A segment positioning and gripping device

Abstract

The application belongs to the technical field of tunnel construction equipment, and particularly relates to a segment positioning and grabbing device. The device comprises a suction cup for grabbing a segment, a mounting frame, two first guide assemblies and two second guide assemblies. The first guide assemblies and the second guide assemblies are both mounted on the mounting frame. The mounting frame is located above the suction cup and detachably connected below the suction cup. The two first guide assemblies are symmetrically distributed on the two sides of the suction cup so that the guide parts of the two first guide assemblies act on the two end surfaces of the segment. The two second guide assemblies are symmetrically distributed on the front and back of the suction cup so that the guide parts of the two second guide assemblies act on the two arc-shaped side surfaces of the segment. Thus, the device automatically converts the idea of the electrical algorithm into the mechanical one, greatly reduces the requirements for the image recognition algorithm and the requirements for the segment placement, and achieves the purposes of reducing the technical difficulty of segment grabbing, reducing the cost and improving the work efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel construction equipment, and in particular relates to a segment positioning and grasping device. Background Technology

[0002] A tunnel boring machine (TBM) is a multi-functional comprehensive tunnel excavation machine, capable of excavation, excavation and soil transportation, assembly and support, grouting, and guidance and correction. It has become the preferred equipment for underground transportation engineering and tunnel construction. The segment assembly machine is a crucial component of the TBM, its job being to quickly assemble tunnel segments into a circular tunnel to reinforce the newly excavated tunnel. Currently, segment lifting and retrieval are done manually, resulting in low automation and efficiency. Furthermore, the confined space inside the TBM poses safety hazards to operators. Additionally, the repeated adjustments required for manual segment retrieval further reduce the installation efficiency of the segment assembly machine.

[0003] In existing technologies, most methods involve taking pictures with a camera and then using image recognition algorithms to identify the positioning holes of the pipe segments for automatic positioning and grabbing. However, this method has high requirements for the algorithm and is expensive. It also has certain requirements for the placement of the pipe segments and usually needs to be used in conjunction with an unloader. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the aforementioned problems in the prior art, this invention provides a segment positioning and gripping device, thereby solving the technical problems of high algorithm requirements and high cost when positioning and gripping segments, as well as certain requirements for the placement of segments and the need to use it in conjunction with an unloader.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] This invention provides a segment positioning and gripping device, including a suction cup for gripping segments, a mounting frame, two first guide components, and two second guide components. Both the first and second guide components are mounted on the mounting frame, which is located above the suction cup and detachably connected to it. The two first guide components are symmetrically distributed on both sides of the suction cup so that their guiding portions act on the two raised end faces of the segment. The two second guide components are symmetrically distributed in front of and behind the suction cup so that their guiding portions act on the two arc-shaped sides of the segment. The guiding portions of both the first and second guide components are movable in the pitch direction, and the guiding portion of the first guide component is swayable in the front-back direction.

[0009] Furthermore, a positioning pin is provided at the center of the suction cup, and a positioning hole is provided at the lowest point of the concave surface of the tube, so that the positioning pin can cooperate with the positioning hole.

[0010] Furthermore, the segment has one of the following segment structures: the lengths of the two raised ends of the first segment extend parallel to each other and are consistent with the width direction of the first segment; the length of one raised end of the second segment extends in the same direction as the width direction of the second segment, and the length of the other raised end of the second segment extends at an angle to the width direction of the second segment.

[0011] Furthermore, it also includes a lifting and traveling frame, which is used to drive the suction cup to move along the track. The lifting and traveling frame is connected to the track and is located above the suction cup and connected to the suction cup through a wire rope assembly. The wire rope assembly includes a connecting plate, pulleys and wire rope. The connecting plate is connected to the suction cup and is located above the mounting frame. The pulleys are located at both ends of the connecting plate, and the wire rope is wound around the pulleys. The height of the connecting plate in the vertical direction is adjusted by changing the length of the wire rope.

[0012] Furthermore, a guide sleeve is provided between the lifting traveling frame and the suction cup. The guide sleeve includes several cylinders arranged from the inside out and connected end to end in sequence. The upper end of the outermost cylinder of the guide sleeve is fixed to the lifting traveling frame, and the lower end of the innermost cylinder of the guide sleeve is fixed to the suction cup. As the connecting plate descends, the guide sleeve extends out of the outermost cylinder in sequence, and as the connecting plate rises, the guide sleeve retracts into the outermost cylinder in sequence.

[0013] Furthermore, there are gaps between adjacent cylinders.

[0014] Furthermore, the first guide assembly includes a structural frame, a first hydraulic cylinder, a second hydraulic cylinder, and a first guide wheel. The first hydraulic cylinder is connected to the mounting frame via a first support, and the structural frame is connected to the first hydraulic cylinder. Simultaneously, the structural frame is connected to the mounting frame via a first movable shaft, enabling the structural frame to perform pitching motion around the first movable shaft. The structural frame has a symmetrical structure with a swing shaft in the middle. The first guide wheel is mounted on two first guide arms symmetrical about the swing shaft. The second hydraulic cylinder is mounted on the structural frame to drive it to swing around the swing shaft. The first guide wheel constitutes the guide part of the first guide assembly.

[0015] Furthermore, the second guide assembly includes a third hydraulic cylinder, a second guide arm, and a second guide wheel. The third hydraulic cylinder is connected to the mounting frame via a second support, and the second guide arm is connected to the third hydraulic cylinder via a connecting block. The connecting block is connected to the mounting frame via a second movable shaft. The second guide wheel is located at the free end of the second guide arm. The second guide wheel constitutes the guide portion of the second guide assembly.

[0016] Furthermore, the first guide wheel and the second guide wheel are rubber-coated wheels.

[0017] Furthermore, the first guide arm is provided with two first guide wheels arranged vertically, and the second guide arm is provided with one second guide wheel.

[0018] (III) Beneficial Effects

[0019] The beneficial effects of this invention are:

[0020] This invention provides a segment positioning and gripping device that adds two first guide components and two second guide components as mechanical guides to guide the segment to be gripped to the center position under the gripping device, a feature found in existing technologies. The addition of mechanical guides shifts the focus from primarily using electrical algorithms to primarily using mechanical methods, significantly reducing the requirements for image recognition algorithms and segment placement. Even when image recognition algorithms have significant positioning errors, precise and reliable gripping can be achieved through mechanical positioning, eliminating the need for an unloader. This achieves the goals of reducing the technical difficulty of segment gripping, lowering costs, improving adaptability and reliability, and increasing work efficiency. Attached Figure Description

[0021] Figure 1 A schematic diagram of the structure of the segment positioning and gripping device when gripping the first segment;

[0022] Figure 2 A schematic diagram of the structure of the segment positioning and gripping device when gripping the second segment;

[0023] Figure 3 A structural schematic diagram from another perspective of the segment positioning and gripping device when gripping a segment;

[0024] Figure 4 This is a schematic diagram of the structure of the first guide component.

[0025] [Explanation of Labels in the Attached Image]

[0026] 1: First guide assembly; 11: Structural frame; 111: Swing shaft; 112: First guide arm; 12: First hydraulic cylinder; 13: Second hydraulic cylinder; 14: First guide wheel; 15: First support; 16: First movable shaft;

[0027] 2: Second guide assembly; 21: Third hydraulic cylinder; 22: Second guide arm; 23: Second guide wheel; 24: Second support; 25: Connecting block; 26: Second movable shaft;

[0028] 3: Mounting frame; 4: Suction cup;

[0029] 5: Tunnel segment; 51: First tunnel segment; 52: Second tunnel segment;

[0030] 6: Lifting and traveling frame; 7: Track;

[0031] 8: Wire rope assembly; 81: Connecting plate; 82: Pulley; 83: Wire rope;

[0032] 9: Guide sleeve. Detailed Implementation

[0033] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0034] like Figure 1-4 As shown, the present invention provides a segment positioning and gripping device, such as Figure 1 , Figure 2 As shown, it includes two first guide assemblies 1, two second guide assemblies 2, a mounting frame 3, a suction cup 4 for gripping the tube segment 5, a lifting and traveling frame 6, and a wire rope assembly 8.

[0035] Among them, such as Figure 1 , Figure 2 As shown, the tube segment 5 has one of the following tube segment structures: the lengths of the two raised ends of the first tube segment 51 extend in parallel directions and are consistent with the width direction of the first tube segment 51; the length of one raised end of the second tube segment 52 extends in the same direction as the width direction of the second tube segment 52; and the length of the other raised end of the second tube segment 52 extends at an angle to the width direction of the second tube segment 52.

[0036] like Figure 1 , Figure 2 As shown, a track 7 is connected above the lifting and traveling frame 6. The lifting and traveling frame 6 is located above the suction cup 4 and connected to the suction cup 4 via a wire rope assembly 8. In this way, the lifting and traveling frame 6 can drive the suction cup 4 to move along the track 7.

[0037] Specifically, such as Figure 1 , Figure 2 As shown, the wire rope assembly 8 includes a connecting plate 81, a pulley 82, and a wire rope 83. The center of the connecting plate 81 is connected to the suction cup 4. The pulleys 82 are located at both ends of the connecting plate 81. The upper part of the wire rope 83 is connected to the lifting and traveling frame 6, and the lower part is wrapped around the pulley 82. By changing the length of the wire rope 83, the height of the connecting plate 81 driven by the pulley in the vertical direction can be adjusted.

[0038] A positioning pin is provided at the center of the suction cup 4, and a positioning hole is provided at the lowest point of the concave surface of the tube 5. The positioning pin can cooperate with the positioning hole to grasp the tube 5.

[0039] like Figure 1-3 As shown, the first guide component 1 and the second guide component 2 are both mounted on the mounting frame 3. The mounting frame 3 is located between the connecting plate 81 and the suction cup 4 and is detachably connected to the suction cup 4. In this way, the first guide component 1 and the second guide component 2 can be installed and removed from the suction cup 4 as a whole along with the mounting frame 3 without affecting the existing installation structure of the suction cup 4.

[0040] Specifically, such as Figure 1 , Figure 2 , Figure 4 As shown, the first guide assembly 1 includes a structural frame 11, a first hydraulic cylinder 12, a second hydraulic cylinder 13, and a first guide wheel 14. Two first guide wheels 14 arranged vertically are provided on the first guide arm 112, and the first guide wheels 14 constitute the guide portion of the first guide assembly. The second guide assembly 2 includes a third hydraulic cylinder 21, a second guide arm 22, and a second guide wheel 23. The second guide wheel 23 is disposed at the free end of the second guide arm 22 and constitutes the guide portion of the second guide assembly.

[0041] like Figure 1-3 As shown, when the mounting frame 3 is mounted on the suction cup 4, two first guide components 1 are symmetrically distributed on both sides of the suction cup 4 so that their guide parts act on the two raised end faces of the tube 5, and two second guide components 2 are symmetrically distributed in front and behind the suction cup 4 so that their guide parts act on the two arc-shaped sides of the tube 5.

[0042] The guide portions of both the first guide assembly 1 and the second guide assembly 2 are capable of moving in the pitch direction. Figure 1-3 In the diagram, direction 'a' represents the pitch direction. The guide portion of the first guide assembly 1 can swing in the back-and-forth direction. Figure 1-3 In the middle, direction b is the front-back direction. The first cylinder 12 on the first guide assembly 1 can adjust the pitch of the first guide assembly 1 to adapt to the two upturned end faces of the tube segment 5. The second cylinder 13 is responsible for adapting to the wedge-shaped surface that forms an angle with the width direction of the second tube segment 52 when the tube segment 5 is the second tube segment 52.

[0043] Specifically, such as Figure 1 , Figure 2 , Figure 4 As shown, the first hydraulic cylinder 12 is connected to the mounting frame 3 via the first support 15, and the structural frame 11 is connected to the first hydraulic cylinder 12. At the same time, the structural frame 11 is connected to the mounting frame 3 via the first movable shaft 16, and the structural frame 11 can perform pitching motion with the first movable shaft 16 as the axis.

[0044] like Figure 4As shown, the structural frame 11 is a symmetrical structure. A swing shaft 111 is provided in the middle of the structural frame 11. The first guide wheel 14 is installed on two first guide arms 112 that are symmetrical about the swing shaft 111. The second oil cylinder 13 is installed on the structural frame 11 to drive the structural frame 11 to swing about the swing shaft 111 to adjust the posture of the structural frame 11 to adapt to the wedge-shaped surface of the second tube segment 52.

[0045] like Figure 3 As shown, the third hydraulic cylinder 21 is connected to the mounting frame 3 via the second support 24, the second guide arm 22 is connected to the third hydraulic cylinder 21 via the connecting block 25, and the connecting block 25 is connected to the mounting frame 3 via the second movable shaft 26.

[0046] It should be noted that the two first cylinders 12 in the two first guide components 1 and the two third cylinders 21 in the two second guide components 2 can be synchronously adjusted under hydraulic synchronous control to ensure that the center of the suction cup 4 finally coincides with the center of the tube segment 5.

[0047] Preferably, the first guide wheel 14 and the second guide wheel 23 are rubber-coated wheels with a certain strength.

[0048] like Figure 1-3 As shown, to reduce the swaying of the suction cup 4 during descent, a guide sleeve 9 is provided between the lifting traveling frame 6 and the suction cup 4. The guide sleeve 9 comprises several cylinders arranged from the innermost to the outermost and connected end to end in sequence. The upper end of the outermost cylinder of the guide sleeve 9 is fixed to the lifting traveling frame 6, and the lower end of the innermost cylinder of the guide sleeve 9 is fixed to the suction cup 4. During the lowering of the wire rope 83, the cylinders in the guide sleeve 9 extend sequentially from the outermost cylinder as the connecting plate 81 descends, thereby reducing swaying when lowering the suction cup 4. Moreover, there is a certain gap between adjacent cylinders, allowing the suction cup 4 a certain adjustment margin under the action of the guide sleeve 9. During the retraction of the wire rope 83, the cylinders in the guide sleeve 9 also retract sequentially into the outermost cylinder as the connecting plate 81 rises.

[0049] In addition, the present invention also includes a camera to assist the first guide assembly 1 and the second guide assembly 2 in positioning the tube segment 5.

[0050] Working Principle: After the segment trolley transports segment 5 to the predetermined area, the segment positioning and gripping device is activated and moves above the preset area. The camera is activated and uses an image recognition algorithm to adjust the position of the gripping device while simultaneously identifying the type of segment 5. The first guide assembly 1 and the second guide assembly 2 adjust their angles according to the type and orientation of segment 5 by controlling the first hydraulic cylinder 12, the second hydraulic cylinder 13, and the third hydraulic cylinder 21 to adapt to the shape of segment 5. As the gripping device is lowered, the first guide wheel 14 and the second guide wheel 23 contact segment 5, providing mechanical guidance and moving segment 5 to the center of the suction cup 4, aligning the center of the suction cup 4 with the center of segment 5. Then, the first hydraulic cylinder 12 and the third hydraulic cylinder 21 are simultaneously adjusted under hydraulic synchronous control to fix the two centers. Finally, the positioning pin at the center of the suction cup 4 is precisely inserted into the positioning hole at the center of segment 5, thus achieving gripping.

[0051] This invention combines mechanical guidance with image recognition technology, shifting the focus from image recognition algorithms to mechanical methods in automatic segment grasping. Even when image recognition algorithms have significant positioning errors, mechanical positioning can still achieve automatic grasping. This gives the device both the automation advantages of image recognition and the precision and reliability of mechanical guidance. Mechanical guidance ensures that the position of segment 5 does not deviate too much. Without changing the algorithm, the reliance on existing image recognition algorithms is greatly reduced, and the requirements for segment 5 placement are also lowered. Furthermore, it can be used with tunnel boring machines (TBMs) without unloading devices. This reduces the difficulty of automatic segment grasping technology, lowers the cost of the device, improves adaptability and reliability, increases work efficiency, and transforms the approach in the field of automatic grasping.

[0052] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A segment positioning and gripping device comprising a suction cup (4) for gripping a segment (5), characterized in that, It also comprises a mounting frame (3), two first guiding assemblies (1) and two second guiding assemblies (2), the first guiding assemblies (1) and the second guiding assemblies (2) are mounted on the mounting frame (3), the mounting frame (3) is above the suction disc (4) and detachably connected with the suction disc (4); The two first guiding assemblies (1) are symmetrically distributed on the two sides of the suction disc (4) so that the guiding parts of the first guiding assemblies (1) act on the two end surfaces of the pipe piece (5) which are lifted up; The two second guiding assemblies (2) are symmetrically distributed on the front and back of the suction disc (4) so that the guiding parts of the second guiding assemblies (2) act on the two arc-shaped side surfaces of the pipe piece (5); The guiding parts of the first guiding assemblies (1) and the second guiding assemblies (2) can move in the pitch direction, and the guiding parts of the first guiding assemblies (1) can swing in the front and back direction; The first guiding assembly (1) comprises a structure frame (11), a first oil cylinder (12), a second oil cylinder (13) and a first guiding wheel (14), the first oil cylinder (12) is connected with the mounting frame (3) through a first support (15), the structure frame (11) is connected with the first oil cylinder (12), and at the same time, the structure frame (11) is connected with the mounting frame (3) through a first movable shaft (16), and the structure frame (11) can make pitch movement about the first movable shaft (16); The structure frame (11) is a symmetrical structure, a swing shaft (111) is arranged in the middle of the structure frame (11), the first guiding wheel (14) is mounted on two first guiding arms (112) of the structure frame (11) which are symmetrical about the swing shaft (111), and the second oil cylinder (13) is arranged on the structure frame (11) to drive the structure frame (11) to swing about the swing shaft (111); The first guiding wheel (14) constitutes the guiding part of the first guiding assembly.

2. A pipe panel positioning gripper device according to claim 1, characterised in that, A positioning pin is arranged at the center of the suction disc (4), and a positioning hole is arranged at the lowest point of the concave surface of the pipe piece (5), and the positioning pin can cooperate with the positioning hole.

3. The pipe panel positioning grapple of claim 1, wherein, The pipe piece (5) has one of the following pipe piece structures: The extension direction of the length of the two end surfaces of the first pipe piece (51) which are lifted up is parallel to the width direction of the first pipe piece (51); The extension direction of the length of one end surface of the second pipe piece (52) which is lifted up is consistent with the width direction of the second pipe piece (52), and the extension direction of the length of the other end surface of the second pipe piece (52) which is lifted up forms an angle with the width direction of the second pipe piece (52).

4. The pipe panel positioning grapple of claim 1, wherein, It also comprises a lifting walking frame (6), the lifting walking frame (6) is used to drive the suction disc (4) to move along a track (7), the lifting walking frame (6) is connected with the track (7), and the lifting walking frame (6) is above the suction disc (4) and connected with the suction disc (4) through a steel wire rope assembly (8); The steel wire rope assembly (8) comprises a connecting plate (81), a pulley (82) and a steel wire rope (83), the connecting plate (81) is connected with the suction cup (4) and located above the mounting frame (3), the pulley (82) is arranged at both ends of the connecting plate (81), and the steel wire rope (83) is wound around the pulley (82), and the height of the connecting plate (81) in the vertical direction is adjusted by changing the length of the steel wire rope (83).

5. A pipe panel positioning gripper device according to claim 4, characterised in that, A guide sleeve (9) is arranged between the lifting walking frame (6) and the suction cup (4), the guide sleeve (9) comprises a plurality of cylinders which are arranged from inside to outside and connected in sequence, the upper end of the outermost cylinder of the guide sleeve (9) is fixed on the lifting walking frame (6), the lower end of the innermost cylinder of the guide sleeve (9) is fixed on the suction cup (4), the guide sleeve (9) is sequentially stretched out from the outermost cylinder as the connecting plate (81) descends, and the guide sleeve (9) is sequentially retracted into the outermost cylinder as the connecting plate (81) ascends.

6. A pipe panel positioning grapple device according to claim 5, characterised in that, Gaps exist between adjacent cylinders.

7. The pipe panel positioning grapple of claim 1, wherein, The second guide assembly (2) comprises a third oil cylinder (21), a second guide arm (22) and a second guide wheel (23), the third oil cylinder (21) is connected with the mounting frame (3) through a second support (24), the second guide arm (22) is connected with the third oil cylinder (21) through a connecting block (25), and the connecting block (25) is connected with the mounting frame (3) through a second movable shaft (26); The second guide wheel (23) is arranged at the free end of the second guide arm (22). The second guide wheel (23) constitutes a guide part of the second guide assembly.

8. A pipe panel positioning grapple according to claim 7, characterised in that, The first guide wheel (14) and the second guide wheel (23) are rubber-coated wheels.

9. The pipe panel positioning grapple of claim 7, wherein, Two first guide wheels (14) arranged in an up-down mode are arranged on the first guide arm (112), and one second guide wheel (23) is arranged on the second guide arm (22).

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