An operation tunnel reinforcement method and equipment

Abstract

The present invention discloses an operation tunnel reinforcement method and device, including: obtaining installation parameters; controlling a robotic arm to obtain a steel ring segment according to the installation parameters and adjusting it to a set position; controlling a machine base to move to a position to be reinforced; controlling the robotic arm to rotate horizontally, and at the same time controlling the robotic arm to adjust within a first safety radius to move the steel ring segment to a position corresponding to the circumferential position of the operation tunnel, and the lowest point of the steel ring segment is higher than the cable bundle; controlling the robotic arm to move the steel ring segment in a direction away from the fixed end of the robotic arm so that the steel ring segment moves outside the second safety radius; controlling the robotic arm to move the steel ring segment between the second safety radius and the side wall of the operation tunnel to the installation position. The present invention adjusts the position of the steel ring segment within the limits of the first safety radius and the second safety radius, avoiding collisions between the steel ring segment and the cable bundle and the operation tunnel wall, and improving the efficiency and accuracy of operation tunnel reinforcement.

Description

Technical Field

[0001] The present invention relates to the technical field of operation tunnel reinforcement, and particularly relates to an operation tunnel reinforcement method and equipment. Background Technique

[0002] With the continuous construction of public transportation facilities, there are more and more subway operation tunnels. To ensure the safety of operation tunnels, the maintenance and reinforcement work of operation tunnels is becoming more and more frequent, and the workload is increasing continuously. Especially when reinforcing operation tunnels, the problem of avoiding cable bundles needs to be considered, making the work of reinforcing operation tunnels more complicated.

[0003] The operation tunnel reinforcement method often uses multiple steel ring segments to be spliced into a circular ring in the operation tunnel, and then the steel circular ring is connected to the operation tunnel pipe wall through steel bars to achieve the purpose of reinforcing the operation tunnel pipe wall. During the process of splicing the steel ring segments into a circular ring, rail cars are often used for transportation, and manual transfer and installation are carried out.

[0004] The existing reinforcement method has low installation efficiency, is difficult to avoid the cable bundles arranged in the operation tunnel, the reinforcement work process is slow, and for construction workers, there is a greater construction risk and it is easy to cause safety accidents. Summary of the Invention

[0005] The main object of the present invention is to provide an operation tunnel reinforcement method and equipment, aiming to solve the problems of difficult avoidance of cable bundles and slow and inaccurate reinforcement efficiency during operation tunnel reinforcement.

[0006] To achieve the above object, the operation tunnel reinforcement method proposed by the present invention includes the following steps:

[0007] Obtain the installation parameters of the steel ring segments to be installed in the operation tunnel;

[0008] Control the robotic arm to obtain the corresponding steel ring segment according to the installation parameters, and adjust the robotic arm to the corresponding set position according to the installation parameters;

[0009] Control the machine base to move, obtain the current position information according to the position detection device, and judge whether it has moved to the position to be reinforced;

[0010] Control the robotic arm to rotate horizontally so that the side of the steel ring segment corresponds to the side wall of the operation tunnel, and at the same time control the robotic arm to adjust within the first safety radius so that the lowest point of the steel ring segment is higher than the cable bundle;

[0011] Control the robotic arm to move the steel ring segment in the direction away from the fixed end of the robotic arm so that the steel ring segment moves outside the second safety radius, and the lowest point of the steel ring segment is always higher than the cable bundle during the movement;

[0012] Control the robotic arm to move the steel segment between the second safety radius and the side wall of the operation tunnel to the installation position, so that the distance between the first position sensor and the second position sensor is less than the first preset distance.

[0013] Optionally, in the step of obtaining the installation parameters of the steel segment to be installed in the operation tunnel, the installation parameters include: the radius of the operation tunnel at the installation position of the steel segment, the depth parameter of the operation tunnel at the installation position of the steel segment, the circumferential position parameter of the installation position of the steel segment in the operation tunnel, the circumferential position parameter of the pipeline bundle in the operation tunnel, the length parameter of the steel segment, the width parameter of the steel segment, and the distance parameter of the lug on the steel segment from both ends in the length direction.

[0014] Optionally, the step of controlling the robotic arm to obtain the corresponding steel segment according to the installation parameters and adjusting the robotic arm to the corresponding set position includes:

[0015] Calculate the angle θ1 between the first connecting arm of the robotic arm and the horizontal direction and the angle θ2 between the second connecting arm and the horizontal direction when the steel segment is at the initial position according to the installation parameters and the dimension parameters of the robotic arm;

[0016] Control the driving device to drive the first connecting arm and the second connecting arm to rotate so that the angles with the horizontal direction are respectively equal to θ1 and θ2.

[0017] Optionally, the step of controlling the robotic arm to rotate horizontally so that the side of the steel segment corresponds to the side wall of the operation tunnel, and at the same time controlling the robotic arm to move up and down within the first safety radius to move the steel segment to a position corresponding to the circumferential position of the operation tunnel, and the lowest point of the steel segment is higher than the pipeline bundle includes:

[0018] Control the robotic arm to rotate horizontally so that the side of the steel segment corresponds to the side wall of the operation tunnel;

[0019] Calculate the movement trajectory of the robotic arm according to the first safety radius, the installation parameters and the equipment parameters;

[0020] Control the movement of the robotic arm according to the movement trajectory.

[0021] Optionally, the step of controlling the movement of the machine base, obtaining the current position information according to the position detection device, and judging whether it has moved to the position to be reinforced includes:

[0022] Control the position detection device to identify the marking line, and judge whether the center of the position detection device is aligned with the marking line. If not, control the movement of the machine base until it is aligned.

[0023] In addition, the present invention also provides an operation tunnel reinforcement device, which includes:

[0024] A machine base;

[0025] A traveling mechanism, including a traveling part provided at the bottom of the machine base;

[0026] A robotic arm provided on the machine base. A picking part is provided at the free end of the robotic arm. The picking part is used to pick up steel ring segments. The robotic arm is movably arranged to have a horizontal rotation stroke, a vertical rotation stroke, and a moving stroke that can approach and move away from the fixed end of the robotic arm;

[0027] A driving device for driving the robotic arm to move; and

[0028] A control device electrically connected to the driving device. The control device includes a memory, a processor, and an operation tunnel reinforcement program stored on the memory and executable on the processor. The operation tunnel reinforcement program is configured to implement the steps of any of the above-mentioned operation tunnel reinforcement methods.

[0029] Optionally, the robotic arm includes:

[0030] A mounting seat, one end of which is rotatably connected to the machine base;

[0031] A first connecting arm, one end of which is rotatably connected to the other end of the mounting seat; and

[0032] A second connecting arm, one end of which is rotatably connected to the other end of the first connecting arm, and the other end of the second connecting arm is for installing the picking part;

[0033] The driving device includes:

[0034] A rotating device for driving the mounting seat to rotate relative to the machine base;

[0035] A first driving device for driving the first connecting arm to rotate relative to the mounting seat; and

[0036] A second driving device for driving the second connecting arm to rotate relative to the first connecting arm.

[0037] Optionally, the rotating device includes a rotating part, and the rotating part is in transmission connection with the mounting seat;

[0038] The first driving device includes a first linear driving device. The fixed end and the driving end of the first linear driving device are respectively hinged to the machine base and the first connecting arm; and

[0039] The second driving device includes a second linear driving device, and the fixed end and the driving end of the second linear driving device are respectively hinged to the first connecting arm and the second connecting arm.

[0040] Optionally, a first angle detector is provided on the first connecting arm, and the first angle detector is used to detect in real time the included angle between the first connecting arm and the horizontal direction;

[0041] A second angle detector is provided on the second connecting arm, and the second angle detector is used to detect in real time the included angle between the second connecting arm and the horizontal direction.

[0042] Optionally, a position detection device is provided on one side of the machine base, and the position detection device is used to detect the position of the machine base in the depth direction of the operation tunnel.

[0043] The technical solution of the present invention obtains the installation parameters of the steel ring segment, and then obtains the corresponding steel ring segment and adjusts it to the set position, then moves it to the position to be reinforced and controls the robotic arm to rotate horizontally to correspond to the side wall of the operation tunnel. The steel ring segment is adjusted up and down within the first safety radius to correspond to the circumference of the operation tunnel and the lowest point is higher than the cable bundle. Then, the robotic arm is controlled to move the steel ring segment outside the second safety radius to avoid the cable bundle, and the steel ring segment is adjusted between the second safety radius and the aperture of the operation tunnel to the position to be installed and waits for installation. This technical solution is fully automated, without manual interference, has high installation accuracy and fast efficiency, can effectively avoid the cable bundle in the operation tunnel, and avoids affecting the daily operation of the operation tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0045] Figure 1 It is a schematic structural diagram of a control device in a hardware operating environment related to the embodiment solution of the present invention;

[0046] Figure 2 It is a schematic flowchart of an embodiment of an operation tunnel reinforcement method of the present invention;

[0047] Figure 3 is Figure 2 a schematic diagram of the positional relationship when the operation tunnel reinforcement equipment in the operation tunnel reinforcement method described in is at the initial position in the operation tunnel;

[0048] Figure 4For Figure 2 The formula auxiliary schematic diagram of the operation tunnel reinforcement method described in

[0049] Figure 5 The structural schematic diagram of a kind of operation tunnel reinforcement equipment of the present invention;

[0050] Figure 6 The structural schematic diagram of the operation tunnel described in the present invention.

[0051] Explanation of the attached drawing reference numerals:

[0052]

[0053]

[0054] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0055] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0056] The technical solution of the present invention is applicable to subway operation tunnels. In the operation tunnels, there are a large number of cable bundles. During the process of reinforcing the operation tunnels, it is necessary to avoid the cable bundles to prevent the subway operation lines in the operation tunnels from being forced to stop due to damage to the cable bundles.

[0057] Refer to Figure 1 , Figure 1 The structural schematic diagram of the control device of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0058] Such as Figure 1As shown in the figure, the control device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wireless-Fidelity (WI-FI) interface). The memory 1005 may be a high-speed Random Access Memory (RAM) or a stable Non-Volatile Memory (NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0059] Those skilled in the art can understand that Figure 1 the structure shown in the figure does not constitute a limitation on the control device, and it may include more or fewer components than shown in the figure, or combine certain components, or have a different component layout.

[0060] As Figure 1 shown, the memory 1005, as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and an operation tunnel reinforcement program.

[0061] In Figure 1 the control device shown in the figure, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with users; the processor 1001 and the memory 1005 in the control device of the present invention may be arranged in the control device. The control device calls the operation tunnel reinforcement program stored in the memory 1005 through the processor 1001 and executes the operation tunnel reinforcement method provided by the embodiments of the present invention.

[0062] The embodiments of the present invention provide an operation tunnel reinforcement method. Referring to Figure 2 , Figure 2 is a schematic flow chart of the first embodiment of an operation tunnel reinforcement method of the present invention.

[0063] In this embodiment, a first position sensor is provided at the bottom of the steel ring segment 300, and a second position sensor is provided on the side wall of the operation tunnel 200 at the position to be reinforced. The operation tunnel reinforcement method includes:

[0064] Step S10: Obtain the installation parameters of the steel segment 300 to be installed in the operation tunnel 200;

[0065] In this embodiment, the aperture, circumferential sidewall, extending direction and position to be reinforced of the operation tunnel 200 are surveyed manually in advance, and the relevant data are programmed and stored in the control device in advance. Then, the corresponding steel segment 300 is produced according to the survey data, and the dimension parameters of each steel segment 300 and its corresponding installation position are recorded, so as to be called by the reinforcement program of the operation tunnel 200 during installation. The position to be reinforced refers to the depth position in the depth direction of the operation tunnel 200 where the operation tunnel 200 needs to be reinforced, and the installation position refers to the angular position on the circumferential sidewall of the operation tunnel 200 where the steel segment 300 is specifically installed in the circumferential direction of the operation tunnel 200.

[0066] Step S20: Control the robotic arm 2 to obtain the corresponding steel segment 300 according to the installation parameters, and adjust the robotic arm 2 to the corresponding set position according to the installation parameters;

[0067] The control device receives the instruction, determines the specific position of the current position to be reinforced in the operation tunnel 200, obtains the corresponding steel segment 300 according to the installation parameters stored in the control device, fixes the steel segment 300 on the robotic arm 2 with manual assistance, and controls the movement of the robotic arm 2 according to the dimension information of the steel segment 300, adjusts the steel segment 300 to the front side of the robotic arm 2, and the highest point of the steel segment 300 is lower than the top of the operation tunnel 200, and the steel segment 300 is located in the middle of the operation tunnel 200 in the left-right direction, so as to ensure that the steel segment 300 will not collide with the tunnel wall, the cable bundle 203 in the operation tunnel 200, etc. during the transportation of the steel segment 300 to the position to be reinforced.

[0068] Step S30: Control the movement of the machine base 1, obtain the current position information according to the position detection device 4, and determine whether it has moved to the position to be reinforced;

[0069] When the position detection device 4 is a distance sensor, one distance sensor is arranged at a specified position, and the other distance sensor is arranged on the machine base 1. The control device judges how much distance the machine base 1 has advanced in the depth direction of the operation tunnel 200 according to the distance difference between the distance sensors, and judges whether the machine base 1 has advanced to the position to be reinforced according to the relationship between the distance sensor arranged at the specified position and the position to be reinforced in the operation tunnel 200; when the position detection device 4 is an image acquisition device, marking lines are drawn in advance on the circumferential side wall of the operation tunnel 200 at the position to be reinforced, and the image acquisition device identifies the marking lines for the control device to judge whether the machine base 1 has moved to the position to be reinforced.

[0070] Step S40: Control the robotic arm 2 to rotate horizontally so that the side of the steel ring segment 300 corresponds to the side wall of the operation tunnel 200, and at the same time control the robotic arm 2 to adjust up and down within the first safety radius 201 so that the lowest point of the steel ring segment 300 is higher than the cable bundle 203.

[0071] After the machine base 1 moves to the position to be reinforced, the connection point between the robotic arm 2 and the machine base 1 should be aligned with the center of the position to be reinforced in the depth direction of the operation tunnel 200, that is, when the control device controls the robotic arm 2 to rotate to face the side wall of the operation tunnel 200, only the steel ring segment 300 needs to be adjusted to move in the circumferential direction of the operation tunnel 200 to move the steel ring segment 300 to the position to be installed.

[0072] The first safety radius 201 refers to the maximum radius in the radial direction of the operation tunnel 200 where the cable bundle 203 in the operation tunnel 200 may be collided when moving the steel ring segment 300. Adjusting the steel ring segment 300 within this radius can avoid damaging the cable bundle 203.

[0073] After the control device controls the robotic arm 2 to complete the rotation, the control device controls the driving device to drive the robotic arm 2 to rotate in the up and down direction to adjust the height and inclination of the steel ring segment 300 so that the steel ring segment 300 is always within the first safety radius 201, and the lowest point of the steel ring segment 300 is higher than the highest point of the cable bundle 203, and judges whether the steel ring segment has moved in place by calculating the distance between the lowest point of the steel ring segment 300 and the cable bundle 203.

[0074] In another embodiment, a third position sensor is installed on the pipeline bundle 203. By the mutual cooperation of the first position sensor and the third position sensor, it is determined whether the distance between the lowest point of the steel ring segment 300 and the pipeline bundle 203 is less than a second preset distance, and it is judged whether the steel ring segment 300 is adjusted in place within the first safety radius 201. The second preset distance is set according to actual needs, referring to data such as the inner diameter of the operation tunnel 200, the position of the pipeline bundle 203, and the size of the steel ring segment 300, and no specific limitation is made here.

[0075] Step S50: Control the robotic arm 2 to move the steel ring segment 300 in a direction away from the fixed end of the robotic arm 2, so that the steel ring segment 300 moves outside the second safety radius 202, and the lowest point of the steel ring segment 300 is always higher than the pipeline bundle 203 during the movement;

[0076] The second safety radius 202 refers to the radius value at the position where the pipeline bundle 203 is closest to the circumferential side wall of the operation tunnel 200 in the radial direction of the operation tunnel 200. When the pipeline bundle 203 in the operation tunnel 200 is arranged to fit the side wall of the operation tunnel 200, the pipeline bundle 203 is first moved out manually, and a bracket is used to temporarily fix the pipeline bundle 203, so that there is a certain gap between it and the side wall of the operation tunnel 200 for the adjustment and installation of the steel ring segment 300.

[0077] The control device controls the robotic arm 2 to move in a direction close to the side wall of the operation tunnel 200, and always keeps the highest point of the steel ring segment 300 above the pipeline bundle 203 during the movement, so that the steel ring segment 300 moves from within the first safety radius 201 to outside the second safety radius 202 without colliding with the pipeline bundle 203.

[0078] Step S60: Control the robotic arm 2 to move the steel ring segment 300 between the second safety radius 202 and the side wall of the operation tunnel 200 to the position to be installed, so that the distance between the first position sensor and the second position sensor is less than a first preset distance.

[0079] The control device calculates the movement trajectory of the robotic arm 2 according to the installation parameters and the dimensional parameters of the robotic arm 2, so that the steel ring segment 300 moves downward to the position to be installed outside the second safety radius 202, and does not collide with the side wall of the operation tunnel 200 during the movement. According to the first position sensor installed at the bottom of the steel ring segment 300 and the second position sensor installed on the side wall of the operation tunnel 200 at the position to be reinforced, it is judged whether the steel ring segment 300 has moved to the position to be installed.

[0080] Further, in the step S10 of obtaining the installation parameters of the steel ring segment 300 to be installed in the operation tunnel 200, the installation parameters include: the radius of the operation tunnel 200 at the installation position of the steel ring segment 300, the depth parameter of the operation tunnel 200 at the installation position of the steel ring segment 300, the circumferential position parameter of the operation tunnel 200 where the steel ring segment 300 is installed, the circumferential position parameter of the pipeline bundle 203 in the operation tunnel 200, the length parameter of the steel ring segment 300, the width parameter of the steel ring segment 300, the distance parameters of the lugs on the steel ring segment 300 from both ends in the relative length direction, the arc length and angle parameters of the steel ring segment 300. The above parameters are measured manually in advance and input into the memory for the processor to call when needed.

[0081] The dimensional parameters of the robotic arm 2 include: the height of the lowest point of the robotic arm 2 from the lowest point of the operation tunnel 200, the length of the second connecting arm 22 of the robotic arm 2, and the length of the first connecting arm 21 of the robotic arm 2.

[0082] Further, in this embodiment, the step S20 includes:

[0083] Step S21: Calculate the angle θ1 between the first connecting arm 21 of the robotic arm 2 and the horizontal direction and the angle θ2 between the second connecting arm 22 and the horizontal direction when the steel ring segment 300 is at the initial position according to the installation parameters and the dimensional parameters of the robotic arm 2.

[0084] Refer to Figure 3 , the center point of the operation tunnel 200 is a, and the height of the high point f of the steel ring segment 300 in the operation tunnel 200 is H f =h0 + h1 + h2 + h3, the height of the low point e of the steel ring segment 300 is H e =h0 + h1 + h2 - h3, from

[0085]

[0086] it is possible to know the specific values of the high point height and the low point height.

[0087] In this embodiment, through manual surveying and mapping, the radius r of the operation tunnel 200, the height h0 of the support platform of the robotic arm 2, the radian angle α of the steel ring segment 300, the length L of the second connecting arm 22 high , the length L of the first connecting arm 21 low , the initial angle θ1 between the first connecting arm 21 and the horizontal direction, and the initial angle θ2 between the second connecting arm 22 and the horizontal direction are known.

[0088] After the robotic arm 2 picks up the steel ring piece 300, the control device controls the driving device to drive the second connecting arm 22 and the first connecting arm 21 to rotate, so as to adjust the initial angle θ1 and the initial angle θ2. Due to the different sizes of the steel ring pieces 300, in order to make the height H of the high point of the steel ring piece 300 f be within the range of the first safety radius 201, let 40° ≤ θ1 ≤ 50°, and its value is determined according to the actual situation. Adjust the size of θ2 so that the height of the high point of different steel ring pieces 300 is within the first safety radius 201.

[0089] Step S22: Control the driving device to drive the first connecting arm 21 and the second connecting arm 22 to rotate so that the angles with the horizontal direction are respectively equal to θ1 and θ2.

[0090] Further, in this embodiment, the step S30 includes:

[0091] Step S31: Control the position detection device 4 to identify the marking line, and judge whether the center of the position detection device 4 is aligned with the marking line. When not aligned, control the base 1 to move until aligned.

[0092] In this embodiment, the position detection device 4 is an image acquisition device. The marking line is drawn manually in advance at the position to be reinforced. The marking line is a circular curve extending along the circumferential direction of the operating tunnel 200, and two circular curves are drawn at intervals along the depth direction of the operating tunnel 200. The center line of the two circular curves is the position of the center line in the width direction after the steel ring piece 300 is installed. The image acquisition device identifies the two circular curves, and the control device judges whether the center of the image acquisition device is located at the center of the two circular curves. When the two are not aligned, drive the base 1 to move accordingly for adjustment.

[0093] Further, in this embodiment, the step S40 includes:

[0094] Step S41: Control the robotic arm 2 to rotate horizontally so that the side of the steel ring piece 300 corresponds to the side wall of the operating tunnel 200;

[0095] Step S42: Calculate the movement trajectory of the robotic arm 2 according to the first safety radius 201, the installation parameters and the equipment parameters;

[0096] Step S43: Control the movement of the robotic arm 2 according to the movement trajectory.

[0097] When the operation tunnel reinforcement device 100 transports the steel ring segment 300 to the position to be reinforced, after aligning the marking lines, the control device controls the robotic arm 2 to rotate horizontally so that the steel ring segment 300 corresponds to the side wall of the operation tunnel 200.

[0098] Refer to Figure 3 and Figure 4 Taking the center point a of the operation tunnel 200 as the origin of coordinates, the vertical upward direction as the positive direction of the y-axis, and the horizontal rightward direction as the positive direction of the x-axis to establish a first plane rectangular coordinate system axy, then the coordinates of the intersection point c of the second connecting arm 22 and the first connecting arm 21 in the first plane rectangular coordinate system are:

[0099]

[0100] In the above formula p is the angle of rotation of the first connecting arm 21 relative to the initial position.

[0101] The origin of the coordinate system O’X’Y’ remains unchanged, and the coordinate axes rotate counterclockwise by t° to form the coordinate system O”X”Y”. The coordinates of point M” in the coordinate system O’X’Y’ are M″1 = (x1, y1), and the coordinates of point M in the coordinate system O”X”Y” are M″2 = (x2, y2), then:

[0102]

[0103] Taking the intersection point c of the second connecting arm 22 and the first connecting arm 21 in the initial position as the origin of coordinates, taking the second connecting arm 22 as the vertical axis, and the direction away from the c point along the second connecting arm 22 as the positive direction, and the direction away from the first connecting arm 21 as the positive direction of the horizontal axis to establish a second plane rectangular coordinate system cx′y′, then the conversion relationship between the second plane rectangular coordinate system and the first plane rectangular coordinate system is:

[0104]

[0105] The second connecting arm 22 rotates by an angle q around point c, and the second plane rectangular coordinate system rotates together to form a third plane rectangular coordinate system cx″y″, then the conversion relationship between the second plane rectangular coordinate system and the third plane rectangular coordinate system is:

[0106]

[0107] The coordinates of the highest point f of the steel ring segment 300 in the third plane rectangular coordinate system are

[0108]

[0109] The coordinates of the lowest point e of the steel ring segment 300 in the third plane rectangular coordinate system are

[0110]

[0111] As can be seen from the above calculation formula, when the radius R of the operation tunnel 200, the radius r of the steel ring segment 300, the radian α of the steel ring segment 300, the height h0 of the support platform of the robotic arm 2, the length L of the second connecting arm 22 high and the length L of the first connecting arm 21 low and the initial angle θ1 between the first connecting arm 21 and the horizontal direction, and the initial angle θ2 between the second connecting arm 22 and the horizontal direction are known, the coordinates of the highest point f and the lowest point e of the steel ring segment 300 in the first plane rectangular coordinate system can be determined according to the rotation angle q of the second connecting arm 22 relative to the initial position and the rotation angle p of the first connecting arm 21 relative to the initial position, that is, the position of the steel ring segment 300 in the operation tunnel 200 can be controlled, so that the steel ring segment 300 can be moved to the installation position without colliding with the side wall of the operation tunnel 200 and the cable bundle 203.

[0112] In this embodiment, the steel ring segment 300 is in contact with the operation tunnel 200, and R = r is taken.

[0113] In this embodiment, the control device makes the robotic arm 2 rotate up and down by controlling the driving device. During this process, the angle of rotation of the robotic arm 2 driven by the driving device is controllable. After the robotic arm 2 picks up the steel ring segment 300, the control device first adjusts the angles between the second connecting arm 22 and the first connecting arm 21 and the horizontal direction to θ2 and θ1 respectively.

[0114] It should be noted that there are many methods to make the rotation angle of the robotic arm 2 controllable through the driving device. For example, when the driving device is a hydraulic cylinder, by controlling the movement of the piston rod of the hydraulic cylinder and associating the movement range of the piston rod with the rotation angle of the robotic arm 2, the corresponding relationship between the movement range of the piston rod and the rotation angle of the robotic arm 2 can be established to achieve controllable rotation angle; or the driving device is a motor, etc. In the prior art, the technology to make the rotation angle of the robotic arm 2 controllable is already very mature, and no more restrictions are made here.

[0115] After the operating tunnel reinforcement equipment 100 reaches the position to be reinforced, the control device controls the mechanical arm 2 to rotate so that the steel ring piece 300 corresponds to the circumference of the side wall of the operating tunnel 200. At this time, according to the above-mentioned coordinate relationship and known conditions, the coordinates of the steel ring piece 300 in the third coordinate system can be accurately calculated, and the coordinates are converted to the second coordinate system, and then converted to the first coordinate system to determine the coordinates of the highest and lowest points of the steel ring piece 300 in the first coordinate system after the mechanical arm 2 rotates. By limiting the coordinates, the specific position of the steel ring piece 300 in the operating tunnel 200 can be limited to avoid collision with the pipeline bundle 203 or the side wall of the operating tunnel 200.

[0116] The present invention also proposes an operating tunnel reinforcement device, which includes a control device, and the control device includes a memory, a processor, and an operating tunnel reinforcement program stored in the memory and executable on the processor, and the operating tunnel reinforcement program is configured to implement the steps of the above-mentioned operating tunnel reinforcement method.

[0117] like Figure 5 As shown, the operating tunnel reinforcement equipment 100 includes: a machine base 1, a walking mechanism, a mechanical arm 2 and a driving device, wherein the walking mechanism includes a walking part arranged at the bottom of the machine base 1; the mechanical arm 2 is arranged on the machine base 1, and a picking part 211 is arranged at the free end of the mechanical arm 2, and the picking part 211 is used to pick up the steel ring piece 300, and the mechanical arm 2 is movably arranged to have a horizontal rotation stroke, a vertical rotation stroke, and a moving stroke that can approach and move away from the fixed end of the mechanical arm 2; the driving device drives the mechanical arm 2 to move; and the control device is electrically connected to the driving device.

[0118] The walking mechanism is arranged on the machine base 1, including a walking part and a driving part. The driving part is transmission-connected with the walking part, driving the walking part to drive the machine base 1 to move in the depth direction of the operating tunnel 200, so as to transport the steel ring piece 300 to the depth of the operating tunnel 200 to be installed. The mechanical arm 2 is movably arranged on the machine base 1, and has a horizontal and vertical rotation stroke, and a moving stroke close to and away from the connection between the mechanical arm 2 and the machine base 1, so that the picking part 211 can move the picked-up steel ring piece 300 to the installation position. The technical solution proposed in the present application is mechanically and automatically operated throughout the process. Compared with the traditional manual installation method, it has the advantages of fast transportation efficiency, high installation accuracy and low construction risk.

[0119] It should be noted that the walking mechanism is only used to drive the machine base 1 to move in the depth direction of the operating tunnel 200. There are many mature technologies in the existing driving technology that can realize this function, such as using a motor and a roller in combination, or using a cylinder and a crawler in combination. According to actual needs, practical choices can be made, and no specific restrictions are made on the walking mechanism here.

[0120] Further, in this embodiment, the robotic arm 2 includes a mounting base 11, a first connecting arm 21 and a second connecting arm 22, one end of the mounting base 11 is rotatably connected to the base 1; one end of the first connecting arm 21 is rotatably connected to the other end of the mounting base 11; one end of the second connecting arm 22 is rotatably connected to the other end of the first connecting arm 21, and the other end of the second connecting arm 22 is provided for the picking part 211 to be installed; the driving device includes: a rotating device, a first driving device 31 and a second driving device 32, the rotating device drives the mounting base 11 to rotate relative to the base 1; the first driving device 31 drives the first connecting arm 21 to rotate relative to the mounting base 11; the second driving device 32 drives the second connecting arm 22 to rotate relative to the first connecting arm 21.

[0121] The mounting base 11 is rotationally connected to the machine base 1, and the rotating device is transmission-connected to the mounting base 11 to drive the mounting base 11 to rotate relative to the machine base 1, thereby realizing the rotation of the robotic arm 2 in the horizontal direction; the first connecting arm 21 is rotationally connected to the mounting base 11, and the first driving device 31 is transmission-connected to the first connecting part to drive the first robotic arm 2 to rotate up and down relative to the mounting base 11; the second connecting arm 22 is rotationally connected to the first connecting arm 21, and the second driving device 32 is transmission-connected to the second connecting arm 22 to drive the second connecting arm 22 to rotate up and down relative to the first connecting arm 21; the first connecting arm 21 and the second connecting arm 22 cooperate with each other to realize that the robotic arm 2 has an up and down rotation stroke, and a moving stroke that can approach and move away from the fixed end of the robotic arm 2.

[0122] In another embodiment, the robotic arm 2 also includes a third connecting arm and a third driving device (not shown in the figure), the third connecting arm is rotatably connected to one end of the second connecting arm 22 away from the first connecting arm 21, and the other end is fixedly connected to the picking portion 211, and the third driving device is used to drive the third connecting arm to rotate up and down relative to the second connecting arm 22. The length of the third connecting arm is relatively short. Such a configuration facilitates the adjustment of the inclination angle of the steel ring piece 300, so that the steel ring piece 300 can fit the circumferential pipe wall of the operating tunnel 200 more quickly.

[0123] Specifically, in this embodiment, the rotating device includes a rotating member, and the rotating member is in transmission connection with the mounting base 11; the first driving device 31 includes a first linear driving device, and the fixed end and the driving end of the first linear driving device are respectively hinged to the machine base 1 and the first connecting arm 21; the second driving device 32 includes a second linear driving device, and the fixed end and the driving end of the second linear driving device are respectively hinged to the first connecting arm 21 and the second connecting arm 22.

[0124] The rotating member is in transmission connection with the mounting base 11, enabling the mounting base 11 to rotate 360° relative to the machine base 1 to meet the different angle requirements when the picking part 211 loads the steel ring piece 300 and when installing the steel ring pieces 300 on the left and right sides of the operation tunnel 200. The rotation of the first connecting arm 21 and the second connecting arm 22 is realized by using the first linear driving device and the second linear driving device, so that the rotation stroke of the first connecting arm 21 and the second connecting arm 22 is less than 180°. When the picking part 211 carries the steel ring piece 300, adjusting the connecting arm to adjust the position of the steel ring piece 300 will not cause the steel ring piece 300 to overturn, ensuring the stability of the equipment and making the rotation of the first connecting arm 21 and the second connecting arm 22 faster, thus improving the working efficiency.

[0125] Further, in this embodiment, the rotating member includes a rotating motor, and the rotating motor is in transmission connection with the mounting base 11 for driving the mounting base 11 to rotate about the vertical axis; the first linear driving device includes a first hydraulic cylinder, the cylinder barrel of the first hydraulic cylinder is hinged to the mounting base 11, and the piston rod of the first hydraulic cylinder is hinged to the first connecting arm 21. The first hydraulic cylinder is used for driving the first connecting arm 21 to rotate about the horizontal axis relative to the mounting base 11; and the second linear driving device includes a second hydraulic cylinder, the cylinder barrel of the second hydraulic cylinder is hinged to the first connecting arm 21, and the piston rod of the second hydraulic cylinder is hinged to the second connecting arm 22. The second hydraulic cylinder is used for driving the second connecting arm 22 to rotate about the horizontal axis relative to the first connecting arm 21.

[0126] With such a setting, when the robotic arm 2 adjusts the position of the steel ring piece 300, it can achieve fast response and controllable precision. Using a hydraulic cylinder as the driving device for the first connecting arm 21 and the second connecting arm 22 also makes its load-bearing capacity stronger, capable of handling the relatively high weight of the steel ring piece 300, and at the same time ensuring the service life of the equipment itself.

[0127] Further, a first angle detector is provided on the first connecting arm 21, and the first angle detector is used to detect in real time the included angle between the first connecting arm 21 and the horizontal direction; a second angle detector is provided on the second connecting arm 22, and the second angle detector is used to detect in real time the included angle between the second connecting arm 22 and the horizontal direction. With such a setting, the included angle between the first connecting arm 21 and the horizontal direction can be detected in real time by the first angle detector and the second angle detector and the included angle between the second connecting arm 22 and the horizontal direction which is convenient for calculating the position coordinates of the steel ring segment 300 in the operation tunnel 200

[0128] In order to enable the robotic arm 2 to quickly pick up the steel ring segment 300, a picking part 211 is provided at the free end of the robotic arm 2. One side of the picking part 211 is fixedly connected to the free end of the second connecting arm 22, and a connecting piece is provided on the other side. The connecting piece is used for detachably connecting with a mating piece on the steel ring segment 300, so that the picking part 211 can conveniently load the steel ring segment 300. When transporting the steel ring segment 300, it can also be firmly fixed on the robotic arm 2, improving work efficiency and ensuring construction safety at the same time

[0129] Specifically, the connecting piece includes a plurality of first lug ears and movable bolts. The plurality of first lug ears are fixedly connected to the side of the picking part 211 away from the second connecting arm 22, and are arranged at intervals in the horizontal direction. Through holes are provided on the plurality of first lug ears; the movable bolts are detachably connected to the plurality of first lug ears; wherein, the plurality of first lug ears are used for plug-in matching with a plurality of second lug ears arranged at intervals in the horizontal direction on the mating piece, and the movable bolts are used for passing through the through holes on the plurality of first lug ears and the plurality of second lug ears

[0130] The connecting piece and the mating piece are aligned through the plurality of first lug ears and the plurality of second lug ears, and the connecting piece and the mating piece are connected together by passing the movable bolts through the through holes on the plurality of first lug ears and the plurality of second lug ears, so that the robotic arm 2 can lift the steel ring segment 300 and transport it to the position to be installed, and then adjust the angle of the steel ring segment 300 to make it fit with the wall of the operation tunnel 200

[0131] In this embodiment, two first lugs are provided, and one second lug is provided. The length of the picking part 211 in the up-and-down direction is set such that the upper end is closer to the second connecting arm 22 and the lower end is farther from the second connecting arm 22. After the connecting part and the mating part are engaged, when the robotic arm 2 lifts the steel ring piece 300, the lower end of the picking part 211 abuts against the inner wall of the steel ring piece 300, and under the action of gravity, the steel ring piece 300 will not rotate. After the steel ring piece 300 is adjusted to the position to be installed, by adjusting the robotic arm 2, the inclination angle of the steel ring piece 300 can be adjusted within a certain range to better fit the side wall of the operation tunnel 200.

[0132] To determine the position of the operation tunnel reinforcement device 100 in the depth direction of the operation tunnel 200, a position detection device 4 is provided on one side of the machine base 1. The position detection device 4 is used to judge whether the machine base 1 has moved to the position to be installed, so as to improve the automation degree of the operation tunnel 200 reinforcement device 100.

[0133] Specifically, in this embodiment, the position detection device 4 is an image collector, and there are two image collectors, which are respectively arranged on the left and right sides of the machine base 1. The central position of the image collector in the direction of the machine base 1 is on the same straight line as the connection position between the robotic arm 2 and the machine base 1.

[0134] On the side wall of the operation tunnel 200 at the position to be installed, two circular curves are drawn circumferentially and spaced apart in the depth direction of the operation tunnel 200. The center line of the position to be installed is at the center distance between the two circular curves. The image acquisition device acquires the images of the two circular curves, and the control device controls the driving device to drive the traveling mechanism to move according to this data, so that the connection between the robotic arm 2 and the machine base 1 is at the center line of the two circular curves at the same depth of the operation tunnel 200 to determine that the operation tunnel reinforcement device 100 has reached the position to be installed.

[0135] In another embodiment, the position detection device 4 is two distance sensors. One of the two distance sensors is arranged at a fixed position, and the other is arranged on the machine base 1. The control device judges the traveling distance of the operation tunnel 200 reinforcement device 100 in the depth direction of the operation tunnel 200 by obtaining the distance between the two distance sensors, and then judges whether it has reached the position to be installed.

[0136] Further, in this embodiment, first position sensors are provided on the left and right sides in the width direction at the lowest point of the steel ring segment 300. Two second position sensors are provided on the cable harness 203 corresponding to the marking line. Third position sensors are provided on both sides in the width direction at the highest point of the side wall of the operation tunnel 200 or the previously installed steel ring segment 300.

[0137] When the distance between the first position sensor and the second position sensor is less than a preset value, the control device determines that the adjustment is made to a specified position within the first safety radius 201. When the distance between the first position sensor and the third position sensor is less than a preset value, the control device determines that the steel ring segment 300 is adjusted to the position to be installed.

[0138] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0139] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0140] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

[0141] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An operating tunnel reinforcement method for an operating tunnel reinforcement device. A first position sensor is provided at the bottom of the steel ring segment, and a second position sensor is provided on the side wall of the operating tunnel at the position to be reinforced. It is characterized in that, Including the following steps: Obtain the installation parameters of the steel segment to be installed in the operation tunnel; Control the robotic arm to obtain the corresponding steel segment according to the installation parameters, and adjust the robotic arm to the corresponding set position according to the installation parameters; Control the base to move, obtain the current position information according to the position detection device, and determine whether it has moved to the position to be reinforced; Control the robotic arm to rotate horizontally so that the side of the steel segment corresponds to the side wall of the operation tunnel, and at the same time control the robotic arm to adjust within the first safety radius so that the lowest point of the steel segment is higher than the cable bundle; Control the robotic arm to move the steel segment in the direction away from the fixed end of the robotic arm so that the steel segment moves outside the second safety radius, and the lowest point of the steel segment is always higher than the cable bundle during the movement; Control the robotic arm to move the steel segment between the second safety radius and the side wall of the operation tunnel to the installation position, so that the distance between the first position sensor and the second position sensor is less than the first preset distance; The first safety radius refers to the maximum radius in the radial direction of the operation tunnel that may cause the steel segment to collide with the cable bundle when moving the steel segment due to the layout of the cable bundle in the operation tunnel; The second safety radius refers to the radius value at the position where the cable bundle is closest to the circumferential side wall of the operation tunnel in the radial direction of the operation tunnel. When the cable bundle in the operation tunnel is arranged to fit the side wall of the operation tunnel, the cable bundle is first moved outwards manually, and a bracket is used to temporarily fix the cable bundle so that there is a certain gap between it and the side wall of the operation tunnel; The step of controlling the robotic arm to obtain the corresponding steel segment according to the installation parameters and adjusting the robotic arm to the corresponding set position includes: Calculate the included angle between the first connecting arm of the robotic arm and the horizontal direction when the steel ring segment is in the initial position according to the installation parameters and the dimensional parameters of the robotic arm , and the included angle between the second connecting arm of the robotic arm and the horizontal direction ; The control drive device drives the first connecting arm and the second connecting arm to rotate so that the angles between them and the horizontal direction are respectively equal to and ; The step of controlling the robotic arm to rotate horizontally so that the side of the steel segment corresponds to the side wall of the operation tunnel, and at the same time controlling the robotic arm to move up and down within the first safety radius to move the steel segment to a position corresponding to the circumferential position of the operation tunnel, and the lowest point of the steel segment is higher than the cable bundle includes: Control the robotic arm to rotate horizontally so that the side of the steel segment corresponds to the side wall of the operation tunnel; Calculate the movement trajectory of the robotic arm according to the first safety radius, the installation parameters, the height of the robotic arm support platform, the length of the second connecting arm, the length of the first connecting arm, the initial angle between the first connecting arm and the horizontal direction, and the initial angle between the second connecting arm and the horizontal direction; Control the movement of the robotic arm according to the movement trajectory.

2. The operation tunnel reinforcement method according to claim 1, wherein, In the step of obtaining the installation parameters of the steel segment to be installed in the operation tunnel, the installation parameters include: the radius of the operation tunnel at the installation position of the steel segment, the depth parameter of the operation tunnel at the installation position of the steel segment, the circumferential position parameter of the installation position of the steel segment in the operation tunnel, the circumferential position parameter of the cable bundle in the operation tunnel, the length parameter of the steel segment, the width parameter of the steel segment, and the distance parameter of the lug on the steel segment from both ends in the relative length direction.

3. The operation tunnel reinforcement method according to claim 1, characterized in that The steps of controlling the movement of the base, obtaining the current position information according to the position detection device, and determining whether to move to the position to be reinforced include: The position detection device is controlled to identify the marking line, and it is determined whether the center of the position detection device is aligned with the marking line. If it is not aligned, the machine base is controlled to move until it is aligned.

4. An operation tunnel reinforcement device, characterized in that, The operating tunnel reinforcement equipment includes: Machine base; A walking mechanism, comprising a walking part arranged at the bottom of the machine base; A mechanical arm is arranged on the machine base, a picking portion is arranged at the free end of the mechanical arm, the picking portion is used to pick up the steel ring piece, and the mechanical arm is movably arranged to have a horizontal rotation stroke, a vertical rotation stroke, and a moving stroke that can approach and move away from the fixed end of the mechanical arm; A driving device, driving the mechanical arm to move; and A control device electrically connected to the driving device, the control device comprising a memory, a processor, and an operating tunnel reinforcement program stored in the memory and executable on the processor, the operating tunnel reinforcement program being configured to implement the steps of the operating tunnel reinforcement method according to any one of claims 1 to 3; The robotic arm comprises: A mounting base, one end of which is rotatably connected to the machine base; A first connecting arm, one end of which is rotatably connected to the other end of the mounting seat; and A second connecting arm, one end of which is rotatably connected to the other end of the first connecting arm, and the other end of the second connecting arm is provided for the pickup portion to be installed; The driving device comprises: A rotating device, driving the mounting seat to rotate relative to the machine base; A first driving device drives the first connecting arm to rotate relative to the mounting seat; and a second driving device, driving the second connecting arm to rotate relative to the first connecting arm; A position detection device is provided on one side of the machine base, and the position detection device is used to detect the position of the machine base in the depth direction of the operating tunnel.

5. The operation tunnel reinforcement equipment according to claim 4, characterized in that The rotating device comprises a rotating member, and the rotating member is transmission-connected with the mounting seat; The first driving device comprises a first linear driving device, the fixed end and the driving end of the first linear driving device are correspondingly hinged to the machine base and the first connecting arm; and The second driving device comprises a second linear driving device, and a fixed end and a driving end of the second linear driving device are correspondingly hinged to the first connecting arm and the second connecting arm.

6. The operation tunnel reinforcement device according to claim 4, characterized in that The first connecting arm is provided with a first angle detector, and the first angle detector is used to detect the angle between the first connecting arm and the horizontal direction in real time; The second connecting arm is provided with a second angle detector, and the second angle detector is used for detecting the angle between the second connecting arm and the horizontal direction in real time.

Images