Precision-adjusting positioning equipment and positioning method for erecting large-segment prefabricated pipe gallery

Abstract

The present invention belongs to the technical field of pipe gallery construction, and in particular, is a kind of fine-tuning positioning equipment and positioning method for erecting a large pipe section prefabricated pipe gallery, comprising a U-shield, a pipe-hanging machine, a prefabricated pipe section, and a pipe-section transport vehicle for transporting the prefabricated pipe section. The inner surface of the tail shield of the U-shield is symmetrically provided with auxiliary positioning mechanisms, and a positioning system is provided between the pipe-hanging machine and the U-shield. The fine-tuning positioning equipment and positioning method for erecting a large pipe section prefabricated pipe gallery, by providing an auxiliary positioning mechanism, facilitates timely adjustment of the position of the prefabricated pipe section during the descent of the prefabricated pipe section, so that the prefabricated pipe section can be lowered to a specified position, thereby facilitating installation. The extension of the hydraulic cylinder piston rod drives the first connecting rod and the second connecting rod to rotate, thereby driving the positioning plate to move, and applying pressure to both ends of the prefabricated pipe section through the positioning plate to achieve the effect of adjusting the prefabricated pipe rack.

Description

Technical Field

[0001] The present invention relates to the technical field of pipe gallery construction, and in particular to fine-tuning positioning equipment and a positioning method for erecting a large-pipe-segment prefabricated pipe gallery. Background Art

[0002] Chinese patent application number CN218816446U discloses a U-shaped shield machine pipe segment auxiliary installation and fine-tuning device, comprising an auxiliary installation mechanism and a fine-tuning mechanism correspondingly mounted on the inner wall of the tail shield. The fine-tuning mechanism comprises a four-bar linkage assembly and a drive member that drives the four-bar linkage assembly relative to the inner wall of the tail shield. The four-bar linkage assembly is equipped with a push plate for pushing the pipe segment. This prior art utilizes the auxiliary installation mechanism to pre-coarsely adjust the position of the suspended pipe segment while preventing it from colliding with the fine-tuning mechanism. The fine-tuning mechanism then precisely fine-tunes the pipe segment's centering, achieving one-time installation and precise and efficient installation of the pipe segment.

[0003] However, the auxiliary fine-tuning device cannot accurately monitor the distance between the two sides of the pipe section and the inner wall of the U-shield tail shield when in use, and thus cannot accurately control the telescopic length of the push-pull cylinders on both sides. At the same time, it cannot accurately lower the pipe section according to the deformation of the wire rope during lifting, which makes the pipe section susceptible to damage and affects the installation efficiency. Summary of the Invention

[0004] Based on the above-mentioned existing technical problems, the present invention proposes a fine-tuning positioning equipment and positioning method for the erection of a large-segment prefabricated pipe gallery.

[0005] The present invention proposes a fine-tuning and positioning equipment for erecting a large pipe section prefabricated pipe gallery, which includes a U-shield, a pipe-erecting machine, a prefabricated pipe section, and a pipe-section transport vehicle for transporting the prefabricated pipe section. The inner surface of the tail shield of the U-shield is symmetrically distributed with auxiliary positioning mechanisms, and a positioning system is provided between the pipe-erecting machine and the U-shield.

[0006] The auxiliary positioning mechanism includes mounting grooves symmetrically distributed on the inner surface of the U-shield tail shield and a positioning plate arranged inside the mounting grooves. The inner walls of the two mounting grooves are symmetrically hinged with hydraulic cylinders.

[0007] The positioning system includes a computer, a GPS, a gravity sensor arranged on the steel wire rope of the pipe rack, two first distance sensors embedded on the surface of the pipe rack, and a camera arranged on the lower surface of the pipe rack.

[0008] Preferably, the auxiliary positioning mechanism also includes two first connecting rods and two second connecting rods hinged on the inner wall of the mounting groove, the free ends of the two first connecting rods and the two second connecting rods are respectively hinged to the surface of the positioning plate through pins, and one end of the piston rod of the two hydraulic cylinders is sleeved on the surface of the pin.

[0009] Through the above technical solution, the hydraulic cylinder is started, so that the piston rod of the hydraulic cylinder extends to push the pin shaft, and the pin shaft transmits power through the first connecting rod and the second connecting rod to rotate the first connecting rod and the second connecting rod, thereby driving the positioning plate to move. The positioning plate applies force to the prefabricated pipe section to achieve precise positioning.

[0010] Preferably, auxiliary units are symmetrically distributed on the inner surface of the U-shield tail shield, and the auxiliary units are multiple trapezoidal auxiliary blocks, wherein the opposite side surfaces of two auxiliary blocks located on different sides are both embedded with second distance sensors.

[0011] Through the above technical solution, the second distance sensor transmits a measurement signal and receives the signal reflected from the prefabricated pipe segment, calculates the signal round-trip time or phase change, thereby determining the distance between the auxiliary block and the prefabricated pipe segment, and transmits the measurement data to the computer of the control system for analysis and processing.

[0012] Preferably, the inner wall of the mounting slot is provided with a groove, the inner wall of the groove is hinged with a T-shaped inner tube, the surface of the T-shaped inner tube is slidably clamped with an outer tube, and the end of the outer tube away from the T-shaped inner tube is hinged to the inner surface of the positioning plate.

[0013] With the above technical solution, the outer tube is driven to move along the surface of the T-shaped inner tube as the positioning plate moves, thereby facilitating the positioning function and avoiding deviation or skew.

[0014] Preferably, a sponge block soaked in lubricating oil is provided inside the T-shaped inner tube, and a cover is sleeved on the outer surface of the sponge block, and the outer surface of the cover is slidably engaged with the inner wall of the T-shaped inner tube, and a rack is fixedly connected to the outer surface of the cover, and a gear is installed on the inner wall of the T-shaped inner tube through a bearing, and the gear is meshed with the rack, and a rotating shaft is fixedly sleeved at the axis of the gear, and a bracket is embedded in the surface of the T-shaped inner tube, one end of the rotating shaft is installed with one side surface of the bracket through a bearing, and a driving motor is fixedly installed on the other side surface of the bracket, and one end of the output shaft of the driving motor is fixedly sleeved with one end of the rotating shaft.

[0015] Through the above technical solution, the rotation of the output shaft of the driving motor drives the rotating shaft connected to it to rotate, the rotation of the rotating shaft drives the gear connected to it to rotate, the rotation of the gear drives the rack meshing with it to move, the movement of the rack drives the cover to move, and the movement of the cover drives the sponge block to move.

[0016] Preferably, an extrusion column is fixedly installed on the inner wall of the outer tube, the surface of the extrusion column is slidably connected to the inner wall of the T-shaped inner tube, and the surface of the T-shaped inner tube is provided with liquid outlets distributed in a circular array, and the liquid outlets are connected to the cover shell.

[0017] Through the above technical solution, the movement of the sponge block is squeezed by the squeezing column, so that the lubricating oil flows out through the liquid outlet, thereby facilitating the lubrication of the T-shaped inner tube and the outer tube.

[0018] Preferably, the positioning system also includes a support plate fixedly mounted on the surface of the pipe rack, a concave mounting seat fixedly mounted on the upper surface of the support plate, a screw is mounted on the inner wall of the concave mounting seat through a bearing, a slider is threadedly sleeved on the surface of the screw, a servo motor is fixedly mounted on one side surface of the concave mounting seat, and one end of the output shaft of the servo motor is fixedly sleeved on one end of the screw.

[0019] Through the above technical solution, the rotation of the servo motor output shaft drives the screw connected thereto to rotate.

[0020] Preferably, a sliding groove is provided on the surface of the support plate, and the surface of the slider is slidably engaged with the inner wall of the concave mounting seat and the inner wall of the sliding groove respectively, and the camera is fixedly mounted on the end surface of the slider extending out of the sliding groove.

[0021] Through the above technical solution, the rotation of the screw drives the slider connected thereto to slide along the inner wall of the concave mounting seat and the inner wall of the sliding groove, and the movement of the slider drives the camera to move.

[0022] The present invention proposes a method for fine-tuning and positioning the installation of a large-segment prefabricated pipe gallery, comprising the following steps:

[0023] S1. Move the pipe-erector-mounting machine to the top of the prefabricated pipe segment, ensure that the relative positions of the pipe-erector-mounting machine and the prefabricated pipe segment are correct, and use GPS to obtain the real-time position information of the pipe-erector-mounting machine.

[0024] S2. Use the first distance sensor to measure the distance between the pipe segment transport vehicle and the pipe racking machine, transmit the measured data to the computer for further analysis and adjustment, and then control the pipe segment transport vehicle to ensure the relative position of the prefabricated pipe segment and the pipe racking machine.

[0025] S3. Use the camera to determine the position of the pipe segment transport vehicle, and use the gravity sensor to monitor the gravity changes on the pipe crane wire rope in real time when the pipe crane lifts the prefabricated pipe segment. , thus calculating the wire rope deformation , to determine the position of the prefabricated pipe section.

[0026] S4. Then use the camera to determine the position of the prefabricated pipe segment, and use the second distance sensor to measure the distance between the U shield tail shield and the prefabricated pipe segment. The measurement data is transmitted to the computer for further analysis and adjustment, and then the auxiliary positioning mechanism is controlled to adjust the position of the prefabricated pipe segment.

[0027] Preferably, the deformation amount in S3 The calculation formula is: ;in, is the elastic modulus of the wire rope, is the cross-sectional area of ​​the wire rope, is the original length of the wire rope.

[0028] The beneficial effects of the present invention are:

[0029] 1. By setting up an auxiliary positioning mechanism, the position of the prefabricated pipe segment can be adjusted in time during the lowering process of the prefabricated pipe segment, so that the prefabricated pipe segment can be lowered to the specified position, thereby facilitating installation. The extension of the hydraulic cylinder piston rod drives the first connecting rod and the second connecting rod to rotate, thereby driving the positioning plate to move. The positioning plate applies pressure to both ends of the prefabricated pipe segment to achieve the effect of adjusting the prefabricated pipe rack.

[0030] 2. By setting up a positioning system and using a camera to monitor the position changes of prefabricated pipe sections in real time, the pipe-erecting machine can accurately position the prefabricated pipe sections during lifting. At the same time, the deformation of the wire rope is calculated using the data monitored by the gravity sensor, and it cooperates with the auxiliary positioning mechanism to achieve the effect of facilitating installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of a large pipe section prefabricated pipe gallery installation and fine-tuning positioning equipment proposed by the present invention;

[0032] Figure 2 A three-dimensional diagram of the positioning plate structure of a large pipe segment prefabricated pipe gallery erection fine-tuning positioning equipment proposed by the present invention;

[0033] Figure 3 A three-dimensional diagram of the auxiliary block structure of the fine-tuning and positioning equipment for erecting a large-segment prefabricated pipe gallery proposed by the present invention;

[0034] Figure 4 A three-dimensional diagram of the outer pipe structure of a large-segment prefabricated pipe gallery erection fine-tuning and positioning equipment proposed by the present invention;

[0035] Figure 5 A three-dimensional diagram of the T-shaped inner pipe structure of the fine-tuning and positioning equipment for erecting a large-segment prefabricated pipe gallery proposed by the present invention;

[0036] Figure 6A three-dimensional diagram of the extruded column structure of a large-segment prefabricated pipe gallery installation fine-tuning and positioning equipment proposed by the present invention;

[0037] Figure 7 A three-dimensional diagram of the cover structure of a large pipe segment prefabricated pipe gallery erection fine-tuning and positioning equipment proposed by the present invention;

[0038] Figure 8 A three-dimensional diagram of the drive motor structure of a large-segment prefabricated pipe gallery installation and fine-tuning positioning equipment proposed by the present invention;

[0039] Figure 9 This is a block diagram of the positioning system for the fine-tuning positioning equipment for erecting large-segment prefabricated pipe gallery proposed by the present invention;

[0040] Figure 10 A stereoscopic diagram of the camera structure of a large pipe section prefabricated pipe gallery installation fine-tuning and positioning equipment proposed by the present invention;

[0041] Figure 11 This is a three-dimensional diagram of the screw structure of the fine-tuning positioning equipment for erecting a large-segment prefabricated pipe gallery proposed by the present invention.

[0042] In the figure: 1. U-shield; 2. Pipe rack; 3. Prefabricated pipe section; 4. Pipe section transport vehicle; 5. Mounting groove; 51. Positioning plate; 52. Hydraulic cylinder; 53. First connecting rod; 54. Second connecting rod; 55. Auxiliary block; 56. Second distance sensor; 57. Groove; 58. T-shaped inner tube; 59. Outer tube; 510. Sponge block; 511. Cover; 512. Rack; 513. Gear; 514. Rotating shaft; 515. Bracket; 516. Drive motor; 517. Extrusion column; 518. Liquid outlet; 6. Computer; 61. GPS; 62. Gravity sensor; 63. First distance sensor; 64. Camera; 65. Support plate; 66. Concave mounting seat; 67. Screw; 68. Slider; 69. Servo motor; 610. Slide groove. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] Reference Figures 1-11 A large pipe segment prefabricated pipe gallery installation fine-tuning positioning equipment includes a U-shield 1, a pipe-erecting machine 2, a prefabricated pipe segment 3, and a pipe segment transport vehicle 4 for transporting the prefabricated pipe segment 3. The inner surface of the tail shield of the U-shield 1 is symmetrically distributed with auxiliary positioning mechanisms, and a positioning system is provided between the pipe-erecting machine 2 and the U-shield 1.

[0045] Among them, in order to adjust the position of the prefabricated pipe section 3, the auxiliary positioning mechanism includes mounting grooves 5 symmetrically distributed on the inner surface of the tail shield of the U shield 1 and a positioning plate 51 arranged inside the mounting grooves 5, and the inner walls of the two mounting grooves 5 are symmetrically distributed and hinged with hydraulic cylinders 52.

[0046] In order to drive the positioning plate 51 to move, the auxiliary positioning mechanism also includes two first connecting rods 53 and two second connecting rods 54 hinged on the inner wall of the mounting groove 5. The free ends of the two first connecting rods 53 and the two second connecting rods 54 are respectively hinged to the surface of the positioning plate 51 through pins. One end of the piston rod of the two hydraulic cylinders 52 is sleeved on the surface of the pin. By starting the hydraulic cylinder 52, the piston rod of the hydraulic cylinder 52 is extended to push the pin. The pin transmits power through the first connecting rod 53 and the second connecting rod 54 to rotate the first connecting rod 53 and the second connecting rod 54, thereby driving the positioning plate 51 to move. The positioning plate 51 applies force to the prefabricated pipe section 3 to achieve precise positioning.

[0047] In order to measure the position of the prefabricated pipe segment 3 when placed in the tail shield, auxiliary units are symmetrically distributed on the inner surface of the tail shield of the U shield 1. The auxiliary units are multiple trapezoidal auxiliary blocks 55. The surfaces of the opposite sides of two auxiliary blocks 55 on different sides are embedded with second distance sensors 56. The second distance sensors 56 emit measurement signals and receive signals reflected from the prefabricated pipe segment 3. The round-trip time or phase change of the signals is calculated to determine the distance between the auxiliary blocks 55 and the prefabricated pipe segment 3. The measurement data is transmitted to the computer 6 of the control system for analysis and processing.

[0048] In order to support the movement of the positioning plate 51, a groove 57 is opened on the inner wall of the installation groove 5, and a T-shaped inner tube 58 is hinged on the inner wall of the groove 57. The surface of the T-shaped inner tube 58 is slidably clamped with an outer tube 59. The end of the outer tube 59 away from the T-shaped inner tube 58 is hinged to the inner surface of the positioning plate 51. As the positioning plate 51 moves, the outer tube 59 is driven to move along the surface of the T-shaped inner tube 58, thereby facilitating the positioning function and avoiding offset or skew.

[0049] In order to lubricate the T-shaped inner tube 58 and the outer tube 59, a sponge block 510 soaked in lubricating oil is provided inside the T-shaped inner tube 58, and the outer surface of the sponge block 510 is sleeved with a cover shell 511, and the outer surface of the cover shell 511 is slidably engaged with the inner wall of the T-shaped inner tube 58, and the outer surface of the cover shell 511 is fixedly connected with a rack 512, and the inner wall of the T-shaped inner tube 58 is installed with a gear 513 through a bearing, and the gear 513 is meshed with the rack 512. A rotating shaft 514 is fixedly sleeved at the axis center of the gear 513, and a bracket 515 is embedded in the surface of the T-shaped inner tube 58. One end of the rotating shaft 514 is installed with a side surface of the bracket 515 through a bearing, and a driving motor 516 is fixedly installed on the other side surface of the bracket 515. One end of the output shaft of the driving motor 516 is fixed to one end of the rotating shaft 514 The outer tube 59 is fixedly connected with an extrusion column 517, and the surface of the extrusion column 517 is slidably connected to the inner wall of the T-shaped inner tube 58. The surface of the T-shaped inner tube 58 is provided with liquid outlets 518 in a circular array. The liquid outlet 518 is communicated with the cover shell 511. The rotation of the output shaft of the drive motor 516 drives the rotating shaft 514 connected thereto to rotate. The rotation of the rotating shaft 514 drives the gear 513 connected thereto to rotate. The rotation of the gear 513 drives the rack 512 meshing therewith to move. The movement of the rack 512 drives the cover shell 511 to move. The movement of the cover shell 511 drives the sponge block 510 to move. The movement of the sponge block 510 is squeezed by the extrusion column 517, so that the lubricating oil flows out through the liquid outlet 518, thereby facilitating the lubrication of the T-shaped inner tube 58 and the outer tube 59.

[0050] By providing an auxiliary positioning mechanism, it is convenient to adjust the position of the prefabricated pipe segment 3 in time during the lowering process of the prefabricated pipe segment 3, so that the prefabricated pipe segment 3 can be lowered to a specified position, thereby facilitating installation. The extension of the piston rod of the hydraulic cylinder 52 drives the first connecting rod 53 and the second connecting rod 54 to rotate, thereby driving the positioning plate 51 to move, and applying pressure to the two ends of the prefabricated pipe segment 3 through the positioning plate 51 to achieve the effect of adjusting the prefabricated pipe rack.

[0051] In order to determine the position of the prefabricated pipe section 3, the positioning system includes a computer 6, a GPS 61, a gravity sensor 62 arranged on the wire rope of the pipe rack 2, two first distance sensors 63 embedded in the surface of the pipe rack 2, and a camera 64 arranged on the lower surface of the pipe rack 2.

[0052] In order to drive the camera 64 to move, the positioning system also includes a support plate 65 fixedly mounted on the surface of the pipe rack 2, and a concave mounting seat 66 is fixedly mounted on the upper surface of the support plate 65, and a screw 67 is mounted on the inner wall of the concave mounting seat 66 through a bearing, and a slider 68 is threadedly sleeved on the surface of the screw 67, and a servo motor 69 is fixedly mounted on one side surface of the concave mounting seat 66, and one end of the output shaft of the servo motor 69 is fixedly sleeved on one end of the screw 67. A slide groove 610 is provided on the surface of the support plate 65, and the surface of the slider 68 is slidably engaged with the inner wall of the concave mounting seat 66 and the inner wall of the slide groove 610 respectively. The camera 64 is fixedly mounted on the end surface of the slider 68 extending from the slide groove 610, and the rotation of the output shaft of the servo motor 69 drives the screw 67 connected to it to rotate. The rotation of the screw 67 drives the slider 68 connected to it to slide along the inner wall of the concave mounting seat 66 and the inner wall of the slide groove 610, and the movement of the slider 68 drives the camera 64 to move.

[0053] The present invention proposes a method for fine-tuning and positioning the installation of a large-segment prefabricated pipe gallery, comprising the following steps:

[0054] S1. Move the pipe-erecting machine 2 to above the prefabricated pipe segment 3, ensure that the relative positions of the pipe-erecting machine 2 and the prefabricated pipe segment 3 are correct, and use GPS 61 to obtain real-time position information of the pipe-erecting machine 2.

[0055] S2. Use the first distance sensor 63 to measure the distance between the pipe segment transport vehicle 4 and the pipe racking machine 2, and transmit the measured data to the computer 6 for further analysis and adjustment. Then, the pipe segment transport vehicle 4 is controlled to ensure the relative position of the prefabricated pipe segment 3 and the pipe racking machine 2.

[0056] S3, use the camera 64 to determine the position of the pipe segment transport vehicle 4, and use the gravity sensor 62 to monitor the gravity change on the wire rope of the pipe rack 2 in real time when the pipe rack 2 lifts the prefabricated pipe segment 3 , thus calculating the wire rope deformation , to determine the position of the prefabricated pipe segment 3.

[0057] S4, then use the camera 64 to determine the position of the prefabricated pipe section 3, and use the second distance sensor 56 to measure the distance between the tail shield of the U shield 1 and the prefabricated pipe section 3, and transmit the measured data to the computer 6 for further analysis and adjustment, and then control the auxiliary positioning mechanism to adjust the position of the prefabricated pipe section 3

[0058] S3 medium shape The calculation formula is: ;in, is the elastic modulus of the wire rope, is the cross-sectional area of ​​the wire rope, is the original length of the wire rope.

[0059] By setting up a positioning system and using the camera 64 to monitor the position changes of the prefabricated pipe segment 3 in real time, the pipe-lifting machine 2 can accurately position the prefabricated pipe segment 3 during lifting. At the same time, the deformation of the wire rope is calculated using the data monitored by the gravity sensor 62, and cooperates with the auxiliary positioning mechanism to achieve the effect of facilitating installation.

[0060] Working principle: When in use, install the pipe rack 2, monitor the position information of the pipe rack 2 in real time through GPS 61, and then use the pipe segment transport vehicle 4 to transport the prefabricated pipe segment 3, so that the pipe segment transport vehicle 4 drives the prefabricated pipe segment 3 to the bottom of the pipe rack 2. During the transportation process, the distance between the two sides of the pipe segment transport vehicle 4 is measured by the first distance sensor 63, and the measured data is transmitted to the computer 6, so as to control the pipe segment transport vehicle 4 to adjust its position, so that the pipe rack 2 can lift the prefabricated pipe segment 3.

[0061] The camera 64 determines the position of the pipe segment transport vehicle 4, causing the pipe segment transport vehicle 4 to stop at the designated position. The prefabricated pipe segment 3 on the pipe segment transport vehicle 4 is then hoisted by the crane on the pipe erecting machine 2. The gravity change on the wire rope is monitored by the gravity sensor 62, and the measured data is transmitted to the computer 6. The deformation of the wire rope is calculated according to the formula, and the winch on the crane is then controlled to facilitate the lifting of the prefabricated pipe segment 3 as needed.

[0062] When the pipe-lifting machine 2 is hoisting the prefabricated pipe section 3, the servo motor 69 is started. The rotation of the output shaft of the servo motor 69 drives the screw 67 connected thereto to rotate. The rotation of the screw 67 drives the slider 68 connected thereto to slide along the inner wall of the concave mounting seat 66 and the inner wall of the slide groove 610. The movement of the slider 68 drives the camera 64 to move, so that the camera 64 moves to the top of the tail shield of the U shield 1.

[0063] The pipe-lifting machine 2 drives the prefabricated pipe segment 3 to move above the tail end of the U-shield 1 and drives the prefabricated pipe segment 3 downward through the winch. The auxiliary block 55 prevents the prefabricated pipe segment 3 from colliding with the tail shield of the U-shield 1, so that the second distance sensor 56 measures the distance between the prefabricated pipe segment 3 and the tail shield of the U-shield 1 and transmits the measurement data to the computer 6, thereby controlling the extension and retraction of the piston rod of the hydraulic cylinder 52. The extension of the piston rod of the hydraulic cylinder 52 drives the first connecting rod 53 and the second connecting rod 54 to rotate, thereby driving the positioning plate 51 to move, so that the positioning plate 51 approaches the prefabricated pipe segment 3 and applies force to the prefabricated pipe segment 3. At the same time, the movement of the positioning plate 51 drives the outer tube 59 to move along the surface of the T-shaped inner tube 58, so as to facilitate the positioning of the prefabricated pipe segment 3. Then, according to the previously calculated +, the prefabricated pipe segment 3 is driven downward. When the value detected by the gravity sensor 62 is the initial value, the prefabricated pipe segment 3 is released.

[0064] Afterwards, the piston rod of the hydraulic cylinder 52 contracts, driving the first connecting rod 53, the second connecting rod 54, and the positioning plate 51 to retract into the installation groove 5, and at the same time, the outer tube 59 is retracted into the groove 57. When the outer tube 59 needs to be lubricated, the drive motor 516 is started. The rotation of the output shaft of the drive motor 516 drives the rotating shaft 514 connected to it to rotate. The rotation of the rotating shaft 514 drives the gear 513 connected to it to rotate. The rotation of the gear 513 drives the rack 512 meshing with it to move. The movement of the rack 512 drives the cover 511 to move. The movement of the cover 511 drives the sponge block 510 to move close to the extrusion column 517, so that the sponge block 510 is squeezed by the extrusion column 517 and the lubricating oil overflows. The lubricating oil infiltrates the T-shaped inner tube 58 and the outer tube 59 through the liquid outlet 518.

[0065] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A large pipe segment prefabricated pipe gallery installation and fine-tuning positioning equipment, comprising a U-shield (1), a pipe erection machine (2), a prefabricated pipe segment (3), and a pipe segment transport vehicle (4) for transporting the prefabricated pipe segment (3), characterized in that: The inner surface of the tail shield of the U shield (1) is symmetrically provided with auxiliary positioning mechanisms, and a positioning system is provided between the pipe rack (2) and the U shield (1); The auxiliary positioning mechanism comprises mounting grooves (5) symmetrically distributed on the inner surface of the tail shield of the U shield (1) and a positioning plate (51) arranged inside the mounting grooves (5), and the inner walls of the two mounting grooves (5) are symmetrically distributed and hinged with hydraulic cylinders (52); The auxiliary positioning mechanism further comprises two first connecting rods (53) and two second connecting rods (54) hinged on the inner wall of the mounting groove (5), the free ends of the two first connecting rods (53) and the two second connecting rods (54) being hinged to the surface of the positioning plate (51) via pins, and one end of the piston rod of the two hydraulic cylinders (52) being sleeved to the surface of the pins; The inner surface of the tail shield of the U shield (1) is symmetrically provided with auxiliary units, wherein the auxiliary units are a plurality of trapezoidal auxiliary blocks (55), wherein the surfaces of opposite sides of two auxiliary blocks (55) located on different sides are both embedded with second distance sensors (56); The inner wall of the mounting groove (5) is provided with a groove (57), the inner wall of the groove (57) is hinged with a T-shaped inner tube (58), the surface of the T-shaped inner tube (58) is slidably engaged with an outer tube (59), one end of the outer tube (59) away from the T-shaped inner tube (58) is hinged with the inner surface of the positioning plate (51), the interior of the T-shaped inner tube (58) is provided with a sponge block (510) soaked in lubricating oil, the outer surface of the sponge block (510) is sleeved with a cover (511), the outer surface of the cover (511) is slidably engaged with the inner wall of the T-shaped inner tube (58), and the outer surface of the cover (511) is fixed. A rack (512) is fixedly connected to the inner wall of the T-shaped inner tube (58), a gear (513) is installed on the inner wall of the T-shaped inner tube (58) via a bearing, the gear (513) is meshed with the rack (512), a rotating shaft (514) is fixedly sleeved at the axis of the gear (513), a bracket (515) is embedded in the surface of the T-shaped inner tube (58), one end of the rotating shaft (514) is installed on one side surface of the bracket (515) via a bearing, a driving motor (516) is fixedly installed on the other side surface of the bracket (515), and one end of the output shaft of the driving motor (516) is fixedly sleeved on one end of the rotating shaft (514); The positioning system includes a computer (6), a GPS (61), a gravity sensor (62) arranged on the steel wire rope of the pipe rack (2), two first distance sensors (63) embedded in the surface of the pipe rack (2), and a camera (64) arranged on the lower surface of the pipe rack (2); The positioning system further comprises a support plate (65) fixedly mounted on the surface of the pipe rack (2), a concave mounting seat (66) fixedly mounted on the upper surface of the support plate (65), a screw (67) mounted on the inner wall of the concave mounting seat (66) via a bearing, a slider (68) being threadedly sleeved on the surface of the screw (67), a servo motor (69) fixedly mounted on one side surface of the concave mounting seat (66), and one end of the output shaft of the servo motor (69) being fixedly sleeved on one end of the screw (67).

2. The large pipe segment prefabricated pipe gallery installation fine adjustment and positioning equipment according to claim 1 is characterized by: An extrusion column (517) is fixedly mounted on the inner wall of the outer tube (59), and the surface of the extrusion column (517) is slidably connected to the inner wall of the T-shaped inner tube (58). The surface of the T-shaped inner tube (58) is provided with liquid outlets (518) distributed in an annular array, and the liquid outlets (518) are communicated with the cover shell (511).

3. The large pipe segment prefabricated pipe gallery installation fine adjustment and positioning equipment according to claim 1 is characterized by: A sliding groove (610) is provided on the surface of the support plate (65), and the surface of the slider (68) is slidably engaged with the inner wall of the concave mounting seat (66) and the inner wall of the sliding groove (610), respectively. The camera (64) is fixedly mounted on the surface of one end of the slider (68) extending out of the sliding groove (610).

4. A positioning method for fine-tuning and positioning equipment for erecting a large pipe section prefabricated pipe gallery according to any one of claims 1 to 3, comprising the following steps: S1, moving the pipe-hanging machine (2) to the top of the prefabricated pipe section (3), ensuring that the relative positions of the pipe-hanging machine (2) and the prefabricated pipe section (3) are correct, and using GPS (61) to obtain real-time position information of the pipe-hanging machine (2); S2, using a first distance sensor (63) to measure the distance between the pipe segment transport vehicle (4) and the pipe racking machine (2), transmitting the measured data to a computer (6) for further analysis and adjustment, and then controlling the pipe segment transport vehicle (4) to ensure the relative position of the prefabricated pipe segment (3) and the pipe racking machine (2); S3, using a camera (64) to determine the position of the pipe segment transport vehicle (4), and using a gravity sensor (62) to monitor the gravity change on the steel wire rope of the pipe racking machine (2) in real time when the pipe racking machine (2) lifts the prefabricated pipe segment (3) , thus calculating the wire rope deformation , to determine the position of the prefabricated pipe segment (3); S4, then using the camera (64) to determine the position of the prefabricated pipe section (3), and using the second distance sensor (56) to measure the distance between the tail shield of the U shield (1) and the prefabricated pipe section (3), the measurement data is transmitted to the computer (6) for further analysis and adjustment, and then the auxiliary positioning mechanism is controlled to adjust the position of the prefabricated pipe section (3).

5. The positioning method of the large pipe section prefabricated pipe gallery installation fine adjustment positioning equipment according to claim 4 is characterized by: The deformation amount in S3 The calculation formula is: ； in, is the elastic modulus of the wire rope, is the cross-sectional area of ​​the wire rope, is the original length of the wire rope.

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