A Shield Tunnel Prefabricated Middle Partition Wall Attitude Adjustment and Grabbing and Lifting System and Its Automatic Control Method

Abstract

The present invention discloses a posture adjustment, grasping and lifting system for a precast middle partition wall in a shield tunnel and an automatic control method thereof, which includes a vehicle carrying platform and a middle partition wall installation machine that cooperate with each other. Both are located inside the tunnel, each on one side of the center line. The vehicle carrying platform is used to carry the middle partition wall to be installed, place it on a transport vehicle, and the transport vehicle transports it to the installation position inside the tunnel. The middle partition wall installation machine is used to detect the lateral distance between itself and the middle partition wall to be installed, perform the parallelism detection of the two, obtain the parallelism difference value between itself and the middle partition wall to be installed, send the rotation direction and angle information around the Z axis to the vehicle carrying platform, as well as its own swing direction and angle around the Y axis; and adjust its own swing direction and angle around the Y axis. This system realizes the automatic and precise grasping of the precast middle partition wall to be installed, ensures the unmanned operation in the grasping and unloading process of large-tonnage precast components, and improves work efficiency and safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of shield tunnel prefabricated assembly, and particularly relates to a shield tunnel prefabricated middle wall attitude adjustment and grasping and lifting system and its automatic control method. Background Technique

[0002] The lining structure of railway tunnels is usually constructed by the cast-in-place concrete process. There are quality defects such as lining cavities and insufficient lining thickness in some sections. After being affected by the train load during the operation period, various diseases are likely to occur, posing a great safety hazard to railway operation. The prefabrication of tunnel structures can effectively solve the quality defects of the cast-in-place process and is also an important way to improve the tunnel construction speed and reduce the construction cost. The tunnel structure prefabricated assembly technology is one of the directions for the professional, factory-based, and mechanized development of tunnel construction. In recent years, with the development of the prefabricated assembly technology for underground projects, the prefabricated assembly of the internal structure of large-diameter shield tunnels has received more and more attention.

[0003] When a single-hole double-track layout is adopted in the tunnel section, the internal structure is a fully prefabricated structure, which is divided into five parts, namely the lower structure (arc-shaped member), the middle wall, the transverse corbel, the cable troughs on both sides, and the evacuation platform. The arc-shaped member is the bottom support member. The middle wall is installed at the midline position on the upper surface of the arc-shaped member, dividing the tunnel into left and right line channels along the midline.

[0004] In order to ensure the assembly accuracy and work efficiency of the middle wall, realize less manual operation, and ensure construction safety, the middle wall needs to adopt a fully automatic and information-based assembly process. When the middle wall is transported to the assembly station through the vehicle carrier platform, a specific device is required to grasp and unload the middle wall. Summary of the Invention

[0005] The purpose of the present invention is to provide a shield tunnel prefabricated middle wall attitude adjustment and grasping and lifting system and its automatic control method, which realizes automatic and precise grasping of the prefabricated middle wall to be installed, ensures the unmanned operation of the grasping and unloading process of large-tonnage prefabricated components, and improves work efficiency and safety.

[0006] The present invention adopts the following technical solutions: A shield tunnel prefabricated middle wall attitude adjustment and grasping and lifting system includes a vehicle carrier platform and a middle wall installation machine that cooperate with each other. Both are located in the tunnel, each on one side of the midline. It is set that the horizontal direction in the tunnel is the X direction, the longitudinal direction is the Y direction, and the vertical direction is the Z direction;

[0007] The vehicle carrier platform is used to carry the middle wall to be installed, place it on a transport vehicle, and the transport vehicle transports it to the installation position in the tunnel;

[0008] The middle partition wall installation machine is used to detect the lateral distance between it and the middle partition wall to be installed, conduct the parallelism detection of the two, obtain the parallelism difference between it and the middle partition wall to be installed, and send the rotation direction and angle information around the Z-axis, as well as its own swing direction and angle around the Y-axis to the vehicle carrying platform; and adjust the swing direction and angle around its own Y-axis.

[0009] The vehicle carrying platform is used to receive information and adjust the rotation direction and angle around the Z-axis.

[0010] The middle partition wall installation machine is also used to: grab the middle partition wall to be installed when the parallelism between the middle partition wall installation machine 1 and the vehicle carrying platform 3 is consistent.

[0011] Further, the vehicle carrying platform is a three-layer platform structure, which is successively the lower-layer transverse movement platform, the middle-layer lifting platform, and the upper-layer rotating platform from bottom to top; the upper-layer rotating platform is used to place the middle partition wall to be installed; among them:

[0012] The lower-layer transverse movement platform is used to adjust the position of the middle partition wall to be installed in the transverse direction.

[0013] The middle-layer lifting platform is arranged above the lower-layer transverse movement platform and can rise or fall in the vertical direction; it is used to adjust the position of the middle partition wall to be installed in the vertical direction.

[0014] The upper-layer rotating platform is arranged above the middle-layer lifting platform and can rotate along the vertical central axis; it is used to adjust the position of the middle partition wall to be installed in the horizontal direction.

[0015] Further, the lower-layer transverse movement platform is used to be arranged on the flatbed of the transport vehicle. A transverse movement guiding device is arranged at the bottom of the lower-layer transverse movement platform. A horizontally arranged transverse movement driving oil cylinder is connected between the lower-layer transverse movement platform and the transport vehicle flatbed, and the transverse movement driving oil cylinder is used to push the lower-layer transverse movement platform to move horizontally back and forth.

[0016] Further, the middle-layer lifting platform is arranged above the lower-layer transverse movement platform, and multiple sets of vertically arranged lifting oil cylinders are connected between the two. The lifting oil cylinders are used to push the middle-layer lifting platform to rise and fall in the vertical direction.

[0017] Further, the upper-layer rotating platform is arranged above the middle-layer lifting platform, and their central positions are connected by a rotating shaft. A rotating driving oil cylinder is connected between the rotating shaft and the middle-layer lifting platform, and the rotating driving oil cylinder is used to drive the upper-layer rotating platform to rotate around the rotating shaft as the central axis.

[0018] Further, a plurality of support wheels are arranged on the upper wall surface of the middle-layer lifting platform, and the plurality of support wheels are arranged at intervals around the middle-layer lifting platform for one week to support the upper-layer rotating platform.

[0019] Furthermore, the middle partition wall installation machine includes: a chuck, an actuating device, a rectangular frame, and an intelligent control system, a positioning laser sensor, a grasping hole recognition laser sensor, and a chuck ranging laser sensor, where:

[0020] The chuck is arranged near the center line side, is a plate body, and is vertically arranged, with its outer side facing the center line side, and the outer side is used to support the middle partition wall to be installed; on the wall surface on its side close to the center line, four lifting pins are arranged in a rectangular shape;

[0021] The actuating device is arranged on the rectangular frame and is used to control the actuation of the chuck;

[0022] There are two sets of positioning laser sensors, which are respectively arranged under the legs on the side of the rectangular frame close to the tunnel center line, and identify the parking position of the vehicle carrier platform by detecting the X-direction distance.

[0023] There are four sets of grasping hole recognition laser sensors, which are built into the front ends of the four lifting pins and are used to identify the positions of the grasping holes of the middle partition wall to be installed;

[0024] There are four sets of chuck ranging laser sensors, which are arranged on the wall surface of the chuck on the side close to the center line and are in a cross shape in the Y-direction and Z-direction, and are used to detect the distance between the chuck and the middle partition wall 2-1 to be installed;

[0025] The central hole vision recognition system is arranged on the wall surface of the chuck on the side close to the center line and is used to identify the central hole of the grasping hole of the middle partition wall to be installed;

[0026] The intelligent control system is used to receive the information of the grasping hole recognition laser sensor, the chuck ranging laser sensor, and the central hole vision recognition system, and control the actuating device to act; it is also used to transmit information to the vehicle carrier platform.

[0027] The present invention discloses the above-mentioned automatic control method for attitude adjustment, grasping, and lifting of the precast middle partition wall in a shield tunnel. The control method is as follows:

[0028] Step c, parallel attitude adjustment of the middle partition wall to be installed, specifically:

[0029] Step c.1, the chuck ranging laser sensor detects the distance between the chuck and the middle partition wall to be installed, and determines whether the parking position of the middle partition wall to be installed meets the X-direction grasping distance requirement of the chuck. When the above distance does not meet the requirement, the intelligent control system sends a signal to the vehicle carrier platform to re-adjust the parking position; when the above distance meets the requirement, proceed to the next step;

[0030] Step c.2: The gripper disc ranging laser sensor detects the distance between the gripper disc and the middle partition wall to be installed, and inputs the distance value into the intelligent control system. The intelligent control system calculates the parallelism difference between the gripper disc and the middle partition wall to be installed, and obtains the rotation direction and angle of the upper rotating platform of the vehicle carrier platform around the Z-axis, and the swing direction and angle of the gripper disc around the Y-axis;

[0031] Step c.3: The intelligent control system issues a drive control command for the rotation drive cylinder 3-8, causing the upper rotating platform to rotate to complete the parallelism adjustment of the middle partition wall to be installed around the Z-axis;

[0032] Step c.4: The intelligent control system issues a drive control command for the swing cylinder to drive the gripper disc to swing and complete the parallelism adjustment of the gripper disc around the Y-axis;

[0033] Step c.5: Recheck the parallelism error between the gripper disc and the middle partition wall to be installed through step c.2. When the parallelism does not meet the requirements, repeat steps c.2, c.3, and c.4; when the parallelism meets the requirements, proceed to the next step;

[0034] Step c.6: The intelligent control system sends a drive command for the transverse movement drive cylinder to the vehicle carrier platform, causing the lower transverse movement platform to approach the tunnel center line and the middle partition wall to be installed to approach the tunnel center line;

[0035] Step d: Identification of the gripping holes and center holes of the middle partition wall to be installed, specifically as follows:

[0036] Step d.1: The center hole vision recognition system recognizes the center hole of the gripping hole of the middle partition wall and determines the displacement deviation between the center point of the gripper disc and the center of the center hole of the gripping hole of the middle partition wall to be installed in the Y-axis and Z-axis directions;

[0037] Step d.2: Based on the displacement deviation between the center point of the gripper disc and the center of the center hole of the gripping hole of the middle partition wall to be installed in the Y-axis direction, the intelligent control system forms a drive control command for the longitudinal movement cylinder of the middle partition wall installation machine to drive the gripper disc to move in the Y-axis direction and complete the positioning of the gripper disc and the middle partition wall to be installed in the Y-axis direction;

[0038] Step d.3: Based on the displacement deviation between the center point of the gripper disc and the center of the center hole of the gripping hole of the middle partition wall to be installed in the Z-axis direction, the intelligent control system forms a drive control command for the lifting cylinder of the vehicle carrier platform to drive the middle lifting platform to move in the Z-axis direction and complete the positioning requirement of the gripper disc and the middle partition wall to be installed in the Z-axis direction;

[0039] Step d.4: Repeat step d.1 to recheck the centering error between the gripper disc and the center hole of the gripping hole of the middle partition wall to be installed. When the centering error does not meet the requirements, repeat steps d.1, d.2, and d.3; when the centering error meets the requirements, proceed to the next step;

[0040] Step d.5: The actuating device operates to drive the gripper disc to grip the four grab holes of the middle partition wall by the hole recognition laser sensor, so as to align the lifting pin shaft with the grab holes of the middle partition wall.

[0041] Step e: Grasp and lift the middle partition wall to be installed.

[0042] Further, this step e is specifically as follows:

[0043] Step e.1: The actuating device operates to extend the gripper disc towards the middle partition wall to be installed. After the lifting pin shaft passes through the grab holes of the middle partition wall, the actuating device stops.

[0044] Step e.2: The rectangular frame rises to lift the middle partition wall to be installed through the lifting pin shaft, disengaging from the lower vehicle carrier platform; the intelligent control system sends a signal to the vehicle carrier platform to indicate that it can drive away.

[0045] Further, before step c, there is also step b: The middle partition wall installation machine is in place, specifically as follows:

[0046] Step b.1: The intelligent control system receives the information that the vehicle carrier platform has parked in place.

[0047] Step b.2: The intelligent control system starts the traveling mechanism of the middle partition wall installation machine and moves it towards the middle partition wall to be installed.

[0048] Step b.3: After successively identifying the vehicle carrier platform through lateral distance measurement, it is set that the middle partition wall installation machine continues to move forward a certain distance and then automatically stops moving forward. The middle partition wall installation machine is in place, and the gripper disc is initially centered with the grab holes of the middle partition wall to be installed in the X direction.

[0049] The beneficial effects of the present invention are as follows: The middle partition wall installation machine and the vehicle carrier platform are used in combination. After the middle partition wall randomly placed on the vehicle carrier platform is transported in place, the middle partition wall installation machine can autonomously identify the attitude of the middle partition wall and accurately grip it. The whole process is automatically and informatically precisely controlled, ensuring that the gripping and unloading process of large-tonnage prefabricated components is unmanned, improving work efficiency and safety. Description of the Drawings

[0050] Figure 1 It is the mechanical structure diagram of the vehicle carrier platform;

[0051] Figure 2 It is the installation schematic diagram of the middle partition wall of the present invention;

[0052] Figure 3 It is the structural schematic diagram of the precast middle partition wall attitude adjustment and gripping and lifting system of the present invention;

[0053] Figure 4 It is the longitudinal mechanical structure diagram of the middle partition wall installation machine;

[0054] Figure 5 It is the mechanical structure diagram of the lateral direction of the middle partition wall installation machine;

[0055] Figure 6 It is the schematic diagram of the sensor positions arranged on the middle partition wall installation machine of the present invention;

[0056] Wherein: 1. Middle partition wall installation machine; 2. Middle partition wall; 2-1. Middle partition wall to be installed; 2-2. Installed middle partition wall; 2-3. Middle partition wall grabbing hole; 3. Vehicle carrying platform; 5. Tunnel;

[0057] 1-1. Traveling mechanism; 1-2. Telescopic support leg; 1-3. Frame longitudinal beam; 1-4. Installation trolley longitudinal movement slider; 1-5. Longitudinal movement oil cylinder; 1-6. Intelligent control system; 1-7. Swing hinge; 1-8. Swing oil cylinder; 1-9. Installation trolley transverse movement outer sliding sleeve; 1-10. Installation trolley transverse movement inner sliding sleeve; 1-11. Flip crank; 1-12. Flip oil cylinder; 1-13. Flip main shaft; 1-14. Torsion oil cylinder; 1-15. Grabbing disc; 1-16. Lifting pin shaft; 1-17. Transverse movement oil cylinder; 1-18. Positioning laser sensor; 1-19. Grabbing hole identification laser sensor; 1-20. Grabbing disc distance measuring laser sensor; 1-21. Central hole vision recognition system.

[0058] 3-1 Lower layer transverse movement platform; 3-2 Transverse movement oil cylinder; 3-3 Transverse movement guiding device; 3-4 Jacking oil cylinder; 3-5 Middle layer jacking platform; 3-6 Support wheel; 3-7 Upper layer rotating platform; 3-8 Rotating oil cylinder; 3-9 Rotating shaft; 3-10 Transport vehicle. Specific implementation manners

[0059] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0060] A shield tunnel precast middle partition wall attitude adjustment and grabbing and lifting system of the present invention, as shown in Figures 1, 2 and 3, includes a vehicle carrying platform 3 and a middle partition wall installation machine 1 that cooperate with each other. Both are located in the tunnel 5 and are on one side of the center line respectively. It is set that the transverse direction in the tunnel 5 is the X direction, the longitudinal direction is the Y direction, and the vertical direction is the Z direction; Figure 1 The vehicle carrying platform 3 is used to carry the middle partition wall 2-1 to be installed, place it on the transport vehicle 3-10, and the transport vehicle 3-10 transports it to the installation position in the tunnel 5;

[0061]

[0062] ​The middle partition wall installation machine 1 is used to detect its lateral distance from the to-be-installed middle partition wall 2-1, perform the parallelism detection of the two, obtain the parallelism difference between it and the to-be-installed middle partition wall 2-1, and send the rotation direction and angle information around the Z-axis, as well as its own swing direction and angle around the Y-axis, to the vehicle carrying platform 3; and adjust its own swing direction and angle around the Y-axis; the vehicle carrying platform 3 is used to receive the information and perform the adjustment of the rotation direction and angle around the Z-axis.

[0063] The middle partition wall installation machine 1 is also used for: grasping the to-be-installed middle partition wall 2-1 when the parallelism between the middle partition wall installation machine 1 and the vehicle carrying platform 3 is consistent.

[0064] As Figure 1 shown, the vehicle carrying platform 3 is a three-layer platform structure, which is successively the lower-layer transverse movement platform 3-1, the middle-layer jacking platform 3-5, and the upper-layer rotating platform 3-7 from bottom to top; the upper-layer rotating platform 3-7 is used to place the to-be-installed middle partition wall 2-1; among them:

[0065] The lower-layer transverse movement platform 3-1 is used to adjust the position of the to-be-installed middle partition wall 2-1 in the transverse direction;

[0066] The middle-layer jacking platform 3-5 is arranged above the lower-layer transverse movement platform 3-1 and can rise or fall in the vertical direction; it is used to adjust the position of the to-be-installed middle partition wall 2-1 in the vertical direction;

[0067] The upper-layer rotating platform 3-7 is arranged above the middle-layer jacking platform 3-5 and can rotate along the vertical central axis; it is used to adjust the position of the to-be-installed middle partition wall 2-1 in the horizontal direction.

[0068] The lower-layer transverse movement platform 3-1 is used to be arranged on the flat plate of the transport vehicle 3-10. A transverse movement guiding device 3-3 is arranged at the bottom of the lower-layer transverse movement platform 3-1. A horizontally arranged transverse movement driving oil cylinder 3-2 is connected between the lower-layer transverse movement platform 3-1 and the flat plate of the transport vehicle 3-10, and the transverse movement driving oil cylinder 3-2 is used to push the lower-layer transverse movement platform 3-1 to move horizontally back and forth

[0069] The middle-layer jacking platform 3-5 is arranged above the lower-layer transverse movement platform 3-1, and multiple sets of vertically arranged jacking oil cylinders 3-4 are connected between the two. The jacking oil cylinders 3-4 are used to push the middle-layer jacking platform 3-5 to rise and fall in the vertical direction.

[0070] The upper-layer rotating platform 3-7 is arranged above the middle-layer jacking platform 3-5, and their central positions are connected by a rotating shaft 3-9. A rotating driving oil cylinder 3-8 is connected between the rotating shaft 3-9 and the middle-layer jacking platform 3-5. The rotating driving oil cylinder 3-8 is used to drive the upper-layer rotating platform 3-7 to rotate around the rotating shaft 3-9 as the central axis.

[0071] A plurality of support wheels 3-6 are provided on the upper wall surface of the middle lifting platform 3-5, and the plurality of support wheels 3-6 are arranged at intervals around the middle lifting platform 3-5 for supporting the upper rotating platform 3-7.

[0072] As Figure 4 and 5 shown, the middle partition wall installation machine 1 includes: a chuck 1-15, an actuating device, a rectangular frame, and an intelligent control system 1-6, a positioning laser sensor 1-18, a grasping hole recognition laser sensor, and a chuck ranging laser sensor 1-20, wherein:

[0073] The rectangular frame includes:

[0074] Four vertically arranged telescopic legs 1-2 are provided at the four vertices of the rectangle and can be raised or lowered in the vertical direction; a traveling mechanism 1-2 is provided at the lower end of each of the telescopic legs 1-2 for longitudinally moving in the tunnel;

[0075] The frame longitudinal beams 1-3 are two longitudinally running channel steels, arranged at intervals on the left and right, located at the tops of the left and right telescopic legs 1-2, and the open sides of the channel steels face the opposite side; the inside of the open sides of the channel steels is used as a sliding track for installing the longitudinal movement slider 1-4 of the trolley.

[0076] The chuck 1-15 is arranged on the side close to the center line, is a plate body, and is vertically arranged, with its outer side facing the center line side, and the outer side is used to support the middle partition wall 2-1 to be installed; on the wall surface on its side close to the center line, four lifting pin shafts 1-16 are arranged in a rectangular shape;

[0077] The actuating device is arranged on the rectangular frame for controlling the actuation of the chuck 1-15; the actuating device includes:

[0078] The longitudinal movement slider 1-4 of the installation trolley is arranged on the upper longitudinal beam of the rectangular frame and can reciprocally slide longitudinally along the rectangular frame. The longitudinal movement oil cylinder 1-5 is longitudinally arranged, one end is connected to the longitudinal movement slider 1-4 of the installation trolley, and the other end is connected to the rectangular frame; the longitudinal movement oil cylinder 1-5 is used to drive the longitudinal movement slider 1-4 of the installation trolley to reciprocally slide longitudinally;

[0079] The transverse movement outer sliding sleeve 1-9 of the installation trolley is a shell, which is transversely arranged, and the open end faces the center line side of the tunnel 5; it is arranged below the longitudinal movement slider 1-4 of the installation trolley, and the two are connected by a swing hinge 1-7; the transverse movement inner sliding sleeve 1-10 of the installation trolley is inserted into the transverse movement outer sliding sleeve 1-9 with a bearing, and is connected to the transverse movement outer sliding sleeve 1-9 through a transverse movement oil cylinder 1-17, and the transverse movement inner sliding sleeve 1-10 of the installation trolley can reciprocally slide left and right in the transverse movement outer sliding sleeve 1-9.

[0080] The flipping main shaft 1-13 is a shaft body coaxially arranged at the outer end of the inner sliding sleeve 1-10 of the transverse movement of the installation trolley near the center line side, and can rotate within the inner sliding sleeve 1-10 of the transverse movement of the installation trolley; the outer end of the flipping main shaft 1-13 is hinged to the chuck 1-15. The transverse movement oil cylinder 1-17 is used to push the inner sliding sleeve 1-10 of the transverse movement of the installation trolley to reciprocate horizontally, so as to push the chuck 1-15 to reciprocate horizontally.

[0081] The flipping crank 1-11 is a plate body with one end large and the other end small. Its small end is connected to the flipping main shaft 1-13, and the large end is hinged to the center of the inner side surface of the chuck 1-15; the flipping oil cylinder 1-12 is longitudinally arranged, and its two ends are respectively connected to the outer sliding sleeve 1-9 of the transverse movement of the installation trolley and the flipping crank 1-11, and is used to push the flipping crank 1-11 to drive the chuck 1-15 to flip. The torsion oil cylinder 1-14 is transversely arranged, and its two ends are respectively connected to the chuck 1-15 and the inner sliding sleeve 1-10 of the transverse movement of the trolley, and is used to drive the chuck 1-15 to rotate around the hinge point.

[0082] As Figure 6 shown, there are two sets of positioning laser sensors 1-18, which are respectively arranged under the telescopic legs 1-2 on the side of the rectangular frame close to the tunnel center line, and identify the parking position of the vehicle carrying platform 3 by detecting the lateral (X-direction) distance.

[0083] There are four sets of grasping hole identification laser sensors, which are built into the front ends of the four lifting pin shafts 1-16, and are used to identify the positions of the grasping holes of the middle partition wall 2-1 to be installed by detecting the lateral (X-direction) distance;

[0084] There are four sets of chuck ranging laser sensors 1-20, which are arranged on the wall surface of the chuck 1-15 on the side close to the center line, in a cross shape in the Y-direction and Z-direction, and sense the distances between the front ends of the lifting pin shafts 1-16, the chuck 1-15 and the middle partition wall 2-1 to be installed by detecting the lateral (X-direction) distance from the surface of the middle partition wall 2-1 to be installed.

[0085] The central hole vision recognition system 1-21 is arranged on the wall surface of the chuck 1-15 on the side close to the center line, and is used to recognize the central hole of the grasping hole 2-3 of the middle partition wall to be installed, that is, the rectangular center position.

[0086] The intelligent control system (1-6) is used to receive the information of the grasping hole identification laser sensor, the chuck ranging laser sensor 1-20 and the central hole vision recognition system 1-21, and control the action of the actuating device; it is also used to transmit information to the vehicle carrying platform 3.

[0087] The above-mentioned automatic control method for attitude adjustment, grasping and lifting of the precast middle partition wall in the shield tunnel is as follows:

[0088] Step a: The middle partition wall 2-1 to be installed is transported to the installation position, specifically including:

[0089] Step a.1: The vehicle carrying platform 3 transports the middle partition wall 2-1 to be installed and travels along one side of the tunnel 5 to the installation position of the middle partition wall.

[0090] Step a.2: The vehicle carrying platform 3 and the middle partition wall installation machine 1 establish a wireless communication connection through the intelligent control system 1-6.

[0091] Step a.3: The vehicle carrying platform 3 sends a parking in place message to the middle partition wall installation machine 1.

[0092] Step b: The middle partition wall installation machine 1 is in place, as shown in Figure 5 and 6 shown, specifically including:

[0093] Step b.1: The intelligent control system 1-6 of the middle partition wall installation machine 1 receives the parking in place message from the vehicle carrying platform 3.

[0094] Step b.2: The intelligent control system 1-6 starts the traveling mechanism of the middle partition wall installation machine 1 and moves it towards the middle partition wall 2-1 to be installed.

[0095] Step b.3: During the movement of the middle partition wall installation machine 1, the position relative to the vehicle carrying platform 3 is identified through the positioning laser sensor 1-18: during the forward movement of the middle partition wall installation machine 1, after the front end (forward defense line) and the rear end positioning laser sensors 1-18 sequentially identify the vehicle carrying platform 3 through lateral distance measurement, it is set that the middle partition wall installation machine 1 automatically stops moving forward after continuing to move forward a certain distance.

[0096] After completing the above actions, the middle partition wall installation machine 1 is in place, and the gripper 1-15 can be initially horizontally (X-direction) aligned with the gripping hole 2-3 of the middle partition wall to be installed.

[0097] Step c: Adjust the parallel attitude of the middle partition wall 2-1 to be installed, specifically including:

[0098] Step c.1: Distance detection of the gripper 1-15. The distance between the gripper 1-15 and the middle partition wall 2-1 to be installed is detected through the gripper ranging laser sensor 1-20. Preferably, the maximum distance is used as the judgment parameter to determine whether the parking position of the middle partition wall 2-1 (or the vehicle carrying platform 3) meets the horizontal (X-direction) gripping distance requirement of the gripper 1-15. When the above distance does not meet the requirement, the intelligent control system 1-6 sends a signal to the vehicle carrying platform 3 to re-adjust the parking position; when the above distance meets the requirement, the middle partition wall installation machine 1 can proceed to the next step;

[0099] Step c.2: Detection of the parallelism of the middle partition wall 2-1 to be installed. The distance between the gripper 1-15 and the middle partition wall 2-1 to be installed is detected by the above-mentioned gripper ranging laser sensor 1-20, and four distance values are input into the intelligent control system 1-6. The intelligent control system 1-6 obtains the parallelism difference between the gripper 1-15 and the middle partition wall 2-1 to be installed, and analyzes the rotation direction and angle of the upper rotating platform 3-7 of the vehicle carrying platform 3 around the Z axis, and the swing direction and angle information of the gripper 1-15 around the Y axis;

[0100] Step c.3: Adjustment of the parallelism of the middle partition wall 2-1 to be installed. The intelligent control system 1-6 gives a drive control command to the rotary drive cylinder 3-8 according to the rotation direction and angle information of the upper rotating platform 3-7 around the Z axis described in c.2, so that the upper rotating platform 3-7 rotates to complete the parallelism adjustment of the middle partition wall 2-1 to be installed around the Z axis;

[0101] Step c.4: Adjustment of the parallelism of the gripper 1-15. The intelligent control system 1-6 gives a drive control command to the swing cylinder 1-8 according to the swing direction and angle information of the gripper 1-15 around the Y axis described in step c.2, and drives the gripper 1-15 to swing to complete the parallelism adjustment of the gripper 1-15 around the Y axis;

[0102] Step c.3 and step c.4 have no sequence, and can be adjusted successively or synchronously.

[0103] Step c.5: After the parallelism adjustment in steps c.2, c.3, and c.4, the gripper 1-15 is parallel to the middle partition wall 2-1 to be installed. The parallelism error between the gripper 1-15 and the middle partition wall 2-1 to be installed is rechecked through step c.2. When the parallelism does not meet the requirements, steps c.2, c.3, and c.4 are repeated; when the parallelism meets the requirements, the next step can be executed;

[0104] Step c.6: The intelligent control system 1-6 sends a drive command to the transverse movement drive cylinder 3-2 of the vehicle carrying platform 3, so that the lower transverse movement platform 3-1 approaches the center line of the tunnel 5, and further makes the middle partition wall 2-1 to be installed approach the center line of the tunnel 5. This step can shorten the lateral distance for the subsequent middle partition wall grasping step and make up for the deficiency that the vehicle carrying platform 3 cannot approach the center line of the tunnel 5 sufficiently.

[0105] As an optimization or improvement of the present invention, step d for identifying the grasping holes 2-3 and the center holes of the middle partition wall to be installed specifically includes:

[0106] Step d.1: The center hole of the middle partition wall grasping hole 2-3 is identified by the center hole vision recognition system 1-21 on the gripper 1-15, and the displacement deviation between the center point of the gripper 1-15 and the center hole center of the middle partition wall grasping hole 2-3 to be installed in the Y-axis and Z-axis directions is determined.

[0107] Step d.2: The intelligent control system 1-6 forms a driving control instruction for the longitudinal movement cylinder 1-5 of the middle partition wall installation machine according to the displacement deviation in the Y-axis direction between the center point of the gripper 1-15 and the center hole center of the grabbing hole 2-3 of the middle partition wall to be installed, and drives the longitudinal movement slider 1-4 of the installation trolley to move in the Y-axis direction to meet the positioning requirements of the gripper 1-15 and the middle partition wall 2-1 to be installed in the Y-axis direction;

[0108] Step d.3: The intelligent control system 1-6 forms a driving control instruction for the lifting cylinder 3-4 of the vehicle carrying platform 3 according to the displacement deviation in the Z-axis direction between the center point of the gripper 1-15 and the center hole center of the grabbing hole 2-3 of the middle partition wall to be installed, and drives the middle layer lifting platform 3-5 to move in the Z-axis direction to meet the positioning requirements of the gripper 1-15 and the middle partition wall 2-1 to be installed in the Z-axis direction;

[0109] Steps d.2 and d.3 have no sequence and can be adjusted successively or synchronously.

[0110] Step d.4: After the parallelism adjustment in steps d.1, d.2, and d.3, the center of the gripper 1-15 and the center hole of the grabbing hole 2-3 of the middle partition wall to be installed can be centered. The centering error between the gripper 1-15 and the center hole of the grabbing hole 2-3 of the middle partition wall to be installed is rechecked through step d.1. When the centering error does not meet the requirements, steps d.1, d.2, and d.3 are repeated; when the centering error meets the requirements, the next step can be executed;

[0111] Step d.5: After the center of the gripper 1-15 and the center hole of the grabbing hole 2-3 of the middle partition wall to be installed are centered, the flipping cylinder 1-12 of the middle partition wall installation machine 1 is driven, and the 4 grabbing hole recognition laser sensors 1-19 installed are used to recognize the 4 grabbing holes 2-3 of the middle partition wall. The grabbing hole recognition laser sensor 1-19 recognizes the grabbing hole 2-3 of the middle partition wall to be installed by detecting the sudden change in the distance value from the middle partition wall 2-1 to be installed. The flipping cylinder 1-12 can rotate reciprocally. When one of the 4 grabbing hole recognition laser sensors 1-19 recognizes the edge of the grabbing hole 2-3 of the middle partition wall, the flipping cylinder 1-12 continues to rotate by a set angle, and the centering of the lifting pin 1-16 and the grabbing hole 2-3 of the middle partition wall can be achieved. At the same time, the other 3 above-mentioned grabbing hole recognition laser sensors 1-19 can be used as the discrimination conditions for the centering of the above holes.

[0112] Through the above steps d.1, d.2, d.3, d.4, and d.5, the centering of the lifting pin 1-16 and the grabbing hole 2-3 of the middle partition wall can be achieved.

[0113] As an optimization or improvement of the present invention, the specific steps for grabbing and lifting the middle partition wall 2-1 to be installed in step e include:

[0114] Step e.1: Drive the transverse movement oil cylinder 1-17 of the middle partition wall installation machine 1 to extend the transverse movement inner sliding sleeve 1-10, the gripper 1-15, and the lifting pin shaft 1-16 of the installation trolley towards the middle partition wall 2-1 to be installed. After the lifting pin shaft 1-16 passes through the middle partition wall grabbing hole 2-3, stop driving the transverse movement oil cylinder 1-17;

[0115] e.2: Synchronously drive the four telescopic legs 1-2 of the middle partition wall installation machine 1 to lift the middle partition wall 2-1 to be installed through the lifting pin shaft 1-16, disengaging it from the lower vehicle carrying platform 3 and maintaining a certain safe distance. The intelligent control system 1-6 sends a signal to the vehicle carrying platform 3 indicating that it can drive away;

[0116] Step e.3: The vehicle carrying platform 3 receives the signal sent by the intelligent control system 1-6 indicating that it can drive away, and the lower layer transverse movement platform 3-1, the middle layer jacking platform 3-5, and the upper layer rotating platform 3-7 return to their initial states. Then the driver can start the vehicle carrying platform 3 to leave and prepare to transport the next middle partition wall 2-1 to be installed;

[0117] Step e.4: The intelligent control system 1-6 disconnects the communication between the middle partition wall installation machine 1 and the vehicle carrying platform 3 and prepares for the subsequent work of the middle partition wall installation machine 1.

Claims

1. A shield tunnel precast middle partition attitude adjustment and grasping and lifting system, characterized in that It includes a vehicle carrier platform (3) and a middle partition wall installation machine (1) that cooperate with each other. Both are located inside the tunnel (5), each on one side of the center line. It is set that the transverse direction inside the tunnel (5) is the X direction, the longitudinal direction is the Y direction, and the vertical direction is the Z direction; The vehicle carrier platform (3) is used to carry the middle partition wall (2-1) to be installed, to be placed on the transport vehicle (3-10), and the transport vehicle (3-10) transports it to the installation position inside the tunnel 5; The middle partition wall installation machine (1) is used to detect its lateral distance from the middle partition wall (2-1) to be installed, conduct the parallelism detection of the two, obtain the parallelism difference between it and the middle partition wall (2-1) to be installed, send the rotation direction and angle information around the Z axis, as well as its own swing direction and angle around the Y axis to the vehicle carrier platform (3); and adjust its own swing direction and angle around the Y axis; The vehicle carrier platform (3) is used to receive the information and adjust the rotation direction and angle around the Z axis; The middle partition wall installation machine (1) is also used for: when the parallelism between the middle partition wall installation machine (1) and the vehicle carrier platform 3 is consistent, grasping the middle partition wall (2-1) to be installed; The vehicle carrier platform (3) is a three-layer platform structure, which are successively the lower-layer transverse movement platform (3-1), the middle-layer lifting platform (3-5), and the upper-layer rotating platform (3-7) from bottom to top; the upper-layer rotating platform (3-7) is used to place the middle partition wall (2-1) to be installed; where: The lower-layer transverse movement platform (3-1) is used to adjust the position of the middle partition wall (2-1) to be installed in the transverse direction; The middle-layer lifting platform (3-5) is arranged above the lower-layer transverse movement platform (3-1) and can rise or fall in the vertical direction; it is used to adjust the position of the middle partition wall (2-1) to be installed in the vertical direction; The upper-layer rotating platform (3-7) is arranged above the middle-layer lifting platform (3-5) and can rotate along the vertical central axis; it is used to adjust the position of the middle partition wall (2-1) to be installed in the horizontal direction; The lower-layer transverse movement platform (3-1) is used to be arranged on the flat plate of the transport vehicle (3-10). A transverse movement guiding device (3-3) is arranged at the bottom of the lower-layer transverse movement platform (3-1). A horizontally arranged transverse movement driving oil cylinder (3-2) is connected between the lower-layer transverse movement platform (3-1) and the flat plate of the transport vehicle (3-10), and the transverse movement driving oil cylinder (3-2) is used to push the lower-layer transverse movement platform (3-1) to move horizontally back and forth; The middle-layer lifting platform (3-5) is arranged above the lower-layer transverse movement platform (3-1), and multiple sets of vertically arranged lifting oil cylinders (3-4) are connected between the two. The lifting oil cylinders (3-4) are used to push the middle-layer lifting platform (3-5) to rise and fall in the vertical direction; The upper rotating platform (3-7) is arranged above the middle lifting platform (3-5), and their central positions are connected by a rotating shaft (3-9). A rotating drive oil cylinder (3-8) is connected between the rotating shaft (3-9) and the middle lifting platform (3-5). The rotating drive oil cylinder (3-8) is used to drive the upper rotating platform (3-7) to rotate around the rotating shaft (3-9). A plurality of support wheels (3-6) are arranged on the upper wall surface of the middle lifting platform (3-5), and the plurality of support wheels (3-6) are arranged at intervals around the middle lifting platform (3-5) for supporting the upper rotating platform (3-7).

2. The attitude adjustment, grasping and lifting system for the precast middle partition wall of a shield tunnel according to claim 1, characterized in that, The middle partition wall installation machine (1) includes: a chuck (1-15), an actuating device, a rectangular frame, and an intelligent control system (1-6), a positioning laser sensor (1-18), a grasping hole recognition laser sensor, and a chuck ranging laser sensor (1-20), where:[[]] The chuck (1-15) is arranged near the center line side, is a plate body, and is arranged vertically. Its outer side faces the center line side, and the outer side is used to support the middle partition wall (2-1) to be installed; on the wall surface on its side close to the center line, four lifting pins (1-16) are arranged in a rectangular shape.[[]] The actuating device is arranged on the rectangular frame and is used to control the actuation of the chuck (1-15). The positioning laser sensor (1-18), there are two sets, which are respectively arranged under the legs of the rectangular frame on the side close to the tunnel center line, and identify the parking position of the vehicle carrying platform (3) by detecting the X-direction distance.[[]] The grasping hole recognition laser sensor, there are four sets, which are built into the front ends of the four lifting pins (1-16) and are used to identify the positions of the grasping holes of the middle partition wall (2-1) to be installed.[[]] The chuck ranging laser sensor (1-20), there are four sets, which are arranged on the wall surface of the chuck (1-15) on the side close to the center line, and are in a cross shape in the Y-direction and the Z-direction, and are used to detect the distance between the chuck (1-15) and the middle partition wall (2-1) to be installed.[[]] The central hole vision recognition system (1-21) is arranged on the wall surface of the chuck (1-15) on the side close to the center line and is used to identify the central hole of the grasping hole (2-3) of the middle partition wall to be installed.[[]] The intelligent control system (1-6) is used to receive the information of the grasping hole recognition laser sensor, the chuck ranging laser sensor (1-20), and the central hole vision recognition system (1-21), and control the actuating device to act; it is also used to transmit information to the vehicle carrying platform (3).

3. An automatic control method for attitude adjustment, grasping and lifting of a precast middle partition wall in a shield tunnel according to any one of claims 1-2, characterized in that, The control method is as follows:[[]] Step c, adjusting the parallel attitude of the middle partition wall (2-1) to be installed, specifically:[[]] Step c.1, the chuck ranging laser sensor (1-20) detects the distance between the chuck (1-15) and the middle partition wall (2-1) to be installed, and determines whether the parking position of the middle partition wall (2-1) to be installed meets the X-direction grasping distance requirement of the chuck (1-15). When the above distance does not meet the requirement, the intelligent control system (1-6) sends a signal to the vehicle carrying platform (3) to re-adjust the parking position; when the above distance meets the requirement, proceed to the next step.[[]] Step c.2: The gripper disk ranging laser sensor (1-20) detects the distance between the gripper disk (1-15) and the middle partition wall to be installed (2-1), and inputs the distance value into the intelligent control system (1-6); the intelligent control system (1-6) calculates the parallelism difference between the gripper disk (1-15) and the middle partition wall to be installed (2-1), and obtains the rotation direction and angle of the upper rotating platform (3-7) of the vehicle carrying platform (3) around the Z-axis, and the swing direction and angle information of the gripper disk (1-15) around the Y-axis; Step c.3: The intelligent control system (1-6) issues a drive control instruction for the rotation drive oil cylinder (3-8) to rotate the upper rotating platform (3-7) to complete the parallelism adjustment of the middle partition wall to be installed (2-1) around the Z-axis; Step c.4: The intelligent control system (1-6) issues a drive control instruction for the swing oil cylinder (1-8) to drive the gripper disk (1-15) to swing and complete the parallelism adjustment of the gripper disk (1-15) around the Y-axis; Step c.5: The parallelism error between the gripper disk (1-15) and the middle partition wall to be installed (2-1) is rechecked through Step c.

2. When the parallelism does not meet the requirements, Steps c.2, c.3, and c.4 are repeated; when the parallelism meets the requirements, the next step is executed; Step c.6: The intelligent control system (1-6) sends a drive instruction for the transverse movement drive oil cylinder 3-2 of the vehicle carrying platform (3) to make the lower transverse movement platform (3-1) approach the center line of the tunnel (5), and make the middle partition wall to be installed 2-1 approach the center line of the tunnel (5); Step d: Identification of the grabbing hole (2-3) and the center hole of the middle partition wall to be installed, specifically as follows: Step d.1: The center hole vision recognition system (1-21) recognizes the center hole of the middle partition wall grabbing hole (2-3), and determines the displacement deviation of the center point of the gripper disk (1-15) and the center hole center of the middle partition wall grabbing hole (2-3) in the Y-axis and Z-axis directions; Step d.2: The intelligent control system 1-6 forms a drive control instruction for the longitudinal movement oil cylinder (1-5) of the middle partition wall installation machine according to the displacement deviation of the center point of the gripper disk (1-15) and the center hole center of the middle partition wall grabbing hole (2-3) in the Y-axis direction, and drives the gripper disk (1-15) to move in the Y-axis direction to complete the positioning of the gripper disk (1-15) and the middle partition wall to be installed (2-1) in the Y-axis direction; Step d.3: The intelligent control system 1-6 forms a drive control instruction for the jacking oil cylinder (3-4) of the vehicle carrying platform 3 according to the displacement deviation of the center point of the gripper disk (1-15) and the center hole center of the middle partition wall grabbing hole (2-3) in the Z-axis direction, and drives the middle jacking platform (3-5) to move in the Z-axis direction to meet the positioning requirements of the gripper disk (1-15) and the middle partition wall to be installed (2-1) in the Z-axis direction; Step d.4: Repeat Step d.1 to recheck the centering error of the gripper disk (1-15) and the center hole of the middle partition wall grabbing hole (2-3); when the centering error does not meet the requirements, Steps d.1, d.2, and d.3 are repeated; when the centering error meets the requirements, the next step is executed; Step d.5: The actuating device operates to drive the gripper (1-15), and the hole recognition laser sensor (1-19) recognizes the four grab holes (2-3) of the middle partition wall, so as to align the lifting pin shaft (1-16) with the grab holes (2-3) of the middle partition wall. Step e: Grab and lift the middle partition wall (2-1) to be installed.

4. The automated control method for attitude adjustment, grasping, lifting of precast middle partition walls in shield tunnels according to claim 3, wherein, The specific content of the said step e is as follows: Step e.1: The actuating device operates to make the gripper (1-15) extend towards the middle partition wall (2-1) to be installed. After the lifting pin shaft (1-16) passes through the grab holes (2-3) of the middle partition wall, the actuating device stops. Step e.2: The rectangular frame rises to lift the middle partition wall (2-1) to be installed through the lifting pin shaft (1-16), so as to separate it from the vehicle carrier platform (3) below; the intelligent control system (1-6) sends a signal allowing the vehicle carrier platform (3) to drive away.

5. An automatic control method for attitude adjustment, grasping and lifting of a precast middle partition wall in a shield tunnel as shown in claim 4, characterized in that Before the said step c, there is also step b: The middle partition wall installation machine (1) is in place, and specifically: Step b.1: The intelligent control system (1-6) receives the information that the vehicle carrier platform (3) has parked in place. Step b.2: The intelligent control system (1-6) starts the traveling mechanism of the middle partition wall installation machine (1) and moves it towards the middle partition wall (2-1) to be installed. After successively recognizing the vehicle carrier platform (3) through lateral distance measurement, it is set that the middle partition wall installation machine (1) continues to move forward a certain distance and then automatically stops moving forward. The middle partition wall installation machine (1) is in place, and the gripper (1-15) is initially centered with the grab holes (2-3) of the middle partition wall to be installed in the X direction.

Images