Intelligent loading and transporting method for urban comprehensive pipe gallery prefabricated parts

Abstract

The invention discloses an intelligent loading and transporting method for urban comprehensive pipe gallery prefabricated parts, which comprises the following steps of: placing an AGV (Automatic Guided Vehicle) into a pipe gallery through a wellhead by adopting a crane, and driving away from the lower part of the wellhead; two door-shaped placing frames are symmetrically erected at the position below the well mouth, the placing frames are used for temporarily placing the horizontal prefabricated slabs, and an AGV is allowed to pass through the space between the two placing frames; the horizontal prefabricated slab is placed on the placing frame through the crane; the AGV moves to the position below the containing frame, and then the horizontal prefabricated slabs are picked up and loaded; the AGV carries the horizontal prefabricated slab to run in the pipe gallery, transports the horizontal prefabricated slab to a target position, unloads the horizontal prefabricated slab and installs the horizontal prefabricated slab above the side supporting legs; and the steps are repeated, and continuous operation of installing the horizontal prefabricated slab is achieved. The process of installing a gantry crane in the pipe gallery is omitted, and the construction steps are simplified; and the two symmetrically-erected door-shaped placing frames are matched with the AGV, so that transportation and installation operation of the horizontal prefabricated slabs in the pipe gallery can be achieved, and the flexibility is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of urban integrated pipe gallery construction, and in particular to an intelligent shipping method for prefabricated parts of an urban integrated pipe gallery. Background Art

[0002] With the acceleration of urbanization, the demand for underground pipeline network construction is increasing. Underground integrated pipeline corridors, as important livelihood projects that centrally lay municipal water supply and drainage, gas, electricity, communications, and other pipelines, play a vital role in alleviating surface transportation pressure, improving the urban environment, and enhancing the quality of municipal facilities.

[0003] However, during the construction of the pipe corridor, due to limited space conditions, the long-distance horizontal transportation and installation of the heavy horizontal prefabricated panels used in the prefabricated compartment structure requires the transportation and installation equipment to have a high carrying capacity and transportation accuracy. The most commonly used method in the existing technology is to use a gantry crane in conjunction with an intelligent lifting device to install horizontal prefabricated panels. The gantry crane is used to lift the intelligent lifting machine, and the intelligent lifting machine lifts the horizontal prefabricated panels. However, the gantry crane needs to be erected and the intelligent lifting device installed in the pipe corridor, which requires a large amount of construction and high construction costs. In addition, there are certain limitations in the construction of some pipe corridors with curved length directions. Therefore, studying an intelligent transportation method for horizontal prefabricated panels in urban integrated pipe corridors is a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The present invention provides an intelligent shipping method for prefabricated parts of an urban integrated pipe gallery, which has high flexibility and high transportation and installation efficiency. The specific technical solution is as follows:

[0005] An intelligent shipping method for prefabricated parts of an urban integrated pipe gallery, comprising the following steps:

[0006] S1. Use a crane to place the multifunctional AGV through the wellhead into the pipe gallery and drive it away from under the wellhead;

[0007] S2. Two door-shaped racks are symmetrically set up below the wellhead. The length of the top crossbeam of the rack is in the same direction as the vehicle's travel direction. The racks are used to temporarily place horizontal precast panels. Multi-functional AGVs are allowed to pass between the two racks.

[0008] S3. Use a crane to place the horizontal prefabricated panels through the wellhead onto the placement rack in the pipe gallery;

[0009] S4, the multifunctional AGV moves to the bottom of the placement rack, and then picks up and loads the horizontal precast panels on the placement rack;

[0010] S5. The multifunctional AGV carries the horizontal precast panels and drives them in the pipe gallery to the target location. The multifunctional AGV unloads the horizontal precast panels and installs them on top of the side support legs.

[0011] S6. Repeat the steps of S3 - S5 to achieve continuous operation of installing the horizontal precast slab.

[0012] Furthermore, the utility tunnel in S1 is a precast and assembled multi - compartment structure for shield tunneling, including a circular utility tunnel. The utility tunnel is connected to the ground through a wellhead. A cast - in - place bottom slab is poured at the bottom of the utility tunnel, and a continuous and flat road surface is formed above the cast - in - place bottom slab for the travel of multi - functional AGV vehicles.

[0013] Furthermore, clamping grooves are respectively arranged on both sides of the cast - in - place bottom slab. The clamping grooves are connected to the side support legs. The side support legs are arc - shaped and match the shape of the utility tunnel. The lower part of the side support legs is connected to the clamping grooves of the cast - in - place bottom slab, and the top of the side support legs is used to support the horizontal precast slab. The multi - functional AGV vehicle can unload and install the horizontal precast slab above the side support legs to install the horizontal precast slab at the middle position of the utility tunnel.

[0014] Furthermore, the multi - functional AGV vehicle includes a chassis assembly for movement; a guiding assembly is arranged below the chassis assembly, and the guiding assembly can limit the movement path of the chassis assembly; a lifting assembly is arranged on the chassis assembly, and the lifting assembly is used for picking up and installing the horizontal precast slab.

[0015] Furthermore, the lifting assembly includes a main lifting platform and auxiliary lifting platforms. Both the main lifting platform and the auxiliary lifting platforms can independently move up and down relative to the chassis assembly; there are two groups of auxiliary lifting platforms, symmetrically arranged on the front and rear sides of the main lifting platform. A limiting assembly is arranged on the auxiliary lifting platforms, and the limiting assembly can limit the position of the horizontal precast slab on the main lifting platform to ensure the accurate final installation position of the horizontal precast slab.

[0016] Furthermore, the main lifting platform includes a supporting platform, and the supporting platform is connected to a main lifting mechanism. The main lifting mechanism is used to drive the lifting of the supporting platform. The main lifting mechanism is arranged on a lifting base, and the lifting base is fixed above the chassis assembly; the main lifting mechanism includes four main screw jacks distributed in a rectangular shape. The output end of the main screw jack is fixedly connected to the supporting platform, and the four main screw jacks are connected to the same main drive motor through couplings and a rotating shaft.

[0017] Furthermore, the output end of the main screw jack is connected to an induction rod, and the induction rod corresponds to a sensor. The sensor can detect the position of the induction rod to control the start and stop of the main screw jack.

[0018] Furthermore, the supporting platform is connected to a secondary lifting mechanism. The secondary lifting mechanism is fixedly arranged on the lifting base, and the secondary lifting mechanism can reduce the lateral shear force on the main screw jack when transporting the horizontal precast slab.

[0019] Further, the auxiliary lifting platform includes limiting platforms symmetrically arranged on the left and right. The limiting platforms are connected to the auxiliary lifting mechanism, the auxiliary lifting mechanism is arranged on the lifting base, and the limiting components are detachably arranged on the auxiliary lifting platform.

[0020] Further, the guiding component includes a guiding sensor and a guiding unit. The guiding sensor is fixed on the chassis component, and the guiding unit is arranged on the cast-in-place floor slab at the bottom of the pipe gallery. The guiding sensor can control the moving direction of the chassis component according to the position of the guiding unit, so that the chassis component travels along a preset route.

[0021] An intelligent shipping method for precast components of an urban comprehensive pipe gallery according to the present invention eliminates the process of installing a gantry crane in the pipe gallery and simplifies the construction steps; through the cooperation of symmetrically erected two portal placement racks and a multi-functional AGV vehicle, the transportation and installation operations of horizontal precast slabs in the pipe gallery can be realized, greatly improving the flexibility; the multi-functional AGV vehicle ensures the reliability when picking up and placing the horizontal precast slab through the cooperation of the main lifting platform and the auxiliary lifting platform, and at the same time, with the positioning of the position sensor, it further ensures the accuracy of picking up and placing the horizontal precast slab; by setting a chassis component with a navigation component, it can carry horizontal precast slabs for long-distance and flexible horizontal transportation in the pipe gallery, simplifies the construction process, has high construction efficiency, and effectively reduces the construction cost.

[0022] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following specifically illustrates the specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0024] Figure 1 is an internal schematic diagram of the urban comprehensive pipe gallery to which the present invention is applied;

[0025] Figure 2 is a three-dimensional view of the urban comprehensive pipe gallery to which the present invention is applied;

[0026] Figure 3 is the three-dimensional Figure 1 ;

[0027] Figure 4 is Figure 3 an enlarged view of part A;

[0028] Figure 5 Schematic diagram of placing a horizontal precast slab by the multifunctional AGV vehicle of the present invention;

[0029] Figure 6 Internal connection schematic diagram of the lifting component of the present invention;

[0030] Figure 7 For Figure 6 Enlarged view of part B of

[0031] Figure 8 Three-dimensional view of the multifunctional AGV vehicle of the present invention Figure 2 ;

[0032] Figure 9 Connection schematic diagram of the chassis assembly of the present invention;

[0033] Figure 10 Three-dimensional view of the chassis assembly of the present invention;

[0034] Figure 11 Connection schematic diagram of the safety spring strip of the present invention;

[0035] Figure 12 Connection schematic diagram of the lifting frame of the present invention. Detailed implementation manners

[0036] In order to better understand the purpose, functions and specific design of the present invention, the following further describes in detail an intelligent shipping method for precast components of an urban integrated pipe gallery of the present invention with reference to the accompanying drawings.

[0037] An intelligent shipping method for precast components of an urban integrated pipe gallery of the present invention includes the following steps:

[0038] S1. Use a crane to place the multifunctional AGV vehicle into the pipe gallery through the wellhead and drive it away from below the wellhead;

[0039] S2. Symmetrically set up two gantry placement frames at the position below the wellhead. The length direction of the top cross beam of the placement frame is the same as the driving direction of the vehicle. The placement frame is used to temporarily place horizontal precast slabs, and the multifunctional AGV vehicle is allowed to pass between the two placement frames;

[0040] S3. Use a crane to place the horizontal precast slab into the pipe gallery and onto the placement frame through the wellhead;

[0041] S4. The multifunctional AGV vehicle moves to below the placement frame, and then picks up and loads the horizontal precast slab on the placement frame;

[0042] S5. The multifunctional AGV vehicle carries the horizontal precast slab and travels in the pipe gallery to the target position. The multifunctional AGV vehicle unloads the horizontal precast slab and installs it above the side support legs.

[0043] S6. Repeat the steps of S3 - S5 to achieve continuous operation.

[0044] As Figure 1-2 shown, the pipe gallery of S1 is a prefabricated and assembled compartment structure for shield pipe galleries, including a circular pipe gallery 51. The pipe gallery 51 is connected to the ground through a wellhead. A cast - in - place bottom slab 52 is provided at the bottom of the pipe gallery 51. A continuous and flat road surface is formed above the cast - in - place bottom slab 52 for the travel of multi - functional AGV vehicles. Card slots are provided on both sides of the cast - in - place bottom slab 52. The card slots are connected to side support legs 53. The side support legs 53 are arc - shaped and match the shape of the pipe gallery 51. The lower part of the side support legs 53 is connected to the card slots of the cast - in - place bottom slab 52, and the top of the side support legs 53 is connected to a horizontal precast slab 54. The horizontal precast slab 54 is a rectangular plate and is placed in the middle position of the pipe gallery, thus forming a double - layer compartment structure of the urban utility tunnel of the present invention.

[0045] As Figure 3-12 shown, the multi - functional AGV vehicle used in the present invention includes a chassis assembly 1 for moving. A guiding assembly 2 is provided below the chassis assembly 1, and the guiding assembly 2 can limit the moving path of the chassis assembly 1. A lifting assembly 3 is provided on the chassis assembly 1 for picking up and placing the horizontal precast slab. The lifting assembly 3 includes a main lifting platform 31 and an auxiliary lifting platform 32. Both the main lifting platform 31 and the auxiliary lifting platform 32 can independently move up and down relative to the chassis assembly 1. The auxiliary lifting platforms 32 are two groups and are symmetrically arranged on the front and rear sides of the main lifting platform 31. A limiting assembly 4 is provided on the auxiliary lifting platform 32, and the limiting assembly 4 can limit the position of the horizontal precast slab 54 on the main lifting platform 31 to ensure the accurate final installation position of the horizontal precast slab 54.

[0046] Specifically, as Figure 6-7 shown, the main lifting platform 31 includes a supporting platform 311. The supporting platform 311 is connected to a main lifting mechanism 312. The main lifting mechanism 312 is arranged on a lifting base 33, and the lifting base 33 is fixed above the chassis assembly 1. The main lifting mechanism 312 includes four groups of main screw jacks 313 distributed in a rectangle. The output ends of the main screw jacks 313 are fixedly connected to the supporting platform 311. The four main screw jacks 313 are connected to the same main drive motor 314 through couplings and rotating shafts. Using one main drive motor 314 to control the lifting actions of the four groups of main screw jacks 313 can ensure the synchronism of the four groups of main screw jacks 313 and guarantee the smoothness of the supporting platform 311 during the lifting process.

[0047] Preferably, in order to improve the automation performance of the main lifting platform 31, the output end of the main screw jack 313 in this embodiment is connected to an induction rod, and the induction rod corresponds to a sensor. The sensor can detect the position of the induction rod to control the start and stop of the main screw jack 313. Further, the induction rod includes a lowering control rod 315 and a jacking control rod 316. The lowering control rod 315 and the jacking control rod 316 correspond to a lowering sensor 317 and a jacking sensor 318 respectively, and the length of the lowering control rod 315 is less than the length of the jacking control rod 316.

[0048] When the supporting platform 311 is in the initial position, the lower end of the lowering control rod 315 corresponds to the lowering sensor 317, and the rod body of the jacking control rod 316 corresponds to the jacking sensor 318. As the supporting platform 311 rises, the lower end of the lowering control rod 315 separates from the lowering sensor 317. When the supporting platform 311 reaches the preset height, the lower end of the jacking control rod 316 separates from the jacking sensor 318, and the jacking sensor 318 sends a signal to control the main screw jack 313 to stop lifting; when the supporting platform 311 descends, the lower end of the lowering control rod 315 gradually approaches the lowering sensor 317. When the supporting platform 311 reaches the initial position, the lower end of the lowering control rod 315 corresponds to the lowering sensor 317. At this time, the lowering sensor 317 sends a signal to control the main screw jack 313 to stop descending. It can be understood that the lowering control rod 315 and the jacking control rod 316 can be installed on the output end of the same main screw jack 313, or can be installed on the output ends of two different main screw jacks 313.

[0049] It should be noted that since the horizontal precast slab 54 is heavy, when transporting the horizontal precast slab 54, affected by the inertial force, the horizontal precast slab 54 will apply a lateral shear force to the main screw jack 313 of the main lifting mechanism 312 through the supporting platform 311, resulting in deformation of the lifting screw of the main screw jack 313 and affecting the service life of the main screw jack 313. Therefore, the main lifting platform 31 in this embodiment further includes a secondary lifting mechanism 6. There are four groups of the secondary lifting mechanisms 6, which are distributed in a rectangular shape near the main screw jack 313. The secondary lifting mechanism 6 can reduce the lateral shear force received by the main screw jack 313 when transporting the horizontal precast slab 54.

[0050] Specifically, the secondary lifting mechanism 6 includes a sleeve 61 fixed on the lifting base 33. A sliding rod 62 is slidably arranged inside the sleeve 61. The sliding rod 62 is in close fit with the sleeve 61. The top of the sliding rod 62 is fixedly connected to the supporting platform 311. When transporting the horizontal precast slab 54, due to the close fit between the sliding rod 62 and the sleeve 61, the gap between the sliding rod 62 and the sleeve 61 is much smaller than the gap between the lifting screw rod of the main screw jack 313 and the cast-in-place bottom plate of the main screw jack 313. Even if the horizontal precast slab 54 is affected by inertia force, a lateral shear force is preferentially applied to the secondary lifting mechanism 6 through the supporting platform 311, so as to achieve the effect of reducing the lateral shear force borne by the main screw jack 313 when transporting the horizontal precast slab 54.

[0051] As Figure 6 shown, the auxiliary lifting platform 32 of this embodiment includes limiting platforms 321 arranged symmetrically left and right. The limiting platforms 321 are connected to the auxiliary lifting mechanism 322. The auxiliary lifting mechanism 322 is arranged on the lifting base 33. The auxiliary lifting mechanism 322 includes an auxiliary screw jack 323. The output end of the auxiliary screw jack 323 is fixedly connected to the limiting platform 321. The two auxiliary screw jacks 323 on the left and right are connected to the same auxiliary driving motor 324 through a coupling and a rotating shaft. Using one auxiliary driving motor 324 to control the lifting actions of the two auxiliary screw jacks 323 can ensure the synchronism of the two auxiliary screw jacks 323, so as to ensure the synchronism of the left and right limiting platforms 321 during the lifting process and the reliability of the limiting component 4 in working.

[0052] It can be understood that in order to improve the automation performance of the auxiliary lifting platform 32, the output end of the auxiliary screw jack 323 of this embodiment is connected to an induction rod, and the induction rod corresponds to a sensor. The sensor can detect the position of the induction rod, so as to control the start and stop of the auxiliary screw jack 323. The installation method of the induction rod and the sensor is the same as that of the main screw jack 313, and will not be elaborated here.

[0053] As Figure 3-4As shown in the figure, the limiting component 4 is detachably arranged on the auxiliary lifting platform 32, and the limiting component 4 can adjust its installation position on the auxiliary lifting platform 32 according to the size of the horizontal precast slab 54 to be transported. In this embodiment, the limiting component 4 is fixed on the auxiliary lifting platform 32 by bolts. The limiting component 4 includes a limiting block, and the limiting block includes an inclined arc-shaped guiding part 41. The guiding parts 41 of two limiting blocks corresponding to the front and back form a flared shape with a wider upper part and a narrower lower part. Below the guiding part 41 is connected to a limiting part 42, and the limiting part 42 is a vertical plane. The limiting part 42 can be in contact with the side surface of the horizontal precast slab 54 to limit the position of the horizontal precast slab 54. On the side of the limiting block away from the limiting part 42, there is an installation part 43. The installation part 43 extends away from the limiting block to form a plane, and a plurality of through holes are evenly distributed on the plane to facilitate bolt fixation.

[0054] Preferably, in order to accurately pick up and place the horizontal precast slab 54, a position sensor 44 is arranged at the midpoint position of the connection line of the left and right limiting blocks. The position sensor 44 can detect the side position of the horizontal precast slab 54. In this embodiment, the horizontal precast slab 54 is placed on the placement rack by a crane. When picking up the horizontal precast slab 54 on the placement rack, the lifting component moves below the horizontal precast slab 54. When the position sensor 44 detects the side of the horizontal precast slab 54, the chassis component 1 stops moving. At this time, the lifting component 3 is raised to pick up the horizontal precast slab 54. When placing the horizontal precast slab 54, the multi-functional AGV moves in the pipe gallery. When the position sensor 44 detects the side of the previously installed horizontal precast slab 54, the chassis component 1 stops moving. At this time, the lifting component 3 descends to place the horizontal precast slab 54, thus completing the continuous laying of the horizontal precast slab 54.

[0055] Preferably, in order to improve the accuracy of the multi-functional AGV of the present invention when staying during picking up and placing the horizontal precast slab 54, a laser sensor 45 is arranged above the chassis component 1. The laser sensor 45 can detect the position of the horizontal precast slab 54. When the laser sensor 45 detects the horizontal precast slab 54, the chassis component 1 starts to reduce its speed until the position sensor 44 detects the side of the horizontal precast slab 54, and then the chassis component 1 stops.

[0056] As Figure 7-11 shown, the chassis component 1 includes a base frame 11. Above the base frame 11, it is integrally detachably connected to the lifting component 3. In this embodiment, the lifting component 3 is integrally fixed above the base frame 11 by bolts. Preferably, in order to facilitate the installation of the whole lifting component 3, 4 hooks are evenly distributed on both sides of the lifting component 3 to facilitate the crane to lift the whole lifting component 3 and place it above the base frame 11.

[0057] A rotating shaft disc 12 is hinged at the front and rear ends below the base frame 11 respectively. The rotating shaft disc 12 can rotate horizontally relative to the base frame 11. The rotating shaft disc 12 is fixedly connected to the wheel axle support 13. A wheel is arranged at each end of the wheel axle support 13. Each wheel is respectively connected to a set of mobile motors and speed reducers. By controlling the four mobile motors, the rotation speeds of the four wheels are controlled, so as to realize the movement of the chassis assembly 1, including forward movement, backward movement and steering, etc.

[0058] The guiding assembly 2 is arranged on the wheel axle support 13. The guiding assembly 2 includes a guiding sensor and a guiding unit. The guiding sensor is fixed on the wheel axle support 13. The guiding unit is arranged on the ground. The guiding sensor can control the moving direction of the chassis assembly 1 according to the position of the guiding unit, so that the chassis assembly 1 travels along a preset route. Specifically, the guiding assembly 2 in this embodiment adopts magnetic tape navigation. The guiding assembly 2 includes a magnetic sensor 21 and a magnetic tape. The magnetic sensor 21 is fixed on the wheel axle support 13. The magnetic tape is laid on the ground. The magnetic sensor 21 controls the moving path of the chassis assembly 1 of the present invention by detecting the position of the magnetic tape in real time. The guiding assembly 2 can also adopt other existing navigation methods, such as magnetic nail navigation, color tape navigation, laser reflection navigation, etc.

[0059] As Figure 10 shown, a control panel and a display screen 14 are arranged behind the base frame 11. Both the control panel and the display screen 14 are connected to a processor. The processor is connected to the guiding assembly 2, the mobile motors, the lifting assembly 3, the position sensor 44, the laser sensor 45, the landing sensor 317, the jacking sensor 318, etc. The control panel can manually control the lifting of the lifting assembly 3, the start and stop of the wheels, the steering, etc. The display screen 14 can display parameters in different states, such as driving speed, lifting speed, etc.

[0060] Preferably, as Figure 3 shown, a remote control module 15 is also arranged on the base frame 11. The remote control module 15 is wirelessly connected to a remote controller. The remote controller can control the running state of the present invention, such as the lifting of the lifting assembly 3, the start and stop of the wheels, the driving speed and the steering, etc.

[0061] In order to improve the running safety of the multi-functional AGV vehicle, a plurality of emergency stop buttons are arranged on the side of the base frame 11, so that in case of special situations, the emergency stop buttons can be pressed to stop the machine. Preferably, anti-collision guardrails 16 are arranged at the lower positions on the front and rear sides of the base frame 11. A pedestrian detection sensor 17 is arranged on the anti-collision guardrail 16. The pedestrian detection sensor 17 can detect whether there are pedestrians around the vehicle. When a pedestrian is detected, the vehicle stops immediately. When the pedestrian leaves, the vehicle continues to run according to the original plan. The pedestrian detection sensor 17 adopted in this embodiment has a detection range of 270°. The pedestrian detection sensors 17 are arranged diagonally on the anti-collision guardrails 16 on the front and rear sides.

[0062] It should be noted that, in order to further improve safety, a safety spring strip 18 is movably connected to the anti-collision guardrail 16 through a guide rail 8. The safety spring strip 18 is connected to the anti-collision guardrail 16 through an elastic component 181. Under the action of an external force, the safety spring strip 18 can move towards the inner side of the anti-collision guardrail 16. A touch switch 182 is arranged on the inner side of the anti-collision guardrail 16. When the safety spring strip 18 touches the touch switch 182, the multi-functional AGV vehicle immediately stops. Preferably, in order to improve the reliability of the operation of the safety spring strip 18, an elastic component 181 is connected to each side of the safety spring strip 18, and the touch switch 182 is arranged at the middle position in the length direction on the inner side of the anti-collision guardrail 16.

[0063] For the convenience of transporting the present invention, hooks are arranged around the upper part of the base frame 11. The hooks can conveniently hoist the present invention onto a transport vehicle for long-distance transportation. In addition, towing hooks are arranged on the front and rear sides of the base frame 11 to facilitate the towing of the present invention by a rescue vehicle.

[0064] In order to improve the environmental protection of the present invention, the present invention is powered by a battery pack. The battery pack is arranged at the middle position below the base frame 11 to ensure that the center of gravity of the present invention is centered, thereby reducing the risk of rollover, and during hoisting, it can also remain horizontal. Preferably, as Figure 12 shown, in order to further ensure the levelness of the present invention during hoisting, the present invention further includes a hoisting frame 7. The hoisting frame 7 is rectangular, and upper and lower lifting rings are arranged at the four corners of the rectangle. A steel wire rope can be connected to the hooks around the base frame 11 through the lower lifting rings, and a crane can be connected to the upper lifting rings at the four corners of the hoisting frame 7 to hoist the present invention.

[0065] Preferably, a plurality of storage boxes 19 are arranged on the left and right sides of the base frame 11 to facilitate the placement of tools and the like.

[0066] During the actual installation and laying of the horizontal precast slab 54 in the intelligent loading, transportation and unloading method of the urban utility tunnel precast member of the present invention, first, it moves to the lower part of the placement rack. When the position sensor 44 detects the side of the horizontal precast slab 54, the multi-functional AGV vehicle stops moving. At this time, first, the supporting platform 311 is raised, and then the limiting platform 321 is raised, so that the height of the supporting platform 311 is slightly higher than that of the limiting platform 321, and the guiding part 41 of the limiting block is higher than the height of the supporting platform 311 to ensure that the guiding part 41 of the limiting block first positions and guides the horizontal precast slab 54. Subsequently, the supporting platform 311 first contacts the bottom surface of the horizontal precast slab 54, and then jacks up the horizontal precast slab 54 to realize the picking up of the horizontal precast slab 54.

[0067] When the horizontal prefabricated panel 54 is placed for the first time, the multifunctional AGV vehicle moves in the tunnel. When it moves to the vicinity of the predetermined position, the multifunctional AGV vehicle is stopped at the preset position by remote control, and then the limit platform 321 is first lowered, and then the supporting platform 311 is lowered, so that the height of the supporting platform 311 is slightly higher than the limit platform 321 to bear the weight of the horizontal prefabricated panel 54. The guide portion 41 of the limit block is higher than the height of the supporting platform 311 to ensure that the limit portion 42 of the limit block can continuously limit the horizontal prefabricated panel 54. Then the horizontal prefabricated panel 54 is placed in the preset position on the top of the side support leg, thereby completing the placement and installation of the first horizontal prefabricated panel 54. The supporting platform 311 and the limit platform 321 drop to the initial position, and then the multifunctional AGV vehicle picks up the next horizontal prefabricated panel 54.

[0068] When placing the horizontal precast panels 54 for the second and subsequent times, the multifunctional AGV carries the horizontal precast panels 54 and moves toward the laying position within the tunnel. When the laser sensor 45 detects the previous horizontal precast panel 54, the multifunctional AGV begins to slow down, and the front limit platform 321 drops to its initial position. Subsequently, when the position sensor 44 detects the side edge of the horizontal precast panel 54, the multifunctional AGV stops. At this point, the rear limit platform 321 is lowered, followed by the support platform 311, so that the support platform 311 is slightly higher than the limit platform 321 to support the weight of the horizontal precast panel 54. The guide portion 41 of the limit block is higher than the support platform 311 to ensure that the limit portion 42 of the limit block can continuously limit the horizontal precast panel 54. The horizontal precast panel 54 is then placed in the preset position on top of the side support leg, thereby completing the continuous laying of the horizontal precast panels 54. It is understood that if the multifunctional AGV's stopping position is not ideal, the parking position can be adjusted using the remote control.

[0069] The intelligent shipping method for prefabricated parts of an urban integrated pipe gallery of the present invention eliminates the process of installing a gantry crane in the pipe gallery and simplifies the construction steps; by symmetrically setting up two portal placement frames and cooperating with a multifunctional AGV vehicle, the transportation and installation of horizontal prefabricated panels in the pipe gallery can be realized, which greatly improves the flexibility; the multifunctional AGV vehicle ensures the reliability of picking up and placing horizontal prefabricated panels through the cooperation of the main lifting platform and the auxiliary lifting platform, and at the same time cooperates with the positioning of the position sensor to further ensure the accuracy of picking up and placing horizontal prefabricated panels; by providing a chassis component with a navigation component, the horizontal prefabricated panels can be carried for long-distance horizontal and flexible transportation in the pipe gallery, which simplifies the construction process, improves the construction efficiency, and effectively reduces the construction cost.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent shipping method for prefabricated components of an urban integrated utility tunnel, characterized in that, It includes the following steps: S1. Use a crane to place the multi-functional AGV vehicle into the pipe gallery through the wellhead and drive it away from below the wellhead; S2. Symmetrically set up two gantry placement racks at the position below the wellhead. The length direction of the top cross beam of the placement rack is the same as the driving direction of the vehicle. The placement rack is used for temporarily placing horizontal precast slabs, and the multi-functional AGV vehicle is allowed to pass between the two placement racks; S3. Use a crane to place the horizontal precast slab into the pipe gallery onto the placement rack through the wellhead; S4. The multi-functional AGV vehicle moves below the placement rack, and then picks up and loads the horizontal precast slab on the placement rack; S5. The multi-functional AGV vehicle carries the horizontal precast slab and travels in the pipe gallery to the target position. The multi-functional AGV vehicle unloads the horizontal precast slab and installs it above the side support legs; S6. Repeat the steps of S3 - S5 to achieve continuous operation of installing horizontal precast slabs.

2. The intelligent shipping method for precast components of an urban integrated pipe gallery according to claim 1, characterized in that The pipe gallery in S1 is a shield pipe gallery prefabricated and assembled compartment structure, including a circular pipe gallery. The pipe gallery is connected to the ground through the wellhead. The bottom of the pipe gallery is poured with a cast-in-place bottom slab, and a continuous flat road surface is formed above the cast-in-place bottom slab for the multi-functional AGV vehicle to travel.

3. The intelligent shipping method of precast components for urban utility tunnels according to claim 2, characterized in that, Card slots are respectively arranged on both sides of the cast-in-place bottom slab. The card slots are connected to the side support legs. The side support legs are arc-shaped and match the shape of the pipe gallery. The lower part of the side support legs is connected to the card slots of the cast-in-place bottom slab. The top of the side support legs is used to support the horizontal precast slab. The multi-functional AGV vehicle can unload and install the horizontal precast slab above the side support legs to install the horizontal precast slab at the middle position of the pipe gallery.

4. The intelligent shipping method for precast components of an urban utility tunnel according to claim 2, characterized in that, The multi-functional AGV vehicle includes a chassis assembly for moving; a guiding assembly is arranged below the chassis assembly, and the guiding assembly can limit the moving path of the chassis assembly; a lifting assembly is arranged on the chassis assembly, and the lifting assembly is used for picking up and installing horizontal precast slabs.

5. The intelligent shipping method of prefabricated components for urban integrated pipe corridors according to claim 4, characterized in that, The lifting assembly includes a main lifting platform and an auxiliary lifting platform. Both the main lifting platform and the auxiliary lifting platform can independently move up and down relative to the chassis assembly; There are two groups of auxiliary lifting platforms, symmetrically arranged on the front and rear sides of the main lifting platform. A limiting assembly is arranged on the auxiliary lifting platform, and the limiting assembly can limit the position of the horizontal precast slab on the main lifting platform to ensure the accurate final installation position of the horizontal precast slab.

6. The intelligent shipping method for prefabricated components of an urban utility tunnel as described in claim 5, characterized in that, The main lifting platform includes a supporting platform, and the supporting platform is connected to the main lifting mechanism. The main lifting mechanism is used to drive the lifting of the supporting platform. The main lifting mechanism is arranged on the lifting base, and the lifting base is fixed above the chassis assembly; the main lifting mechanism includes four groups of main screw jacks distributed in a rectangle. The output end of the main screw jack is fixedly connected to the supporting platform, and the four main screw jacks are connected to the same main drive motor through couplings and rotating shafts.

7. The intelligent shipping method of prefabricated components for urban utility tunnels according to claim 6, characterized in that The output end of the main screw jack is connected to the sensing rod, and the sensing rod corresponds to the sensor. The sensor can detect the position of the sensing rod to control the start and stop of the main screw jack.

8. The intelligent shipping method of prefabricated components for urban integrated pipe corridors according to claim 7, characterized in that, The supporting platform is connected to the auxiliary lifting mechanism. The auxiliary lifting mechanism is fixedly arranged on the lifting base, and the auxiliary lifting mechanism can reduce the lateral shear force on the main screw jack when transporting the horizontal precast slab.

9. The intelligent shipping method of prefabricated components for urban utility tunnels according to claim 5, wherein The auxiliary lifting platform includes limit platforms symmetrically arranged on the left and right. The limit platforms are connected to the auxiliary lifting mechanism. The auxiliary lifting mechanism is arranged on the lifting base. The limit component is detachably arranged on the auxiliary lifting platform.

10. The intelligent shipping method of precast components for urban utility tunnels according to claim 4, wherein The guiding component includes a guiding sensor and a guiding unit. The guiding sensor is fixed on the chassis component. The guiding unit is arranged on the cast-in-place floor slab at the bottom of the pipe gallery. The guiding sensor can control the moving direction of the chassis component according to the position of the guiding unit, so that the chassis component travels along a preset route.

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