Synchronous secondary lining assembling system and synchronous secondary lining assembling method

Abstract

The invention discloses a synchronous secondary lining assembling system and a synchronous secondary lining assembling method.The synchronous secondary lining assembling system comprises a secondary lining trolley, and the secondary lining trolley comprises a gear ring track assembly arranged on a secondary lining trolley rack and a secondary lining assembling mechanical arm moving along the gear ring track assembly through a driving mechanism; the tail end of the secondary lining assembly mechanical arm is connected with a grabbing and lifting head; the gear ring rail assembly comprises a left gear ring rail and a right gear ring rail which can rotationally avoid passing equipment below. The gestures and actions of the gear ring track assembly and the secondary lining assembling mechanical arm are controlled through the visual scanning system. On the premise that duct piece transferring, material transferring and duct piece assembling are not affected, assembling of the synchronous secondary lining is met, the construction procedures are reduced, and the construction efficiency is improved. According to the method, the adaptability of synchronous assembly of the secondary lining is improved, assembly can be conducted according to the optimal path calculated through visual scanning, meanwhile, the function of calculation and fine adjustment installation is achieved, and precise positioning of the secondary lining prefabricated part is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel secondary lining construction, in particular to a synchronous secondary lining assembly system and a synchronous secondary lining assembly method. Background Art

[0002] In tunnel boring machine construction projects, the synchronous assembly of segments during tunnel excavation mainly plays a primary support role, and then secondary lining is carried out by assembling secondary segments or spraying concrete. The secondary lining is a permanent support structure built along the tunnel to prevent deformation or collapse of the surrounding rock and ensure the life of the tunnel for 100 years. Therefore, a secondary lining assembly system needs to be designed to strengthen the tunnel.

[0003] The invention patent with the existing application publication date of 2021-12-03 and application publication number CN113738404A discloses a non-working window integrally formed lining trolley, a walking device is designed at the bottom of the portal frames at the front and rear ends of the trolley to drive the lining trolley forward, a supporting crossbeam is designed on the portal frame, an A-frame is provided on the supporting crossbeam, and an adjustable arch frame is designed on the outside of the A-frame to meet the lining requirements of various tunnel shapes. However, the secondary lining construction in this technical solution requires the laying of steel bars and pouring of concrete, which reduces the efficiency of synchronous secondary lining construction.

[0004] The existing utility model patent with authorization announcement 2019-06-14 and authorization announcement number CN208982056U discloses a synchronous lining device suitable for sewage tunnels, including a main machine and a trolley, a segment installation machine is provided in the main machine, a segment transportation device is provided between the segment installation machine and the trolley, the trolley slides on the special segment at the bottom, at least one section of the template longitudinal baffle is provided on the trolley, the first section of the template longitudinal baffle is connected to the template front baffle, and a concrete grouting machine is provided on the trolley. Although this technical solution can directly perform secondary support on the segments that play a primary support role, it reduces the efficiency of synchronous assembly of segments.

[0005] In summary, although some progress has been made in the research on synchronous secondary lining in the complete equipment of roadheaders, it still cannot meet the demand for construction efficiency of synchronous secondary lining. Therefore, it is necessary to design a synchronous secondary lining assembly system.

[0006] It should be particularly noted that the above technical information is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as admitting or implying in any form that the above technical information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0007] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a synchronous secondary lining assembly system and a synchronous secondary lining assembly method, and the technical problem to be solved is: how to carry out efficient synchronous secondary lining construction during the excavation construction of a roadheader.

[0008] The technical solution of this application is: A synchronous secondary lining assembly system includes a secondary lining trolley. The secondary lining trolley can be either a follow-up trolley connected to a rear trailer of a tunnel boring machine or a trolley with an independent walking function. The secondary lining trolley includes a gear ring track assembly arranged on the secondary lining trolley frame and a secondary lining assembly mechanical arm that moves along the gear ring track assembly through a driving mechanism, and a grab head is connected to the end of the secondary lining assembly mechanical arm; the gear ring track assembly includes a left gear ring track and a right gear ring track that can be rotated to avoid the passing equipment below; or the gear ring track assembly includes a lower gear ring track that can be raised and lowered to avoid the passing equipment below; the posture movements of the gear ring track assembly and the secondary lining assembly mechanical arm are controlled by a visual scanning system. According to the present invention, the secondary lining assembly can be synchronously satisfied without affecting the segment transfer, material transfer, and segment assembly, thereby reducing the construction process and improving the construction efficiency. The synchronous secondary lining assembly system of the present invention adopts a multi-stage telescopic lifting mechanism to reduce space and improve the adaptability of synchronous assembly; the secondary lining assembly system of the present invention assembles according to the optimal path calculated by visual scanning, and at the same time has the function of calculating and fine-tuning installation to achieve accurate positioning of the secondary lining prefabricated parts.

[0009] On the basis of the above technical scheme, as the preferred technical scheme of the synchronous secondary lining assembly system, when the gear ring track assembly includes a left gear ring track and a right gear ring track, it also includes an upper gear ring track fixedly connected to the secondary lining trolley frame, and the left gear ring track and the right gear ring track are swung relative to the upper gear ring track through corresponding gear ring rocker mechanisms to avoid the passing equipment below.

[0010] On the basis of the above technical solution, as the preferred technical solution for the synchronous secondary lining assembly system, the arcs of the upper gear ring track, the left gear ring track and the right gear ring track are all 90°, and the upper gear ring track is provided with a passage space for the air duct to pass through.

[0011] On the basis of the above technical solution, as the preferred technical solution for the synchronous secondary lining assembly system, when the gear ring track assembly includes a lower gear ring track, it also includes an upper gear ring track fixedly connected to the secondary lining trolley frame, and a translation mechanism is arranged between the lower gear ring track and the lifting mechanism, and the lower gear ring track is circumferentially aligned or separated from the upper gear ring track through the translation mechanism.

[0012] On the basis of the above technical scheme, as the preferred technical scheme of the synchronous secondary lining assembly system, the secondary lining assembly robot arm includes a robot arm frame connected to a driving mechanism, the robot arm frame is hinged with a grab head through a primary rocker mechanism, and a secondary rocker mechanism is arranged between the end of the primary rocker mechanism and the grab head.

[0013] On the basis of the above technical scheme, as the preferred technical scheme of the synchronous second lining assembly system, the grab head includes a grab head articulated seat connected to the end of the first-level rocker mechanism and a grab head base hinged to the grab head articulated seat, the grab head base is hinged to the grab head platform through a number of fine-tuning cylinders, and the second-level rocker mechanism is connected between the grab head base and the end of the first-level rocker mechanism.

[0014] On the basis of the above technical scheme, as the preferred technical scheme of the synchronous secondary lining assembly system, the lower passage equipment includes a power locomotive, a mortar truck, a box culvert transport truck, a segment transport truck, and a secondary lining prefabricated parts transport truck. The secondary lining prefabricated parts transport truck includes a frame and a slewing frame for carrying secondary lining prefabricated parts. The slewing frame rotates with the frame through the transport vehicle rocker mechanism.

[0015] On the basis of the above technical solutions, as the preferred technical solution for the synchronous secondary lining assembly system, the visual scanning system is a visual scanning system used to plan the optimal assembly trajectory and perform posture and motion control on the gear ring track assembly and the secondary lining assembly robot arm.

[0016] A synchronous secondary lining assembly method, using the synchronous secondary lining assembly system described in any one of the above technical solutions, the secondary lining prefabricated part transport vehicle transports the secondary lining prefabricated part to the bottom of the secondary lining trolley, and the secondary lining prefabricated part is rotated 90 degrees in the rotation area under the secondary lining trolley; the visual scanning system identifies the position information of the secondary lining prefabricated part to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly mechanical arm, controls the gear ring rocker mechanism or the lifting mechanism to adjust the position of the gear ring track assembly; at the same time; when the gear ring track assembly is adjusted to the corresponding position, the driving mechanism drives the secondary lining assembly mechanical arm to return It rotates to the bottom of the second lining trolley. When the grab head grabs the second lining prefabricated parts, the second lining trolley retreats to a safe area to avoid interference with the second lining prefabricated parts to be assembled. When the second lining trolley retreats to the safe area, the driving mechanism drives the second lining assembly mechanical arm and the second lining prefabricated parts to be assembled to rotate to the assembly position, and the visual scanning system collects the position information of the assembled second lining prefabricated parts, and feeds the collected position information back to the second lining assembly mechanical arm, and assembles the second lining prefabricated parts to be assembled by controlling the first-level rocker mechanism, the second-level rocker mechanism and the fine-tuning cylinder.

[0017] On the basis of the above technical solution, as the preferred technical solution of the synchronous secondary lining assembly method, the following steps are included: ① Grab the secondary lining prefabricated parts to be assembled through the grab head on the synchronous secondary lining assembly system; ② Collect the position information of the currently assembled secondary lining prefabricated parts through the visual scanning system; ③ Input the point cloud feature information of the assembled secondary lining prefabricated parts into the feature recognition processing module; ④ The feature recognition processing module of the control system obtains the relationship data set between the second lining prefabricated parts to be assembled and the tunnel axis according to the point cloud feature information of the assembled second lining prefabricated parts; ⑤ The secondary lining prefabricated component posture information processing module of the control system obtains the posture coordinates of the assembled secondary lining prefabricated components in the tunnel coordinate system according to the relational data set; ⑥ The motion prediction module of the control system predicts the target posture coordinates of the second lining prefabricated parts to be assembled in the synchronous second lining assembly system according to the posture coordinates of the second lining prefabricated parts to be assembled in the tunnel coordinate system; ⑦ The target position coordinates of the second lining prefabricated parts to be assembled in the tunnel coordinate system are converted into the target position coordinates of the second lining prefabricated parts to be assembled in the synchronous second lining assembly system coordinate system through the control system; ⑧ The control system drives the second lining assembly robot arm to move the second lining prefabricated part to be assembled to the position to be assembled according to the target position coordinates of the second lining prefabricated part in the coordinate system of the synchronous second lining assembly system; On the basis of the above technical scheme, as the preferred technical scheme of the synchronous two-lining assembly method, the visual scanning system adopts a homomorphic filtering method to detect the input image, and improves the quality of the input image by compressing the image brightness range and enhancing the contrast.

[0018] The present invention proposes a synchronous secondary lining assembly system and a synchronous secondary lining assembly method. Compared with the prior art, the synchronous secondary lining assembly can be synchronously satisfied without affecting the segment transfer, material transfer, and segment assembly, thereby reducing the construction process and improving the construction efficiency. The synchronous secondary lining assembly system provided by the present invention adopts a multi-stage telescopic lifting mechanism to reduce space and improve the adaptability of synchronous assembly; at the same time, the secondary lining assembly system is assembled according to the optimal path calculated by the visual scanning system, and has the function of calculating and fine-tuning the installation, so as to realize the precise positioning of the secondary lining prefabricated parts and greatly improve the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0020] Figure 1 Schematic diagram of the state of transporting the secondary lining prefabricated parts, box culverts and pipe segments when applying the present invention Figure 1 ; Figure 2 Schematic diagram of the state of transporting the secondary lining prefabricated parts, box culverts and pipe segments when applying the present invention Figure 2 ; Figure 3 This is the cross-sectional state diagram when the marshaling car passes through the second lining trolley; Figure 4 It is a side view of the secondary lining prefabricated component before rotation; Figure 5 This is the cross-sectional state diagram of the secondary lining prefabricated component before rotation; Figure 6 The state diagram of the snatch head grabbing the secondary lining prefabricated parts; Figure 7 The state diagram of the secondary lining assembly robot arm transporting the secondary lining prefabricated parts; Figure 8 State diagram of assembling the secondary lining prefabricated parts for the snatch head; Fig. 9 This is the state diagram after the left ring gear track rotates; Fig.10 This is the state diagram after the right gear ring track rotates; Fig.11 Front view of the secondary lining prefabricated parts transport vehicle being loaded with secondary lining prefabricated parts; Fig.12 for Fig.11 Left view of Fig.13 It is a top view of the secondary lining prefabricated component transport vehicle rotating the secondary lining prefabricated component; Fig.14 for Fig.13 The enlarged view of point A in the middle; Fig.15 This is a side view of the second lining assembly robot arm; Fig.16 for Fig.15 The enlarged view of point B in the middle; Fig.17 for Fig.15 A top view of Fig.18 for Fig.17 Enlarged view of point C in the middle.

[0021] Description of Figure Numbers: Pipeline 1, trailer 2, secondary lining trolley 3 in the tunnel; Driving mechanism 4, second lining assembly mechanical arm 5, mechanical arm frame 501; Snatch head 6, snatch head articulated seat 601, snatch head base 602, fine-tuning cylinder 603, snatch head platform 604; Upper gear ring track 7, left gear ring track 8, right gear ring track 9; Secondary lining prefabricated component transport vehicle 10, vehicle frame 101, rotary frame 102, secondary lining prefabricated component 103; Cylinder 1: 100, rocker 1: 1000, cylinder 2: 200, rocker 2: 2000, cylinder 3: 300, rocker 3: 3000, cylinder 4: 400; Segment transport vehicle 20, box culvert transport vehicle 30, mortar vehicle 40, power locomotive 50; Air duct 11; visual scanning system 12; gear ring track assembly 13. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the core concept of the present invention and the following embodiments, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The present application provides these embodiments to make the present application thorough and complete, and to fully express the scope of the present application to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the parts and steps, the composition of the materials, the numerical expressions and the numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary, and not as limiting.

[0024] It should be noted that, in the description of this application, unless otherwise specified, the meaning of "several" is greater than or equal to two; the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "radial" and the like indicate positions or positional relationships only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on this application. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0025] In addition, the words "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different parts. "Vertical" does not mean vertical in the strict sense, but is within the tolerance range. "Parallel" does not mean parallel in the strict sense, but is within the tolerance range. "Include" or "comprising" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of including other elements.

[0026] It should also be noted that in the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. When a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device.

[0027] All terms used in this application have the same meaning as those understood by those of ordinary skill in the art to which this application belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0028] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0029] The object of the present invention is to provide a synchronous secondary lining assembly system and a synchronous secondary lining assembly method that can meet the requirements without affecting segment transfer, material transfer and segment assembly.

[0030] In order to achieve the above-mentioned purpose, the synchronous secondary lining assembly system of the present invention comprises: a secondary lining trailer, connected to the rear end of the supporting trailer behind the shield machine, for supporting the secondary lining assembly system; a gear ring track, for providing a track for the secondary lining assembly mechanical arm to rotate and walk, the gear ring track is mainly composed of an upper gear ring track, a left gear ring track and a right gear ring track. The upper gear ring track is fixed on the secondary lining trailer, and the left and right gear ring tracks cooperate with each other so that the secondary lining assembly mechanical arm completes the assembly of a ring of secondary lining prefabricated parts under the action of a driving mechanism; a secondary lining assembly mechanical arm, for grabbing and assembling secondary lining prefabricated parts; a driving mechanism, connected to the secondary lining assembly mechanical arm, driving the secondary lining assembly mechanical arm to perform rotational motion; a secondary lining prefabricated part transport vehicle, which transports the secondary lining prefabricated parts into the tunnel and rotates the secondary lining prefabricated parts 90° under the secondary lining trailer.

[0031] In the synchronous secondary lining assembly system of the present invention, the secondary lining prefabricated parts transport vehicle moves to the bottom of the secondary lining trailer, and rotates the secondary lining prefabricated parts by 90° under the action of its own rotating mechanism. The secondary lining trailer is equipped with a visual scanning system 12, which identifies the position of the secondary lining prefabricated parts to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly mechanical arm, and adjusts the corresponding left gear ring track or right gear ring track to rotate to the bottom of the secondary lining trailer. Under the action of the driving mechanism, the secondary lining assembly mechanical arm rotates to the bottom of the gear ring track according to the calculated optimal assembly trajectory, and the grabbing head at the end of the mechanical arm grabs the secondary lining prefabricated parts, and then the driving mechanism drives the mechanical arm that has grabbed the secondary lining prefabricated parts to assemble. At the same time, the visual scanning system 12 installed on the secondary lining trailer collects the position information of the assembled secondary lining, feeds the collected information back to the secondary lining assembly mechanical arm, and fine-tunes the assembly of the secondary lining prefabricated parts by controlling the adjustment cylinder at the grabbing head at the end of the secondary lining assembly mechanical arm.

[0032] According to the present invention, the assembly of the secondary lining can be met synchronously without affecting the transportation of pipe segments, material transportation, and assembly of pipe segments, thereby reducing the construction process and improving the construction efficiency. The synchronous secondary lining assembly system of the present invention adopts a multi-stage telescopic lifting mechanism to reduce space and improve the adaptability of synchronous assembly; the secondary lining assembly system of the present invention assembles according to the optimal path calculated by visual scanning, and at the same time has the function of calculating and fine-tuning the installation, so as to realize the precise positioning of the secondary lining prefabricated parts.

[0033] like Figures 1 to 18 As shown, the specific embodiments are described as follows.

[0034] A synchronous secondary lining assembly system includes a secondary lining trolley 3, which can be a follow-up trolley connected to a rear supporting trailer 2 of a tunnel boring machine, or a trolley with an independent walking function. The secondary lining trolley 3 includes a gear ring track assembly 13 arranged on the secondary lining trolley frame, and a secondary lining assembly mechanical arm 5 that moves along the gear ring track assembly 13 through a driving mechanism 4, and a grabbing head 6 is connected to the end of the secondary lining assembly mechanical arm 5. The secondary lining assembly mechanical arm 5 is used to grab the secondary lining prefabricated parts 103 to be assembled, and transport the secondary lining prefabricated parts 103 to be assembled to the assembly position along the gear ring track assembly 13, and adjust the spatial posture of the secondary lining prefabricated parts 103 to assemble with the assembled secondary lining prefabricated parts 103.

[0035] The gear ring track assembly 13 includes a left gear ring track 8 and a right gear ring track 9 that can rotate to avoid the passing equipment below. The position adjustment of the left gear ring track 8 and the right gear ring track 9 can not only provide a corresponding walking track for the second lining assembly robot 5, but also avoid the passing equipment below. Or the gear ring track assembly 13 includes a lower gear ring track that can be raised and lowered to avoid the passing equipment below. By raising and lowering the lower gear ring track, the passing equipment below can also be avoided. The posture movements of the gear ring track assembly 13 and the second lining assembly robot 5 are controlled by the visual scanning system 12.

[0036] On the basis of the above embodiments, as a preferred embodiment of the synchronous secondary lining assembly system, when the gear ring track assembly 13 includes the left gear ring track 8 and the right gear ring track 9, it also includes an upper gear ring track 7 fixedly connected to the secondary lining trolley frame, and the left gear ring track 8 and the right gear ring track 9 are swung relative to the upper gear ring track 7 through corresponding gear ring rocker mechanisms to avoid the passing equipment below. The gear ring rocker mechanism includes a rocker and a cylinder, and the rocker can be driven by the cylinder to make the left gear ring track 8 or the right gear ring track 9 move away from the upper gear ring track 7 or be assembled with the upper gear ring track 7, thereby forming a continuous track for the secondary lining assembly robot arm 5 to walk in different spatial positions.

[0037] On the basis of the above embodiments, as a preferred embodiment of the synchronous second lining assembly system, the curvature of the upper gear ring track 7, the left gear ring track 8, and the right gear ring track 9 are all 90°, and the upper gear ring track 7 is provided with a passage space for the air duct 11 to pass through.

[0038] On the basis of the above-mentioned embodiments, as a preferred embodiment of the synchronous second lining assembly system, when the gear ring track assembly 13 includes a lower gear ring track, it also includes an upper gear ring track 7 fixedly connected to the second lining trolley frame, and a translation mechanism is provided between the lower gear ring track and the lifting mechanism, and the lower gear ring track is circumferentially aligned or separated from the upper gear ring track 7 through the translation mechanism. When the lower gear ring track is circumferentially aligned with the upper gear ring track 7 through the translation mechanism, the lifting and lowering of the lifting mechanism can enable the lower gear ring track and the upper gear ring track 7 to be assembled into a continuous track, so that the second lining assembly robot arm 5 can walk in a larger space. When it is necessary to avoid the passing equipment below, the lower gear ring track is first circumferentially separated from the upper gear ring track 7 through the translation mechanism, and then the lower gear ring track can be lifted by the lifting mechanism.

[0039] On the basis of the above embodiments, as a preferred embodiment of the synchronous second lining assembly system, the second lining assembly mechanical arm 5 includes a mechanical arm frame 501 connected to the driving mechanism 4, and the mechanical arm frame 501 is hinged with a grab head 6 through a primary rocker mechanism. The primary rocker mechanism also includes a cylinder and a rocker, which can drive the grab head 6 to deflect in the plane where the gear ring track assembly 13 is located, that is, to make the grab head 6 away from or close to the gear ring track assembly 13 in the radial direction, which is the primary adjustment mechanism of the second lining assembly mechanical arm 5. A secondary rocker mechanism is arranged between the end of the primary rocker mechanism and the grab head 6. The secondary rocker mechanism, as the secondary adjustment mechanism of the second lining assembly mechanical arm 5, also includes a cylinder and a rocker, which can make the grab head 6 deflect slightly relative to the end of the primary rocker mechanism.

[0040] On the basis of the above embodiments, as a preferred embodiment of the synchronous second lining assembly system, the grab head 6 includes a grab head articulated seat 601 connected to the end of the primary rocker mechanism and a grab head base 602 hinged to the grab head articulated seat 601, the grab head base 602 is hinged to the grab head platform 604 through a plurality of fine-tuning cylinders 603, and the secondary rocker mechanism is connected between the grab head base 602 and the end of the primary rocker mechanism.

[0041] On the basis of the above-mentioned embodiment, as a preferred embodiment of the synchronous secondary lining assembly system, the lower passage equipment includes a power locomotive 50, a mortar truck 40, a box culvert transporter 30, a segment transporter 20, and a secondary lining prefabricated component transporter 10. The secondary lining prefabricated component transporter 10 includes a frame 101 and a slewing frame 102 for carrying secondary lining prefabricated components 103. The slewing frame 102 is rotatably matched with the frame 101 through a transport vehicle rocker mechanism. The transport vehicle rocker mechanism also includes an oil cylinder and a rocker. In order to ensure the rotation accuracy of the slewing frame, a stroke sensor is installed on the oil cylinder. At the same time, a slewing limit block is welded on the slewing frame 102, and another limit block is welded on the transport vehicle 10 to ensure the 90° rotation of the slewing frame 102.

[0042] On the basis of the above-mentioned embodiments, as a preferred embodiment of the synchronous second lining assembly system, the visual scanning system 12 is a visual scanning system for planning the optimal assembly trajectory and controlling the posture and motion of the ring gear track assembly 13 and the second lining assembly robot arm 5 .

[0043] As a preferred embodiment of the synchronous secondary lining assembly system, the structure of the system is described as follows: The tunnel pipe 1 is composed of assembled segment rings during the tunneling process of the shield machine; Trailer 2, used to carry the supporting equipment of the shield machine; Second lining trailer 3, used to support the ring gear track assembly 13; The driving mechanism 4 drives the second lining assembly mechanical arm 5 to perform a rotary motion; The secondary lining assembly robot arm 5 retracts the secondary lining prefabricated part 103 to a designated position through the grabbing head 6; A grabbing head 6 is used to grab the secondary lining prefabricated part; The upper gear ring track 7, the left gear ring track 8, the right gear ring track 9, and the track on which the driving mechanism 4 drives the second lining assembly mechanical arm 5 to rotate; The secondary lining prefabricated component transport vehicle 10 is used to carry the secondary lining prefabricated components 103 and can rotate the secondary lining prefabricated components 103 on the transport vehicle by 90°; The air duct 11 can be used to transport fresh air outside the tunnel to the working area of ​​the shield machine personnel.

[0044] A use process of a synchronous secondary lining assembly system: The power locomotive 50 is connected to the secondary lining prefabricated component transport vehicle 10, the mortar vehicle 40, the box culvert transport vehicle 30, the pipe segment transport vehicle 20, etc., and after the locomotive transports the secondary lining prefabricated component 103 to the bottom of the secondary lining trailer 3, the connection between the secondary lining prefabricated component transport vehicle 10 and the locomotive 50 is disconnected, and the locomotive 50 continues to drive the box culvert and the pipe segments forward in the tunnel excavation direction, and while assembling the secondary lining prefabricated component 103, the pipe segments and the box culvert are assembled synchronously.

[0045] The secondary lining prefabricated component transport vehicle 10 transports the secondary lining prefabricated component to the bottom of the secondary lining trailer 3, and rotates the secondary lining prefabricated component 103 by 90° in the rotation area below the secondary lining trailer 3; the visual scanning system 12 on the secondary lining trailer 3 scans and identifies the position of the secondary lining prefabricated component 103 to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly system, and controls the corresponding oil cylinder to drive the rocker to move, so that the left and right gear ring tracks 8 or the right gear ring track 9 rotates by 90°; when the left and right gear ring tracks 8 or the right gear ring track 9 are adjusted to the corresponding position, the driving mechanism 4 drives the secondary lining assembly mechanical arm 5 to rotate to the bottom of the secondary lining trailer 3, and when the grab head 6 grabs the secondary lining When the prefabricated parts 103 are being assembled, the secondary lining prefabricated parts transport vehicle 10 retreats to a safe area to avoid interfering with the prefabricated parts to be assembled; when the secondary lining prefabricated parts transport vehicle 10 retreats to a safe area, the driving mechanism 4 drives the secondary lining assembly robot arm 4 and the secondary lining prefabricated parts 103 to be assembled to rotate to the assembly position, and adjusts the multi-stage telescopic cylinder for auxiliary assembly; the visual scanning system 12 installed on the secondary lining trailer 3 collects the position information of the assembled secondary lining prefabricated parts 103, and the collected information is fed back to the secondary lining assembly robot arm 5 to control the adjustment cylinder at the grab head 6 at the end of the secondary lining assembly robot arm 5 to fine-tune and install the secondary lining prefabricated parts 103.

[0046] The specific technical solution and implementation process are as follows: The secondary lining prefabricated component transport vehicle 10 is composed of a vehicle frame 101, a rotating frame 102, a rocker 1000, a cylinder 100, etc. The secondary lining prefabricated component 103 is placed on the rotating frame 102, and the cylinder 100 acts on the rocker 1000 by telescoping, thereby driving the rotating frame 102 to rotate, so that the secondary lining prefabricated component 103 on the rotating frame 102 rotates 90°. The cylinder 100 on the secondary lining prefabricated component transport vehicle 10 is driven by hydraulic pressure. When the secondary lining prefabricated component 103 needs to rotate 90°, when it is adjusted from vertical placement to horizontal placement, the cylinder 100 extends to drive the rocker and then rotate the rotating frame. After the assembly of the secondary lining prefabricated component is completed, the cylinder 100 retracts to the initial state. During the entire assembly process, the rotating frame rotates within a rotation range of 0~90°.

[0047] In order to ensure the smooth rotation of the rotating frame 102, the multi-way valve controls the flow to remain constant, thereby controlling the speed of the oil cylinder to be constant, thereby ensuring the smooth rotation of the rotating frame. In order to ensure the rotation accuracy of the rotating frame 102, a stroke sensor is installed on the oil cylinder 100, and a rotation limit block is welded on the rotating frame 102, and another limit block is welded on the transport vehicle to ensure the 90° rotation of the rotating frame 102. In order to ensure the stability of the secondary lining prefabricated part 103 on the rotating frame 102 during the rotation process, it is fixed by a strap.

[0048] The gear ring track assembly 13 is composed of an upper gear ring track 7, a left gear ring track 8 and a right gear ring track 9. In order not to affect ventilation during the synchronous assembly of the secondary lining, the upper gear ring track 7 is fixed, and the ventilation pipe 11 passes through the upper gear ring track 7. In order not to affect the passage of the marshaling car, mortar car, segment car, locomotive head, etc., the arc of the upper gear ring track 7, the left gear ring track 8 and the right gear ring track 9 are all 90°. When a car needs to travel from the middle, the left gear ring track 8 and the right gear ring track 9 are fixed on the left and right sides, which does not affect the normal segment and material transportation. The left gear ring track 8 and the right gear ring track 9 can both rotate around the rotating shaft. The gear ring rocker mechanism includes two oil cylinders 200 and two rocker 2000. One end of one oil cylinder 200 is connected to the upper gear ring track 7 through a Hook hinge, and the other end is connected to the rocker 2000 on the left gear ring track 8 through a Hook hinge. One end of the other oil cylinder 200 is connected to the upper gear ring track 7 through a Hook hinge, and the other end is connected to the rocker 2000 on the right gear ring track 9 through a Hook hinge. The oil cylinder 200 is extended and drives the rocker 2000 to rotate the left gear ring track 8 and the right gear ring track 9.

[0049] In order to avoid the rotation of the left gear ring track 8 and the right gear ring track 9 interfering with the fluid pipelines and cables in the tunnel, the fluid pipelines and cables can be placed on the box culvert, which will not affect the material transportation or the assembly of the secondary lining prefabricated parts, and reduce the construction efficiency caused by the transportation of the line due to the assembly of the secondary lining prefabricated parts.

[0050] The second lining assembly mechanical arm 5 is connected to the driving mechanism 4, and the driving mechanism 4 drives the pinion to move on the gear ring track assembly 13 through the motor reducer, thereby driving the second lining assembly mechanical arm 5 to perform a rotary motion. The second lining assembly mechanical arm 5 is composed of a mechanical arm frame 501, a rocker 3000, a cylinder 300, a cylinder 400, etc., and the grab head 6 includes a grab head articulated seat 601, a grab head base 602, a fine adjustment cylinder 603, a grab head platform 604, etc.

[0051] One end of the oil cylinder 300 is connected to the mechanical arm frame 501 through a Hooke's hinge, and the other end is connected to the rocker 3000. The mechanical arm frame 501 is connected to the rocker 3000 through a Hooke's hinge. The extension of the oil cylinder 300 drives the rocker 3000 to rotate around the hinge point between the mechanical arm frame 501 and the rocker 3000 for one section of adjustment, which is a primary rocker mechanism.

[0052] One end of the oil cylinder four 400 is connected to the rocker three 3000 through a Hooke's hinge, and the other end is connected to the grab head base 602 through a Hooke's hinge. The grab head articulated seat 601 is connected to one end of the grab head base 602 through a Hooke's hinge, and the other end of the grab head articulated seat 601 is fixed on the rocker three 3000. The oil cylinder four 400 is extended and retracted to drive the grab head to perform secondary adjustment through the grab head hinge point, which is a secondary rocker mechanism; there are 6 fine-tuning oil cylinders 603 at the grab head, one end of the fine-tuning oil cylinder 603 is connected to the grab head base 602 through a Hooke's hinge, and the other end is connected to the grab head platform 604 through a Hooke's hinge. According to the feedback data, the second lining prefabricated part 103 to be assembled is accurately adjusted in the xyz direction and around the xyz angle.

[0053] In the present invention, a load-sensitive multi-way valve is provided to accurately control the extension and retraction of the interstage oil cylinder. Each working linkage of the multi-way valve controls a hydraulic cylinder. Through the electronic control program, a certain link of the multi-way valve is switched from the neutral position to the working position. The hydraulic oil output by the link can control the extension or retraction of the corresponding oil cylinder. The pressure compensator configured in the multi-way valve can accurately control the output flow of the oil port, and thus can accurately control the movement speed of the oil cylinder.

[0054] The present invention installs a visual scanning system 12 on the secondary lining trailer 3, which identifies the position of the secondary lining prefabricated parts to be assembled through the visual scanning system 12, calculates the optimal assembly trajectory of the secondary lining assembly mechanical arm 5, and then controls the left or right gear ring track to rotate to the corresponding position; at the same time, the visual scanning system 12 can collect the position information of the assembled secondary lining, and feed the collected position information back to the secondary lining assembly mechanical arm, and fine-tune the assembly position of the secondary lining prefabricated parts by controlling multiple telescopic cylinders at the end of the secondary lining assembly mechanical arm.

[0055] In the present invention, a slewing frame 102 is designed on the secondary lining prefabricated transport vehicle 10 to allow the secondary lining prefabricated part 103 to rotate 90°. A single-beam crane can also be designed to lift the secondary lining prefabricated part from the transport vehicle, and then transport it to the area to be rotated for rotation. After rotation, it is placed on the ground and then grabbed by a grab head. In the present invention, three gear ring tracks are designed to facilitate the passage of marshaling vehicles, and a liftable gear ring track can also be designed in the middle. When a marshaling vehicle needs to pass, the gear ring track is lifted.

[0056] A synchronous secondary lining assembly method, using the synchronous secondary lining assembly system described in any one of the above embodiments, the secondary lining prefabricated part transport vehicle 10 transports the secondary lining prefabricated part 103 to the bottom of the secondary lining trolley 3, and rotates the secondary lining prefabricated part 103 90° in the rotation area below the secondary lining trolley 3; the visual scanning system 12 identifies the position information of the secondary lining prefabricated part 103 to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly mechanical arm 5, and controls the gear ring rocker mechanism or the lifting mechanism to adjust the position of the gear ring track assembly 13; at the same time; when the gear ring track assembly 13 is adjusted to the corresponding position, the driving mechanism 4 drives the secondary lining assembly mechanical arm 5 to rotate When the grab head 6 grabs the second lining prefabricated part 103, the second lining trolley 3 retreats to a safe area to avoid interfering with the second lining prefabricated part 103 to be assembled; when the second lining trolley 3 retreats to the safe area, the driving mechanism 4 drives the second lining assembly robot arm 5 and the second lining prefabricated part 103 to be assembled to rotate to the assembly position, and the visual scanning system 12 collects the position information of the assembled second lining prefabricated part 103, and feeds the collected position information back to the second lining assembly robot arm 5, and assembles the second lining prefabricated part 103 to be assembled by controlling the first-level rocker mechanism, the second-level rocker mechanism and the fine-tuning cylinder 603.

[0057] On the basis of the above embodiment, as a preferred embodiment of the synchronous second lining assembly method, the specific fine-tuning calculation process includes the following steps: ① Grab the secondary lining prefabricated part 103 to be assembled by the grab head 6 on the synchronous secondary lining assembly system; ② Collecting the position information of the currently assembled second lining prefabricated parts 103 through the visual scanning system 12; ③ Inputting the point cloud feature information of the assembled secondary lining prefabricated component 103 into the feature recognition processing module; ④ The feature recognition processing module of the control system obtains a relationship data set between the second lining prefabricated component 103 to be assembled and the tunnel axis according to the point cloud feature information of the assembled second lining prefabricated component 103; ⑤ The second lining prefabricated component posture information processing module of the control system obtains the posture coordinates of the assembled second lining prefabricated component 103 in the tunnel coordinate system according to the relational data set; ⑥ The motion prediction module of the control system predicts the target posture coordinates of the second lining prefabricated component 103 to be assembled in the synchronous second lining assembly system according to the posture coordinates of the second lining prefabricated component 103 to be assembled in the tunnel coordinate system; ⑦ The target position coordinates of the second lining prefabricated component 103 to be assembled in the tunnel coordinate system are converted into the target position coordinates of the second lining prefabricated component 103 to be assembled in the synchronous second lining assembly system coordinate system through the control system; ⑧ The control system drives the second lining assembly robot 5 to move the second lining prefabricated part 103 to be assembled to the position to be assembled according to the target position coordinates of the second lining prefabricated part 103 in the coordinate system of the synchronous second lining assembly system; On the basis of the above embodiment, as a preferred embodiment of the synchronous secondary lining assembly method, in order to overcome the poor light and dusty environment in the tunnel to maintain the accuracy of recognition and calculation and improve the recognition accuracy of the system, the following method will be adopted: In order to improve the detection effect of the visual scanning system 12 on the input image, the homomorphic filtering method is firstly adopted to improve the image quality by compressing the image brightness range and enhancing the contrast. The main process is as follows.

[0058] First, the image Expressed as an illumination-reflection model.

[0059] (1) in, Represents the pixels in the image, represents the original collected slag image, Represents the low-frequency lighting part, Represents the high-frequency reflection part, through The operation separates the illuminated and reflected parts of the image.

[0060] (2) Separate the two in the frequency domain and take Fourier transform on both sides get.

[0061] (3) in, ,respectively express , The Fourier transform is used to process the illumination component and reflection component in the image to different degrees using frequency domain filters, so that the image with uneven illumination can be well improved.

[0062] Based on The homomorphic filter of the high-pass filter is used to reduce the influence of the low-frequency part. , emphasizing the high frequency part , making the texture part more prominent. is the steepness parameter of the Gaussian function, for The square distance to the center of the image after transformation, is the cut-off frequency.

[0063] Inversely transform the filtered result from the frequency domain back to the spatial domain: You can get the image after frequency filtering ,in is the inverse Fourier transform.

[0064] After homomorphic filtering, the image is further enhanced using contrast-limited adaptive histogram equalization (CLAHE), which limits noise amplification and local contrast enhancement by limiting the height of the local histogram. The final improved image histogram is: in, for The maximum slope of the square sliding window is defined as follows: is the maximum height of the histogram in the image, the threshold set for truncating and dividing the histogram, and the height of the overall rise of the histogram, which is obtained by dividing the sum of the parts of the histogram above the threshold to all gray levels. After the two graphic processing steps of homomorphic filtering and contrast-limited adaptive histogram equalization, the information features in the visual scanning system 12 are significantly enhanced, which is conducive to the model to extract and identify more information features.

[0065] During the excavation process, the real-time detection and recognition of assembled secondary lining prefabricated parts and those to be assembled are targeted, and YOLOv5s suitable for embedded device deployment is selected as the basic detection model for secondary lining prefabricated part recognition. In order to overcome the problem of dim background reducing the recognition effect, the SE attention module is introduced into the backbone network to solve the loss problem caused by different feature maps and different channel proportions in the convolution pooling process of the YOLOv5s model. The SE attention module first performs a squeeze operation. , perform global pooling on the input feature map to generate A one-dimensional matrix with a global receptive field; the excitation operation Through two fully connected layers , using nonlinear operations to fit the correlation of channels, adding The function increases the nonlinearity between channels and is added after the second fully connected layer. The function performs weight normalization operation to obtain the attached channel weights Matrix, and finally the scaling operation , will get The feature map is fully multiplied with the input feature map, and the weight is added to the input feature map, so that a feature map with different channel weights is obtained. . The SE attention module is added to the C3 module of the backbone network of the YOLOv5 module and before the SPPF layer. The C3-SE module gives higher weights to feature layers of different scales. The SE attention module before the SPPF can strengthen the fused local features and global features and enrich the expressiveness of the feature map. The C3-SE module further optimizes the identified feature information and gives a weight ratio to small channel targets, which can greatly improve the model accuracy.

[0066] The details not described in detail in the present invention are all conventional technical means known to those skilled in the art.

[0067] The above content shows and describes the basic principles, main features and beneficial effects of the present invention. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A synchronous secondary lining assembly system, comprising a secondary lining trolley (3), characterized in that: The secondary lining trolley (3) comprises a gear ring track assembly (13) arranged on the secondary lining trolley frame and a secondary lining assembly robot arm (5) that moves along the gear ring track assembly (13) through a driving mechanism (4), and a grab head (6) is connected to the end of the secondary lining assembly robot arm (5); the gear ring track assembly (13) comprises a left gear ring track (8) and a right gear ring track (9) that can be rotated to avoid passing equipment below; or the gear ring track assembly (13) comprises a lower gear ring track that can be raised and lowered to avoid passing equipment below; the posture movements of the gear ring track assembly (13) and the secondary lining assembly robot arm (5) are all controlled by a visual scanning system (12).

2. The synchronous secondary lining assembly system according to claim 1 is characterized in that: When the gear ring track assembly (13) includes a left gear ring track (8) and a right gear ring track (9), it also includes an upper gear ring track (7) fixedly connected to the second lining trolley frame, and the left gear ring track (8) and the right gear ring track (9) are respectively swung relative to the upper gear ring track (7) via corresponding gear ring rocker mechanisms to avoid passing equipment below.

3. The synchronous secondary lining assembly system according to claim 2 is characterized in that: The arcs of the upper gear ring track (7), the left gear ring track (8), and the right gear ring track (9) are all 90 degrees, and the upper gear ring track (7) is provided with a passage space for the air duct (11) to pass through.

4. The synchronous secondary lining assembly system according to claim 1 is characterized in that: When the gear ring track assembly (13) includes a lower gear ring track, it also includes an upper gear ring track (7) fixedly connected to the second lining trolley frame, and a translation mechanism is provided between the lower gear ring track and the lifting mechanism, and the lower gear ring track is circumferentially aligned with or separated from the upper gear ring track (7) through the translation mechanism.

5. The synchronous secondary lining assembly system according to any one of claims 1 to 4, characterized in that: The second lining assembly mechanical arm (5) comprises a mechanical arm frame (501) connected to a driving mechanism (4); the mechanical arm frame (501) is hingedly connected to a grab head (6) via a primary rocker mechanism; a secondary rocker mechanism is provided between the end of the primary rocker mechanism and the grab head (6).

6. The synchronous secondary lining assembly system according to claim 5 is characterized in that: The snatch head (6) comprises a snatch head articulated seat (601) connected to the end of the primary rocker mechanism and a snatch head base (602) articulated to the snatch head articulated seat (601); the snatch head base (602) is articulated to the snatch head platform (604) via a plurality of fine-tuning cylinders (603); and the secondary rocker mechanism is connected between the snatch head base (602) and the end of the primary rocker mechanism.

7. The synchronous secondary lining assembly system according to any one of claims 1 to 4 and 6, characterized in that: The lower passage equipment comprises a power locomotive (50), a mortar truck (40), a box culvert transport truck (30), a segment transport truck (20), and a secondary lining prefabricated component transport truck (10); the secondary lining prefabricated component transport truck (10) comprises a vehicle frame (101) and a slewing frame (102) for carrying secondary lining prefabricated components (103); the slewing frame (102) is rotatably matched with the vehicle frame (101) via a transport vehicle rocker mechanism.

8. The synchronous secondary lining assembly system according to claim 7 is characterized in that: The visual scanning system (12) is a visual scanning system used to plan an optimal assembly trajectory and to control the posture and movement of the gear ring track component (13) and the second lining assembly robot arm (5).

9. A synchronous secondary lining assembly method, characterized in that: According to any one of claims 1 to 8, the synchronous secondary lining assembly system is adopted, wherein the secondary lining prefabricated component transport vehicle (10) transports the secondary lining prefabricated component (103) to the bottom of the secondary lining trolley (3), and rotates the secondary lining prefabricated component (103) by 90° in the rotation area below the secondary lining trolley (3); the visual scanning system (12) identifies the position information of the secondary lining prefabricated component (103) to be assembled, calculates the optimal assembly trajectory of the secondary lining assembly robot arm (5), and controls the gear ring rocker mechanism or the lifting mechanism to adjust the position of the gear ring track assembly (13); at the same time, when the gear ring track assembly (13) is adjusted to the corresponding position, the driving mechanism (4) drives the secondary lining assembly robot arm (5) to rotate to the secondary lining trolley ( 3) below, when the grab head (6) grabs the secondary lining prefabricated part (103), the secondary lining trolley (3) retreats to a safe area to avoid interference with the secondary lining prefabricated part (103) to be assembled; when the secondary lining trolley (3) retreats to the safe area, the driving mechanism (4) drives the secondary lining assembly mechanical arm (5) and the secondary lining prefabricated part (103) to be assembled to rotate to the assembly position, and the visual scanning system (12) collects the position information of the assembled secondary lining prefabricated part (103), feeds the collected position information back to the secondary lining assembly mechanical arm (5), and assembles the secondary lining prefabricated part (103) to be assembled by controlling the primary rocker mechanism, the secondary rocker mechanism and the fine adjustment cylinder (603).

10. The synchronous secondary lining assembly method according to claim 9 is characterized in that The following steps are involved: ① grabbing the secondary lining prefabricated component (103) to be assembled by means of a grab head (6) on the synchronous secondary lining assembly system; ② Collecting the position information of the currently assembled second lining prefabricated component (103) through the visual scanning system (12); ③ Inputting the point cloud feature information of the assembled secondary lining prefabricated component (103) into the feature recognition processing module; ④ The feature recognition processing module of the control system obtains a relationship data set between the second lining prefabricated parts (103) to be assembled and the tunnel axis according to the point cloud feature information of the assembled second lining prefabricated parts (103); ⑤ the second lining prefabricated component posture information processing module of the control system obtains the posture coordinates of the assembled second lining prefabricated component (103) in the tunnel coordinate system according to the relational data set; ⑥ The motion prediction module of the control system predicts the target posture coordinates of the second lining prefabricated component (103) to be assembled in the synchronous second lining assembly system according to the posture coordinates of the second lining prefabricated component (103) to be assembled in the tunnel coordinate system; ⑦ converting the target position coordinates of the second lining prefabricated component (103) to be assembled in the tunnel coordinate system into the target position coordinates of the second lining prefabricated component (103) to be assembled in the synchronous second lining assembly system coordinate system through the control system; ⑧ The control system drives the second lining assembly robot arm (5) to move the second lining prefabricated part (103) to be assembled to the position to be assembled according to the target position coordinates of the second lining prefabricated part (103) in the coordinate system of the synchronous second lining assembly system; The visual scanning system (12) detects the input image using a homomorphic filtering method, thereby improving the quality of the input image by compressing the image brightness range and enhancing the contrast.

Images