Lifting tool, lifting device and method for hoisting TBM mainframe

Abstract

The present invention belongs to the technical field of tunneling machine construction, and particularly relates to a lifting tool, a lifting device and a method for hoisting a TBM mainframe. The lifting tool includes: a hoop sleeved on the TBM mainframe, a lifting tool body fixed to the upper part of the hoop for connecting a lifting and supporting device to perform hoisting operations on the TBM mainframe, and a supporting body fixed to the lower part of the hoop for supporting the TBM mainframe to be hoisted; the lifting tool body and the supporting body are also fixed to the TBM mainframe through fasteners. The present invention uses binocular vision technology to achieve automatic positioning of the TBM mainframe, enabling the lifting tool to quickly move above the TBM mainframe to prepare for the connection and installation of the lifting tool and the mainframe; uses a liftable and adjustable lifting and supporting device to meet the hoisting requirements of the TBM mainframe within the limited space in the tunnel; and according to the structural characteristics of the TBM mainframe, uses a TBM mainframe lifting tool with a special lifting beam structure to improve the force-bearing condition of the lifting lugs, reduce the force deformation of the mainframe during hoisting, and facilitate the safe and stable hoisting of the TBM mainframe, having a good application prospect.

Description

Technical Field

[0001] The invention belongs to the technical field of roadheader construction, and particularly relates to a lifting tool, a lifting device and a method for hoisting a TBM mainframe. Background Technique

[0002] Tunnel boring machine (TBM) is the most advanced tunnel excavation and construction equipment in the world at present, representing the development level of a country's major technical equipment. At present, long-distance tunnel excavation all adopts TBM construction. The total length of TBM is generally between 150m and 250m, and the weight of the mainframe components is between 50T and 280T. With the rapid development of China's economy and the requirements of the one-hour economic circle, the demand for long-distance tunnels is increasing, and the demand for disassembling and assembling TBM in the tunnel is becoming more and more strong. Due to the large tonnage of the TBM mainframe, special equipment for safely, efficiently and quickly disassembling and assembling the TBM mainframe in the tunnel has always been blank in China, and it is currently a bottleneck project, seriously restricting the development of China in this field.

[0003] At present, when disassembling, assembling and overhauling the TBM in the tunnel, it is necessary to set up disassembly and assembly holes and overhaul holes. Therefore, the disassembly and assembly holes and overhaul holes also need to expand the cross-section, and carry out excavation and bolting operations in the tunnel. The construction difficulty is great and the on-site operation is dangerous; such a disassembly and lifting method has high cost, cannot be reused, huge engineering quantity, and high risk coefficient at the operation site. Summary of the Invention

[0004] Therefore, the invention provides a lifting tool, a lifting device and a method for hoisting a TBM mainframe, which improve the stress condition of the lifting lugs during the hoisting process of the TBM mainframe, can effectively avoid the stress deformation during the hoisting process of the TBM mainframe, and can realize the semi-automatic hoisting height operation requirements within the limited space range in the tunnel, which is convenient for actual scene application.

[0005] According to the design scheme provided by the invention, a lifting tool for hoisting a TBM mainframe is provided, which includes: a ferrule sleeved on the TBM mainframe, a lifting tool body fixed to the upper part of the ferrule for connecting a lifting and supporting device to hoist the TBM mainframe, and a supporting body fixed to the lower part of the ferrule for supporting the TBM mainframe to be hoisted; the lifting tool body and the supporting body are also fixed to the TBM mainframe through fasteners.

[0006] As the lifting tool for hoisting a TBM mainframe of the invention, further, the lifting tool body includes: two bearing components fixed to the ferrule and extending along the axial direction of the TBM mainframe and arranged opposite to each other in the circumferential radial direction of the TBM mainframe, and two first connecting seats fixed to the end face of the TBM mainframe to be hoisted through fasteners; the first connecting seats are respectively fixed to the corresponding bearing components to form an integral structure.

[0007] As a lifting tool for the TBM mainframe of the present invention, further, each load-bearing component includes: two first load-bearing plates arranged facing each other, and the two first load-bearing plates are fixed by a connecting plate; and a plurality of through holes are respectively formed on each first load-bearing plate, and the through holes at the same position on the two first load-bearing plates arranged facing each other are coaxially arranged, and a transverse support beam is correspondingly inserted into the through holes at the ends of the two first load-bearing plates arranged facing each other.

[0008] As a lifting tool for the TBM mainframe of the present invention, further, the support body includes: two second load-bearing plates fixed to the ferrule and extending along the axial direction of the TBM mainframe and arranged facing each other in the circumferential radial direction of the TBM mainframe, and two second connecting seats fixed to the end face of the TBM mainframe to be lifted by metal parts; the second connecting seats and the corresponding second load-bearing plates are fixed into an integral structure, and support bases are respectively fixed on the second load-bearing plates.

[0009] Further, the present invention also provides a TBM mainframe lifting device, including: the above-mentioned lifting tool for the TBM mainframe, and a lifting and supporting device that cooperates with the lifting tool to perform the lifting operation on the TBM mainframe. The lifting and supporting device is connected to the lifting tool through a lifting chain, and the bottom of the lifting and supporting device cooperates with the walking ground beam, so that the lifting and supporting device can reciprocate on the walking ground beam.

[0010] As a TBM mainframe lifting device of the present invention, further, the lifting and supporting device adopts a mobile gantry crane.

[0011] As a TBM mainframe lifting device of the present invention, further, the lifting and supporting device includes: a support cross beam, a trolley arranged on the support cross beam, a winch fixed on the trolley, and a multi-stage telescopic hydraulic cylinder arranged at both ends of the support cross beam for lifting operation. The hook on the winch is connected to the lifting tool body through a lifting chain; the multi-stage telescopic hydraulic cylinder is arranged on the walking ground beam through a base, and the multi-stage telescopic hydraulic cylinders at both ends of the support cross beam are synchronously controlled through a hydraulic system.

[0012] As a TBM mainframe lifting device of the present invention, further, it includes: two sets of synchronous lifting and supporting devices to jointly lift the TBM mainframe by the two sets of synchronous lifting and supporting devices in combination with the lifting tool.

[0013] Further, the present invention also provides a TBM mainframe lifting method based on binocular vision, which is realized based on the above-mentioned lifting device. The realization process includes the following contents: collecting the position data of the TBM mainframe by using a binocular camera installed on the lifting and supporting device; using the position data to guide the lifting and supporting device to move to directly above the TBM mainframe, and installing and fixing the lifting tool to the TBM mainframe to be lifted to perform the lifting operation of the TBM mainframe.

[0014] As the TBM mainframe hoisting method based on binocular vision in the present invention, further, in the process of guiding the lifting and supporting equipment by using the position data, first, a stereo calibration is performed on the binocular cameras by using a calibration algorithm, and the distortion correction is performed on the left and right binocular camera images by using the calibration parameters. The spatial coordinates of the corresponding points of the spatial points are obtained by using the time difference of the imaging of the spatial points in the left and right binocular cameras. Then, the elliptical fitting method is used to detect the center position of the inner hole on the upper end face of the TBM mainframe, and the coordinates of the inner hole center position in the world coordinate system are obtained by using the coordinates of the inner hole center position in the left and right binocular camera image coordinate systems.

[0015] Advantages of the present invention:

[0016] The present invention uses binocular vision technology to achieve automatic positioning of the TBM mainframe, so that the spreader can quickly move above the TBM mainframe, preparing for the connection and installation of the spreader and the mainframe. Further, by using the lifting and supporting equipment composed of multi-stage hydraulic cylinders, the engineering requirements for different hoisting heights of the TBM mainframe within the limited space in the tunnel can be realized. According to the structural characteristics of the TBM mainframe, the TBM mainframe spreader with a special lifting beam structure is used to improve the stress condition of the lifting lugs, reduce the stress deformation of the mainframe during hoisting, and facilitate the safe and stable hoisting of the TBM mainframe, having a good application prospect. Description of the drawings

[0017] Figure 1 Schematic diagram of the spreader structure in the embodiment;

[0018] Figure 2 Schematic diagram of the spreader end face in the embodiment;

[0019] Figure 3 Schematic diagram of the installation of the spreader and the TBM mainframe in the embodiment;

[0020] Figure 4 Schematic diagram of the other end face of the installation of the spreader and the TBM mainframe in the embodiment;

[0021] Figure 5 Schematic diagram of the structure of the hoisting device in the embodiment;

[0022] Figure 6 Enlarged schematic diagram of the connection between the spreader body and the lifting and supporting equipment in the embodiment;

[0023] Figure 7 Schematic diagram of the spatial ranging principle of the binocular cameras in the embodiment;

[0024] Figure 8 Schematic diagram of the principle of the binocular cameras positioning the TBM mainframe in the embodiment.

[0025] The reference numerals in the figure: reference numeral 1 represents a multi-stage telescopic hydraulic cylinder, reference numeral 2 represents a support crossbeam, reference numeral 3 represents a hoisting chain, reference numeral 4 represents a balance plate, reference numeral 5 represents a crane, reference numeral 6 represents a winch, reference numeral 7 represents a TBM mainframe, reference numeral 8 represents a sling, reference numeral 801 represents the sling body, reference numeral 802 represents a ferrule, and reference numeral 803 represents a support body. Specific implementation manner

[0026] To make the purpose, technical solution and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and the technical solution.

[0027] In the embodiment of the present invention, as shown in Figures 1 to 6 shown, a TBM mainframe hoisting device is provided, which includes: a sling for hoisting the TBM mainframe, and a lifting and supporting device that cooperates with the sling to perform hoisting operations on the TBM mainframe. The lifting and supporting device is connected to the sling through a hoisting chain, and the bottom of the lifting and supporting device cooperates with the walking ground beam so that the lifting and supporting device can reciprocate on the walking ground beam. Among them, the sling for hoisting the TBM mainframe includes: a ferrule sleeved on the TBM mainframe, a sling body fixed to the upper part of the ferrule for connecting the lifting and supporting device to perform hoisting operations on the TBM mainframe, and a support body fixed to the lower part of the ferrule for supporting the TBM mainframe to be hoisted; the sling body and the support body are also fixed to the TBM mainframe through fasteners. The structure is simple, the design is scientific and reasonable. Combining with the structure of the TBM mainframe, by adjusting the structure and shape of the sling, the stress condition of the lifting lug in the TBM hoisting operation is improved, the stress deformation of the mainframe during hoisting is reduced, and it is convenient to realize the safe and stable hoisting of the TBM mainframe.

[0028] Further, the lifting and supporting device adopts a mobile gantry crane, which is convenient for positioning the TBM mainframe and installing and connecting between various components, and is convenient for realizing stable hoisting. Further, the lifting and supporting device includes: a support crossbeam, a crane provided on the support crossbeam, a winch fixed to the crane, and multi-stage telescopic hydraulic cylinders provided at both ends of the support crossbeam for lifting operations. The hook on the winch is connected to the sling body through a hoisting chain; the multi-stage telescopic hydraulic cylinders are arranged on the walking ground beam through a base, and the multi-stage telescopic hydraulic cylinders at both ends of the support crossbeam are synchronously controlled through a hydraulic system. As shown in Figure 5 shown, two groups of multi-stage hydraulic cylinder lifting units are used, and each group of lifting units includes eight four-stage hydraulic cylinders, and in combination with the sling, the engineering requirements for different hoisting heights of the TBM mainframe within the limited space in the tunnel are realized, and the hoisting requirements for different tonnages within the narrow space in the tunnel are met.

[0029] Furthermore, the sling body includes: two load-bearing components fixed to the ferrule, extending along the axial direction of the TBM mainframe, and arranged opposite to each other in the circumferential radial direction of the TBM mainframe, and two first connection seats fixed to the end face of the TBM mainframe to be hoisted by fasteners; the first connection seats are respectively fixed to the corresponding load-bearing components to form an integral structure. The structure is simple and convenient for assembling and fixing with the TBM mainframe. Further, each load-bearing component includes: two first load-bearing plates arranged opposite to each other, which are fixed by a connecting plate; and a plurality of perforations are respectively formed on each first load-bearing plate, and the perforations at the same position on the two first load-bearing plates arranged opposite to each other are coaxially arranged, and a transverse support beam is correspondingly inserted into the end perforations of the two first load-bearing plates arranged opposite to each other. Refer to Figures 1 to 3 As shown, the load-bearing component is composed of two relatively arranged first load-bearing plates and a connecting plate. The lifting chain of the hoist hook in the lifting and supporting equipment is fixed by using the perforations and / or the transverse support beam on the first load-bearing plate. The plurality of perforations facilitate the adjustment of the lifting points. While strengthening the stability of the sling body, the transverse support beam can also be used as an alternative for connecting the lifting chain, making the installation of the entire sling more flexible and reliable.

[0030] Furthermore, the support body includes: two second load-bearing plates fixed to the ferrule, extending along the axial direction of the TBM mainframe, and arranged opposite to each other in the circumferential radial direction of the TBM mainframe, and two second connection seats fixed to the end face of the TBM mainframe to be hoisted by metal parts; the second connection seats are fixed to the corresponding second load-bearing plates to form an integral structure, and support bases are respectively fixed on the second load-bearing plates. Refer to Figures 1 to 3 As shown, the structure is simple and easy to implement; further, in the support body and the load-bearing component, reinforcing plates can be provided at the fixed connection between the load-bearing plate and the connection seat, and at the connection between the support base and the load-bearing plate to stabilize the overall structure.

[0031] Furthermore, the embodiment of the present invention also provides a method for hoisting the TBM mainframe based on binocular vision, which is realized based on the above hoisting device. The realization process includes the following contents: collecting the position data of the TBM mainframe by using a binocular camera installed on the lifting and supporting equipment; using the position data to guide the lifting and supporting equipment to move directly above the TBM mainframe, and installing and fixing the sling to the TBM mainframe to be hoisted for the hoisting operation of the TBM mainframe. The binocular camera can use two color area array industrial cameras, which are installed on the camera bracket by fasteners such as screws, and the camera bracket is installed and fixed on the lifting and supporting equipment by fasteners such as bolts. Using the binocular camera vision technology to realize the automatic recognition and positioning of the TMB mainframe, which is convenient for quickly guiding the lifting device to move above the mainframe to realize the semi-automatic hoisting of the mainframe, improving the hoisting efficiency and safety.

[0032] Further, in the embodiments of this case, in the process of using position data to guide the lifting equipment, first, a stereo calibration is performed on the binocular camera using a calibration algorithm, and the left and right binocular camera images are corrected for distortion using the calibration parameters. The spatial coordinates of the corresponding points of the spatial points are obtained using the time difference of the spatial points imaging on the left and right binocular cameras. Then, the ellipse fitting method is used to detect the center position of the inner hole on the upper end face of the TBM mainframe, and the coordinates of the inner hole center position in the left and right binocular camera image coordinate systems are used to obtain its coordinates in the world coordinate system.

[0033] The classic Zhang Zhengyou calibration algorithm can be used to calibrate the parameters of the binocular camera. The calibration output results include the internal parameter matrix, external parameter matrix, and distortion coefficient of the left and right cameras; the position relationship parameter matrix between the left and right cameras. After completing the stereo calibration of the binocular camera, the left and right camera images are corrected for distortion using the calibration parameters. Using the parallax of a spatial point imaging on the left and right cameras, the spatial coordinates of this point can be calculated, as Figure 7 shown.

[0034]

[0035] P(X P ,Y P ,Z P ) is a spatial point. B is the baseline length of the left and right cameras, f is the camera focal length, and (u1, v1) are the coordinates of the principal point of the left camera, all of which can be obtained from the camera calibration results. (x1, y1) are the image point coordinates of point P on the left camera, and d is the parallax of point P on the imaging planes of the left and right cameras, with d = x1 - x2.

[0036] As Figure 8 shown, before the TBM mainframe is hoisted, it is generally placed flat or at a small angle on the ground in the tunnel. The mainframe as a whole is circular, the binocular camera is located obliquely above the mainframe, and the inner hole of the mainframe end face is elliptical in the image coordinate system. The positioning of the mainframe can be achieved by detecting the position of the center of the inner hole on the upper end face of the mainframe.

[0037] First, the center of the inner hole on the upper end face of the mainframe can be obtained using the ellipse fitting method, using the ellipse fitting algorithm.

[0038] Let the general equation of the ellipse be:

[0039] Ax 2 +Bxy+Cy 2 +Dx+Ey+1 = 0 (2)

[0040] Let the objective function be:

[0041]

[0042] If f → f min , then there is:

[0043]

[0044] When the number of edge points n≥5, the coefficients A, B, C, D, and E of the ellipse can be uniquely determined. The geometric center of the ellipse is:

[0045]

[0046] In this way, the coordinates of the center of the inner hole on the upper end face of the main machine in the image coordinate systems of the left and right cameras can be obtained. The center of the inner hole on the upper end face of the main machine is at (x 0l , y 0l ) in the left camera coordinate system and at (x 0r , y 0r ) in the right camera coordinate system. The coordinates (x0, y0, z0) of the center of the inner hole on the upper end face in the world coordinate system can be obtained from Equation (1).

[0047] In the embodiments of this case, a sling is used to achieve safe and stable hoisting of the TBM main machine. The liftable supporting equipment can meet the hoisting requirements of TBM main machines with different tonnages within a narrow space in the tunnel. The binocular machine vision technology is used to achieve automatic recognition and positioning of the TMB main machine, so as to quickly guide the sling to move above the main machine to achieve semi-automatic hoisting of the main machine and improve efficiency.

[0048] Unless otherwise specifically stated, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0049] In all the examples shown and described here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0050] It should be noted that like reference numerals and letters denote like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0051] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments or easily conceive of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A TBM mainframe hoisting method based on binocular vision, characterized in that, Based on the realization of the TBM mainframe hoisting device, the TBM mainframe hoisting device includes: a hoisting tool for the TBM mainframe, and a lifting and supporting device that cooperates with the hoisting tool to hoist the TBM mainframe. The lifting and supporting device is connected to the hoisting tool through a hoisting chain, and the bottom of the lifting and supporting device cooperates with the walking ground beam, so that the lifting and supporting device can reciprocate on the walking ground beam; the hoisting tool for the TBM mainframe includes: a hoop sleeved on the TBM mainframe, a hoisting tool body fixed to the upper part of the hoop for connecting the lifting and supporting device to hoist the TBM mainframe, and a supporting body fixed to the lower part of the hoop for supporting the TBM mainframe to be hoisted; the hoisting tool body and the supporting body are also fixed to the TBM mainframe through fasteners; the lifting and supporting device includes: a supporting cross beam, a crane on the supporting cross beam, a winch fixed to the crane, and multi-stage telescopic hydraulic cylinders arranged at both ends of the supporting cross beam for lifting operations. The hook on the winch is connected to the hoisting tool body through a hoisting chain; the multi-stage telescopic hydraulic cylinders are arranged on the walking ground beam through a base, and the multi-stage telescopic hydraulic cylinders at both ends of the supporting cross beam are synchronously controlled through a hydraulic system. The realization process of the TBM mainframe hoisting includes the following contents: A binocular camera is arranged obliquely above the TBM mainframe. The TBM mainframe is integrally circular, and the inner hole of the upper end face of the TBM mainframe is elliptical in the image coordinate system of the binocular camera, so as to locate and collect the position data of the TBM mainframe by detecting the position of the center of the inner hole of the upper end face of the TBM mainframe. Collect the position data of the TBM mainframe by using the binocular camera installed on the lifting and supporting device. Use the position data to guide the lifting and supporting device to move directly above the TBM mainframe, and install and fix the hoisting tool to the TBM mainframe to be hoisted to perform the hoisting operation of the TBM mainframe.

2. The TBM mainframe hoisting method based on binocular vision according to claim 1, wherein In the process of using the position data to guide the lifting and supporting device, first, perform stereo calibration on the binocular camera by using the calibration algorithm, and correct the distortion of the left and right binocular camera images by using the calibration parameters. Use the time difference of the spatial points imaging in the left and right binocular cameras to obtain the spatial coordinates of the corresponding points of the spatial points; then, use the ellipse fitting method to detect the center position of the inner hole of the upper end face of the TBM mainframe, and use the coordinates of the inner hole center position in the image coordinate systems of the left and right binocular cameras to obtain its coordinates in the world coordinate system.

3. The TBM mainframe hoisting method based on binocular vision according to claim 1, wherein, The hoisting tool body includes: two bearing components fixed to the hoop and extending along the axial direction of the TBM mainframe and arranged opposite to each other in the circumferential radial direction of the TBM mainframe, and two first connecting seats fixed to the end face of the TBM mainframe to be hoisted through fasteners; the first connecting seats are respectively fixed to the corresponding bearing components as an integral structure.

4. The TBM mainframe hoisting method based on binocular vision according to claim 3, wherein, Each bearing component includes: two first bearing plates arranged opposite to each other, and the two first bearing plates are fixed through a connecting plate; and a plurality of through holes are respectively formed in each first bearing plate, and the through holes at the same position on the two first bearing plates arranged opposite to each other are coaxially arranged. A transverse support beam is correspondingly inserted into the through holes at the ends of the two first bearing plates arranged opposite to each other.

5. The TBM mainframe hoisting method based on binocular vision according to claim 1, wherein, The support body includes: two second bearing plates fixed to the ferrule and extending along the axial direction of the TBM main machine and arranged facing each other in the circumferential radial direction of the TBM main machine, and two second connecting seats fixed to the end face of the TBM main machine to be hoisted by fasteners; the second connecting seats and the corresponding second bearing plates are fixed into an integral structure, and support bases are respectively fixed on the second bearing plates.

6. The TBM mainframe hoisting method based on binocular vision according to claim 1, characterized in that The lifting and supporting equipment uses a mobile gantry crane.

7. The method for hoisting the TBM mainframe based on binocular vision according to claim 1, characterized in that It includes: two sets of synchronous lifting and supporting equipment, so as to use the two sets of synchronous lifting and supporting equipment to cooperate with the lifting tool for the hoisting operation of the TBM main machine.

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