A multifunctional clamping device for tunnel and its control system and control method

Abstract

The present invention discloses a multifunctional clamping device for tunnels and its control system and control method, comprising an ear plate; a primary rotating structure, arranged below the ear plate; a first clamping mechanism and a second clamping mechanism arranged on both sides of the primary rotating structure, the first clamping mechanism and the second clamping mechanism having the same structure and opposite directions; wherein the first clamping mechanism comprises: a clamping mechanism for clamping materials and a telescopic mechanism and a lifting mechanism for controlling a support to clamp the materials in a suitable posture. The present invention can realize a clamping device for multifunctional transportation of tunnel materials and intelligent construction of special processes by simply replacing the type of support adapted to different material characteristics, can solve the safety hazards and efficiency problems existing in the original construction, and achieve the goals of one machine for multiple uses, ensuring safety, and reducing costs and increasing efficiency.

Description

Technical Field

[0001] The invention relates to a multifunctional clamping device for a tunnel and a control system and a control method thereof, belonging to the technical field of material handling in tunnels. Background Art

[0002] In the field of tunnel engineering such as highways, railways and underground mines, the different materials used in the actual construction process of each process, such as steel arches, steel pipes, meshes, logs, ditch covers and small electromechanical equipment, are difficult to handle with a single machine due to their different end appearance, overall structure, dimensions and other characteristics. Therefore, other non-specialized equipment or manual collaboration is usually used to carry out the operation, and there are many safety hazards and efficiency problems in the entire work process. In addition, for processes that require precision control, such as pipeline installation and shotcrete operations in tunnels, it is also impossible to use the aforementioned machines for synchronous intelligent auxiliary construction.

[0003] Therefore, how to develop multifunctional operating machinery that can adapt to the external characteristics of different materials and simultaneously assist special processes in precise construction has naturally become a difficult problem that technical personnel in this field need to solve urgently.

[0004] In the prior art, various types of gripping devices are mainly used in industrial applications. Even if they are applied in tunnel projects, the types of materials that can be gripped are still very few, and the gripping end is difficult to adapt to the materials with different characteristics in the tunnel, let alone the handling of various materials and the auxiliary construction of special processes. In addition, during the tunnel construction process, the current mixed use of equipment and manual collaborative material handling methods will inevitably cause great safety hazards and efficiency problems, and it is also difficult to accurately control processes such as pipeline installation and shotcrete operations. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a multifunctional clamping device for tunnels and its control system and control method, which can simply replace the type of support that adapts to the characteristics of different materials, and with the help of the corresponding control system, accurately assist the implementation of processes such as pipeline installation and grouting operations, thereby realizing the multifunctional transportation of tunnel materials and the intelligent construction of special processes. The clamping device can ultimately solve the safety hazards and efficiency problems existing in the original construction to a great extent, and achieve the goal of one machine for multiple uses, ensuring safety, and reducing costs and increasing efficiency.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] In a first aspect, the present invention provides a multifunctional clamping device for a tunnel, comprising:

[0008] Ear plate;

[0009] A primary rotating structure is arranged below the ear plate;

[0010] A primary rotating structure, the primary rotating structure is arranged at the output end of the primary rotating structure, and the primary rotating structure is used to drive the primary rotating structure to rotate;

[0011] A first clamping mechanism and a second clamping mechanism are arranged on both sides of the primary rotary structure, wherein the first clamping mechanism and the second clamping mechanism have the same structure but opposite directions;

[0012] The first clamping mechanism includes: a clamping mechanism for clamping materials, and a telescopic mechanism and a lifting mechanism for controlling the support to clamp the materials in a suitable posture.

[0013] Furthermore, the clamping mechanism includes an intermediate rotating structure, a supporting structure, a final rotating structure, a rotating shaft and a bracket, the intermediate rotating structure is arranged at the bottom end of the left lifting arm, the supporting structure is arranged at the bottom rotating end of the intermediate rotating structure, the final rotating structure is arranged on the outer surface of the supporting structure, the rotating shaft is arranged at the rotating end of the final rotating structure, and the bracket is connected to the rotating shaft via a sleeve arranged on the bracket.

[0014] Furthermore, the telescopic mechanism includes a cylinder 1a and a left telescopic arm. One side of the top of the left telescopic arm is rotatably connected to the primary rotating structure, and the other side is connected to the top of the primary rotating structure through the cylinder 1a. The two ends of the cylinder 1a are respectively movably connected to the left telescopic arm and the primary rotating structure.

[0015] Furthermore, the lifting mechanism includes a cylinder 2a and a left lifting arm, one side of the top of the left lifting arm is rotatably connected to the left telescopic arm, and the other side is connected to the left telescopic arm through the cylinder 2a, and the two ends of the cylinder 2a are respectively movably connected to the left telescopic arm and the left lifting arm.

[0016] Furthermore, the first clamping mechanism also includes a pressure-blocking mechanism, which includes a cylinder 3a, a slider and a pressure-blocking structure. The pressure-blocking structure is slidably connected to the inner side of the left lifting arm through the slider. The cylinder 3a is arranged on the inner side of the left lifting arm directly above the slider, and the output end is connected to the slider.

[0017] Furthermore, the connection portion between the pressure-blocking mechanism and the left lifting arm is a detachable structure.

[0018] Furthermore, the first clamping mechanism also includes an image acquisition mechanism, and the image acquisition mechanism includes a left camera rotatably arranged on the left lifting arm.

[0019] Furthermore, the bracket comprises:

[0020] A multi-penetrating rod type clamping fork device for clamping porous materials, wherein the multi-penetrating rod type clamping fork device is provided with a plurality of penetrating rods;

[0021] An end-type fork-tube device for clamping tube-loaded materials, wherein the end-type fork-tube device is provided with a semi-cylindrical penetrating rod with an arc surface facing upward;

[0022] A middle-section arc-shaped trustee device for clamping pipe-packed materials with flanges, wherein the middle-section arc-shaped trustee device is provided with a support rod with a semicircular hollow structure;

[0023] A steel arch support device for clamping a steel arch and a similar structure, wherein the steel arch support device is provided with a horizontal L-shaped support rod;

[0024] A hook-type lifting device for clamping electrical equipment for tunnels, wherein the hook-type lifting device is provided with a hook-shaped supporting rod;

[0025] A single-through-rod mesh supporting device for clamping a steel mesh and a similar structure, wherein the single-through-rod mesh supporting device is provided with a supporting plate and a single-through-rod located on the supporting plate;

[0026] An end-type log clamping device for clamping log piles and similar structures, the end-type log clamping device comprising a vertically arranged support plate and a plurality of conical thorns laid on the surface of the support plate;

[0027] A grouting pipe clamping device for clamping a grouting pipe and a similar structure thereof, wherein the grouting pipe clamping device is in the shape of a flange ring, and the upper and lower rings are detachably connected;

[0028] A square wood supporting device for clamping multi-layer square wood boards and similar structures, the square wood supporting device comprising a horizontal supporting plate and a vertical baffle;

[0029] A ditch cover clamping device for clamping a ditch cover and a ditch cover with similar structure, the ditch cover clamping device comprising a clamping plate and a pushing cylinder arranged on the clamping plate;

[0030] The invention discloses an oil drum clamping and supporting device for clamping an oil drum and a similar structure thereof, wherein the oil drum clamping and supporting device comprises semicircular arc-shaped fixing rings arranged on the upper and lower sides of a supporting device.

[0031] In a second aspect, the present invention provides a control system for a multifunctional clamping device, which is applied to any of the multifunctional clamping devices for tunnels described above, and includes a tool end rest distance measurement system and a left lifting arm ground angle measurement system; wherein:

[0032] The tool end rest distance measurement system includes: a built-in oil cylinder arranged in the left telescopic arm, an electro-hydraulic proportional valve 4a connected to the built-in oil cylinder, a wire displacement sensor 4a connected to the electro-hydraulic proportional valve 4a, and a laser distance sensor A located on the side of the supporting structure and connected to the wire displacement sensor 4a;

[0033] The left lifting arm ground angle measurement system includes: an electro-hydraulic proportional valve 4b arranged on the oil cylinder 2a, a wire displacement sensor 4b connected to the electro-hydraulic proportional valve 4b, and a single-axis inclination sensor A located on the left lifting arm.

[0034] In a third aspect, the present invention provides a control method of a control system of a multifunctional clamping device according to the aforementioned method, comprising:

[0035] The first step is to start the control program and determine whether the ground angle control of the lifting mechanism is required based on the material characteristics and construction standards in the tunnel;

[0036] The second step is to determine whether it is necessary to preset the ground intersection angle θ value for material clamping according to the type of material to be clamped;

[0037] The third step is to use a single-axis inclination sensor to synchronously detect the ground angle θ in real time under the working condition that the ground angle θ needs to be preset, and the measured angle data is immediately transmitted to the system for solution, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 4b. After receiving the command, the electro-hydraulic proportional valve 4b controls the cylinder 2a to move to the specified stroke until the ground angle θ reaches the preset value;

[0038] The fourth step is to operate the clamping device so that the matching bracket can complete the clamping of the corresponding material;

[0039] The fifth step is to determine whether it is necessary to control the rest distance between the end of the supporting structure of the clamping device and the tunnel floor or wall according to the material characteristics and construction standards in the tunnel;

[0040] Step 6: Under the working condition where the rest interval L value needs to be preset, the laser distance sensor is used to synchronously detect the rest interval L value in real time;

[0041] In the seventh step, the measured distance data is immediately transmitted to the system for solution, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 4a. After receiving the command, the electro-hydraulic proportional valve 4a controls the built-in cylinder to move to the specified stroke until the rest distance L reaches the preset value;

[0042] Step 8: Adjust the established target posture and end the control program.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention provides a multifunctional clamping device for a tunnel and a control system and a control method thereof, which can realize the multifunctional transportation of various materials by the clamping device in the tunnel, and can provide intelligent assistance for special processes such as pipeline installation and grouting operations, thereby greatly solving the potential safety hazards and efficiency problems existing in the original construction, truly meeting the needs of multi-purpose use of one machine, reducing costs and increasing efficiency, and ensuring the safety of construction personnel, and at the same time having great application value for promotion to other fields such as municipal administration, highways, and freight yards. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Attached Figure 1 A front view of the multifunctional clamping device provided in this embodiment;

[0046] Attached Figure 2 An axonometric view of the multifunctional clamping device provided in this embodiment;

[0047] Attached Figure 3 A schematic diagram of the structure of a series of brackets provided for this embodiment;

[0048] Attached Figure 4 A schematic diagram of the clamping of the porous cement cover provided in this embodiment;

[0049] Attached Figure 5 A schematic diagram of clamping a common steel pipe provided in this embodiment;

[0050] Attached Figure 6 A schematic diagram of clamping a steel pipe with a flange provided in this embodiment;

[0051] Attached Figure 7 A schematic diagram of the steel arch clamping provided in this embodiment;

[0052] Attached Figure 8 A schematic diagram of hoisting electrical equipment for a tunnel provided in this embodiment;

[0053] Attached Fig. 9 A schematic diagram of the steel mesh clamping provided in this embodiment;

[0054] Attached Fig.10 A schematic diagram of the clamping of a log pile provided in this embodiment;

[0055] Attached Fig.11 A schematic diagram of the spraying pipe clamping provided in this embodiment;

[0056] Attached Fig.12 A schematic diagram of clamping a multi-layer square wood board provided in this embodiment;

[0057] Attached Fig.13 A schematic diagram of clamping a ditch cover provided in this embodiment;

[0058] Attached Fig.14 A schematic diagram of the oil drum clamping provided in this embodiment;

[0059] Attached Fig.15 A schematic diagram of the sensor arrangement of the working arm posture detection system of the multifunctional gripping device provided in this embodiment;

[0060] Attached Fig.16 Schematic diagram of the working arm posture detection system of the multifunctional gripping device provided in this embodiment;

[0061] Attached Fig.17 This is a logic diagram of the intelligent construction control method of the multifunctional clamping device provided in this embodiment.

[0062] In the figure: 1-ear plate; 2-primary rotary structure; 3-cylinder 1a; 4-cylinder 1b; 5-left telescopic arm; 6-right telescopic arm; 7-cylinder 2a; 8-cylinder 2b; 9-left lifting arm; 10-right lifting arm; 11-cylinder 3a; 12-cylinder 3b; 13-left camera; 14-right camera; 15-slider; 16-pressure blocking structure; 17-intermediate rotary structure; 18-support structure; 19-final rotary structure Structure; 20-rotating shaft; 21-sleeve; 22-built-in oil cylinder 4a; 23-built-in oil cylinder 4b; 24-pull-wire displacement sensor 4a; 25-pull-wire displacement sensor 4b; 26-pull-wire displacement sensor 2a; 27-pull-wire displacement sensor 2b; 28-electro-hydraulic proportional valve 4a; 29-electro-hydraulic proportional valve 4b; 30-electro-hydraulic proportional valve 2a; 31-electro-hydraulic proportional valve 2b; 32-single-axis inclination sensor A; 33-single-axis inclination sensor B; 34-laser distance sensor A; 35-laser distance sensor B; A-bracket installation area; A / 1-multi-rod clamping fork device; A / 2-end fork tube device; A / 3-mid-section arc-shaped support tube device; A / 4-steel arch support device; A / 5-hook lifting device; A / 6-single-rod mesh support device; A / 7-end round wood clamping device; A / 8-grouting pipe clamping device; A / 9-square wood support device; A / 10-Gutter cover clamping device; A / 101-Thrust cylinder; A / 11-Oil drum clamping device; A / 111-Miniature rotary structure; A / N-Other types of supports; B1-Porous cement cover; B2-Ordinary steel pipe; B3-Steel pipe with flange; B4-Steel arch; B5-Electrical equipment for tunnels; B6-Reinforced mesh; B7-Round timber piles; B8-Grit-injection pipes; B9-Multi-layer square wood boards; B10-Gutter cover; B11-Oil drum. DETAILED DESCRIPTION

[0063] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0064] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0065] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be connected, detachably connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, and it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Example

[0066] This embodiment introduces a multifunctional clamping device for tunnels. Figure 1 , Figure 2 As shown, the multifunctional gripping device provided in this embodiment mainly comprises five parts, namely, a telescopic mechanism, a lifting mechanism, a pressing mechanism, a rotating mechanism and an image acquisition mechanism. The gripping device is connected to the working arm of the excavator via an ear plate (1), and the primary rotating structure (2) in the rotating mechanism controls the device to rotate 360° as a whole.

[0067] The telescopic mechanism is composed of a left telescopic arm (5) and a right telescopic arm (6), and is connected to the bottom of the primary rotary structure (2) through a cylinder 1a (3) and a cylinder 1b (4), respectively. Its function is to cooperate with the telescopic mechanism to carry out the device ( Figure 1 ) The clamping span can be adjusted to achieve adaptive clamping and retraction of materials of different sizes in the tunnel.

[0068] The lifting mechanism is composed of a left lifting arm (9) and a right lifting arm (10), which are respectively connected to the end arm of the telescopic mechanism through the oil cylinder 2a (7) and the oil cylinder 2b (8). Its function is to adjust the ground angle between the lifting structure and the tunnel floor according to the characteristics of the material, so that the auxiliary support can clamp the material in a suitable posture.

[0069] The pressure-blocking mechanism is composed of a cylinder 3a (11), a cylinder 3b (12), a slider (15) and a pressure-blocking structure (16) installed on the inner side of the lifting mechanism. The cylinder 3a (11) and the cylinder 3b (12) are each connected to a slider (15), which in turn pushes the pressure-blocking structure (16) to press the corresponding material along the inner channel of the lifting mechanism to prevent the clamped material from shifting or falling. It should be noted that the pressure-blocking mechanism is only for Fig.12 When the material with the characteristics shown is pressed and blocked, it should be determined whether the pressing and blocking structure (16) needs to be installed or replaced according to the specific material characteristics and the type of support. That is, the pressing and blocking structure (16) in the pressing and blocking mechanism can be disassembled according to the situation, or replaced with other structural types that meet the characteristics of the corresponding material.

[0070] The rotary mechanism is composed of a primary rotary structure (2), an intermediate rotary structure (17), a supporting structure (18), a final rotary structure (19) and a rotating shaft (20). As mentioned above, the primary rotary structure (2) is used to realize a 360° rotation of the clamping device. The end of the lifting mechanism is connected to the intermediate rotary structure (17), which is fixed with a supporting structure (18), and the side of the latter is sequentially mounted with a final rotary structure (19) and a rotating shaft (20). The rotating shaft (20) can be provided with a series of brackets ( Figure 3 In summary, the function of the intermediate rotary structure (17) is ultimately to change the clamping direction of the support, while the final rotary structure (19) can control the cutting angle of the support when clamping the material, thereby completing the support or clamping of the material.

[0071] The image acquisition mechanism is composed of a left-left camera (13) and a right-left camera (14), and mainly utilizes the two to respectively acquire images of the interaction between the support and the material in their respective directions, and transmits the images in real time to a computer display screen in the excavator cab, so that the operator can accurately control the micro-working scene when the device clamps the material, thereby improving the efficiency and mechanization of material clamping in the tunnel.

[0072] 2) Series of supporting brackets

[0073] The series of supporting brackets mainly refers to small working devices designed according to the material characteristics and clamping methods, which can be connected to the rotating shaft (20) in the bracket installation area (A) through the sleeve (21) to clamp or support various materials in the tunnel. This patent lists 11 commonly used brackets for tunnel material handling (such as Figure 3 As shown), it includes a multi-rod clamping fork device (A / 1), an end-type fork tube device (A / 2), a middle-section arc-shaped tube support device (A / 3), a steel arch support device (A / 4), a hook-type lifting device (A / 5), a single-rod mesh support device (A / 6), an end-type round wood clamping device (A / 7), a grouting pipe clamping device (A / 8), a square wood support device (A / 9), a ditch cover clamping device (A / 10) and an oil drum clamping device (A / 11). Due to the large creativity of the support form, the type of support should actually be defined according to the material characteristics in the specific construction environment, that is, the series of supports involved in this patent include but are not limited to the above 11 types, such as Figure 3 The A / N in the middle represents other types of brackets.

[0074] 3) Working arm posture detection system

[0075] like Fig.15 , Fig.16 As shown, the working arm posture detection system includes two parts: the tool end rest distance measurement system and the left lifting arm ground angle measurement system. The tool end rest distance measurement system is composed of the built-in oil cylinder 4a (22), the wire displacement sensor 4a (24) and the wire displacement sensor 4b (25) on the built-in oil cylinder 4b (23), and the laser distance sensor A (34) and the laser distance sensor B (35) located on the side of the support structure (18). By receiving the rest distance information collected by the system, the electro-hydraulic proportional valve 4a (28) and the electro-hydraulic proportional valve 4b (29) are used to control the tool end to achieve the set rest distance.

[0076] The left lifting arm ground angle measurement system is composed of a pull-wire displacement sensor 2a (26) and a pull-wire displacement sensor 2b (27) on the oil cylinder 2a (7) and the oil cylinder 2b (8), and a single-axis tilt sensor A (32) located on the left lifting arm (9) and a single-axis tilt sensor A (33) located on the right lifting arm (10). By receiving the ground angle information collected by the system, the lifting mechanism is controlled to achieve the set ground angle by using the electro-hydraulic proportional valve 2a (30) and the electro-hydraulic proportional valve 2b (31).

[0077] (2) Implementation method

[0078] This implementation plan describes in detail the multifunctional gripping device and its supporting series of brackets ( Figure 3 ) construction implementation method, and pipeline installation ( Figure 6 and shotcrete operations ( Fig.11 ) as an example to illustrate the corresponding intelligent assisted construction process.

[0079] The multifunctional clamping device of the present invention ( Figure 1 ) is connected to the excavator arm in advance, and then the replaced equipment is moved to the relevant construction area in the tunnel, and the same series of brackets ( Figure 3 ) are matched with the corresponding type of brackets, and the installation method of all brackets and clamping devices is the method of connecting the rotating shaft (20) and the sleeve (21). Figure 4~Figure 14 As shown, it is a realization scenario of clamping corresponding materials with relevant brackets. When clamping various materials, the left-left camera (13) and the right-left camera (14) are combined with the operator to perform the operation, and the telescopic mechanism and the lifting mechanism are used to pre-adjust the clamping span, elongation and specific posture of the material. Then, the rotation and cutting angle when clamping various corresponding materials are controlled by relying on the rotating mechanism and relevant brackets.

[0080] The present invention will rely on the multifunctional gripping device working arm posture detection system ( Fig.15 , Fig.16 ), further to the intelligent construction control method of the device ( Fig.17 ) is described in detail, and it is assumed that all brackets are connected to the gripping device according to the above requirements. The specific control logic method is as follows:

[0081] The first step is to start the control program and determine whether the ground angle control of the lifting mechanism is required based on the material characteristics and construction standards in the tunnel;

[0082] In the second step, if the material to be clamped is the porous cement cover plate (B1) and the steel pipe with flange (B3) described in this patent, the ground intersection angle θ value is preset to a special angle such as 90° in the system. Otherwise, there is no need to preset the ground intersection angle θ value for material clamping;

[0083] The third step is to use the single-axis inclination sensor A (32) and the single-axis inclination sensor B (33) to synchronously detect the ground angle θ in real time under the working condition that the ground angle θ needs to be preset, and the measured angle data is immediately transmitted to the system for solution, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 2a (26) and the wire displacement sensor 2b (27). After receiving the command, the electro-hydraulic proportional valve 2a (30) and the electro-hydraulic proportional valve 2b (31) respectively control the cylinder 2a (7) and the cylinder 2b (8) to move to the specified stroke until the ground angle θ reaches the preset value. Under the working condition that the ground angle θ does not need to be preset, the left and right lifting arms are roughly adjusted to make the ground angle appropriate. It should be noted that the conversion relationship between the ground angle θ and the movement stroke of the lifting mechanism control cylinder is obtained from a large number of experimental tests and converted into a related algorithm built into the system;

[0084] Step 4: operate the clamping device ( Figure 1 ), so that the matching bracket can complete the clamping of the corresponding materials;

[0085] The fifth step is to determine whether the clamping device ( Figure 1 ) of the supporting structure (18), the rest distance between its end and a reference surface such as the tunnel floor or wall is controlled;

[0086] Step 6: If Figure 6 and Fig.11 If the construction condition is as shown in the figure, it is necessary to preset the rest interval L value in the system, otherwise, it is not necessary;

[0087] Step 7: Under the working condition where the rest interval L value needs to be preset, the laser distance sensor A (34) and the laser distance sensor B (35) are used to synchronously detect the rest interval L value in real time;

[0088] The eighth step is to immediately transmit the measured distance data to the system for solution, and then transmit the data information converted into the cylinder stroke to the wire displacement sensor 4a (24) and the wire displacement sensor 4b (25). After receiving the command, the electro-hydraulic proportional valve 4a (28) and the electro-hydraulic proportional valve 4b (29) respectively control the cylinder 4a (22) and the cylinder 4b (23) to move to the specified stroke until the rest spacing L reaches the preset value. Under the working condition where the rest spacing L value does not need to be preset, the left and right telescopic arms are roughly adjusted to make their rest spacing appropriate. It should be noted that the conversion relationship between the rest spacing L value and the movement stroke 8 of the telescopic mechanism control cylinder is obtained from a large number of experimental tests and converted into a related algorithm built into the system;

[0089] Step 9: Adjust the established target posture and end the control program.

[0090] According to the control method of the multifunctional clamping device, various parameters and postures of the telescopic mechanism and the lifting mechanism are adjusted according to the actual material characteristics, so as to complete the clamping and construction assistance of various materials in the tunnel. The details are as follows:

[0091] 1) Porous cement cover clamping

[0092] like Figure 4 As shown, in view of the material characteristics of the porous cement cover plate (B1), a multi-rod clamping fork device (A / 1) is used for clamping. First, the two intermediate rotating structures (17) on the lifting mechanism of the clamping device are adjusted to rotate the brackets on the rotating shaft (20) to face each other and horizontally. Then, in combination with other mechanisms of the clamping device, the two side rods are inserted into the holes of the porous cement cover plate (B1) until the material is clamped.

[0093] 2) Ordinary steel pipe clamping

[0094] like Figure 5 As shown, in view of the material characteristics of the ordinary steel pipe (B2), an end-type fork pipe device (A / 2) is used for clamping. First, the intermediate rotating structure (17) is adjusted to rotate the brackets on the rotating shaft (20) to a mutually facing and horizontal posture, and then the semi-circular support platform of the bracket is inserted from both ends of the ordinary steel pipe in combination with other mechanisms of the clamping device until the material is clamped.

[0095] 3) Steel pipe clamp with flange

[0096] like Figure 6 As shown, in view of the material characteristics of the flanged steel pipe (B3), a mid-section arc-shaped holding device (A / 3) is used for clamping. First, the intermediate rotary structure (17) is adjusted to rotate the bracket on the rotating shaft (20) to the same side and a horizontal posture, and then the final rotary structure (19) is controlled to make the semicircular arc surface of the bracket slowly cut into the gap between the bottom of the pipe and the ground until the flanged steel pipe (B3) is completely enclosed, thereby completing the clamping of the material.

[0097] In tunnels, 108mm, 215mm and 325mm flanged steel pipes are usually used to connect water pipes or gas extraction pipes. The pipes are mostly arranged by hanging with steel wire ropes and anchor rods, fixed at a certain height on both sides of the tunnel and kept at the same horizontal line. This requires the clamping device ( Figure 1 ) After adjusting the ground angle of the lifting mechanism (such as Figure 6 As shown in the figure, the flanged steel pipe is clamped to the position of the specified height from the tunnel floor (i.e. the rest distance), and the construction personnel assist in hanging it on the exposed end of the anchor rod on the tunnel wall with a wire rope until the pipeline is installed along the horizontal line to a reasonable distance from the tunnel face. This process requires a multifunctional clamping device ( Figure 1 ) Relying on the working arm posture detection system ( Fig.15 ), and implement intelligent construction auxiliary control for the entire steel pipe with flange.

[0098] 4) Steel arch clamping

[0099] like Figure 7 As shown, in view of the material characteristics of the steel arch frame (B4), a steel arch frame supporting device (A / 4) is used for clamping. First, the intermediate rotating structure (17) is adjusted to rotate the support on the rotating shaft (20) to the same side and a horizontal posture, and then the steel arch frame (B4) is placed into the support with manual assistance, thus completing the clamping of the material.

[0100] 5) Hoisting of electrical equipment for tunnels

[0101] like Figure 8 As shown, in view of the material characteristics of the tunnel electrical equipment (B5), a hook-type lifting device (A / 5) is used for gripping. First, the intermediate rotary structure (17) is adjusted to rotate the brackets on the rotating shaft (20) to a mutually facing and horizontal posture, and then the round hook of the bracket is manually assisted to pass through the lifting ring located on the surface of the tunnel electrical equipment (B5), thereby completing the gripping of the material.

[0102] 6) Steel mesh clamping

[0103] like Fig. 9 As shown, in view of the material characteristics of the steel mesh (B6), a single-rod mesh supporting device (A / 6) is used for clamping. First, the intermediate rotating structure (17) is adjusted to rotate the support on the rotating shaft (20) to the same side or opposite sides and to a horizontal posture. Then, the steel mesh (B6) is stacked and inserted into the support with manual assistance, thereby completing the clamping of the material.

[0104] 7) Log pile clamping

[0105] like Fig.10 As shown, in view of the material characteristics of the log pile (B7), an end-type log clamping device (A / 7) is used for clamping. First, the intermediate rotary structure (17) is adjusted to rotate the support on the shaft (20) to a mutually facing and horizontal posture. Then, in combination with other mechanisms of the clamping device, the disk of the support with conical thorns is clamped to press the two ends of the log pile (B7), thereby completing the clamping of the material.

[0106] 8) Shotcrete pipe clamping 9

[0107] like Fig.11 As shown, according to the material characteristics of the grouting pipe (B8), a grouting pipe clamping device (A / 8) is used for clamping. First, the ends of the two grouting pipes are clamped in the clamping cavity of the bracket with manual assistance, and then the intermediate rotating structure (17) is adjusted to rotate the bracket on the rotating shaft (20) to face the two sides of the tunnel or the face waiting for the spraying, thereby completing the clamping of the material.

[0108] In the tunnel, the manual spraying pipe is still used to spray the tunnel walls or the tunnel face. Figure 1 ) The end brackets can respectively clamp a spraying pipe, thereby achieving the spraying effect of a double-arm wet spraying machine. At the same time, the clamping device ( Figure 1 ) The rest distance between the end and the two walls or face of the tunnel is then used to complete the conventional shotcrete operation based on dynamic control.

[0109] 9) Multi-layer square wood board clamping

[0110] like Fig.12 As shown, in view of the material characteristics of the multi-layer square wood board (B9), a square wood supporting device (A / 9) is used for clamping. First, the intermediate rotating structure (17) is adjusted to rotate the support on the rotating shaft (20) to the same side and a horizontal posture, and then the square wood boards are stacked and placed on the support structure with manual assistance. Then, the cylinder 3a (11) and the cylinder 3b (12) are synchronously operated to push the pressure blocking structure (16) along the outer edge of the multi-layer square wood board (B9) to compact it, so as to prevent the square wood board from shifting or sliding during the handling process until the transportation task of the material is completed.

[0111] 10) Gutter cover clamping

[0112] like Fig.13 As shown, in view of the material characteristics of the ditch cover (B10), a ditch cover clamping device (A / 10) is used to clamp the ditch cover. First, the intermediate rotary structure (17) is adjusted to rotate the bracket on the rotating shaft (20) to the same side and horizontal posture, and then the jacking cylinder (A / 101) is controlled to clamp the ditch cover (B10). Subsequently, the cover of the central or side ditch of the tunnel that has been excavated can be mechanized and laid.

[0113] 11) Oil drum clamping

[0114] like Fig.14 As shown, in view of the material characteristics of the oil drum (B11), an oil drum clamping and supporting device (A / 11) is used for clamping. First, the intermediate rotary structure (17) is adjusted to rotate the supports on the rotating shaft (20) to face each other and to a horizontal position. Then, the other mechanisms of the clamping device are controlled to clamp the upper semicircular gripper of the support to the first section of the annular protrusion of the oil drum (B11). Then, the telescopic mechanism is used to lift it to a certain height. Then, the micro rotary structure (A / 111) is operated to hold the semicircular support of the support to the bottom of the oil drum (B11), thereby completing the clamping of the material. Example

[0115] This embodiment provides a control system for a multifunctional clamping device, which is applied to the multifunctional clamping device for tunnels described in any one of the embodiments 1, and includes a tool end rest distance measurement system and a left lifting arm ground angle measurement system; wherein:

[0116] The tool end rest distance measurement system includes: a built-in oil cylinder arranged in the left telescopic arm, an electro-hydraulic proportional valve 4a connected to the built-in oil cylinder, a wire displacement sensor 4a connected to the electro-hydraulic proportional valve 4a, and a laser distance sensor A located on the side of the supporting structure and connected to the wire displacement sensor 4a;

[0117] The left lifting arm ground angle measurement system includes: an electro-hydraulic proportional valve 4b arranged on the oil cylinder 2a, a wire displacement sensor 4b connected to the electro-hydraulic proportional valve 4b, and a single-axis inclination sensor A located on the left lifting arm. Example

[0118] This embodiment provides a control method of a control system of a multifunctional clamping device according to Embodiment 2, including:

[0119] The first step is to start the control program and determine whether the ground angle control of the lifting mechanism is required based on the material characteristics and construction standards in the tunnel;

[0120] The second step is to determine whether it is necessary to preset the ground intersection angle θ value for material clamping according to the type of material to be clamped;

[0121] The third step is to use a single-axis inclination sensor to synchronously detect the ground angle θ in real time under the working condition that the ground angle θ needs to be preset, and the measured angle data is immediately transmitted to the system for solution, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 4b. After receiving the command, the electro-hydraulic proportional valve 4b controls the cylinder 2a to move to the specified stroke until the ground angle θ reaches the preset value;

[0122] The fourth step is to operate the clamping device so that the matching bracket can complete the clamping of the corresponding material;

[0123] The fifth step is to determine whether it is necessary to control the rest distance between the end of the supporting structure of the clamping device and the tunnel floor or wall according to the material characteristics and construction standards in the tunnel;

[0124] Step 6: Under the working condition where the rest interval L value needs to be preset, the laser distance sensor is used to synchronously detect the rest interval L value in real time;

[0125] In the seventh step, the measured distance data is immediately transmitted to the system for solution, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 4a. After receiving the command, the electro-hydraulic proportional valve 4a controls the built-in cylinder to move to the specified stroke until the rest distance L reaches the preset value;

[0126] Step 8: Adjust the established target posture and end the control program.

[0127] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multifunctional clamping device for tunnels, characterized in that: include: Ear plate; A primary rotating structure is arranged below the ear plate; A first clamping mechanism and a second clamping mechanism are arranged on both sides of the primary rotary structure, wherein the first clamping mechanism and the second clamping mechanism have the same structure but opposite directions; Wherein, the first clamping mechanism includes: a clamping mechanism for clamping materials, and a telescopic mechanism and a lifting mechanism for controlling the bracket to clamp the materials in a suitable posture; The telescopic mechanism comprises a cylinder 1 and a left telescopic arm, one side of the top of the left telescopic arm is rotatably connected to the primary rotary structure, and the other side is connected to the top of the primary rotary structure through the cylinder 1, and both ends of the cylinder 1 are movably connected to the left telescopic arm and the primary rotary structure respectively; The lifting mechanism comprises a second oil cylinder and a left lifting arm, one side of the top of the left lifting arm is rotatably connected to the left telescopic arm, and the other side is connected to the left telescopic arm through the second oil cylinder, and the two ends of the second oil cylinder are movably connected to the left telescopic arm and the left lifting arm respectively; The clamping mechanism includes an intermediate rotating structure, a supporting structure, a final rotating structure, a rotating shaft and a bracket. The intermediate rotating structure is arranged at the bottom end of the left lifting arm, the supporting structure is arranged at the bottom rotating end of the intermediate rotating structure, the final rotating structure is arranged on the outer surface of the supporting structure, the rotating shaft is arranged at the rotating end of the final rotating structure, and the bracket is connected to the rotating shaft through a sleeve arranged on the bracket.

2. The multifunctional clamping device for tunnel according to claim 1, characterized in that: The first clamping mechanism also includes a pressure-blocking mechanism, which includes a third oil cylinder, a slider and a pressure-blocking structure. The pressure-blocking structure is slidably connected to the inner side of the left lifting arm through the slider. The third oil cylinder is arranged on the inner side of the left lifting arm directly above the slider, and the output end is connected to the slider.

3. The multifunctional clamping device for tunnel according to claim 2, characterized in that: The connection portion between the pressure-blocking mechanism and the left lifting arm is a detachable structure.

4. The multifunctional clamping device for tunnel according to claim 1, characterized in that: The first clamping mechanism also includes an image acquisition mechanism, and the image acquisition mechanism includes a left camera rotatably arranged on the left lifting arm.

5. The multifunctional clamping device for tunnel according to claim 1, characterized in that: The bracket comprises: A multi-penetrating rod type clamping fork device for clamping porous materials, wherein the multi-penetrating rod type clamping fork device is provided with a plurality of penetrating rods; An end-type fork-tube device for clamping tube-loaded materials, wherein the end-type fork-tube device is provided with a semi-cylindrical penetrating rod with an arc surface facing upward; A middle-section arc-shaped trustee device for clamping pipe-packed materials with flanges, wherein the middle-section arc-shaped trustee device is provided with a support rod with a semicircular hollow structure; A steel arch support device for clamping a steel arch and a similar structure, wherein the steel arch support device is provided with a horizontal L-shaped support rod; A hook-type lifting device for clamping electrical equipment for tunnels, wherein the hook-type lifting device is provided with a hook-shaped supporting rod; A single-through-rod mesh supporting device for clamping a steel mesh and a similar structure, wherein the single-through-rod mesh supporting device is provided with a supporting plate and a single-through-rod located on the supporting plate; An end-type log clamping device for clamping log piles and similar structures, the end-type log clamping device comprising a vertically arranged support plate and a plurality of conical thorns laid on the surface of the support plate; A grouting pipe clamping device for clamping a grouting pipe and a similar structure thereof, wherein the grouting pipe clamping device is in the shape of a flange ring, and the upper and lower rings are detachably connected; A square wood supporting device for clamping multi-layer square wood boards and similar structures, the square wood supporting device comprising a horizontal supporting plate and a vertical baffle; A ditch cover clamping device for clamping a ditch cover and a ditch cover with similar structure, the ditch cover clamping device comprising a clamping plate and a pushing cylinder arranged on the clamping plate; The invention discloses an oil drum clamping and supporting device for clamping an oil drum and a similar structure thereof, wherein the oil drum clamping and supporting device comprises semicircular arc-shaped fixing rings arranged on the upper and lower sides of a supporting device.

6. A control system for a multifunctional clamping device, characterized in that: The multifunctional clamping device for tunnels as claimed in any one of claims 1 to 5 comprises a tool end rest distance measurement system and a left lifting arm ground angle measurement system; wherein: The tool end rest distance measurement system comprises: a built-in oil cylinder arranged in the left telescopic arm, an electro-hydraulic proportional valve 1 connected to the built-in oil cylinder, a pull-wire displacement sensor 1 connected to the electro-hydraulic proportional valve 1, and a laser distance measuring sensor located on the side of the supporting structure and connected to the pull-wire displacement sensor 1; The left lifting arm ground angle measurement system includes: a second electro-hydraulic proportional valve arranged on a second oil cylinder, a second pull-wire displacement sensor connected to the second electro-hydraulic proportional valve, and a single-axis inclination sensor located on the left lifting arm.

7. A control method for a control system of a multifunctional clamping device according to claim 6, characterized in that: include: The first step is to start the control program and determine whether the ground angle control of the lifting mechanism is required based on the material characteristics and construction standards in the tunnel; The second step is to determine whether it is necessary to preset the ground intersection angle θ value for material clamping according to the type of material to be clamped; The third step is to use a single-axis inclination sensor to synchronously detect the ground angle θ in real time under the working condition that the ground angle θ needs to be preset, and the measured angle data is immediately transmitted to the system for calculation, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 2. After receiving the command, the electro-hydraulic proportional valve 2 controls the cylinder 2 to move to the specified stroke until the ground angle θ reaches the preset value; The fourth step is to operate the clamping device so that the matching bracket can complete the clamping of the corresponding material; The fifth step is to determine whether it is necessary to control the rest distance between the end of the supporting structure of the clamping device and the tunnel floor or wall according to the material characteristics and construction standards in the tunnel; Step 6: Under the working condition where the rest interval L value needs to be preset, the laser distance sensor is used to synchronously detect the rest interval L value in real time; Step 7: The measured distance data is immediately transmitted to the system for calculation, and then the data information converted into the cylinder stroke is transmitted to the wire displacement sensor 1. After receiving the command, the electro-hydraulic proportional valve 1 controls the built-in cylinder to move to the specified stroke until the rest distance L reaches the preset value. Step 8: Adjust the established target posture and end the control program.

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