A linear engineering automation pipe installation method

Abstract

The application relates to a linear engineering automatic pipeline installation method, temporary rails are laid on the inner side of a shield segment, a pipeline support installation system and a pipeline transportation and positioning system are arranged on the temporary rails, the pipeline support installation system is provided with a plurality of detachable head mechanical arms, the detachable head mechanical arms are driven to work, and the detachable head mechanical arms respectively complete various installation procedures of the pipeline support in sequence, so that the pipeline support is fixedly installed on the inner wall of the shield segment in a linear design position; the pipeline transportation and positioning system is provided with a plurality of pipeline transportation mechanical arms, the pipeline transportation mechanical arms are driven to work, and the pipeline transportation mechanical arms install pipelines on the pipeline support in a positioning mode. The application has the advantages that the automatic installation of the linear engineering pipeline support in the shield segment and the automatic transportation and positioning of the pipeline are realized, the dependence on manual work is eliminated, and the labor cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of linear construction technology for electromechanical installation engineering, and in particular to an automated pipeline installation method for linear engineering. Background Technology

[0002] Currently, the transportation and installation of pipeline supports in linear engineering projects such as subway sections still relies heavily on manual labor, with a lack of research on the application of automation technologies for pipeline support transportation and installation in the industry. Pipeline support installation measurement and positioning are also primarily done manually, using the linear track surface as a reference. Levels are used to measure the bottom elevation of the pipe section and system by system, and lines are drawn sequentially to mark the positions of pipe joints, valves, compensators, etc. It is also necessary to avoid the tunnel segment connection seams and manholes. Manual measurement is complex, prone to large errors, and the subsequent drilling, cleaning, and support fixing of the under-base anchors are all done manually, resulting in low efficiency and high labor costs. Furthermore, the current transportation and placement of pipelines in linear engineering projects mainly rely on manual rail flatbed carts for transportation, and pipeline placement also primarily relies on manual handling. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the prior art by providing a linear engineering automated pipeline installation method. This method involves configuring a pipeline support installation system and a pipeline transportation and positioning system that can travel along a track laid inside the tunnel boring machine (TBM). By utilizing the cooperation of these two systems, the automated installation of pipeline supports inside the TBM segments and the automated positioning of pipelines on the pipeline supports can be achieved.

[0004] The objective of this invention is achieved through the following technical solutions:

[0005] A linear engineering automated pipeline installation method for fixing and installing pipelines and pipeline supports on the inner wall of tunnel segments, characterized in that the installation method includes the following steps:

[0006] A temporary track is laid on the inner side of the tunnel segment. The temporary track is installed in the same direction as the pipeline and the pipeline support and is arranged along the entire length.

[0007] A pipe support installation system and a pipe transport and positioning system are erected on the temporary track. Both the pipe support installation system and the pipe transport and positioning system can move on the temporary track. Along the direction of travel, the pipe support installation system is located in front of the pipe transport and positioning system.

[0008] The pipe support installation system has several detachable head robotic arms, which are driven to work so that the detachable head robotic arms complete each installation process of the pipe support in turn, thereby fixing the pipe support on the inner wall of the shield tunnel segment with the linear design position as the positioning.

[0009] The pipeline transportation and positioning system has several pipeline transportation robotic arms. Driving these robotic arms enables them to position the pipeline onto the installed pipeline support.

[0010] The pipe support installation system includes a drive vehicle, a transport platform, and several detachable robotic arms. The drive vehicle is connected to the transport platform, and the two can travel on a track. Lifting columns are respectively provided on both sides of the transport platform. Several detachable robotic arms are mounted on the lifting columns, and the lifting columns are connected to a drive device. The drive device drives the several detachable robotic arms to lift and lower. The several detachable robotic arms include a marking robotic arm, a drilling robotic arm, a support transport robotic arm, and a fastening robotic arm.

[0011] The detachable head robotic arm refers to a robotic arm consisting of a robotic arm body and a working head mounted on the robotic arm body, with the working head and the robotic arm body forming a detachable fixed connection; the installation process corresponding to the detachable head robotic arm can be adjusted by replacing the working head.

[0012] The detachable head robotic arm has a radar laser emitter for positioning.

[0013] The pipeline transportation and positioning system includes a drive vehicle, a transportation platform, and several pipeline transportation robotic arms. The drive vehicle is connected to the transportation platform, and the two can travel on a track. Pipelines can be placed on the transportation platform. The pipeline transportation robotic arms are located on the front and rear sides of the transportation platform and are used to clamp and move the pipelines.

[0014] The pipeline transport robotic arm includes a robotic arm body and a gripping head installed at one end thereon. The gripping head has openable and closable grippers and is used to grip the pipeline and move it under the drive of the robotic arm body.

[0015] The robotic arm is equipped with a point control device consisting of a camera, a control device, and a laser emitter. The laser emitter is positioned so that it illuminates the installation location of the pipe. The camera captures the emitted light spot of the laser emitter and controls the movement position of the robotic arm via the control device.

[0016] The advantages of this invention are: it enables automated installation of linear engineering pipe supports within shield tunnel segments, as well as automated transportation and positioning of pipes, eliminating reliance on manual labor and reducing labor costs; it improves the linear accuracy of pipe support installation while ensuring pipe positioning accuracy; it can load a large number of pipe supports and pipes at once, which not only facilitates transportation but also improves construction efficiency; it has a simple and reasonable structure, is easy to use, has a high degree of automation, and is suitable for widespread application. Attached Figure Description

[0017] Figure 1 This is a schematic diagram showing the working state of the robotic arm in the pipe support installation system of this invention.

[0018] Figure 2 This is a schematic diagram of the working state of the drilling robotic arm in the pipe support installation system of the present invention;

[0019] Figure 3 This is a schematic diagram of the working state of the fastening robotic arm in the pipe support installation system of the present invention;

[0020] Figure 4 This is a schematic diagram showing the working state of the transport robotic arm and the nut fastening robotic arm of the pipe support installation system in this invention.

[0021] Figure 5 This is a schematic diagram of the pipe support installation system in this invention;

[0022] Figure 6 This is a schematic diagram of the pipeline transportation and positioning system in this invention;

[0023] Figure 7 This is a schematic diagram of the working state of the pipeline transportation robotic arm in the pipeline transportation positioning system of the present invention.

[0024] Figure 8 This is a schematic diagram of the pipeline transportation robotic arm in the pipeline transportation positioning system of the present invention positioning the pipeline. Implementation

[0025] The features and other related features of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments, so as to facilitate understanding by those skilled in the art:

[0026] like Figure 1-8 As shown in the figure, labels 1-22 represent: 1. Shield tunnel segment, 2. Lifting column, 3. Drilling and fastening robotic arm, 4. Support transport robotic arm, 5. Marking robotic arm, 6. Radar laser sensor, 7. Pipe support, 8. Rear expansion anchor bolt, 9. Transport platform, 10. Track, 11. Radar laser emitter, 12. Anchor bolt hole, 13. Steel arc plate, 14. Steel plate, 15. Diagonal bracing angle steel, 16. Joint filling layer, 17. Drive vehicle head, 18. Transport platform, 19. Limiting bracket, 20. Pipe transport robotic arm, 21. Pipe, 22. Point control device.

[0027] Example: Figures 1 to 8 As shown, the linear engineering automated pipeline installation method of this embodiment is used to automatically install pipeline support 7 and pipeline 21 in shield tunnel segment 1. The pipeline support 7 is linearly arranged along the extension direction (tunnel line direction) of shield tunnel segment 1, so that the pipeline 21 installed on the pipeline support 7 is linearly arranged.

[0028] Specifically, such as Figure 5 As shown, the pipe support installation system in this embodiment includes a drive unit (not shown in the figure, but the same as the drive unit 17 of the pipe transport and positioning system), a transport platform 9, and several detachable robotic arms. The drive unit is connected to one side of the transport platform 9, allowing the transport platform 9 to travel on the track 10 laid inside the tunnel segment 1 under the drive of the drive unit. Pipe supports 7 and rear-expanding anchor bolts 8 are installed on the transport platform 9. The pipe supports 7 are the components to be installed inside the tunnel segment 1, while the rear-expanding anchor bolts 8 are used for fixing the pipe supports 7 to the tunnel segment 1. In this way, because the transport platform 9 can carry a large number of pipe supports 7 and matching rear-expanding anchor bolts 8 along the pipe installation direction under the drive of the drive unit, construction efficiency is effectively improved.

[0029] like Figure 5 As shown, lifting columns 2 are respectively installed on both sides of the transport platform 9. Several detachable-head robotic arms are connected to the lifting columns 2. The lifting columns 2 are used to switch the positions of the detachable-head robotic arms, so that each detachable-head robotic arm is aligned with the installation position of the pipe support. The lifting columns 2 can be a ring conveyor belt structure. Each detachable-head robotic arm is installed on the ring conveyor belt structure. The ring conveyor belt structure is connected to a drive device to rotate it. When the ring conveyor belt rotates, each detachable-head robotic arm passes through the installation position of the pipe support one by one and performs corresponding treatment on the inner wall of the shield tunnel segment 1 at that position.

[0030] like Figure 5 As shown, this embodiment includes a drilling and fastening robotic arm 3, a support transport robotic arm 4, and a marking robotic arm 5. The drilling and fastening robotic arm 3 is used to drill holes in the inner wall of the shield tunnel segment 1 to form anchor bolt holes for the installation of the post-expansion anchor bolts 8, and it can also fix the post-expansion anchor bolts 8. The support transport robotic arm 4 is used to clamp and transport the pipe supports stored on the transport platform 9 to the corresponding positions. The marking robotic arm 5 is used to mark the anchor bolt holes on the inner wall of the shield tunnel segment 1 to ensure installation accuracy.

[0031] In this embodiment, since both drilling and fastening are performed using rotational motion, the drilling and fastening functions are integrated into one robotic arm. When a function switch is required, the working head can be removed from the robotic arm body and replaced to complete the corresponding task. However, in actual use, the drilling robotic arm and the fastening robotic arm can also be set up separately and connected to the lifting column 2 to achieve the same technical effect.

[0032] Specifically, such as Figure 1 As shown, the marking robotic arm 5 includes a robotic arm body and a marking head extending from its front end. The marking head can move in multiple directions under the drive of the robotic arm body, aligning the marking head with the anchor bolt hole 12 of the rear-expanded bottom anchor bolt 8. This marking head can mark the anchor bolt hole 12 on the inside of the shield tunnel segment 1, and draw the anchor bolt hole 12 and the bottom elevation line of the pipe on the inner wall of the shield tunnel segment 1.

[0033] In this embodiment, the positioning of the marking robotic arm 5 is achieved through radar laser positioning technology and infrared line-of-sight transmission technology, which are formed by the cooperation between the radar laser transmitter 11 installed on the robotic arm body and the radar laser sensor 6 installed on the lifting column 2. The radar laser transmitter 11 emits a laser into the interior of the shield tunnel segment 1. After the laser is reflected, it is received by the radar laser sensor 6, thereby measuring the current horizontal position of the marking robotic arm 5. The height position of the marking robotic arm 5 is known because it is mounted on the rail surface of the track 10. The position of the bottom elevation of the pipeline is determined according to the on-site construction requirements. The marking robotic arm 5 is moved according to the determined bottom elevation to perform positioning.

[0034] like Figure 2 As shown, the drilling and fastening robotic arm 3 also includes a robotic arm body and a working head. In this embodiment, the drilling and fastening robotic arm 3 integrates drilling and fastening functions. The fastening refers to the fastening of the rear-expanded bottom anchor bolt 8 and its nut. During drilling, the working head connected to the robotic arm body uses a drilling drill bit to drill holes in the inner wall of the shield tunnel segment 1, thus forming anchor bolt holes 12. The drilling position of the drilling and fastening robotic arm 3 is also achieved using its installed radar laser transmitter 11. This radar laser generator 11 can locate the anchor bolt holes 12 marked by the robotic arm 5, allowing the drilling drill bit to be aligned with the anchor bolt hole 12. At this time, the drilling working head or the fastening working head can be replaced on the robotic arm body. For ease of construction, the drilling working head can be used to drill all the installation holes first along the pipeline laying direction, and then the fastening working head can be used to perform the fastening operation at the drilling position.

[0035] like Figure 3As shown, when the drilling and fastening robotic arm 3 fastens the rear expanded bottom anchor bolt 8, the working head it uses is a clamping head that matches the rear expanded bottom anchor bolt 8. The clamping head can be clamped on the rear expanded bottom anchor bolt 8 and the rear expanded bottom anchor bolt 8 can be screwed into the pre-drilled anchor bolt hole 12 by rotation.

[0036] like Figure 4 As shown, the working head of the support transport robotic arm 4 is a clamping head, which can clamp the pipe support 7 placed on the transport platform 9 and move it to the installation position. The pipe support includes a horizontal plate, an inclined plate, a steel arc plate 13, and diagonal bracing angle steel 15. The inclined plate is connected to the rear underrun anchor bolt 8, and the horizontal plate is connected to the inclined plate. Diagonal bracing angle steel 15 reinforces the connection between the two. The steel arc plate 13 is positioned above the horizontal plate for mounting the track. In use, the inclined plate of the pipe support is positioned opposite the rear underrun anchor bolt 8 to be fixedly installed onto the shield tunnel segment 1 under the connection of the rear underrun anchor bolt 8.

[0037] like Figures 6 to 8 As shown, in this embodiment, the linear engineering automated pipeline transportation and positioning system is used to transport and position the pipeline onto the pipeline support 7 installed in the shield tunnel segment 1. Figure 6 As shown, the pipe support 7 is arranged linearly along the extension direction (tunnel line direction) of the shield segment 1, so that the pipe 21 is arranged linearly in the same way. The pipe support 7 is fixedly connected to the inner wall of the shield segment 1 by the rear-expanded bottom anchor bolt 8, and a steel plate 14 is provided between the two to improve the structural performance. The gap between the steel plate 14 and the inner wall of the shield segment 1 is filled and sealed by the joint filler layer 16.

[0038] Specifically, combined Figures 6 to 8 As shown, the installation system in this embodiment includes a drive unit 17, a transport platform 18, and two pipe transport robotic arms 20 arranged on the front and rear sides along the vehicle's travel direction. The drive unit 17 is connected to one side of the transport platform 18, allowing the transport platform 18 to travel on the track 10 laid within the tunnel segment 1 under the drive of the drive unit. Several spaced-apart limiting brackets 19 are provided on the transport platform 18, forming a pipe compartment for holding pipes 21. That is, the pipes 21 can be limited by the limiting brackets 19 on both sides, preventing them from sliding off the transport platform 18. At this time, since the transport platform 18 can carry a large number of pipes 21 along its installation direction under the drive of the drive unit 17, construction efficiency is effectively improved.

[0039] like Figure 7As shown, the pipeline transport robotic arm 20 includes a robotic arm body and a gripping head. The gripping head is located at one end of the robotic arm body, wherein the gripping head has openable and closable jaws for gripping the pipeline 21, and the robotic arm body is used to move the pipeline 21 after the jaws grip it, so that the pipeline 21 is moved from the pipeline compartment to its designed position.

[0040] like Figure 7 or Figure 8 As shown, in this embodiment, a point control device 22 is provided on the robotic arm body of the pipeline transport robotic arm 20. This point control device 22 is used to control the displacement movement of the pipeline transport robotic arm 20, thereby controlling the positioning position of the pipeline 21. Specifically, the point control device 22 consists of a camera, a control device, and a laser emitter. The laser emitter emits a laser beam towards the position of the pipeline support 7 where the pipeline 21 is installed. The camera captures the emitted laser beam and performs corresponding position calculations. Then, the control device connects to control the robotic arm body to move the pipeline, so that the clamped pipeline 21 can be moved to the designed positioning position, ensuring its positioning accuracy.

[0041] This embodiment includes the following usage process:

[0042] 1) A temporary track 10 is laid on the inner side of the shield tunnel segment 1. The track 10 is installed in the same direction as the pipe 21 and the pipe support 7 and is arranged along the entire length.

[0043] A pipe support installation system and a pipe transportation and positioning system are installed on track 10. Both the pipe support installation system and the pipe transportation and positioning system can move on track 10. Along the direction of travel, the pipe support installation system is located in front of the pipe transportation and positioning system, so as to realize the installation procedure of installing the pipe support first and then positioning the pipe.

[0044] 2) The pipe support installation system, consisting of a drive unit and a transport platform 9, carries the pipe supports to be installed and the matching rear-expanded bottom anchors within the tunnel segment 1. After reaching the installation position of the pipe support, it stops. The lifting column 2 and each detachable head robotic arm begin to work. First, the marking robotic arm 5 marks the installation position of the pipe support on the inside of the tunnel segment 1, including the anchor hole position 12 and the bottom elevation line of the pipe 21. After completion, the drilling robotic arm will drill holes according to the anchor hole position 12 based on the sensor it is equipped with. Then, the drilling and fastening robotic arm 3 takes out the rear-expanded bottom anchor 8 from the transport platform 9 for installation. The support transport robotic arm 4 will place the pipe support 7 facing the rear-expanded bottom anchor 8. Finally, the fastening robotic arm will fix the nut to complete the installation of the pipe support 7.

[0045] 3) The pipeline transportation and positioning system, consisting of the drive vehicle head 17 and the transportation platform 18, carries the pipeline 21 and travels within the section of the shield tunnel segment 1; it stops after reaching the position where the pipeline support has been installed; the two pipeline transportation robotic arms 20 start working, and the gripping heads of the two pipeline transportation robotic arms 20 grip the pipeline 21 from both ends and move it synchronously to the corresponding pipeline support 7. During the transfer process, the point control device 22 controls the displacement of the pipeline transportation robotic arms 20 to ensure that the pipeline 21 is accurately positioned and erected on the pipeline support 7 at the designed positioning position.

[0046] In this embodiment, the detachable robotic arm fixes the pipe support 7 to the inner wall of the shield tunnel segment 1 with the linear design position as the positioning point, while the pipe transport robotic arm positions the pipe 21 on the pipe support 7 with the installed pipe support 7 as the positioning point; therefore, the pipe 21 can always maintain its own linearity and avoid creating weak points during splicing.

[0047] In this embodiment, a steel plate 14 for improving structural performance is also provided between the inclined plate of the pipe support and the shield segment 1. The gap between the steel plate 14 and the inner wall of the shield segment 1 is filled and sealed by a sealant layer 16. Therefore, a robotic arm that performs the corresponding function can also be configured on the lifting column 2 to complete this operation step.

[0048] Each detachable-head robotic arm can be connected to a power unit and a control unit in an existing manner. The power unit provides power for the movement of the robotic arm body and for the working head connected to the robotic arm body, such as providing power for the rotation of the drilling bit when drilling. The control unit is used to control the detachable-head robotic arm. For example, the robotic arm body can be driven manually to move to a position that meets the current construction requirements, or the working parameters such as the rotation speed and rotation time of the drilling bit can be set when drilling.

[0049] The drive unit 17 preferably uses hydrogen energy as its power source, replacing manual or diesel power, which is energy-saving and environmentally friendly.

[0050] Although the above embodiments have described the concept and embodiments of the present invention in detail with reference to the accompanying drawings, those skilled in the art will recognize that various improvements and modifications can still be made to the present invention without departing from the scope of the claims, and therefore will not be elaborated here.

Claims

1. A linear engineering automated pipeline installation method for fixing and installing pipelines and pipeline supports on the inner wall of tunnel segments, characterized in that: The installation method includes the following steps: A temporary track is laid on the inner side of the tunnel segment. The temporary track is installed in the same direction as the pipeline and the pipeline support and is arranged along the entire length. A pipe support installation system and a pipe transport and positioning system are erected on the temporary track. Both the pipe support installation system and the pipe transport and positioning system can move on the temporary track. Along the direction of travel, the pipe support installation system is located in front of the pipe transport and positioning system. The pipe support installation system has several detachable head robotic arms, which are driven to work so that the detachable head robotic arms complete each installation process of the pipe support in turn, thereby fixing the pipe support on the inner wall of the shield tunnel segment with the linear design position as the positioning. The pipeline transportation and positioning system has several pipeline transportation robotic arms. Driving these robotic arms enables them to position the pipeline onto the installed pipeline support.

2. The linear engineering automated pipeline installation method according to claim 1, characterized in that: The pipe support installation system includes a drive vehicle, a transport platform, and several detachable robotic arms. The drive vehicle is connected to the transport platform, and the two can travel on a track. Lifting columns are respectively provided on both sides of the transport platform. Several detachable robotic arms are mounted on the lifting columns, and the lifting columns are connected to a drive device. The drive device drives the several detachable robotic arms to lift and lower. The several detachable robotic arms include a marking robotic arm, a drilling robotic arm, a support transport robotic arm, and a fastening robotic arm.

3. The linear engineering automated pipeline installation method according to claim 1, characterized in that: The detachable head robotic arm refers to a robotic arm body consisting of a robotic arm body and a working head mounted on the robotic arm body, wherein the working head and the robotic arm body form a detachable fixed connection; the installation process corresponding to the detachable head robotic arm can be adjusted by replacing the working head.

4. The linear engineering automated pipeline installation method according to claim 1, characterized in that: The detachable head robotic arm has a radar laser emitter for positioning.

5. The linear engineering automated pipeline installation method according to claim 1, characterized in that: The pipeline transportation and positioning system includes a drive vehicle, a transportation platform, and several pipeline transportation robotic arms. The drive vehicle is connected to the transportation platform, and the two can travel on a track. Pipelines can be placed on the transportation platform. The pipeline transportation robotic arms are located on the front and rear sides of the transportation platform and are used to clamp and move the pipelines.

6. The linear engineering automated pipeline installation method according to claim 1, characterized in that: The pipeline transport robotic arm includes a robotic arm body and a gripping head installed at one end thereon. The gripping head has openable and closable grippers and is used to grip the pipeline and move it under the drive of the robotic arm body.

7. The linear engineering automated pipeline installation method according to claim 6, characterized in that: The robotic arm body is equipped with a point control device consisting of a camera, a control device, and a laser emitter. The laser emitter is arranged in a direction that allows it to illuminate the installation position of the pipeline. The camera captures the emitted light spot of the laser emitter and controls the movement position of the robotic arm body through the control device.

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