A shield machine screw machine outlet anti-jamming device and anti-jamming method

Abstract

The present invention discloses a device for preventing the screw machine outlet of a shield machine, comprising a depth image sensing device and an identification device, wherein the depth image sensing device is installed at the position of the excavation pipe of the screw machine, and the depth image sensing device is used to monitor the excavation pipe and identify the position where the steel bar is stuck by the identification device; the excavation pipe is laterally connected to a cutting work box, and a cutting mechanical arm is provided in the cutting work box, and a cutting head for cutting steel bars is provided at the head end of the cutting mechanical arm, and the cutting mechanical arm is electrically connected to the identification device, and according to the steel bar stuck position information identified by the identification device, the cutting head is driven to move to the steel bar stuck position to cut the steel bar. The present invention also discloses a method for preventing the screw machine outlet of a shield machine. The present invention can automatically and accurately cut the steel bars stuck at the position of the excavation pipe of the screw machine, avoid continuous accumulation of discharges, reduce labor costs, and improve the working efficiency of the screw machine of the shield machine.

Description

Technical Field

[0001] The invention relates to a screw machine anti-jamming device and an anti-jamming method, in particular to a screw machine outlet anti-jamming device and an anti-jamming method for a shield machine, belonging to the technical field of mining devices. Background Art

[0002] Shield tunneling machines have been widely used in subway, railway, highway, municipal, hydropower and other tunnel projects, and the screw machine plays an important role in the operation of the shield machine. During the tunneling process of the shield machine, the gravel and soil cut by the cutter disc are stored in the soil bin, and then the screw machine transports the gravel, soil and other items in the soil bin to the conveyor belt, and the conveyor belt discharges them. During the tunneling process, the shield machine will encounter obstacles such as reinforced concrete piles. The steel bars are very easy to get stuck inside the screw machine, affecting the normal operation of the screw machine, resulting in the inability to discharge the soil and rocks in the soil bin in time, which will affect the overall working efficiency of the shield machine. Manual cleaning of obstacles in the screw machine is inefficient and poses great safety hazards.

[0003] In the prior art, there are anti-stuck devices for the screw machine casing in the shield machine anti-stuck method, such as the Chinese patent with publication number CN215170024U, which increases the friction between the screw machine casing and the screw blade by controlling the movement of the telescopic joint, thereby grinding off the steel bars or grinding the diameter of the steel bars to achieve the purpose of removing the steel bars in the screw machine. There are also anti-stuck devices for the screw machine feed port, such as inventions CN209369815U and CN115992717A. The above technologies all lack anti-stuck measures at the screw machine mud outlet. Some longer steel bars may still be stuck at the screw machine mud outlet gate after passing through the feed port and the casing. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the present invention provides a device and method for preventing jamming of a spiral machine outlet of a shield machine, the purpose of which is to remove the obstacle steel bars stuck inside the spiral machine to ensure the normal operation of the spiral machine and the shield machine.

[0005] The technical solution of the present invention is as follows: A device for preventing the screw machine from getting stuck at the outlet of a shield machine, comprising a depth image sensor and an identification device, wherein the depth image sensor is installed at the excavation pipe position of the screw machine, and the depth image sensor is used to monitor the excavation pipe and identify the stuck position of the steel bars by the identification device; the excavation pipe is laterally connected to a cutting work box, and a cutting robot arm is provided in the cutting work box, and a cutting head for cutting steel bars is provided at the head end of the cutting robot arm, and the cutting robot arm is electrically connected to the identification device, and drives the cutting head to move to the stuck position of the steel bars to cut the steel bars according to the stuck position information of the steel bars identified by the identification device.

[0006] Furthermore, the depth image sensing device is arranged at the top of the side where the connection position between the excavation pipe and the screw machine is higher, and the depth image sensing device faces the side where the connection position between the excavation pipe and the screw machine is lower.

[0007] The depth image sensor device arranged in this way is not easily damaged by the screw machine discharge and foreign objects such as steel bars, and can easily capture the image of steel bar jams.

[0008] Furthermore, a protective shell is provided on the screw machine, the protective shell is open at the lower end, and the depth image sensor device is arranged in the protective shell.

[0009] By protecting the housing including the depth image sensor device from the impact of the auger discharge, the auger discharge also reduces the shielding of the depth image sensor device from the auger discharge.

[0010] Furthermore, the cutting work box is located on the side where the connection position between the excavation pipe and the screw machine is higher.

[0011] The cutting work box is arranged on the side where the excavation pipe and the spiral machine are connected at a higher position, which is more conducive to the arrangement and operation of the cutting mechanical arm to complete the cutting of the steel bars.

[0012] Furthermore, a gate is provided between the cutting working box and the excavation pipe, and the gate is used to control the connection and separation between the cutting working box and the excavation pipe.

[0013] Furthermore, a sensor is provided in the cutting work box at the rear side of the gate, and the sensor is used to sense the cutting robot arm and control the opening and closing of the gate.

[0014] Furthermore, the field of view of the depth image sensing device is not less than 80°*50°.

[0015] Furthermore, the cutting head is a water-cooled plasma cutting gun, and the water-cooled plasma cutting gun is fixedly mounted on the end of the cutting robot arm.

[0016] Another technical solution of the present invention is: a method for preventing the screw machine outlet of a shield machine from getting stuck, based on the aforementioned anti-stuck device for the screw machine outlet of the shield machine, a depth image sensing device monitors the position of the excavation pipe of the screw machine and captures images, a recognition device identifies the steel bars that have been retained at the excavation pipe position for more than a set time threshold according to the captured images, and obtains the stuck position information of the steel bars and sends the work information to a cutting robot arm, the cutting robot arm is located in a cutting work box on one side of the excavation pipe, a cutting head for cutting steel bars is provided at the head end of the cutting robot arm, the cutting robot arm is used to receive the work information and then extend from the cutting work box into the excavation pipe and drive the cutting head to move to the stuck position of the steel bars to cut the steel bars, after the cutting is completed, the cutting robot arm drives the cutting head to retract into the cutting work box, and the depth image sensing device continues to monitor the position of the excavation pipe of the spiral machine again.

[0017] The advantages of the technical solution provided by the present invention are:

[0018] The depth image sensing device combined with the recognition device can conduct real-time monitoring of the steel bars stuck in the excavation pipe of the spiral machine, so as to promptly discover hidden dangers before the spiral machine is blocked. Compared with manual inspection, it is more timely and effective, and does not require shutdown inspection, which does not affect construction efficiency.

[0019] A cutting mechanical arm is arranged on the side of the excavation pipe to cooperate with the cutting head for cutting, which can more flexibly reach any position in the working area for construction. However, manual cutting is very inconvenient due to the limitation of the equipment structure when cutting steel bars stuck in the dead corner, which will cause great safety hazards. Therefore, compared with manual cutting, the present invention is safer and more efficient.

[0020] The depth image sensor is arranged in a protective shell, and the cutting robot arm and the cutting head are located in the cutting work box when not working. On the one hand, the spiral machine outlet anti-jamming device is not easily impacted by the discharge of the spiral machine. On the other hand, the spiral machine outlet anti-jamming device will not affect the normal operation of the spiral machine. It has a long service life, low inspection and maintenance costs, and does not affect the construction efficiency.

[0021] Therefore, the present invention can timely detect the existence of steel bar jamming through the depth image sensor and the identification device, and then use the cutting robot arm and the cutting head to cut the jammed steel bars, so as to avoid the discharge from clogging the excavation pipe due to the accumulation of the steel bars, and does not require shutdown operation or manual intervention, with high real-time and safety. The shield machine with the screw machine outlet anti-jamming device has higher construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the anti-stuck device at the screw machine outlet of the shield machine.

[0023] Figure 2 It is a schematic diagram of the viewing angle coverage of the depth image sensing device.

[0024] Figure 3 It is a side view schematic diagram of the position of the cutting work box.

[0025] Figure 4 This is a schematic diagram of the position where the steel bars are stuck at the outlet of the spiral machine. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with examples. It should be understood that these examples are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading this description, various equivalent modifications to this description by those skilled in the art fall within the scope defined by the claims attached to this application.

[0027] The screw machine of the shield machine includes an inclined screw machine conveying pipe 16, a screw conveying shaft 17 is arranged in the screw machine conveying pipe 16, and a driving motor 1 is arranged at the top of the screw machine conveying pipe 16. The driving motor 1 is fixed to the pipe end of the screw machine conveying pipe 16, and its rotating shaft is connected to the screw conveying shaft 17 to drive the screw conveying shaft 17 to rotate so that the crushed stone and soil cut by the shield machine are discharged backward through the screw machine. The lower side of the top of the screw machine conveying pipe 16 is connected to an unearthed pipe 8, which is connected to the inside of the screw machine conveying pipe 16. The crushed stone and soil are lifted to the top by the screw conveying shaft 17 and then discharged downward from the unearthed pipe 8. A conveyor belt 10 and a baffle 9 are arranged below the lower end gate 12 of the unearthed pipe 8. The crushed stone and soil discharged downward from the unearthed pipe 8 fall on the conveyor belt 10, and are prevented from sliding down by the baffle 9. Finally, the conveyor belt 10 sends these discharges out of the shield machine.

[0028] Please combine Figures 1 to 3 As shown, the shield machine's screw machine outlet anti-jamming device involved in this embodiment mainly includes a depth image sensor 3 and an identification device 2, a cutting work box 6 and a cutting robot arm 5 with a cutting head 18.

[0029] The depth image sensor 3 is installed at the excavation pipe 8 of the screw machine, and is used to monitor the discharge of gravel, soil, etc. in the excavation pipe 8. Therefore, the depth image sensor 3 should be located at a position where its captured image range 13 can cover the entire internal space of the excavation pipe 8, and a depth image sensor 3 with a larger field of view should be selected. According to the diameter and length of the general excavation pipe 8, the field of view of the depth image sensor 3 is not less than 80°*50°

[0030] In a preferred embodiment, the depth image sensing device 3 is a realsense d435i camera, which has a field of view of 85°*58°, which can meet the requirements and basically cover the internal space of the excavation pipe 8, thereby monitoring the main positions in the excavation pipe 8 where the steel bars 14 may get stuck.

[0031] In a preferred embodiment, the depth image sensor 3 is arranged at the top of the side where the connection position of the excavation tube 8 and the screw conveying tube 16 is higher, and the depth image sensor 3 is arranged obliquely downward (that is, the depth image sensor 3 faces the side where the connection position of the excavation tube 8 and the screw conveying tube 16 is lower). In this way, the field of view of the depth image sensor 3 can meet the requirement of covering the internal space of the excavation tube 8. On the other hand, the top of the side where the connection position of the excavation tube 8 and the screw conveying tube 16 is higher is closer to the motor 1 that drives the screw machine. This side position has passed the excavation tube 8, so less gravel and soil can reach this position, which is not easy to affect the operation of the depth image sensor 3, nor is it easy to damage the depth image sensor 3. Furthermore, a metal protective shell 11 is provided on the screw conveying pipe 16 of the screw conveyor near the end of the motor 1. The metal protective shell 11 is open at the lower end, and the depth image sensor device 3 is arranged in the metal protective shell 11. The metal protective shell 11 is located around and above the depth image sensor device 3. The soil and the like that falls during transportation first falls on the metal protective shell 11, thereby preventing the depth image sensor device 3 from being damaged by the impact of the discharge from all around and above, and avoiding blocking the field of view of the depth image sensor device 3.

[0032] The recognition device 2 is arranged outside the excavation pipe 8 and connected to the depth image sensor device 3, and adopts the embedded GPU jetson NX. The YOLO target detection software is used to train the YOLO target detection software to identify the steel bars 14 stuck at the connection between the excavation pipe 8 and the screw conveyor pipe 16 and the gate 12 of the excavation pipe 8, and finally the spatial position information of the stuck steel bars 14 is obtained according to the depth image sensor device 3, and the working path of the cutting device is calculated by the embedded GPU and sent to the cutting robot 5, or the controller of the cutting robot 5 directly controls the cutting robot 5 according to the spatial position information of the stuck steel bars 14.

[0033] The excavation pipe 8 is laterally connected to a cutting work box 6, which is a metal box added to the excavation pipe 8, and its interior is mainly used to install a cutting mechanical arm 5 and a cutting head 18. The cutting mechanical arm 5 is a TM1400 mechanical arm, and the cutting head 18 is composed of a FY-XF300H-A water-cooled plasma cutting gun and a 100PF3 plasma power supply. The cutting mechanical arm 5 is electrically connected to the identification device 2, and can extend into the excavation pipe 8 area after receiving the instruction of the identification device 2, and cut the steel bar 14 stuck at the connection position of the excavation pipe 8 and the screw conveying pipe 16 through the water-cooled plasma cutting gun installed at the end of the cutting mechanical arm 5, and automatically retract after completion.

[0034] In a preferred embodiment, the cutting work box 6 is arranged on the higher side of the connection position between the excavation pipe 8 and the screw conveyor pipe 16, that is, on the same side as the depth image sensor device 3. This side position has a higher height space than the other side, and the cutting robot arm 5 can be conveniently arranged, wherein the base of the cutting robot arm 5 is fixedly set on the side wall of the cutting work box 6, which is more conducive to the operation of the cutting robot arm 5 to complete the cutting of the steel bars 14.

[0035] In another preferred embodiment, an HC-JKV01 automatic control gate 7 is provided between the cutting work box 6 and the excavation pipe 8. The automatic control gate 7 opens and closes left and right to control the connection and separation between the cutting work box 6 and the excavation pipe 8. The automatic control gate 7 that opens and closes left and right is also convenient for its installation and control. When the depth image sensor 3 continuously monitors and does not find that the steel bar 14 is stuck, the automatic control gate 7 is in a closed state, separating the cutting work box 6 from the excavation pipe 8, which can prevent gravel, soil, etc. from entering the cutting work box 6 during the falling process of the excavation pipe 8, and accumulating in the cutting work box 6 to affect the movement of the cutting robot arm 5 and subsequent maintenance and repair work. When the steel bar 14 is stuck, the automatic control gate 7 opens, allowing the cutting robot arm 5 to enter the excavation pipe 8 for cutting.

[0036] In another preferred embodiment, a sensor 4, such as a photoelectric sensor 4, is provided in the cutting work box 6 at the upper rear side of the automatic control gate 7. The sensor 4 is used to sense the cutting robot arm 5 and control the switch of the automatic control gate 7. That is, when the sensor 4 senses the cutting robot arm 5 extending forward, the automatic control gate 7 is controlled to open. When the cutting robot arm 5 completes cutting and retracts into the cutting work box 6, the sensor 4 senses the cutting robot arm 5 resetting, and the automatic control gate 7 is controlled to close. In addition, the sensor 4 can also be linked with the motor 1 of the screw machine, that is, when the cutting robot arm 5 needs to cut, the motor 1 of the screw machine is controlled to stop operating. When the cutting robot arm 5 completes cutting and returns to the cutting work box 6, the motor 1 of the screw machine is controlled to work normally.

[0037] Please combine Figure 4As shown, based on the shield machine screw machine outlet anti-stuck device of the above embodiment, the shield machine screw machine outlet anti-stuck method of the present invention is as follows: the depth image sensor device 3 monitors the position of the excavation pipe 8 of the screw machine and captures the image, the recognition device 2 is based on the trained YOLO target detection software, and identifies the steel bar 14 that has been retained at the excavation pipe 8 position for more than a set time threshold (for example, 10s) according to the captured image, and obtains the stuck position information of the steel bar 14. The recognition device 2 sends the stuck position information or calculates the working path of the cutting robot 5 based on the stuck position information to the cutting robot 5. The cutting robot 5 moves after receiving the aforementioned stuck position information or working path, extends from the cutting work box 6 into the excavation pipe 8, and drives the cutting head 18 to move to the steel bar stuck position to cut the steel bar 14.

[0038] Most of the stuck situations of steel bar 14 in the spiral machine unearthed pipe 8 are Figure 4 As shown, one end is supported at the automatic control gate 7, and the other end is supported at the wall of the excavation pipe 8. The position closest to the center point of its overall shape in the stuck steel bar 14 is the cutting point 15 of the cutting device. After the cutting is completed, the other ends of the two cut steel bars 14 lose support respectively and can be discharged from the excavation pipe 8.

[0039] In a preferred embodiment, when the cutting robot arm 5 extends from the cutting work box 6, the sensor 4 controls the automatic control gate 7 to open, and at the same time controls the motor 1 of the screw machine to stop operating. After the cutting is completed, the cutting robot arm 5 drives the cutting head 18 to retract into the cutting work box 6. In a preferred embodiment, the sensor 4 controls the automatic control gate 7 to close, and at the same time controls the motor 1 of the screw machine to operate. Subsequently, the depth image sensor 3 continues to monitor the position of the unearthed pipe 8 of the screw machine again, and repeats the above process when the steel bar 14 is stuck.

Claims

1. A shield machine screw machine outlet anti-jamming device, characterized in that: It includes a depth image sensing device and an identification device, wherein the depth image sensing device is installed at the unearthing pipe position of the spiral machine, and the depth image sensing device is used to monitor the unearthing pipe and identify the stuck position of the steel bar by the identification device; the unearthing pipe is laterally connected to a cutting work box, and a cutting mechanical arm is arranged in the cutting work box, and a cutting head for cutting steel bars is arranged at the head end of the cutting mechanical arm, and the cutting mechanical arm is electrically connected to the identification device, and drives the cutting head to move to the stuck position of the steel bar to cut the steel bar according to the stuck position information of the steel bar identified by the identification device.

2. The shield machine screw machine outlet anti-jamming device according to claim 1 is characterized in that: The depth image sensor is arranged at the top of the side where the connection position between the excavation pipe and the screw machine is higher, and the depth image sensor faces the side where the connection position between the excavation pipe and the screw machine is lower.

3. The shield machine screw machine outlet anti-jamming device according to claim 1 or 2, characterized in that: The screw machine is provided with a protective shell, the lower end of the protective shell is open, and the depth image sensor is arranged in the protective shell.

4. The shield machine screw machine outlet anti-jamming device according to claim 1, characterized in that: The cutting work box is located on the side where the connection position between the excavation pipe and the screw machine is higher.

5. The shield machine screw machine outlet anti-jamming device according to claim 1, characterized in that: A gate is provided between the cutting working box and the excavation pipe, and the gate is used to control the connection and separation between the cutting working box and the excavation pipe.

6. The shield machine screw machine outlet anti-jamming device according to claim 5, characterized in that: The gate is a left-right double-opening gate.

7. The shield machine screw machine outlet anti-jamming device according to claim 5, characterized in that: A sensor is provided in the cutting work box at the rear side of the gate, and the sensor is used to sense the cutting robot arm and control the opening and closing of the gate.

8. The shield machine screw machine outlet anti-jamming device according to claim 1, characterized in that: The cutting head is a water-cooled plasma cutting gun, and the water-cooled plasma cutting gun is fixedly installed at the end of the cutting robot arm.

9. A method for preventing the screw conveyor outlet of a shield machine from getting stuck, characterized in that: Based on the anti-stuck device for the spiral machine outlet of the shield machine described in any one of claims 1 to 8, a depth image sensing device monitors the position of the excavation pipe of the spiral machine and captures images, and a recognition device identifies the steel bars that have been retained at the position of the excavation pipe for more than a set time threshold based on the captured images, and obtains the stuck position information of the steel bars and sends the working information to a cutting robot arm, wherein the cutting robot arm is located in a cutting work box on one side of the excavation pipe, and a cutting head for cutting steel bars is arranged at the head end of the cutting robot arm, and the cutting robot arm is used to receive the working information and then extend from the cutting work box into the excavation pipe and drive the cutting head to move to the stuck position of the steel bars to cut the steel bars, and after the cutting is completed, the cutting robot arm drives the cutting head to retract into the cutting work box, and the depth image sensing device continues to monitor the position of the excavation pipe of the spiral machine again.

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