Adaptive segment unloading device and segment unloading method for small curve turning

Abstract

The application discloses a pipe piece unloading method of an adaptive pipe piece unloading device for small curve turning, and solves the problem of uncentering of pipe piece unloading in small curve turning shield construction in the prior art. The unloading device comprises oppositely arranged adaptive execution units, and a visual monitoring system is arranged on the adaptive execution units or corresponding trailers; the adaptive execution units and the visual monitoring system are connected with a background control system. The adaptive execution unit comprises a transverse moving mechanism arranged on the trailer, a rotating mechanism is arranged on the transverse moving mechanism, a lifting mechanism is arranged on the rotating mechanism, the lifting mechanism can be lifted relative to the rotating mechanism, and a bracket for supporting the pipe piece is arranged on the lifting part of the lifting mechanism. The adaptive pipe piece unloading device solves the problem that the pipe piece on the marshalling car is inclined and twisted when the shield machine turns at a small curve, and the pipe piece hoist is not conducive to hoisting, improves the hoisting efficiency, reduces the shaking in the hoisting process, and guarantees the construction safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel segment unloading, in particular to a self-adaptive segment unloading device for small curve turning and a segment unloading method. BACKGROUND

[0002] In recent years, during the process of shield construction, the shield complete set equipment can complete one-time full-face tunnel excavation, support and spoil transportation, and has the characteristics of safety, high efficiency, environmental protection and high automation. The material used for tunnel support is a ring-shaped reinforced concrete segment with a certain width and thickness. During the construction process, the segment is grabbed to the appropriate position by the segment assembling equipment, and the segments are connected and fixed by bolts to form a single ring segment. When supporting, the segments are transported by a marshalling car, the segment unloading device unloads the multiple segments stacked and arranged from the marshalling car, and then the segment crane transfers the segments one by one to the segment storage area to prepare for subsequent construction.

[0003] When the shield machine is excavating in a small curve turning, the marshalling car drives through the small curve turning section in the tunnel, and the multiple segments stacked on the marshalling car will deviate, that is, the segments will be misaligned relative to the tunnel center line. It should be noted that the deviation refers to the overall segment leaning towards one side of the tunnel in the horizontal transverse direction, and the skew refers to the overall segment rotating in the horizontal plane, that is, the misalignment. The segment crane hoists the segments along the tunnel center line, and if the segments on the unloader are not in the middle, it will be difficult for the segment crane to hoist the segments, and there will also be a pulling problem, causing the segments to sway during hoisting, low efficiency, and posing a great safety hazard to the construction personnel.

[0004] The existing utility model patent with the authorization announcement No. CN209724357U discloses a novel shield machine segment rapid unloading device, which comprises two unloading mechanisms that are symmetrically arranged about the tunnel axis and cooperatively act. The unloading mechanisms are fixedly connected with the shield trailer, a bottom frame is arranged on the connecting bottom plate, a lifting frame is arranged in the bottom frame, the lifting frame is connected with the connecting bottom plate through a lifting oil cylinder, and the lifting oil cylinder drives the lifting frame to move up and down along the bottom frame to unload the segments. However, this segment unloading device unloads the segments in a whole translational manner, and when the segments are misaligned relative to the tunnel center line, the segments unloaded by the unloading device are still misaligned.

[0005] The existing utility model patent with the authorization announcement No. CN215974568U discloses a segment unloading device with automatic correction function, which comprises two side unloading frames, and a segment centering structure is arranged on the two side unloading frames. The centering structure pushes the corresponding segments to adjust the segments to the centering position. However, when turning in a small curve, the protruding segment unloading device is easy to interfere with the deflected segments, and when the centering structure pushes the segments, a large friction force is generated to move the adjacent segments, which greatly reduces the segment centering effect.

[0006] In summary, in the shield complete set of equipment, the research on the segment unloading device has made certain progress, but still cannot meet the needs of small curve turning shield construction, which seriously affects the construction safety, therefore, it is necessary to design a self-adaptive segment unloading device for small curve turning. SUMMARY

[0007] In view of the deficiencies in the above background art, the present application provides a self-adaptive segment unloading device for small curve turning and a segment unloading method, which solves the problem of unloading of small curve turning shield construction segments in the prior art.

[0008] The technical scheme of the present application is as follows: a self-adaptive segment unloading device for small curve turning, comprising oppositely arranged self-adaptive execution units, a visual monitoring system is arranged on the self-adaptive execution units or corresponding trailers; the self-adaptive execution units and the visual monitoring system are connected with a background control system.

[0009] The self-adaptive execution unit comprises a transverse movement mechanism arranged on the trailer, the transverse movement mechanism can move transversely relative to the trailer; a rotating mechanism is arranged on the transverse movement mechanism, the rotating mechanism can rotate relative to the transverse movement mechanism; a lifting mechanism is arranged on the rotating mechanism, the lifting mechanism can lift relative to the rotating mechanism, and a lifting part of the lifting mechanism is provided with a bracket for supporting the segment.

[0010] Further, the transverse movement mechanism comprises a transverse movement rail fixed on the trailer, a transverse movement frame is slidably connected to the transverse movement rail, the transverse movement frame is connected to the trailer through a transverse movement driving member, and the transverse movement driving member drives the transverse movement frame to move in the horizontal plane along the transverse movement rail.

[0011] As a preferred scheme, the transverse movement rail comprises an upper rail and a lower rail, the upper rail and the lower rail are arranged on the trailer in two layers, the transverse movement frame in the upper rail is connected with the transverse movement frame in the lower rail, and the transverse movement driving member is a transverse movement driving oil cylinder.

[0012] Further, the rotating mechanism comprises a connecting seat connected with the transverse movement mechanism, a slewing frame is connected to the connecting seat through a slewing joint, and a rotating driving member for driving the slewing frame to rotate is arranged on the connecting seat.

[0013] As a preferred scheme, the connecting seat comprises an upper connecting seat and a lower connecting seat, the slewing joint comprises an upper slewing joint and a lower slewing joint, the upper part of the slewing frame is connected with the upper connecting seat through the upper slewing joint, the lower part of the slewing frame is connected with the lower connecting seat through the lower slewing joint, the rotating driving member is a rotating oil cylinder, and the lifting mechanism is arranged on the slewing frame.

[0014] Further, the lifting mechanism comprises a base connected to the rotating mechanism, the base is provided with a jacking drive for driving the lifting frame, and the lifting frame is provided with a bracket for supporting the pipe segment.

[0015] The bracket is symmetrically arranged on both sides of the lifting frame and is an L-shaped bracket, and the supporting part of the L-shaped bracket is provided with a pad.

[0016] As a preferred solution, the rotating mechanism is provided with a sliding groove on both sides, and the lifting frame is provided with a limiting wheel in the sliding groove and matched with the sliding groove.

[0017] Further, the visual monitoring system comprises a visual sensor arranged on the trailer, and the visual sensor is connected to the background control system. In addition, the visual monitoring system can also use existing camera devices and angle measuring devices to timely and online monitor the state of the pipe segment.

[0018] A pipe segment unloading method of the self-adaptive pipe segment unloading device for small curve turning, comprising the following steps: S1: when a train carrying N (N≥2) pipe segments arrives at a specified area, the background control system starts collecting the position information of the pipe segments on the train through the visual monitoring system;

[0019] S2: according to the position information of the pipe segments fed back by the visual monitoring system, the background control system calculates the position state of the pipe segments, controls the horizontal moving mechanism and the rotating mechanism to grab the pipe segments on the train at appropriate positions, controls the lifting mechanism to lift the pipe segments on the train and separate them from the train, and sets the N pipe segments on the pipe segment unloading device not in the centering state at this time;

[0020] S3: when the pipe segment crane is to hoist the uppermost pipe segment on the pipe segment unloading device, according to the position information of the pipe segment, the control system controls the rotating mechanism of the adaptive execution unit on the left side to make the rotating mechanism drive the rotating frame on the left side to rotate clockwise or counterclockwise, and at the same time, the control system controls the rotating mechanism of the adaptive execution unit on the right side to make the rotating mechanism drive the rotating frame on the right side to rotate clockwise or counterclockwise, at this time, the pipe segments on the pipe segment unloading device rotate clockwise or counterclockwise, and the uppermost pipe segment is turned to the normal state; S4: then according to the position information of the uppermost pipe segment, the control system controls the horizontal moving mechanism to drive the corresponding rotating mechanism to move left or right, so that the uppermost pipe segment is in the centering state;

[0021] S5: then the uppermost pipe segment is hoisted by the pipe segment crane towards the tunneling direction;

[0022] S6: repeat steps S3-S5 until all N pipe segments are hoisted.

[0023] The beneficial effects of the present application are: 1. The adaptive pipe piece unloading device of the present application, through the combined action of the transverse moving mechanism, the rotating mechanism, the lifting mechanism and the visual monitoring system, solves the problem that the pipe pieces on the marshalling car are inclined and rotated when the shield machine turns on a small curve, which is not conducive to the pipe piece crane to lift, improves the hoisting efficiency, reduces the shaking in the hoisting process, and ensures the construction safety.

[0024] 2. The lifting mechanisms on the left and right sides of the adaptive pipe piece unloading device are each driven by an oil cylinder to unload the pipe pieces on the marshalling car, avoiding the uneven load distribution caused by using two oil cylinders on one side to lift, and the situation of toppling; the inclined and rotated pipe pieces on the marshalling car are self-adaptively centered by the control system controlling the transverse moving mechanism and the rotating mechanism, solving the interference of mechanical centering on adjacent pipe pieces and reducing the damage caused by mechanical centering to the pipe pieces.

[0025] 3. The pipe piece unloading method of the adaptive pipe piece unloading device first corrects the pipe pieces by the rotating mechanism, then centers the pipe pieces by the transverse moving mechanism, and finally lifts the centered pipe pieces by the pipe piece crane one by one, the whole process is safe and orderly, ensures the pipe piece centering accuracy, and improves the hoisting efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Figure 1 It is a schematic diagram of the construction state structure of the present application.

[0028] Figure 2 It is a schematic diagram of the overall structure of the present application.

[0029] Figure 3 It is a schematic diagram of the transverse moving mechanism structure.

[0030] Figure 4 It is a schematic diagram of the rotating mechanism main view.

[0031] Figure 5 It is a schematic diagram of the rotating mechanism side view.

[0032] Figure 6 It is a schematic diagram of the lifting mechanism main view.

[0033] Figure 7 It is a schematic diagram of the lifting mechanism side view.

[0034] Figure 8 It is a schematic diagram of the cooperation state of the rotating mechanism and the lifting mechanism.

[0035] Figure 9 Fig. 8 is a schematic diagram of a pipe segment lifting state for a pipe segment unloading device.

[0036] Figure 10 Fig. 9 is a schematic diagram of an initial state of a pipe segment on a pipe segment unloading device.

[0037] Figure 11 Fig. 10 is a schematic diagram of a pipe segment correction operation state of a pipe segment unloading device.

[0038] Figure 12 Fig. 11 is a schematic diagram of a pipe segment centering operation state of a pipe segment unloading device.

[0039] Figure 13 Fig. 12 is a schematic diagram of a topmost pipe segment centering state of a pipe segment unloading device. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0041] As shown in Figure 1 Example 1, an adaptive pipe segment unloading device for small curve turning is located on a trailer 2 of a tunnel pipeline 1 in tunnel construction. The tunnel pipeline is composed of assembled pipe segment rings in a shield tunneling process; the trailer is used to carry shield machine supporting equipment. The pipe segment unloading device includes oppositely arranged adaptive execution units; that is, the pipe segment unloading device in this embodiment includes two adaptive execution units oppositely arranged on the left and right, which unload the pipe segment from the marshalling car 3 from both sides of the pipe segment. The marshalling car 3 transports pipe segments, slurry, trailer guide rails, pipelines and other materials in the shield construction process. The adaptive execution unit or the corresponding trailer 2 is provided with a visual monitoring system 4 corresponding to the pipe segment in the unloading area, which can collect the position and state information thereof; a visual sensor is arranged on both sides of the trailer main frame, which can feedback control the action of the unloader by collecting the misalignment state of the pipe segment; the adaptive execution unit and the visual monitoring system 4 are connected with the background control system. In this embodiment, the visual monitoring system uses an image acquisition device to collect pipe segment position information (such as deflection direction, state and other information), then processes the information through the background control system to obtain the position state of the pipe segment (actual deflection angle, etc.), and then controls the adaptive execution unit to make corresponding adjustments to quickly center the pipe segment on the pipe segment unloading device, facilitate smooth hoisting of the pipe hoisting machine, and further improve the pipe segment hoisting efficiency in small curve turning shield construction.

[0042] AsFigure 2 As shown in the figure, the adaptive execution unit in this embodiment includes a transverse movement mechanism 5 arranged on the trailer 2, preferably arranged on the main frame of the trailer. The transverse movement mechanism 5 can move transversely relative to the trailer 2; a rotating mechanism 6 is arranged on the transverse movement mechanism 5, which can rotate relative to the transverse movement mechanism 5; a lifting mechanism 7 is arranged on the rotating mechanism 6, which can move up and down relative to the rotating mechanism 6, and the lifting mechanism 7 is provided with a bracket 16 for supporting the segment. The segment on the bracket moves up and down under the action of the lifting mechanism, which is mainly used to unload the multiple segments on the marshalling car in the form of overall translation; the rotating mechanism can drive the lifting mechanism to rotate, that is, according to the data fed back by the visual sensor, the rotation of the segment is adjusted; the transverse movement mechanism 5 drives the rotating mechanism 6 to move in the plane, that is, according to the data fed back by the visual sensor, the lateral movement is adjusted to adjust the lateral deviation of the segment.

[0043] During the tunneling process of shield construction, the marshalling car transports the segments to the designated area, and visual sensors are arranged on both sides of the trailer main frame in the area to monitor the centering state of the segments on the marshalling car. At the same time, unloading racks are arranged on both sides of the trailer main frame in the area, arranged relatively along the tunneling direction, and each side of the unloading rack is arranged with a transverse movement mechanism, a rotating mechanism and a lifting mechanism. The lifting mechanism is used to unload the segments on the marshalling car, and the transverse movement mechanism and the rotating mechanism are used to adjust the centering state of the segments.

[0044] As a preferred scheme in this embodiment, as shown in the figure, Figure 3 The transverse movement mechanism 5 includes a transverse movement rail 51 fixed on the trailer 2, a transverse movement frame 52 slidingly connected on the transverse movement rail 51, and a transverse movement driving member 53 connecting the transverse movement frame 52 with the trailer 2, which drives the transverse movement frame 52 to move in the horizontal plane along the transverse movement rail 51. As a preferred scheme in this embodiment, the transverse movement rail 51 includes an upper layer rail and a lower layer rail, which are arranged in two layers on the trailer 2. The transverse movement frame 52 in the upper layer rail and the transverse movement frame 52 in the lower layer rail are both connected with the rotating mechanism 6, which improves the stability of the translation of the rotating mechanism 6. As a preferred scheme, the transverse movement driving member 53 is a transverse movement driving oil cylinder; in addition, the transverse movement driving member can also be a gas cylinder or a gear rack according to needs. The transverse movement mechanisms on the left and right sides cooperate to move transversely, which can correct the lateral deviation of the segments on the bracket 16.

[0045] As shown in the figure, Figure 4 , 5 As shown in the figure, in embodiment 2, on the basis of embodiment 1, the rotating mechanism 6 in this embodiment includes a connecting seat 61 connected with the transverse movement mechanism 5, which is connected on the transverse movement frame 52. A rotary frame 63 is connected on the connecting seat 61 through a rotary joint 62, and the connecting seat 61 is provided with a rotating driving member 64 for driving the rotary frame 63 to rotate.

[0046] As a preferred solution, the connecting seat 61 comprises an upper connecting seat and a lower connecting seat, the rotary joint 62 comprises an upper rotary joint and a lower rotary joint, the upper part of the rotary frame 63 is connected with the upper connecting seat through the upper rotary joint, and the lower part of the rotary frame 63 is connected with the lower connecting seat through the lower rotary joint. The upper and lower connecting modes improve the stability of the rotating mechanism. The rotating driving member 64 is a rotary oil cylinder. According to the requirement, the rotating driving member can also be a motor, a hydraulic motor or other rotating driving member. The lifting mechanism 7 is arranged on the rotary frame 63. Under the action of the rotating driving member, the rotary frame drives the lifting mechanism to rotate synchronously, so as to adjust the rotation of the segment.

[0047] Further, as shown in Figure 6 、 7 , 8, the lifting mechanism 7 comprises a base 71 connected with the rotating mechanism 6, the base 71 is provided with a jacking driving member 73 for driving a lifting frame 72, and the lifting frame 72 is provided with a bracket 16 for supporting the segment. Under the action of the jacking driving member, the lifting frame drives the bracket to move up and down, so as to lift the segment in the vertical direction. As a preferred solution, the bracket 16 is symmetrically arranged on both sides of the lifting frame 72 and is an L-shaped bracket. The supporting part of the L-shaped bracket is provided with a pad 74, which prevents the segment from sliding during lifting. The lifting frame 72 is in sliding fit with the rotary frame 63 of the rotating mechanism 6. The specific structure of the sliding fit is that the two sides of the rotary frame 63 are provided with sliding grooves, and the two sides of the lifting frame 72 are provided with limit wheels 75, which are located in the sliding grooves and are matched with the sliding grooves. The cooperation of the limit wheel and the sliding groove converts the sliding between the lifting frame 72 and the rotary frame 63 into the rolling between the limit wheel and the sliding groove, reduces the friction, and limits the up and down movement of the lifting frame, so that the movement is more stable.

[0048] Further, the visual monitoring system 4 comprises a visual sensor arranged on the trailer 2, and the visual sensor is connected with a background control system. In addition, the visual monitoring system can also use existing camera devices and angle measuring devices to timely and online monitor the state of the segment. Visual sensors are arranged on both sides of the trailer main frame to monitor the centering state of the segment, and unloading frames are arranged on both sides, and horizontal moving mechanisms, rotating mechanisms and lifting mechanisms are arranged on each unloading frame. During work, the data fed back by the visual sensor are used to control the lifting mechanism to lift and unload the segments on the marshalling car, control the horizontal moving mechanism to move horizontally to adjust the lateral deflection of the segment, and control the rotating mechanism to rotate to adjust the rotation of the segment, so as to realize the centering of the segment and facilitate the operation of the segment crane.

[0049] Embodiment 3: A segment unloading method of the adaptive segment unloading device for small curve turning according to embodiment 2, characterized in that the steps are as follows:

[0050] S1: When a train carrying N (N≥2) tunnel segments arrives at the designated area, the background control system begins collecting the location information of the tunnel segments on the train through the vision monitoring system 4. For example... Figure 9 As shown, taking N=3 as an example, the three segments on the train form a group, which are segment III, segment II and segment I from top to bottom.

[0051] S2: Based on the segment position information fed back by the visual monitoring system 4, the background control system calculates the segment position status, controls the lateral movement mechanism and the rotation mechanism to grab the segments on the marshalling car at appropriate positions, and controls the lifting mechanism to lift the segments on the marshalling car and detach them from the marshalling car. Assume that at this time, the N segments on the segment unloading device are not in a centered state; Figure 10 As shown. Due to the small curve, all three segments on the segment unloading device will be slightly skewed at this point. To facilitate the grabbing of the three segments by the segment crane, each of the three segments on the segment unloading device needs to be adjusted to a centered position. Since the segment crane lifts segments III, II, and I on the segment unloading device sequentially, the centered adjustments for segments III, II, and I need to be performed sequentially.

[0052] S3: When the segment crane is about to lift the uppermost segment (i.e., segment III) from the segment unloading device, based on the segment's position information, the control system controls the rotation mechanism of the adaptive execution unit on the left to drive the slewing frame on the left to rotate clockwise or counterclockwise. Simultaneously, the control system controls the rotation mechanism of the adaptive execution unit on the right to drive the slewing frame on the right to rotate clockwise or counterclockwise. At this time, the segments on the segment unloading device rotate clockwise or counterclockwise, returning the uppermost segment to the centered position. Figure 11 As shown.

[0053] S4: As Figure 12 As shown, based on the position information of the uppermost segment, the control system then controls the lateral movement mechanism to drive the corresponding rotating mechanism to move left or right, so that the uppermost segment is in a centered state; this facilitates the lifting of the segment by the segment crane; as... Figure 13 As shown.

[0054] S5: The uppermost segment is then lifted by the segment crane in the direction of tunneling.

[0055] S6: Repeat steps S3 to S5 until all N segments have been hoisted. Similarly, segments II and I on the segment unloading device are also hoisted by the above steps: first, the rotating mechanism returns them to center, then the lateral movement mechanism centers them, and finally the centered segments are hoisted away one by one by the segment crane.

[0056] The application is suitable for adaptive segment unloading device and method for small curve turning, solves the problem that the segment on the group vehicle is inclined and twisted when the shield machine turns at a small curve, is not conducive to the lifting of the segment crane, improves the lifting efficiency, reduces the shaking in the lifting process, and ensures the construction safety.

[0057] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An adaptive segment unloading device for small curve turns, characterized in that: It includes a relatively set adaptive execution unit, and a visual monitoring system (4) is provided on the adaptive execution unit or the corresponding trailer (2); both the adaptive execution unit and the visual monitoring system (4) are connected to the background control system; The adaptive execution unit includes a lateral movement mechanism (5) mounted on the trailer (2), which can move laterally relative to the trailer (2); a rotating mechanism (6) is mounted on the lateral movement mechanism (5), which can rotate relative to the lateral movement mechanism (5); a lifting mechanism (7) is mounted on the rotating mechanism (6), which can lift relative to the rotating mechanism (6), and the lifting part of the lifting mechanism (7) is provided with a bracket (16) for supporting the support plate. The lateral movement mechanism (5) includes a lateral movement track (51) fixed on the trailer (2), a lateral movement frame (52) slidably connected on the lateral movement track (51), and the lateral movement frame (52) is connected to the trailer (2) through a lateral movement drive (53). The lateral movement drive (53) drives the lateral movement frame (52) to move horizontally along the lateral movement track (51). The rotating mechanism (6) includes a connecting seat (61) connected to the transverse mechanism (5), a rotating frame (63) is connected to the connecting seat (61) via a rotary joint (62), and a rotating drive component (64) for driving the rotating frame (63) to rotate is provided on the connecting seat (61). Segment unloading method: S1: When a train carrying N segments arrives at the designated area, N≥2; The background control system starts collecting the position information of the segments on the train through the visual monitoring system (4); S2: Based on the position information of the tube segment fed back by the visual monitoring system (4), the background control system calculates the position status of the tube segment, controls the lateral movement mechanism and the rotation mechanism to grab the tube segment on the marshalling car at the appropriate position, controls the lifting mechanism to lift the tube segment on the marshalling car and remove it from the marshalling car, and assumes that the N tube segments on the tube segment unloading device are not in the centering state at this time. S3: When the segment crane is about to lift the uppermost segment from the segment unloading device, the control system controls the rotation mechanism of the adaptive execution unit on the left side according to the position information of the segment, so that it drives the slewing frame on the left side to rotate clockwise or counterclockwise. At the same time, the control system controls the rotation mechanism of the adaptive execution unit on the right side, so that it drives the slewing frame on the right side to rotate clockwise or counterclockwise. At this time, the segments on the segment unloading device rotate clockwise or counterclockwise, turning the uppermost segment to the upright position. S4: Then, based on the position information of the uppermost segment, the control system controls the lateral movement mechanism to drive the corresponding rotation mechanism to move left or right, so that the uppermost segment is in the centering state. S5: The uppermost segment is then lifted by the segment crane in the direction of tunneling; S6: Repeat steps S3 to S5 until all N segments have been hoisted.

2. The adaptive segment unloading device for small curve turns according to claim 1, characterized in that: The transverse track (51) includes an upper track and a lower track, which are set on the trailer (2) in two layers. The transverse frame (52) in the upper track and the transverse frame (52) in the lower track are both connected to the rotating mechanism (6). The transverse drive component (53) is a transverse drive cylinder.

3. The adaptive segment unloading device for small curve turns according to claim 1, characterized in that: The connecting seat (61) includes an upper connecting seat and a lower connecting seat, the rotary joint (62) includes an upper rotary joint and a lower rotary joint, the upper part of the rotary frame (63) is connected to the upper connecting seat through the upper rotary joint, and the lower part of the rotary frame (63) is connected to the lower connecting seat through the lower rotary joint; the rotary drive component (64) is a rotary cylinder, and the lifting mechanism (7) is set on the rotary frame (63).

4. The adaptive segment unloading device for small curve turns according to claim 3, characterized in that: The lifting mechanism (7) includes a base (71) connected to the rotating mechanism (6), a lifting drive (73) for driving the lifting frame (72) is provided on the base (71), and a bracket (16) for supporting the support plate is provided on the lifting frame (72).

5. The adaptive segment unloading device for small curve turns according to claim 4, characterized in that: The bracket (16) is symmetrically arranged on both sides of the lifting frame (72) and the bracket (16) is an L-shaped bracket. The supporting part of the L-shaped bracket is provided with a pad (74). The lifting frame (72) and the rotating frame (63) of the rotating mechanism (6) are in sliding cooperation.

6. The adaptive segment unloading device for small curve turns according to claim 5, characterized in that: The slewing frame (63) has sliding grooves on both sides, and the lifting frame (72) has limiting wheels (75) on both sides. The limiting wheels (75) are located in the sliding grooves and cooperate with the sliding grooves.

7. The adaptive segment unloading device for small curve turns according to any one of claims 1 to 6, characterized in that: The visual monitoring system (4) includes a visual sensor installed on the trailer (2), and the visual sensor is connected to the background control system.

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