Tunnel flue plate assembling machine and assembling control method thereof

Abstract

This invention discloses a tunnel flue slab assembly machine and its assembly control method, relating to the field of tunnel flue slab assembly technology. This tunnel flue slab assembly control method allows for free movement within the tunnel via a self-propelled chassis, enabling it to reach a designated position. The machine's interior allows for free passage of a dual-head transport vehicle. After the initial lift, pressure balance detection determines that the lifting and rotating mechanism is located at the bottom of the tunnel flue slab. The lifting and rotating mechanism then transports the tunnel flue slab to the pouring position. During this process, the transport pressure and suction force values ​​are acquired in real time, and the transport stability is assessed based on these values. If the suction force value is detected to be 0, transport is stopped until the suction cup re-engages with the tunnel flue slab before resuming transport, ensuring transport stability.

Description

Technical Field

[0001] This invention relates to the field of tunnel flue slab assembly technology, specifically to a tunnel flue slab assembly machine and its assembly control method. Background Technology

[0002] The flue slab is a crucial component of the internal structure of ultra-large cross-section shield tunnels. Its main function is to isolate the vehicular passageway layer from the smoke exhaust passageway layer, ensuring the tunnel's ventilation and smoke extraction performance and providing a comfortable driving environment for passengers. Flue slab construction methods typically include cast-in-place and precast methods. In the precast flue slab construction method, the successful hoisting of the flue slab is a significant technical challenge.

[0003] Chinese utility model patent CN213738233U discloses a tunnel flue plate installation device. A lifting plate is slidably connected between the front sides of two vertical plates. Each of the two vertical plates has a groove on its front side that matches the lifting plate. A disc is rotatably connected to the bottom of the lifting plate, and a large gear is fixed to the surface of the disc. A steering motor is fixed to the top of the lifting plate, and a drive shaft is fixedly connected to the output shaft of the steering motor. The bottom end of the drive shaft passes through the lifting plate and extends below it. A small gear that meshes with the large gear is fixed to the surface of the drive shaft. Through the cooperation of the small gear, large gear, drive shaft, steering motor, and disc, the angle of the flue plate can be finely adjusted, reducing deviations during installation.

[0004] However, existing installation equipment is inconvenient for real-time monitoring of transportation stability during the installation process, making it difficult to assess equipment stability and promptly identify operational problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a tunnel flue slab assembly machine and its assembly control method, which solves the problems of existing installation equipment being inconvenient to monitor the stability of transportation during the installation process in real time, making it difficult to assess the stability of the equipment and promptly identify operational problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for controlling the assembly of tunnel flue panels, comprising the following steps: after the self-propelled frame moves to a designated position and is fixed, controlling the rotatable lifting fork mechanism to lift the tunnel flue panel for the first time; after the tunnel flue panel is lifted to a designated height for the first time, controlling the lifting rotation mechanism to move to the bottom of the tunnel flue panel and controlling the rotatable lifting fork mechanism to reset; obtaining the initial pressure value between the tunnel flue panel and the lifting rotation mechanism before the secondary lifting of the tunnel flue panel, determining whether the initial pressure value meets the requirements for secondary lifting, and if not, controlling the lifting rotation mechanism to move until the initial pressure value meets the requirements for secondary lifting; controlling the suction cup on the lifting rotation mechanism to make it... The system engages with the bottom of the tunnel flue slab; after the lifting and rotating mechanism lifts the tunnel flue slab a second time and rotates it 90 degrees, it acquires the conveying pressure value during the process of the lifting and rotating mechanism transporting the tunnel flue slab to the cantilever face and the suction force value of the suction cup between the tunnel flue slab and the lifting and rotating mechanism during the process of transporting the tunnel flue slab to the cantilever face; after the tunnel flue slab is assembled in the designated position, it evaluates the assembly stability index based on the conveying pressure value and the suction cup suction value, and compares the assembly stability index with the set assembly threshold. If the assembly stability index is greater than the assembly threshold, it outputs a maintenance signal; it controls the lifting and rotating mechanism to reset and waits for the next assembly; before the pouring trolley pours, it controls the self-propelled frame of the assembly to move to one side of the tunnel.

[0007] Further, the process for determining whether the initial pressure value meets the requirements for secondary lifting is as follows: The initial pressure value is divided into a sample group and a comparison group according to a set division rule. The set division rule is based on the position of the pressure sensors installed on the lifting and rotating mechanism. Multiple pressure sensors are arranged in a rectangular array on the lifting and rotating mechanism. Multiple pressure sensors on the side closer to the installation position of the tunnel flue plate form one group, and the pressure value measured by this group is the sample group. Multiple pressure sensors on the side farther away from the installation position of the tunnel flue plate form another group, and the pressure value measured by this group is the comparison group. The compression time between the lifting and rotating mechanism and the tunnel flue plate is obtained, and the degree of difference between the sample group and the comparison group is calculated based on the compression time. It is determined whether the degree of difference is greater than the set difference threshold. If it is, the secondary lifting requirement is not met; otherwise, it is met.

[0008] Furthermore, the formula for calculating the degree of difference is as follows: ,in To indicate the degree of difference, This represents the number of pressure sensors in the sample or control group. For the sample group A pressure sensor during extrusion time The initial pressure value after that, For the control group, the first A pressure sensor during extrusion time The initial pressure value after.

[0009] Furthermore, the process of evaluating the assembly stability index based on the conveying pressure value and the suction cup suction force value is as follows: obtain the initial pressure value of each pressure sensor when a secondary lifting is allowed, and calculate the pressure balance index based on the initial pressure value of each pressure sensor when a secondary lifting is allowed and the conveying pressure value; calculate the suction balance index based on the suction cup suction force value of each suction cup during transportation; and calculate the assembly stability index based on the pressure balance index and the suction balance index.

[0010] Furthermore, the formula for calculating the assembly stability index is as follows: ,in To ensure assembly stability, and These are the pressure balance indexes. and suction balance index Weighting factors It is a natural constant.

[0011] Furthermore, the process of calculating the pressure balance index based on the initial pressure value and the delivery pressure value is as follows: obtain the delivery pressure value measured by each pressure sensor, which is sampled based on a set sampling period; use the initial pressure value of each pressure sensor as a reference to calculate the pressure difference of each pressure sensor during transportation; and fuse the pressure difference of all pressure sensors to obtain the pressure balance index.

[0012] Furthermore, the formula for calculating the pressure balance index is as follows: ,in The number of pressure sensors. The delivery pressure value is obtained by periodically sampling each pressure sensor. For the first The first pressure sensor Each conveying pressure value, To allow for a second boost The initial pressure value of each pressure sensor.

[0013] Furthermore, the process of calculating the suction balance index based on the suction force value of each suction cup during transportation is as follows: Obtain the suction force value of each suction cup, which is sampled based on a set sampling period; calculate the mean of the suction force values ​​corresponding to each suction cup; calculate the suction balance index based on the mean, using the following formula: ,in The number of suction cups. The number of suction force values ​​obtained by periodically sampling for each suction cup. for The average suction force of each suction cup. For the first The first suction cup Each suction cup has a suction power value. This represents the allowable error between the mean value and the suction cup force value.

[0014] Furthermore, when sampling the suction force value of each suction cup based on the set sampling period, it is determined whether there is a suction cup with a suction force value of 0. If so, the number of suction cups with a suction force value of 0 is detected. If the number of suction cups with a suction force value of 0 is greater than the set threshold, the lifting and rotating mechanism is controlled to stop transportation, and transportation is resumed after the suction cups re-adhere to the tunnel flue plate.

[0015] A tunnel flue slab assembly machine applying the above-mentioned tunnel flue slab assembly control method includes a self-propelled chassis and a braking mechanism mounted on the self-propelled chassis. The self-propelled chassis can move inside the tunnel via a drive device. The braking mechanism is configured to press against the ground to detach the self-propelled chassis from the ground after it moves to a designated position. A rotatable lifting fork mechanism is mounted on one side of the self-propelled chassis. This mechanism is configured to transport the tunnel flue slab to the bottom of the self-propelled chassis by a double-headed transport vehicle, then rotate the fork to a clearance position under the tunnel flue slab arch, and then lift the tunnel flue slab to a designated height. A lifting and rotating mechanism is mounted on the self-propelled chassis. The lifting and rotating mechanism includes a longitudinal moving vehicle and a transverse moving vehicle mounted above the longitudinal moving vehicle. The transverse moving vehicle is equipped with a rotating platform and a suction cup. A pressure sensor is mounted on the rotating platform.

[0016] The present invention has the following beneficial effects:

[0017] The tunnel flue slab assembly machine and its assembly control method enable free movement within the tunnel via a self-propelled chassis, allowing it to reach designated positions. The machine's interior allows for free passage of dual-head transport vehicles. After the initial lift, pressure balance detection determines that the lifting and rotating mechanism is located at the bottom of the tunnel flue slab. The lifting and rotating mechanism then transports the tunnel flue slab to the pouring position. During this process, real-time transport pressure and suction force values ​​are acquired, and the transport stability is assessed based on these values. Transport is stopped when the suction force reaches zero, and transport resumes only after the suction cups re-engage with the tunnel flue slab, ensuring transport stability.

[0018] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] Figure 1 This is a flowchart of the tunnel flue panel assembly control method of the present invention.

[0020] Figure 2This is a flowchart illustrating the method for controlling the assembly of tunnel flue panels according to the present invention, which determines whether the initial pressure value meets the requirements for secondary lifting.

[0021] Figure 3 This is a flowchart for evaluating the assembly stability index of the tunnel flue panel assembly control method of the present invention.

[0022] Figure 4 This is a flowchart illustrating the calculation of the pressure balance index in the tunnel flue panel assembly control method of the present invention.

[0023] Figure 5 This is a schematic diagram of the tunnel flue slab assembly machine of the present invention.

[0024] In the diagram: 1. Self-propelled chassis; 2. Braking mechanism; 3. Rotatable and lifting fork mechanism; 4. Longitudinal moving vehicle; 5. Lateral moving vehicle; 6. Rotating platform; 7. Suction cup. Detailed Implementation

[0025] This application's embodiments, through a tunnel flue slab assembly machine and its assembly control method, solve the problem that existing installation equipment is inconvenient to monitor the stability of transportation in real time during the installation process, and is difficult to evaluate the stability of the equipment.

[0026] The problem addressed in this application's embodiments can be summarized as follows:

[0027] First, the tunnel flue slab is raised to the designated height. Then, the lifting and rotating mechanism is moved to the bottom to ensure the stability of the slab. Before raising the tunnel flue slab, the initial pressure value is obtained and it is determined whether it meets the requirements. If not, the lifting and rotating mechanism is adjusted by moving it until the initial pressure value meets the requirements, so that the suction cup on the lifting and rotating mechanism adheres to the bottom of the tunnel flue slab, ensuring that the slab remains firmly in place during lifting and rotation.

[0028] After the plate is lifted and rotated a second time, the conveying pressure value and suction cup force value are obtained to evaluate the stability of the plate. Based on the conveying pressure value and suction cup force value, the assembly stability index is calculated and compared with the set threshold. If the assembly stability index is greater than the threshold, a maintenance signal is output, indicating that the assembly is stable. Finally, the lifting and rotating mechanism is reset to prepare for the next assembly.

[0029] Please see Figure 1This invention provides a technical solution: a method for controlling the assembly of tunnel flue panels, comprising the following steps: after the self-propelled base frame moves to a designated position and is fixed, controlling the rotatable lifting fork mechanism to lift the tunnel flue panel for the first time; after the tunnel flue panel is lifted to a designated height for the first time, controlling the lifting rotation mechanism to move to the bottom of the tunnel flue panel and controlling the rotatable lifting fork mechanism to reset; obtaining the initial pressure value between the tunnel flue panel and the lifting rotation mechanism before the secondary lifting of the tunnel flue panel, determining whether the initial pressure value meets the requirements for secondary lifting, if not, controlling the lifting rotation mechanism to move until the initial pressure value meets the requirements for secondary lifting; controlling the suction cup on the lifting rotation mechanism to make it contact the tunnel flue panel... The bottom of the tunnel flue slab is engaged; after the lifting and rotating mechanism lifts the tunnel flue slab a second time and rotates it 90 degrees, the conveying pressure value during the process of the lifting and rotating mechanism transporting the tunnel flue slab to the cantilever face is obtained, as well as the suction force value of the suction cup between the tunnel flue slab and the lifting and rotating mechanism during the process of transporting the tunnel flue slab to the cantilever face; after the tunnel flue slab is assembled in the designated position, the assembly stability index is evaluated based on the conveying pressure value and the suction cup suction value, and the assembly stability index is compared with the set assembly threshold. If the assembly stability index is greater than the assembly threshold, a maintenance signal is output; the lifting and rotating mechanism is controlled to reset, waiting for the next assembly; before the pouring trolley pours, the self-propelled frame of the assembly is controlled to move to one side of the tunnel.

[0030] Specifically, such as Figure 2 As shown, the process for determining whether the initial pressure value meets the requirements for secondary lifting is as follows: The initial pressure value is divided into a sample group and a control group according to a set division rule. The set division rule is based on the position of the pressure sensors set on the lifting and rotating mechanism. Multiple pressure sensors are arranged in a rectangular array on the lifting and rotating mechanism. The pressure sensors on the side closer to the installation position of the tunnel flue plate form a group, and the pressure value measured by this group is the sample group. The pressure sensors on the side farther away from the installation position of the tunnel flue plate form another group, and the pressure value measured by this group is the control group. The compression time between the lifting and rotating mechanism and the tunnel flue plate is obtained, and the degree of difference between the sample group and the control group is calculated based on the compression time. It is determined whether the degree of difference is greater than the set difference threshold. If it is, the secondary lifting requirement is not met; otherwise, it is met.

[0031] In this implementation plan, after the lifting and rotating mechanism moves to the bottom of the tunnel flue slab, it is lifted a second time by jacking. Since the tunnel flue slab has a certain curvature, if the lifting and rotating mechanism cannot lift the middle position of the tunnel flue slab, it may cause tilting, shaking or even slipping during transportation.

[0032] Pressure sensors are installed on the lifting and rotating mechanism. When the pressure sensors contact the tunnel flue plate, they record the pressure value and remain stationary for a certain period of time. Once the pressure on each pressure sensor stabilizes, the initial pressure value is recorded. Based on this initial pressure value, it is determined whether the lifting and rotating mechanism is in the middle position of the tunnel flue plate. The judgment is based on the fact that the initial pressure values ​​measured by the two sets of pressure sensors located on both sides of the top of the lifting and rotating mechanism should be approximately the same. If the difference is too large, it indicates that the lifting and rotating mechanism has deviated.

[0033] Specifically, the formula for calculating the degree of difference is as follows: ,in To indicate the degree of difference, This represents the number of pressure sensors in the sample or control group. For the sample group A pressure sensor during extrusion time The initial pressure value after that, For the control group, the first A pressure sensor during extrusion time The initial pressure value after.

[0034] In this implementation scheme, the number of pressure sensors in the sample group and the control group is the same. The calculation logic for the degree of difference is to calculate the difference value between the two groups of data, sum the difference values, and then calculate the average difference based on the number of data in each group. This average difference is multiplied by the compression time. Considering the compression time, the contact time between the lifting and rotating mechanism and the tunnel flue plate can be taken into account to obtain the degree of difference. The degree of difference is used to determine whether the lifting and rotating mechanism is in the middle position. Specifically, it is compared with the set difference threshold. If the degree of difference is greater than the difference threshold, it indicates that there is an offset. The lifting and rotating mechanism is controlled to move until the initial pressure value that meets the requirements is obtained. This initial pressure value that meets the requirements for secondary lifting is used as the initial pressure value, laying the foundation for subsequent transportation stability testing.

[0035] Specifically, such as Figure 3 As shown, the process of evaluating the assembly stability index based on the conveying pressure value and the suction force value of the suction cup is as follows: obtain the initial pressure value of each pressure sensor when a second lift is allowed, and calculate the pressure balance index based on the initial pressure value of each pressure sensor when a second lift is allowed and the conveying pressure value; calculate the suction balance index based on the suction force value of each suction cup during transportation; calculate the assembly stability index based on the pressure balance index and the suction balance index.

[0036] In this implementation plan, the pressure balance index is calculated based on the initial pressure value for secondary lifting and the conveying pressure value during transportation. The purpose is to consider whether there will be a large swaying amplitude during transportation, thereby indicating the motion stability of the lifting and rotating mechanism during transportation, and thus assessing the stability of the assembly machine. In addition, the suction balance index is used to evaluate the stability of the suction cups. The suction force of each suction cup is monitored in real time during transportation. When the suction force of one suction cup is too large, it may indicate that the tunnel flue plate has moved or tilted. Therefore, by comprehensively considering the pressure balance index and the suction balance index to calculate the assembly stability index, the stability during transportation can be better evaluated. In case of an accident, timely control can be implemented to ensure construction safety.

[0037] Specifically, the formula for calculating the assembly stability index is as follows: ,in To ensure assembly stability, and These are the pressure balance indexes. and suction balance index Weighting factors It is a natural constant.

[0038] In this implementation plan, different weights are assigned to the pressure balance index and the suction balance index. Depending on the situation, the pressure balance index or the suction balance index can be emphasized, and thus the pressure changes or suction changes of the suction cup can be emphasized during transportation.

[0039] Specifically, such as Figure 4 As shown, the process of calculating the pressure balance index based on the initial pressure value and the delivery pressure value is as follows: obtain the delivery pressure value measured by each pressure sensor, which is sampled based on a set sampling period; use the initial pressure value of each pressure sensor as a reference to calculate the pressure difference of each pressure sensor during transportation; and fuse the pressure difference of all pressure sensors to obtain the pressure balance index.

[0040] The formula for calculating the pressure balance index is as follows: ,in The number of pressure sensors. The delivery pressure value is obtained by periodically sampling each pressure sensor. For the first The first pressure sensor Each conveying pressure value, To allow for a second boost The initial pressure value and pressure balance index of each pressure sensor.

[0041] In this implementation plan, the initial pressure value when a secondary lifting is allowed is used as a benchmark to represent the pressure of the tunnel flue plate under static conditions. If the transportation process is absolutely stable, then the pressure value during transportation will remain constant, that is, the transportation pressure value is equal to the initial pressure value.

[0042] During transportation, the pressure value of each pressure sensor is acquired based on the set sampling period. The difference between the transport pressure value and the initial pressure value during transportation is calculated based on the initial pressure value. Finally, by combining the differences of all pressure sensors, the final pressure balance index is obtained.

[0043] Specifically, the process of calculating the suction balance index based on the suction force value of each suction cup during transportation is as follows: Obtain the suction force value of each suction cup, which is sampled based on a set sampling period; calculate the mean of the suction force value corresponding to each suction cup; calculate the suction balance index based on the mean, using the following formula: ,in The number of suction cups. The number of suction force values ​​obtained by periodically sampling for each suction cup. for The average suction force of each suction cup. For the first The first suction cup Each suction cup has a suction power value. This represents the allowable error between the mean value and the suction cup force value.

[0044] In this implementation scheme, the calculation logic of the suction balance index is to calculate the root variance of the suction cup suction value and the mean, and then compare it with the allowable error to determine the suction balance index of the suction cup.

[0045] Specifically, when sampling the suction force value of each suction cup based on the set sampling period, it is determined whether there is a suction cup with a suction force value of 0. If so, the number of suction cups with a suction force value of 0 is detected. If the number of suction cups with a suction force value of 0 is greater than the set threshold, the lifting and rotating mechanism is controlled to stop transportation. Transportation resumes after the suction cups re-adhere to the tunnel flue plate.

[0046] In this implementation plan, during transportation, the suction force of the suction cups is monitored in real time to see if it is 0. If it is 0, transportation is stopped, and the suction cups are re-controlled to adhere to the tunnel flue plate to prevent multiple suction cups from detaching one by one during transportation, which would cause the tunnel flue plate to fall off.

[0047] A tunnel flue slab assembly machine that applies the above-mentioned tunnel flue slab assembly control method, such as... Figure 5As shown, the system includes a self-propelled chassis 1 and a braking mechanism 2 mounted on the self-propelled chassis 1. The self-propelled chassis 1 can move inside the tunnel via a drive device. The braking mechanism 2 is configured to press against the ground to detach the self-propelled chassis from the ground when the self-propelled chassis 1 moves to a designated position. A rotatable lifting fork leg mechanism 3 is mounted on one side of the self-propelled chassis 1. After the double-headed transport vehicle transports the tunnel flue slab to the bottom of the self-propelled chassis 1, it rotates the fork leg to the clearance position under the tunnel flue slab arch and then lifts the tunnel flue slab to a designated height. A lifting and rotating mechanism is mounted on the self-propelled chassis 1. The lifting and rotating mechanism includes a longitudinal moving vehicle 4 and a transverse moving vehicle 5 mounted above the longitudinal moving vehicle 4. The transverse moving vehicle 5 is equipped with a rotating platform 6 and a suction cup 7. A pressure sensor is mounted on the rotating platform 6.

[0048] In this implementation plan, a drive unit is installed on the self-propelled chassis 1, giving it the ability to move and steer. The two work together to allow the assembly machine to move forward and backward and adjust its direction of travel. When assembly is required, the self-propelled chassis 1 stops at an appropriate position near the centerline of the tunnel, and the braking mechanism 2 is activated. The braking mechanism 2 is a support cylinder system that can raise the self-propelled chassis support, causing the rubber wheels of the drive unit to leave the ground.

[0049] The dual-headed transport vehicle carrying the tunnel flue plate to be installed travels to a suitable position inside the self-propelled chassis 1. The initial lifting is carried out by the rotatable lifting fork mechanism 3, which utilizes the clearance under the arch of the tunnel flue plate. The rotatable fork mechanism 3 rotates to the working position, and the rotatable lifting fork mechanism 3 drives the fork to rise, raising the tunnel flue plate to a height higher than the rotating platform above the self-propelled chassis 1.

[0050] Then, the lifting and rotating mechanism moves, that is, the longitudinal moving car 4 drives the transverse moving car 5 on it to move towards the middle position of the tunnel flue plate. When the longitudinal moving car 4 moves to the middle position of the tunnel flue plate, the transverse moving car 5 moves laterally and enters the bottom of the tunnel flue plate. The rotating platform 6 is connected to the transverse moving car 5 through the lifting structure. The lifting structure makes the rotating platform 6 move upward, squeezing the tunnel flue plate. The pressure is detected in real time by the pressure sensor on it. At the same time, the suction cup vacuums and adheres to the tunnel flue plate to fix the tunnel flue plate and prevent it from moving during transportation.

[0051] After the tunnel flue slab is lifted a second time and rotated 90 degrees, the longitudinal moving vehicle 4 transports it to the corresponding position. Then, the lateral moving vehicle 5 adjusts its position, and finally, the tunnel flue slab is placed on the corbel surface. After placement, the lifting and rotating mechanism resets. When the flue slab pouring trolley needs to make way, the self-propelled base frame 1 pulls to the side to allow the pouring trolley to travel. When the flue slab assembly machine is not working, there is passage space inside the self-propelled base frame 1.

[0052] In summary, this application has at least the following effects:

[0053] The self-propelled chassis allows for free movement within the tunnel, enabling it to reach designated locations. The interior allows for the free passage of dual-headed transport vehicles. After the initial lift, pressure balance detection determines that the lifting and rotating mechanism is located at the bottom of the tunnel flue slab. The lifting and rotating mechanism then transports the tunnel flue slab to the pouring position. During this process, the transport pressure and suction force values ​​are acquired in real time, and the transport stability is assessed based on these values. Transport is stopped when the suction force reaches 0, and transport resumes only after the suction cups re-engage with the tunnel flue slab, ensuring transport stability.

[0054] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0055] This invention is described with reference to flowchart illustrations and / or block diagrams of systems, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0056] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0057] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0058] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0059] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A tunnel flue panel assembly control method, characterized by, Includes the following steps: The self-propelled chassis is equipped with a rotatable lifting fork mechanism and a lifting and rotating mechanism; The lifting and rotating mechanism includes a rotating platform and a suction cup, with a pressure sensor installed on the rotating platform; After the self-propelled base frame moves to the designated position and is fixed, the rotatable lifting fork mechanism is controlled to lift the tunnel flue slab for the first time. After the tunnel flue slab is first lifted to the designated height, control the lifting and rotating mechanism to move to the bottom of the tunnel flue slab and control the rotatable lifting fork mechanism to reset. The initial pressure value in front of the tunnel flue plate for the secondary lifting between the tunnel flue plate and the lifting and rotating mechanism is obtained. It is then determined whether the initial pressure value meets the requirements for secondary lifting. If it does not meet the requirements, the lifting and rotating mechanism is controlled to move until the initial pressure value meets the requirements for secondary lifting. Control the suction cups on the lifting and rotating mechanism to make them adhere to the bottom of the tunnel flue plate; After the lifting and rotating mechanism lifts the tunnel flue plate a second time and rotates it 90 degrees, the conveying pressure value during the process of the lifting and rotating mechanism transporting the tunnel flue plate to the cantilever face is obtained, and the suction force value of the suction cup between the tunnel flue plate and the lifting and rotating mechanism during the process of the lifting and rotating mechanism transporting the tunnel flue plate to the cantilever face is obtained. After the tunnel flue panel is assembled in the designated position, the assembly stability index is evaluated based on the conveying pressure value and the suction force value of the suction cup, and the assembly stability index is compared with the set assembly threshold. If the assembly stability index is greater than the assembly threshold, a maintenance signal is output. The control lifting and rotating mechanism is reset, ready for the next assembly; Before the pouring trolley is used for pouring, the self-propelled frame is moved to one side of the tunnel.

2. The tunnel flue plate assembly control method according to claim 1, characterized by, The process for determining whether the initial pressure value meets the requirements for secondary lifting is as follows: The initial pressure values ​​are divided into a sample group and a comparison group according to the set division rules. The set division rules are based on the positions of the pressure sensors installed on the lifting and rotating mechanism. Multiple pressure sensors are arranged in a rectangular array on the lifting and rotating mechanism. Multiple pressure sensors close to the side where the tunnel flue plate is to be installed are in one group, and the pressure values ​​measured by this group are the sample group. Multiple pressure sensors far away from the side where the tunnel flue plate is to be installed are in another group, and the pressure values ​​measured by this group are the comparison group. The compression time between the lifting and rotating mechanism and the tunnel flue plate was obtained, and the degree of difference between the sample group and the control group was calculated based on the compression time. Determine if the degree of difference is greater than the set difference threshold. If it is, the second-stage improvement requirement is not met; otherwise, it is met.

3. The tunnel flue panel assembly control method according to claim 2, wherein The formula for calculating the degree of difference is as follows: ,in To indicate the degree of difference, This represents the number of pressure sensors in the sample or control group. For the sample group A pressure sensor during extrusion time The initial pressure value after that, For the control group, the first A pressure sensor during extrusion time The initial pressure value after that.

4. The tunnel flue plate assembly control method according to claim 3, characterized by, The process of evaluating the assembly stability index based on the conveying pressure value and the suction cup suction force value is as follows: Obtain the initial pressure value of each pressure sensor when a secondary lift is allowed, and calculate the pressure balance index based on the initial pressure value of each pressure sensor and the delivery pressure value when a secondary lift is allowed; The suction balance index is calculated based on the suction force value of each suction cup during transportation. The assembly stability index is calculated based on the pressure balance index and the suction balance index.

5. The tunnel flue plate assembly control method according to claim 4, wherein The formula for calculating the assembly stability index is as follows: wherein is the assembly stability index, and are the pressure balance index and the suction balance index respectively, are weight factors, is a natural constant.

6. The tunnel flue plate assembly control method according to claim 5, wherein The process of calculating the pressure balance index based on the initial pressure value and the delivery pressure value is as follows: Acquire the delivery pressure value measured by each pressure sensor, the delivery pressure value being sampled based on a set sampling period; Using the initial pressure value of each pressure sensor as a reference, the degree of pressure difference of each pressure sensor during transportation is calculated; By integrating the pressure differences from all pressure sensors, a pressure balance index is obtained.

7. The tunnel flue panel assembly control method according to claim 6, wherein The formula for calculating the pressure balance index is as follows: wherein is the number of pressure sensors, is the delivery pressure value obtained by periodically sampling each pressure sensor, is the delivery pressure value of the th pressure sensor at the th time point, is the initial pressure value of the th pressure sensor when the secondary boost is allowed.

8. The tunnel flue panel assembly control method according to claim 5, wherein The process of calculating the suction balance index based on the suction force value of each suction cup during transportation is as follows: The suction force value of each suction cup is obtained, and the suction force value is sampled based on a set sampling period; Calculate the average suction force value for each suction cup; The suction balance index is calculated based on the mean value, and the formula is as follows: ,in The number of suction cups. The number of suction force values ​​obtained by periodically sampling for each suction cup. for The average suction force of each suction cup. For the first The first suction cup Each suction cup has a suction power value. This represents the allowable error between the mean value and the suction cup force value.

9. The tunnel flue panel assembly control method according to claim 8, wherein When sampling the suction force value of each suction cup based on the set sampling period, it is determined whether there is a suction cup with a suction force value of 0. If so, the number of suction cups with a suction force value of 0 is detected. If the number of suction cups with a suction force value of 0 is greater than the set threshold, the lifting and rotating mechanism is controlled to stop transportation. Transportation will resume after the suction cups re-adhere to the tunnel flue plate.

10. A tunnel flue panel assembling machine to which the tunnel flue panel assembling control method according to any one of claims 1 to 9 is applied, characterized by: It includes a self-propelled chassis (1) and a braking mechanism (2) mounted on the self-propelled chassis (1). The self-propelled chassis (1) can move in the tunnel via a drive device. The braking mechanism (2) is configured to press against the ground to detach the self-propelled chassis from the ground when the self-propelled chassis (1) moves to a designated position. The rotatable lifting fork leg mechanism (3) set on one side of the self-propelled chassis (1) is assembled as a double-headed transport vehicle to transport the tunnel flue plate to the bottom of the self-propelled chassis (1), and then rotates the fork leg to the clear position under the tunnel flue plate arch to lift the tunnel flue plate to the specified height. A lifting and rotating mechanism is installed on the self-propelled chassis (1). The lifting and rotating mechanism includes a longitudinal moving vehicle (4) and a transverse moving vehicle (5) installed above the longitudinal moving vehicle (4). The transverse moving vehicle (5) is equipped with a rotating platform (6) and a suction cup (7). The rotating platform (6) is equipped with a pressure sensor.

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