[0078] For example, a position sensor may be provided on the spreader, so that the translation operation positioning submodule 710 can locate the position of the spreader in the second direction.

[0079] For example, Figure 4 As shown, the mechanism positioning module 708 also includes a lifting positioning submodule 711, which is communicatively connected to the spreader and is configured to position the spreader along a third direction.

[0080] For example, a position sensor may be provided on the spreader, so that the lifting and positioning submodule 711 can locate the position of the spreader in the third direction.

[0081] For example, Figure 4 As shown, the mechanism positioning module 708 further includes a spreader rotation positioning submodule 712, which is communicatively connected to the spreader and configured to perform rotation positioning on the spreader around an axis extending along the third direction.

[0082] For example, a rotation angle sensor may be provided on the spreader, so that the spreader rotation positioning submodule 712 can locate the position of the spreader in the second direction.

[0083] An embodiment of the present disclosure provides a shield machine, which includes the automatic segment lifting system provided by any of the above embodiments of the present disclosure.

[0084] Through the automatic segment lifting system, the shield machine can realize automatic lifting of multiple segments to be lifted from the segment unloading area to the segment feeding machine in a reasonable order, thereby providing segments arranged in the assembly order for the subsequent segment assembly, thereby improving the automation level of the shield machine.

[0085] An embodiment of the present disclosure provides a method for automatically lifting a pipe segment. Figure 5 An automatic pipe segment lifting method is provided in one embodiment of the present disclosure. The automatic pipe segment lifting method can be applied to the automatic pipe segment lifting system provided in any of the above embodiments. Figure 5 As shown, the automatic segment lifting method comprises the following steps:

[0086] S101: performing contour scanning on a plurality of segments to be hoisted in a first area to obtain contour information of the plurality of segments to be hoisted;

[0087] S102: acquiring position and height information of the plurality of segments to be hoisted according to the profile information, and identifying the type of the segment to be hoisted currently;

[0088] S103: performing rough positioning of the multiple segments to be hoisted according to the position and height information of the multiple segments to be hoisted, and controlling the hoisting device of the segment hoisting device to move to above the current segment to be hoisted;

[0089] S104: When the type of the segment to be hoisted is a wedge-shaped capped segment, control the hoist to hoist the wedge-shaped capped segment to the intermediate transfer platform; when the type of the segment to be hoisted is not the wedge-shaped capped segment, control the hoist to hoist the segment to be hoisted to the second area.

[0090] It should be noted that the above-mentioned first area can be an unloading area for multiple segments to be hoisted, and the above-mentioned second area can be a designated release area on the segment feeder. The above-mentioned segments to be hoisted refer to the segments waiting to be hoisted to the second area by the segment hoisting device, and the current segments to be hoisted refer to the segments that the segment hoisting device is currently preparing to hoist. In addition, the above-mentioned wedge-shaped capping segments are also called capping blocks or K blocks, which are the segments that need to be installed or assembled last among multiple segments for assembling an annular pipeline. However, due to the relatively small size of the wedge-shaped capping segments, the wedge-shaped capping segments are usually located at the top of the stack formed by multiple segments to be hoisted; therefore, how to identify the wedge-shaped capping segments and hoist the wedge-shaped capping segments to the designated release area in the order of the last one is one of the key issues that need to be solved to achieve automatic segment lifting.

[0091] In the automatic segment lifting method provided by the embodiment of the present disclosure, multiple segments to be lifted can be scanned for their profile information, so that the position and height information of multiple segments to be lifted can be obtained according to the profile information, which can be used to roughly locate multiple segments to be lifted so that the segment lifting device can approach the multiple segments to be lifted and prevent the segment lifting device from colliding with the segments to be lifted; at the same time, the type of the current segment to be lifted is identified to distinguish whether the type of the current segment to be lifted is a wedge-shaped capped segment, and the segment is lifted to the middle transfer platform for standby use; if the segment is not a wedge-shaped capped segment, the segment is lifted to the second area, and finally the wedge-shaped capped segment is lifted from the middle transfer platform to the second area. . Thus, the automatic segment lifting method can realize the automatic lifting of multiple segments to be lifted from the first area to the second area in a reasonable order.

[0092] In some examples, in the automatic segment lifting method, a contour measuring device is used to perform contour scanning on multiple segments to be lifted in a first area to obtain contour information of the multiple segments to be lifted, and the contour measuring device is fixed on a segment lifting device.

[0093] In some examples, the above-mentioned contour measuring device may be a contour measuring instrument, so that contour scanning can be performed on multiple pipe segments to be hoisted in the first area to obtain contour information of the multiple pipe segments to be hoisted.

[0094] In some examples, the above-mentioned contour measurement device may include a distance sensor to perform contour scanning on a plurality of segments to be hoisted in the first area.

[0095] For example, the distance sensor may be one or more of an infrared distance sensor, a laser distance sensor, and an ultrasonic distance sensor. Of course, the embodiments of the present disclosure include but are not limited to these, and the distance sensor may also be other types of distance sensors.

[0096] In some examples, the automatic segment lifting method may also include: after the lifting device moves to the top of the segment to be lifted, obtaining image information of the segment to be lifted; obtaining the position of a fixing on the segment to be lifted based on the image information; controlling the lifting device to align with the fixing device based on the position of the fixing device, and controlling the lifting device to be connected with the fixing device.

[0097] In some examples, in the automatic segment lifting method, a visual device is used to obtain the image information of the segment to be lifted, and the visual device is fixed on the segment lifting device.

[0098] In some examples, the visual device may include an image sensor, so as to obtain image information of the pipe segment currently to be hoisted.

[0099] In some examples, the visual device can also monitor intrusions into the lifting area, thereby ensuring the safe operation of the automatic lifting system for the pipe segment.

[0100] For example, the visual device can use human recognition to determine whether a person has entered the lifting area and issue an alarm, thereby improving the safety of the automatic segment lifting system.

[0101] For example, the visual device can also identify and locate the release area after a plurality of pipe segments to be hoisted are hoisted to the release area, thereby confirming the second area.

[0102] In some examples, the automatic segment lifting method may also include: determining whether only the wedge-capped segments remain to be lifted to the second area; when it is determined that only the wedge-capped segments remain to be lifted to the second area, controlling the lifting device to move to the intermediate transfer platform, and lifting the wedge-capped segments on the intermediate transfer platform to the second area; when it is determined that more than the wedge-capped segments remain to be lifted to the second area, controlling the lifting device to move to the first area.

[0103] In some examples, in the automatic segment lifting method, N segments to be lifted form an annular pipeline, and determining whether only wedge-capped segments are left to be lifted to the second area includes: using a counter to record the number of segments lifted by the segment lifting device; when the number of segments recorded by the counter is equal to N-1, determining that only wedge-capped segments are left to be lifted to the second area; when the number of segments recorded by the counter is less than N-1, determining that more than wedge-capped segments are left to be lifted to the second area; and when the number of segments recorded by the counter is equal to N, the counter is cleared.

[0104] For example, N segments to be hoisted may be 9 segments, including 1 wedge-shaped capped segment, and the 9 segments to be hoisted form an annular pipeline. A counter is used to record the number of segments hoisted by the segment hoisting device, and the counter is initially counted as 0 or the counter is reset after one annular segment hoisting is completed. For example, when one segment is hoisted, the counter is incremented by 1; when the number of segments recorded by the counter is less than 8, it is determined that more than the wedge-shaped capped segment has not been hoisted to the second area, and at this time, the hoist is controlled to move to the first area; when the number of segments recorded by the counter is equal to 8, it is determined that only the wedge-shaped capped segment has not been hoisted to the second area, and at this time, the hoist is controlled to move to the intermediate transfer platform, and the wedge-shaped capped segment on the intermediate transfer platform is hoisted to the second area. At this time, the hoisting of the 9 segments to be hoisted of the annular pipeline is completed, and the counter is reset.

[0105] In some examples, the automatic segment lifting method may further include: removing a spacer under the segment after the lifting device grabs a segment.

[0106] For example, the pad can be a sleeper. Of course, the embodiments of the present disclosure include but are not limited to this, and the pad can also be made of other materials.

[0107] For example, a block removal robot is used to remove the blocks under the segments, so as to realize the unmanned automatic lifting method of the segments.

[0108] In some examples, the automatic segment lifting method may further include: rotating the lifting tool to change the orientation of the segment.

[0109] It should be noted that the orientation of the segment can be, for example, the direction of the length of the segment. Changing the orientation of the segment on the hanger can be changing the direction of the length of the segment, for example, adjusting the direction of the length of the segment from along the first direction to along the second direction, so as to facilitate the subsequent segment assembly machine to grab and assemble.

[0110] In some examples, the automatic segment lifting method may further include: carrying a plurality of segments to be lifted.

[0111] For example, an unloader can be used to carry multiple segments to be hoisted, or they can be directly stored on a segment transport vehicle. After all the segments to be hoisted are hoisted, the segment transport vehicle leaves.

[0112] In some examples, the automatic segment lifting method may further include: loading a plurality of segments to be lifted into a vehicle according to a predetermined assembly sequence, and transporting the segments to a segment unloader or the first area.

[0113] Figure 6 An automatic pipe segment lifting method is provided in one embodiment of the present disclosure. The automatic pipe segment lifting method can be applied to the automatic pipe segment lifting system provided in any of the above embodiments. Figure 6 As shown, the automatic segment lifting method comprises the following steps:

[0114] S0: Automatic lifting start, press the start button and the segment lifting device starts to operate automatically.

[0115] S1: The segment lifting device is initialized and the lifting device moves to the default starting position.

[0116] For example, the default starting position is between the first area and the second area.

[0117] S2: Determine whether only the wedge-shaped capping segment is left to be hoisted to the second area.

[0118] If it is determined that only the wedge-shaped capping segment has not been hoisted to the second area, jump to step S7;

[0119] If it is determined that there are more than wedge-shaped capping segments left to be hoisted to the second area, jump to step S3.

[0120] S3: Operate the segment crane to above the segment unloading point, that is, above the first area.

[0121] S4: Scan the segment type and roughly locate it.

[0122] The hoist automatically moves from the default starting position to the first area, starts the contour measuring device to obtain the number, stacking height and stacking position of multiple pipe segments to be hoisted, that is, obtains the position and height information of multiple pipe segments to be hoisted for rough positioning, and automatically runs the pipe segment lifting device to make the hoist reach above the current pipe segment to be hoisted; at the same time, the pipe segment type is identified.

[0123] S5: Determine whether the pipe segment to be hoisted is a wedge-shaped capped pipe segment?

[0124] If the judgment result is that the wedge-shaped capping segment is present, the process jumps to steps S6 and S3 in sequence;

[0125] If the judgment result is not a wedge-shaped capping segment, jump to step S8.

[0126] S6: Lift the pipe segment to be hoisted to the intermediate transfer platform and release it.

[0127] S7: Run the segment hoist to the middle transfer platform.

[0128] S8: Obtain image information of the pipe segment to be hoisted.

[0129] When the hoist moves to the top of the pipe segment to be hoisted, the image information of the pipe segment to be hoisted and the position of the fixing part on the pipe segment to be hoisted are obtained; and the pipe segment hoisting device is controlled according to the position of the fixing part to align the hoist and the fixing part.

[0130] S9: Align the segment fixings and grab the segment.

[0131] S10: Lift the segment to the segment rotation point and rotate the segment orientation.

[0132] S11: Lift the pipe segment to the pipe segment release area and release the pipe segment. The lifting device moves to the top of the pipe segment release area. The visual device identifies the release point mark of the release area and locates it, that is, identifies the second area of ​​the release area. After completion, the pipe segment is released to the second area. Before each release of the pipe segment, the pipe segment in the second area has been transported to the next position by the feeder, and there is no pipe segment in the second area.

[0133] S12: Determine whether the pipe segment of this ring has been lifted?

[0134] If the result of step S11 is that the lifting is completed, jump to step S13, otherwise jump to step S1.

[0135] S13: This automatic lifting process ends.

[0136] For example, the automatic segment lifting method also includes: after the on-duty personnel of the automatic segment lifting system confirm that the segment is unloaded in place and there is no human activity in the automatic segment lifting area, the automatic segment lifting system is started through the operation station.

[0137] For example, the automatic segment lifting method also includes: before the lifting device grabs the segment each time, the crane control module will send a signal to the pad removal robot, and the pad removal robot will remove the pads on the segment, thereby ensuring the normal identification, positioning and grabbing of the segment.

[0138] For example, the automatic segment lifting method also includes: if an abnormal situation occurs in the automatic operation, the segment lifting device will stop working and alarm.

[0139] There are a few points to note:

[0140] (1) In the drawings of the embodiments of the present disclosure, only the structures related to the embodiments of the present disclosure are involved, and other structures can refer to the general design.

[0141] (2) In the absence of conflict, features in the same embodiment or in different embodiments of the present disclosure may be combined with each other.

[0142] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A segment automatic lifting system, comprising: The segment lifting device includes a lifting device and is configured to lift a plurality of segments to be lifted located in a first area to a second area; a contour measuring device, fixed on the segment hoisting device, and configured to perform contour scanning on the plurality of segments to be hoisted in the first area to obtain contour information of the plurality of segments to be hoisted; A visual device, fixed on the segment hoisting device and configured to obtain image information of the segment to be hoisted; as well as Transfer station, The plurality of segments to be hoisted include wedge-shaped capped segments, and the intermediate transfer platform is configured to carry the wedge-shaped capped segments. The automatic segment lifting system also includes: The control device includes a profile scanning module, a visual inspection module and a crane control module. The crane control module is connected to the contour scanning module and the visual detection module respectively in communication. The contour scanning module is in communication with the contour measuring device and is configured to obtain the position and height information of the plurality of segments to be hoisted according to the contour information and identify the type of the segment to be hoisted currently. The crane control module is configured to roughly position the multiple segments to be hoisted according to the position and height information of the multiple segments to be hoisted, and control the hoist to move to the top of the current segment to be hoisted, The visual inspection module is communicatively connected to the visual device, and is configured to obtain the position of the fixing parts on the current segment to be hoisted according to the image information, and the crane control module is further configured to align the hoist with the fixing parts according to the position of the fixing parts, and control the hoist to be connected to the fixing parts, wherein, when the type of the current segment to be hoisted is the wedge-shaped capped segment, the crane control module is configured to control the hoist to hoist the wedge-shaped capped segment to the intermediate transfer platform, and when the type of the current segment to be hoisted is not the wedge-shaped capped segment, the crane control module is configured to control the hoist to hoist the current segment to be hoisted to the second area.

2. The automatic segment lifting system according to claim 1, further comprising: a counter, fixed to the segment lifting device, and recording the number of segments lifted by the segment lifting device, Wherein, the control device also includes a judgment module, which is communicatively connected to the counter and is configured to judge whether only the wedge-shaped capping segment is left to be hoisted to the second area according to the number of segments recorded by the counter.

3. The automatic segment lifting system according to claim 2, wherein: The crane control module is connected to the judgment module for communication. When the judgment module determines that it is yes, the crane control module is configured to control the spreader to move to the middle transfer platform, and lift the wedge-shaped capping segment on the middle transfer platform to the second area. When the determination module determines that the answer is no, the crane control module is configured to control the spreader to move to the first area.

4. The automatic segment lifting system according to any one of claims 1 to 3, wherein: The segment lifting device also includes: A walking beam extending along a first direction; A segment hoisting trolley connected to the walking beam; A first driving mechanism is configured to drive the segment lifting trolley to move along the first direction; A second driving mechanism is configured to drive the spreader to move in a second direction, the second direction being perpendicular to the first direction; a lifting mechanism configured to drive the spreader to move along a third direction, the third direction being perpendicular to the first direction and the second direction; and The rotating mechanism is configured to drive the spreader to rotate around an axis extending along the third direction.

5. The automatic segment lifting system according to any one of claims 1 to 3, wherein: The contour measuring device comprises a distance sensor and the visual device comprises an image sensor.

6. The automatic segment lifting system according to any one of claims 1 to 3, further comprising: The unloader is located in the first area and is configured to carry the multiple pipe segments to be hoisted.

7. The automatic segment lifting system according to any one of claims 1 to 3, further comprising: The block removal robot is configured to remove the blocks under the segment after the spreader grabs the segment.

8. The automatic segment lifting system according to any one of claims 1 to 3, further comprising: The sling anti-sway and anti-twist device is configured to prevent the sling from shaking and twisting violently.

9. The automatic segment lifting system according to any one of claims 1 to 3, further comprising: The segment feeder is configured to transport the plurality of segments to be hoisted to the segment assembly machine, Wherein, the sheet feeder comprises a release area, and the second area is located within the release area.

10. A shield machine, comprising the automatic segment lifting system according to any one of claims 1 to 9.

11. An automatic segment lifting method of the automatic segment lifting system according to claim 1, comprising: Performing contour scanning on the plurality of segments to be hoisted in the first area to obtain contour information of the plurality of segments to be hoisted; Acquire the position and height information of the plurality of segments to be hoisted according to the profile information, and identify the type of the segment to be hoisted currently; Roughly positioning the multiple segments to be hoisted according to the position and height information of the multiple segments to be hoisted, and controlling the hoisting device of the segment hoisting device to move to above the current segment to be hoisted; When the type of the segment to be hoisted is a wedge-shaped capped segment, the hoist is controlled to hoist the wedge-shaped capped segment to the intermediate transfer platform; when the type of the segment to be hoisted is not the wedge-shaped capped segment, the hoist is controlled to hoist the segment to be hoisted to the second area.

12. The automatic segment lifting method according to claim 11, wherein: Performing contour scanning on the plurality of segments to be hoisted in the first area to obtain contour information of the plurality of segments to be hoisted includes: The contour measuring device is used to perform contour scanning on the plurality of segments to be hoisted in the first area to obtain the contour information of the plurality of segments to be hoisted, Wherein, the contour measuring device is fixed on the segment lifting device.

13. The automatic segment lifting method according to claim 11, further comprising: After the hoist moves to the top of the pipe segment to be hoisted, image information of the pipe segment to be hoisted is acquired; Acquire the position of the fixing part on the current segment to be hoisted according to the image information; as well as The sling is controlled to be aligned with the fixing part according to the position of the fixing part, and the sling is controlled to be connected with the fixing part.

14. The automatic segment lifting method according to claim 13, wherein: Acquiring the image information of the current segment to be hoisted includes: The visual device is used to obtain the image information of the pipe segment to be hoisted. Wherein, the visual device is fixed on the segment lifting device.

15. The automatic segment lifting method according to any one of claims 11 to 14, further comprising: Determining whether only the wedge-shaped capping segment is left to be hoisted to the second area; as well as When it is determined that only the wedge-shaped capped segment has not been hoisted to the second area, the hoist is controlled to move to the intermediate transfer platform, and the wedge-shaped capped segment on the intermediate transfer platform is hoisted to the second area; when it is determined that more than the wedge-shaped capped segment has not been hoisted to the second area, the hoist is controlled to move to the first area.

16. The automatic segment lifting method according to claim 15, wherein: The N segments to be hoisted form an annular pipeline, and determining whether only the wedge-shaped capping segment is left to be hoisted to the second area includes: Using a counter to record the number of segments hoisted by the segment hoisting device; When the number of segments recorded by the counter is equal to N-1, it is determined that only the wedge-shaped capping segment is left and has not been hoisted to the second area; When the number of segments recorded by the counter is less than N-1, it is determined that more than the wedge-shaped capping segments are left to be hoisted to the second area; and When the number of segments recorded by the counter is equal to N, the counter is reset.

17. The automatic segment lifting method according to any one of claims 11 to 14, further comprising: After the hanger grabs one of the segments, the pads under the segment are removed.

18. The automatic segment lifting method according to any one of claims 11 to 14, further comprising: Rotating the hanger will change the orientation of the segment.

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