Full-automatic vertical transportation control method for pipe segments

Abstract

This invention discloses a fully automated vertical transport control method for tunnel segments, comprising: a central control panel sending a start command to a ground conveying mechanism to transport tunnel segments from the ground to the shaft opening of an underground tunnel; the central control panel sending a command to a lifting mechanism to lower a gripping mechanism until it contacts the tunnel segments on the ground conveying mechanism; the central control panel sending a command to the gripping mechanism to grip the tunnel segments on the ground conveying mechanism; the central control panel sending a command to the lifting mechanism to perform vertical transport of the tunnel segments; the central control panel sending a command to a tunnel segment transport vehicle inside the underground tunnel, the tunnel segment transport vehicle traveling to the bottom of the shaft, and after the tunnel segment contacts the tunnel segment transport vehicle, the central control panel sending a command to the gripping mechanism to release the tunnel segment; and the central control panel sending a command to the tunnel segment transport vehicle to move the transported tunnel segment horizontally into the underground tunnel. This invention can display the real-time operating status of each component of the fully automated vertical transport system for tunnel segments; the improved control method makes the fully automated vertical transport system for tunnel segments operable.

Description

Technical Field

[0001] This invention relates to the field of tunnel engineering technology, specifically to a fully automated vertical transportation control method for tunnel segments. Background Technology

[0002] With the large-scale construction of urban subways, railways, large-scale river-crossing tunnels and water diversion projects in my country, the volume of tunnel projects has been increasing. At the same time, the requirements for tunnel construction efficiency are also getting higher and higher. Among them, the material transportation of shield tunneling is a key process that restricts the efficiency of tunnel construction, and improving the efficiency of material transportation is urgent.

[0003] The segment transportation control systems commonly used in China currently have the following shortcomings, which hinder their widespread application in tunnel boring machine (TBM) construction:

[0004] 1) Existing technology can only observe the movement and status of tunnel segments visually during transportation, which is not very accurate;

[0005] 2) Existing transportation equipment can only be operated, but cannot monitor the equipment's own operating status and faults. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a fully automated vertical transport control method for tunnel segments, which can monitor the entire tunnel segment transport process in real time and accurately.

[0007] The technical solution to achieve the purpose of this invention is as follows:

[0008] A fully automated vertical transport control method for tunnel segments includes the following steps:

[0009] The central control panel sends a start command to the ground conveying mechanism. After receiving the command, the actuator of the ground conveying mechanism starts to transport the tunnel segments on the ground to the shaft opening of the underground tunnel, and provides real-time feedback on the tunnel segment transport status to the central control panel.

[0010] The lifting mechanism is erected above the shaft opening of the underground tunnel via a hoisting frame. The grabbing mechanism is connected below the lifting mechanism. The main control panel sends instructions to the lifting mechanism. After receiving the instructions, the execution mechanism of the lifting mechanism starts and lowers the grabbing mechanism until it contacts the tunnel segment on the ground conveying mechanism. The lifting status is fed back to the main control panel in real time.

[0011] The central control panel sends instructions to the grasping mechanism. Upon receiving the instructions, the execution mechanism of the grasping mechanism starts to grasp the pipe segment on the ground conveying mechanism and provides real-time feedback on the grasping status to the central control panel.

[0012] The main control panel sends instructions to the lifting mechanism to lower the grabbing mechanism and the tunnel segment along the vertical shaft channel for vertical transportation of the tunnel segment, and provides real-time feedback on the lifting status to the main control panel.

[0013] The central control panel sends instructions to the segment transport vehicle in the underground tunnel. When the segment transport vehicle travels to the bottom of the shaft and the segment comes into contact with the segment transport vehicle, the central control panel sends instructions to the gripping mechanism. The gripping mechanism releases the segment, and the segment falls completely onto the segment transport vehicle. The gripping status is fed back to the central control panel in real time.

[0014] The central control panel sends instructions to the segment transport vehicle to move and transport the segments into the underground tunnel, and provides real-time feedback on the moving and transporting status to the central control panel.

[0015] In a preferred embodiment of the present invention, at least four corners of the shaft channel are vertically fixed with walking tracks, and at least four corners of the gripping mechanism are equipped with guide wheel mechanisms corresponding to the walking tracks and move on the walking tracks through the guide wheel mechanisms, which play a guiding role when the gripping mechanism is lifted and lowered as a whole.

[0016] In a preferred embodiment of the present invention, a safety door is installed at the bottom of the shaft. The safety door includes an actuator and is connected to the main control panel. Under the control signal of the main control panel, the safety door performs the action of opening or closing the shaft passage and provides real-time feedback of the safety door status to the main control panel.

[0017] In a preferred embodiment of the present invention, an infrared interference sensing device is installed in the vertical shaft passage or underground tunnel below the safety door and is connected to the main control panel. When a person enters the sensing range below the safety door, the infrared interference sensing device detects the change in the infrared spectrum of the human body and sends a signal to the main control panel, which then controls the safety door to close.

[0018] In a preferred embodiment of the present invention, the main control panel is also connected to an audible and visual alarm, which is installed in the vertical shaft passage or underground tunnel around the safety door. When a person enters the sensing range below the safety door, the infrared interference sensing device detects the change in the infrared spectrum of the human body and sends a signal to the main control panel, which then controls the audible and visual alarm to sound an alarm.

[0019] In a preferred embodiment of the present invention, the ground conveying mechanism is a segment feeder.

[0020] In a preferred embodiment of the present invention, the lifting mechanism is a winch.

[0021] In a preferred embodiment of the present invention, there are two main control panels, which are interlocked and are installed on the ground and in the shaft, respectively. One of the two main control panels can be selected to operate each actuator.

[0022] By adopting the above technical solution, the present invention has the following beneficial effects:

[0023] 1) Real-time display of the operating status of each component of the fully automated vertical transport system for tunnel segments;

[0024] 2) The improved control methods make the fully automated vertical transport system for tunnel segments operable;

[0025] 3) The real-time alarm function ensures the safety of system operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 The system logic diagram of the fully automated vertical transport control method for tunnel segments provided in the embodiments of the present invention is shown.

[0028] Figure 2 This is a three-dimensional view of the overall structure of the fully automated vertical transport system for tunnel segments.

[0029] Figure 3 This is a cross-sectional view of the overall structure of the fully automated vertical transport system for tunnel segments.

[0030] Figure 4 This is a magnified 3D view of the top structure of a fully automated vertical transport system for tunnel segments.

[0031] Figure 5 This is an enlarged top structural plan view of the fully automated vertical transport system for tunnel segments.

[0032] Figure 6 This is a schematic diagram of the ground conveying mechanism.

[0033] Figure 7 This is a schematic diagram of the gripping mechanism.

[0034] The correspondence between the markings in the diagram is as follows:

[0035] 1-Segment; 2-Ground conveying mechanism; 21-Base frame; 22-Transport beam; 23-Transfer cylinder; 3-Lifting mechanism; 4-Grabbing mechanism; 41-Main frame of mechanism; 42-Hook; 5-Lifting frame; 6-Master control panel; 7-Safety door; 8-Guide wheel mechanism; 9-Traveling track; 10-Segment transport vehicle; 100-Underground tunnel. Detailed Implementation

[0036] The technical solutions of this patent embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this patent, and not all of them. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0037] Please see Figures 1-7 This invention provides a fully automated vertical transport system for tunnel segments and a fully automated vertical transport control method for tunnel segments. The fully automated vertical transport system for tunnel segments mainly consists of two parts. The first part is a ground conveying mechanism 2, namely a tunnel segment feeder. The main function of the feeder is to transport tunnel segments 1 from the ground to the designated hoisting position. The feeder can transport 2 to 3 tunnel segments 1 simultaneously. In this embodiment, the feeder mainly consists of a base frame 21, a transport beam 22, and a translation cylinder 23. The translation cylinder 23 serves as the actuator of the feeder and is remotely connected to the main control panel 6. It can receive control commands from the main control panel 6 and perform actions accordingly. It can also feed back the real-time action status of the translation cylinder 23, such as stroke and speed, to the main control panel 6 for direct viewing. The base frame 21 is fixed to the ground, and the tunnel segment 1 is placed on the transport beam 22. One end of the translation cylinder 23 is fixed to one end of the base frame 21, and the other end of the translation cylinder 23 is fixed to the transport beam 22. By extending the translation cylinder 23, the transport beam 22 loaded with the tunnel segment 1 is transported to the designated hoisting position. Figure 6 As shown.

[0038] In this embodiment, the main control panel 6 can be a SIMATIC HMI KTP900 Basic PN 9-inch touchscreen 6AV2123-2JB03-OAXO; Item No.: 6AV2123-2JB03-OAXO; Brand: Siemens; Model: KTP900 BasicPN; Net weight: 1.13Kg, with button and touch operation.

[0039] The second part is the automatic lifting system, which is also the core component of the entire automated vertical transport system for tunnel segments. The automatic lifting system includes a lifting mechanism 3, a gripping mechanism 4, a hoisting frame 5, and a central control panel 6. The hoisting frame 5 is fixedly installed above the hoisting position. The lifting mechanism 3 is fixedly installed on top of the hoisting frame 5. The gripping mechanism 4 is connected to the lifting mechanism 3 and is used to grip the tunnel segments 1 on the ground conveying mechanism 2. The ground conveying mechanism 2, lifting mechanism 3, and gripping mechanism 4 all include actuators and are connected to the central control panel 6. They operate under the control signals of the central control panel 6 and feed back their respective execution status to the central control panel 6, such as the transport stroke and speed of the ground conveying mechanism 2, the lifting height and speed of the lifting mechanism 3, and the gripping status of the gripping mechanism 4. The actuator of the ground conveying mechanism 2 is its translation cylinder. The lifting mechanism 3 can use two winches, with the motors on the winches used to wind the wire rope serving as its actuators. The gripping mechanism 4 includes a main frame 41 with an upper rectangular frame structure and two sets of gripping hooks 42 at the four corners of the bottom. The top two sides of the main frame 41 are fixed to the lower ends of the wire ropes of the two winches, respectively. The two sets of gripping hooks 42 are symmetrical and rotatable, installed on the bottom two sides of the main frame 41. The hooks of each set of gripping hooks 42 are opposite each other and the distance is adapted to the width of the pipe segment 1, so that the pipe segment can be clamped when the gripping hooks 42 are lowered and released when the gripping hooks 42 are flipped outward. The rotation of the gripping hooks 42 can be controlled by a hydraulic cylinder, which is the actuator of the gripping mechanism 4. Figure 7 As shown. The aforementioned translation cylinder, winch motor, and cylinder can feed back their respective execution status to the main control panel 6 through their own encoders, or by being equipped with position sensors, displacement sensors, etc.

[0040] Two winches are symmetrically installed on the top sides of the hoisting frame 5, which is a rectangular steel frame fixed to the ground above the hoisting position. The hoisting position is the shaft opening of an underground tunnel. At least four corners of the shaft passage are vertically fixed with travel rails 9. The size of the main frame 41 of the grabbing mechanism 4 matches the size of the shaft passage but is slightly smaller than the inner diameter of the shaft passage. Gaps are left between the four corners of the main frame 41 and the travel rails 9 of the shaft passage. The guide wheel mechanism 8 is installed at the four corners of the main frame 41 and contacts the corresponding travel rails 9. The rollers on the guide wheel mechanism 8 are set vertically and roll on the travel rails 9, playing a guiding role when the grabbing mechanism 4 is lifted and lowered as a whole, avoiding deviation, swaying, etc.

[0041] A safety door 7 is installed at the bottom of the shaft. The safety door 7 includes an actuator and is connected to the main control panel 6. Under the control signal from the main control panel 6, the safety door 7 opens or closes the shaft passage. The safety door 7 can be opened and closed by sliding along tracks on both sides. The tracks are located in the underground tunnel at the bottom of the shaft. The safety door 7 is moved by rollers driven by a rotary motor, thus opening and closing the bottom of the shaft. The rotary motor is the actuator of the safety door 7.

[0042] Furthermore, an infrared interference sensing device (such as an infrared sensor) is installed in the vertical shaft passage or underground tunnel below the safety door 7. The infrared interference sensing device is remotely connected to the main control panel 6. When personnel or equipment enter the sensing range of the infrared interference sensing device below the safety door 7, the infrared interference sensing device detects the change in the infrared spectrum of the human body and sends a signal to the main control panel 6. The main control panel 6 then sends a control command to the safety door 7, and the safety door 7 will remain closed and not open. The grabbing mechanism 4 cannot lower the pipe segment 1 through the safety door 7, thus avoiding the pipe segment 1 from contacting personnel or equipment and causing an accident.

[0043] Preferably, the main control panel 6 is also connected to an audible and visual alarm, installed in the vertical shaft or underground tunnel surrounding the safety door 7. When personnel or equipment enter the sensing range of the infrared interference sensor below the safety door 7, the infrared interference sensor detects the change in the infrared spectrum of the human body and sends a signal to the main control panel 6. The main control panel 6 will simultaneously send a command to the audible and visual alarm to sound an alarm, reminding personnel to evacuate or remove the equipment. After the personnel or equipment have evacuated, the infrared interference sensor stops sending signals to the main control panel 6, and the main control panel 6 will send a command to the safety door 7 to open it. The grabbing mechanism 4 can then send the tunnel segment into the underground tunnel through the safety door 7. At the same time, the main control panel 6 sends a command to the audible and visual alarm to stop sounding. It should be understood that the function of the safety door 7 is to determine and isolate the grabbing mechanism before it passes through, to prevent the grabbing mechanism from directly entering the underground tunnel. Therefore, before the safety door 7 is opened, the infrared interference sensor will determine whether there are personnel or equipment below the safety door.

[0044] A segment transport vehicle 10 is installed inside the underground tunnel 100. This vehicle is remotely connected to the central control panel 6 and moves within the tunnel under its control. When a segment is lowered from the bottom of the shaft, the central control panel 6 sends a command to the segment transport vehicle 10 to move to the bottom of the shaft. The grabbing mechanism 4, pulled by the winch's wire rope, slowly lowers the segment onto the segment transport vehicle 10. After it is in place, the grabbing hook of the grabbing mechanism 4 opens, releasing the segment. The winch then lifts the grabbing mechanism back to its original position, allowing for the subsequent grabbing and vertical transport of segments. Once the segment transport vehicle 10 is loaded, it can be transported into the underground tunnel for segment installation.

[0045] This invention relates to a fully automated vertical transport system for tunnel segments. The entire transport process is controlled via a central control panel 6, minimizing manual operation and improving efficiency while saving manpower. It also upgrades the aerial transport method by employing a ground conveyor mechanism 2 to transport the segments from the ground to the designated hoisting position, making ground transport safer, more efficient, and cost-effective. Furthermore, it replaces manual communication and operation with mechanical fixed transport, completing the segment transport through interaction between various actuators and the central control panel 6. This method is safer, more scientific, and more reliable than manual communication and operation, while also saving manpower.

[0046] Furthermore, there are two master control panels 6, interlocked, installed one on the ground and one in the shaft. Only one of the two master control panels 6 can be selected to operate each actuator. In short, the two master control panels 6 have the same function but cannot operate simultaneously. When one master control panel 6 is working, the other is disconnected. This can be achieved through a switching switch, interlocking circuit, or simple logic programming, preventing simultaneous operation of both master control panels 6 and control signal disorder. The master control panel 6 uses a programmable logic controller, such as a PLC controller. Logical control of the aforementioned actuators is implemented through programming. The master control panel has a one-button start function for the entire program. A master switch turns on the power switches of all actuators and integrates real-time sensing data from each floor and various danger alarm signals into the master control panel. The display function of the master control panel allows users to view the execution status of each actuator; this function can be implemented using a smart tablet as the master control panel. This invention integrates the entire segment transportation process and builds a targeted control system. The entire segment transportation process is controlled by a central control panel, which can be integrated into the control panel. The control panel allows operation of each actuator and displays the operating status of each actuator intuitively.

[0047] This invention provides a fully automated vertical transport control method for tunnel segments, implemented using the aforementioned fully automated vertical transport system for tunnel segments. The control method mainly includes the following steps:

[0048] The central control panel 6 sends a start command to the ground conveying mechanism 2. After receiving the command, the actuator of the ground conveying mechanism 2 starts to transport the tunnel segment 1 on the ground to the shaft opening of the underground tunnel and provides real-time feedback on the tunnel segment transport status to the central control panel 6.

[0049] The lifting mechanism 3 is installed above the shaft opening of the underground tunnel via the hoisting frame 5. The grabbing mechanism 4 is connected below the lifting mechanism 3. The main control panel 6 sends a command to the lifting mechanism 3. After receiving the command, the execution mechanism of the lifting mechanism 3 starts and lowers the grabbing mechanism 4 to contact the tunnel segment on the ground conveying mechanism 2, and provides real-time feedback on the lifting status to the main control panel 6. Furthermore, a position sensor can be placed on the ground conveying mechanism 2. When the grabbing mechanism 4 is detected to be approaching (and the distance is less than a set value), a signal is sent to the main control panel 6, which can determine that the grabbing mechanism has been lowered to contact the tunnel segment on the ground conveying mechanism.

[0050] The main control panel 6 sends a command to the gripping mechanism 4. After receiving the command, the execution mechanism of the gripping mechanism 4 starts to grip the pipe segment 1 on the ground conveying mechanism 2 and feeds back the gripping status to the main control panel 6 in real time. When the gripping hook of the gripping mechanism 4 grips the pipe segment 1, it will cause the pipe segment 1 to be lifted slightly, so that the pipe segment 1 leaves the ground transport mechanism 2. At this time, the ground transport mechanism 2 can return to its original position. On the one hand, it will not hinder the subsequent pipe segment lowering operation, and on the other hand, the ground transport mechanism 2 can start the ground transport of the subsequent pipe segments.

[0051] After the grabbing mechanism 4 grabs the segment 1, the main control panel 6 sends a command to the lifting mechanism 3 to lower the grabbing mechanism 4 and the segment 1 along the vertical shaft passage for vertical transportation of the segment 1, and provides real-time feedback on the lifting status to the main control panel 6.

[0052] The main control panel 6 sends instructions to the segment transport vehicle 10 in the underground tunnel. The segment transport vehicle 10 travels to the bottom of the shaft. When the segment 1 comes into contact with the segment transport vehicle 10, the main control panel 6 sends instructions to the gripping mechanism 4. The gripping mechanism 4 releases the segment 1, and the segment 1 falls completely onto the segment transport vehicle 10. The gripping status is fed back to the main control panel 6 in real time. Furthermore, a position sensor can be placed on the segment transport vehicle 10. When the sensor detects that the segment is approaching (and the distance is less than a certain value) or making contact, it sends a signal to the main control panel 6, thereby determining that the segment 1 is in contact with the segment transport vehicle 10.

[0053] Finally, the main control panel 6 sends an instruction to the segment transport vehicle 10 to move and transport the segments into the underground tunnel 100 for segment installation, and provides real-time feedback on the moving and transport status to the main control panel 6.

[0054] Although embodiments of this patent have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this patent, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully automated vertical transport control method for tunnel segments, characterized in that, Includes the following steps: The central control panel sends a start command to the ground conveying mechanism. After receiving the command, the actuator of the ground conveying mechanism starts to transport the tunnel segments on the ground to the shaft opening of the underground tunnel, and provides real-time feedback on the tunnel segment transport status to the central control panel. The lifting mechanism is erected above the shaft opening of the underground tunnel via a hoisting frame. The grabbing mechanism is connected below the lifting mechanism. The main control panel sends instructions to the lifting mechanism. After receiving the instructions, the execution mechanism of the lifting mechanism starts and lowers the grabbing mechanism until it contacts the tunnel segment on the ground conveying mechanism. The lifting status is fed back to the main control panel in real time. The central control panel sends instructions to the grasping mechanism. Upon receiving the instructions, the execution mechanism of the grasping mechanism starts to grasp the pipe segment on the ground conveying mechanism and provides real-time feedback on the grasping status to the central control panel. The main control panel sends instructions to the lifting mechanism to lower the grabbing mechanism and the tunnel segment along the vertical shaft channel for vertical transportation of the tunnel segment, and provides real-time feedback on the lifting status to the main control panel. The central control panel sends instructions to the segment transport vehicle in the underground tunnel. When the segment transport vehicle travels to the bottom of the shaft and the segment comes into contact with the segment transport vehicle, the central control panel sends instructions to the gripping mechanism. The gripping mechanism releases the segment, and the segment falls completely onto the segment transport vehicle. The gripping status is fed back to the central control panel in real time. The central control panel sends instructions to the segment transport vehicle to move the transported segments into the underground tunnel and provides real-time feedback on the moving and transporting status to the central control panel.

2. The fully automated vertical transport control method for tunnel segments according to claim 1, characterized in that, At least four corners of the shaft passage are vertically fixed with walking tracks. At least four corners of the gripping mechanism are equipped with guide wheel mechanisms corresponding to the walking tracks and move on the walking tracks through the guide wheel mechanisms, which play a guiding role when the gripping mechanism is raised and lowered as a whole.

3. The fully automated vertical transport control method for tunnel segments according to claim 1, characterized in that, A safety door is installed at the bottom of the shaft. The safety door includes an actuator and is connected to the main control panel. Under the control signal of the main control panel, the safety door performs the action of opening or closing the shaft passage and provides real-time feedback of the safety door status to the main control panel.

4. The fully automated vertical transport control method for tunnel segments according to claim 3, characterized in that, An infrared interference sensing device is installed in the vertical shaft passage or underground tunnel below the safety door and is connected to the main control panel. When a person enters the sensing range below the safety door, the infrared interference sensing device detects the change in the infrared spectrum of the human body and sends a signal to the main control panel, which then controls the safety door to close.

5. The fully automated vertical transport control method for tunnel segments according to claim 4, characterized in that, The main control panel is also connected to an audible and visual alarm, which is installed in the vertical shaft passage or underground tunnel around the safety door. When a person enters the sensing range below the safety door, the infrared interference sensing device detects the change in the infrared spectrum of the human body and sends a signal to the main control panel. The main control panel then controls the audible and visual alarm to sound an alarm.

6. The fully automated vertical transport control method for tunnel segments according to claim 1, characterized in that, The ground conveying mechanism uses a segment feeder.

7. The fully automated vertical transport control method for tunnel segments according to claim 1, characterized in that, The lifting mechanism is a winch.

8. The fully automated vertical transport control method for tunnel segments according to claim 1, characterized in that, There are two master control panels, which are interlocked and are installed on the ground and in the shaft, respectively. One of the two master control panels can be selected to operate each actuator.

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