Pipe piece grabbing in-place detection device and method and pipe piece erector

Abstract

The invention discloses a duct piece grabbing in-place detection device and method and a duct piece erector. The problems that in the prior art, complete clamping of duct pieces is difficult to judge, wiring is difficult, and the duct pieces are prone to being broken are solved. The duct piece grabbing in-place detection device comprises a bearing piece and a clamping mechanism, a shell type wireless sending module is arranged at the buckle head portion of the clamping mechanism, a self-reset switch is arranged on the inner wall face of the shell type wireless sending module, and a shell type wireless receiving module corresponding to the shell type wireless sending module is arranged on the upper portion of the bearing piece; when the buckling head part of the clamping mechanism clamps the segment hoisting screw, the self-resetting switch is pressed, and the buckling head part and the segment hoisting screw are in a coupling state; when the self-reset switch is pressed, the shell type wireless transmitting module is awakened. By constructing a three-in-one collaborative optimization architecture of high-frequency data transmission, low-frequency signal notification and interruption awakening triggering, the traditional power consumption control bottleneck of segment assembly is broken through, and the problem that whether segments are completely clamped or not cannot be accurately judged before segment automatic assembly and in the assembly process is solved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to a segment grabbing and positioning detection device. Background Technology

[0002] Segment assembly is a core component ensuring the safety of shield tunneling and a crucial process connecting excavation and formation in shield tunnel construction. Currently, during segment assembly, the clamping mechanism of the assembly machine and the segment lifting screws are the core collaborative components for achieving stable gripping, safe transfer, and precise assembly of segments. The segment lifting screws are prefabricated metal connectors (usually bolt-type or embedded structures) on the surface of the segments, providing a stable gripping fulcrum for the clamping mechanism. By tightening the lifting screws, the clamping mechanism forms a rigid connection chain of "mechanism—lifting screw—segment," transmitting the driving force of the assembly machine to the segments, enabling actions such as lifting, rotating, and adjusting the posture of the segments. However, due to the complex dynamic motion characteristics of the clamping mechanism and the extremely limited installation space, the technology for intelligently judging the coupling state between the clamping mechanism and the lifting screws is not yet mature and practical. In actual construction, it is still necessary to rely on manual visual inspection of the coupling state, but the operator's field of vision is limited in narrow working spaces (especially in small-diameter tunnels), making it difficult to accurately judge the actual coupling status between the clamping mechanism of the assembly machine and the segment lifting screws. This manual judgment method is prone to overlooking the hidden dangers of incomplete clamping due to observation bias, which can lead to safety accidents such as segment overturning and falling off. This not only poses a major safety threat to operators and equipment, but also seriously restricts the efficiency of segment assembly and the overall progress of tunnel construction.

[0003] In recent years, with the development of IoT technology, research on intelligently determining the coupling state between clamping mechanisms and lifting screws has gradually emerged. For example, the patent application CN117231264A, "A method for segment position and attitude recognition and grasping based on depth image stereo vision," obtains segment depth information through a depth vision sensor, calculates the position and attitude of the segment to be grasped relative to the sensor, and solves the motion estimation and motion parameters of the segment to be assembled, thereby realizing automated segment grasping. However, due to the lack of consideration for the complexity of the environment during shield tunneling (such as harsh environment and insufficient illumination) and the influence of the depth camera's recognition accuracy, it is impossible to accurately determine whether the segment lifting screws are fully clamped. The patent application CN119122542A, entitled "A Multi-View Speckle Laser Image Measurement Method for Tunnel Segment Grabbing and Positioning," utilizes a speckle array laser to emit speckle laser light, and then uses a monocular camera to acquire speckle images of the segment to be grasped and the lifting bolts (segment lifting screws). By employing an improved YOLOv9 model and an ellipse detection algorithm based on circular arc clustering, the coordinates of the lifting bolt's center point are determined, providing positioning and path guidance for the assembly mechanism to grasp the segment. However, due to the complex environment within the tunnel, such as dust interfering with the speckle image quality and the imaging errors of the monocular camera itself, even if a certain degree of positioning of the segment and lifting bolts can be achieved, it is difficult to intuitively and accurately determine whether the segment lifting bolts have been completely and securely clamped by the clamping mechanism. The patent application CN115726811A, entitled "An Automatic Assembly System for Roofing Segments Based on Deep Learning and Laser," selects a pre-trained YOLOv5s model. It uses a monocular vision intelligent camera to identify and locate the grooved targets on the roofing segments, calculating the relative position between the assembly machine and the segments. This controls the movement of the assembly machine and, with the aid of laser ranging, automatically grasps the segments. The system then uses another monocular vision intelligent camera to identify the grooved targets on the assembled segments and calculate the relative position between the assembled segments and the pre-assembled segments, controlling the automatic assembly. While this achieves automatic grasping and assembly of the roofing segments, it does not consider the errors caused by digital image processing technology. Therefore, it cannot accurately determine whether the lifting screws of the segments have been fully and securely clamped by the clamping mechanism.

[0004] Based on the above, it is clear that current research on the coupling state of intelligent segment clamping mechanisms and lifting screws is all conducted under the premise that the clamping mechanism and lifting screws have achieved tight coupling. To avoid accidental segment slippage due to incomplete coupling between the clamping mechanism and lifting screws, and to address the issues of difficult and easily broken wiring, it is necessary to design a low-power wireless segment gripping and positioning detection device and a segment assembly machine. This ensures that the lifting screws of the segment are fully clamped in place before gripping, guaranteeing the safety and efficiency of the automatic segment assembly process. Summary of the Invention

[0005] To address the shortcomings in the aforementioned background technology, this invention proposes a segment gripping positioning detection device, method, and segment assembly machine, which solves the problems of difficulty in judging complete segment clamping and easy wire breakage in the prior art.

[0006] The technical solution of this invention is implemented as follows: A segment gripping and positioning detection device includes a load-bearing component and a clamping mechanism mounted on the load-bearing component. A shell-type wireless transmitting module is provided at the buckle head of the clamping mechanism, and a self-resetting switch is provided on the inner wall of the shell-type wireless transmitting module. A shell-type wireless receiving module corresponding to the shell-type wireless transmitting module is provided on the upper part of the load-bearing component. When the buckle head of the clamping mechanism clamps the segment lifting screw, the self-resetting switch is pressed, and the buckle head and the segment lifting screw are in a coupled state. When the self-resetting switch is pressed, the shell-type wireless transmitting module is awakened, and the shell-type wireless receiving module receives the high-frequency signal information transmitted by the shell-type wireless transmitting module and transmits the high-frequency signal information to the host computer of the main control unit. By constructing a three-in-one collaborative optimization architecture of high-frequency data transmission, low-frequency notification signal, and interrupt wake-up trigger, the traditional power consumption control bottleneck in segment assembly is overcome, and the problem of not being able to accurately determine whether the segment is fully clamped before and during automatic segment assembly is solved.

[0007] Preferably, the shell-type wireless transmitting module includes a transmitting shell with a U-shaped slot adapted to the clamping opening of the buckle head. A self-resetting switch is located inside the transmitting shell, with its pressing head located on the inner wall of the U-shaped slot. The wireless transmitting module is housed inside the transmitting shell, and the self-resetting switch is connected to the wireless transmitting module. The shell-type wireless transmitting module is installed below the buckle head and adopts a fully sealed metal shell structure design, achieving waterproof and impact-resistant functions. It is powered by a lithium battery and uses wireless communication technology, effectively solving the problems of difficult wiring and easy wire breakage. Through low-power design technology, it avoids the inconvenience of frequent battery replacements and achieves long-cycle operation of a small-capacity battery.

[0008] Preferably, the wireless transmission module includes a low-frequency receiving circuit, a high-frequency wireless communication circuit A, and an external interrupt circuit; a self-reset switch is connected to the external interrupt circuit; when the self-reset switch is pressed, the wireless transmission module is woken up. The low-frequency receiving circuit continuously listens for the wake-up signal (microampere-level standby current), and the high-frequency wireless communication circuit A is only woken up and transmits a signal via an external interrupt when the self-reset switch is triggered, resulting in extremely low power consumption; the low-frequency and high-frequency dual-frequency separation design avoids co-frequency interference, ensuring stable and reliable communication; the external interrupt mechanism ensures zero-delay signal transmission, meeting the real-time requirements of hoisting operations.

[0009] Preferably, the self-resetting switch includes a sealed housing, within which a push rod and a contact mechanism are disposed. The contact mechanism includes a corresponding moving contact assembly and a stationary contact. One end of the push rod has a button head. A sealing structure is provided between the button head and the sealed housing. The other end of the push rod corresponds to the moving contact assembly, and a main spring connects the two. The stationary contact is disposed within the sealed housing, and a reset mechanism is provided between the moving contact assembly and the stationary contact. The sealed housing completely encloses the push rod and the contact mechanism, and together with the sealing structure at the button head, effectively prevents dust, mud, and moisture from entering the tunnel. The push rod drives the moving contact assembly through the main spring, achieving a rapid response. The reset mechanism ensures reliable contact separation after the clamping force is removed.

[0010] Preferably, the moving contact assembly includes an elastic conductive buffer pad connected to the main spring. A moving contact is provided on the elastic conductive buffer pad, with the moving contact and stationary contact positioned vertically opposite each other. The surface of the elastic conductive buffer pad is covered with conductive silver paste. The conductive silver paste covering the surface of the elastic conductive buffer pad allows it to simultaneously perform the functions of "buffering + auxiliary contact," reducing the individual vibration of the silver alloy moving contact.

[0011] Preferably, the lower end face of the moving contact and the upper end face of the stationary contact are matching bevels, and both the moving and stationary contacts are silver alloy contacts. The surface of the silver alloy moving contact is designed with tiny bevels, which can slide and scrape off the oxide layer of the stationary contact assembly during pressing, achieving a self-cleaning effect.

[0012] Preferably, the reset mechanism includes an iron block mounted on an elastic conductive buffer pad and an electromagnet mounted on a sealed housing. The iron block and electromagnet are positioned vertically opposite each other. A secondary spring is also provided on the elastic conductive buffer pad, located between the iron block and the electromagnet. An insulating washer is provided on the iron block. When the electromagnet is energized, it actively attracts the iron block, which, combined with the mechanical force of the secondary spring, forms a dual electromagnetic and mechanical reset force. This ensures that even in extreme cases such as aging of the main spring or slight contact adhesion, the contacts can still be forcibly separated, eliminating the risk of reset failure. The insulating washer on the iron block blocks the current path, preventing interference between the electromagnetic coil and the main circuit. This design implements the fail-safe principle, greatly improving system safety.

[0013] Preferably, the sealed housing includes an upper housing and a lower housing. The upper housing has a button groove corresponding to the button head, and the sealing structure is disposed between the button groove and the button head. The lower housing has a guide groove adapted to the push rod and moving contact assembly, and the lower housing has signal pins corresponding to the electromagnet and stationary contact. The separate upper and lower housing structure facilitates modular assembly and maintenance. The guide groove ensures precise alignment of the push rod and contact assembly, improving assembly efficiency. The integrated design of the button groove and sealing structure simplifies the sealing process and reduces leakage points. The signal pins integrated in the lower housing use a pluggable interface, supporting quick replacement of the self-resetting switch unit without rewiring, shortening equipment downtime and reducing maintenance costs.

[0014] Preferably, the shell-type wireless receiving module includes a receiving shell, within which a wireless receiving module is housed. The wireless receiving module includes a low-frequency transmitting circuit, a high-frequency wireless communication circuit B, and a serial communication circuit. The serial communication circuit is connected to the host computer of the main control unit. The low-frequency receiving circuit receives the low-frequency signal from the low-frequency transmitting circuit, and the high-frequency wireless communication circuit B receives the high-frequency signal from the high-frequency wireless communication circuit A. The low-frequency transmitting circuit periodically sends an activation signal, and the high-frequency wireless communication circuit B receives the bit information, forming a two-way handshake protocol to prevent false triggering and unauthorized signal intrusion.

[0015] A method for detecting the positioning of a pipe segment, using the aforementioned pipe segment positioning detection device; the specific process is as follows: S1, when it is necessary to clamp the pipe segment, the host computer first sends a "start clamping" command to the wireless receiving module. After receiving the command, the wireless receiving module immediately sends a low-frequency notification signal continuously at a fixed time interval T; at the same time, the high-frequency receiving circuit B enters the listening state. S2. When the lifting screw is fully coupled with the clamping mechanism, the self-reset switch is pressed, the wireless transmission module is awakened, and the low-frequency receiving circuit detects the low-frequency notification signal in a polling manner. If the signal is detected, the high-frequency wireless communication circuit A performs Bluetooth high-frequency transmission and synchronously sends the segment clamping signal to the high-frequency receiving circuit B of the wireless receiving module. S3. The wireless receiving module will send a signal to the host computer that the segment clamp is in place and then enter sleep mode. S4. After receiving the segment clamping position signal, the host computer sends a "clamping end" command to the wireless receiving module and determines that the lifting screw has been fully clamped. S5. After receiving the "clamping ended" command, the wireless receiving module stops sending low-frequency notification signals. At the same time, the lifting system starts and slowly pulls up the lifting screws, eventually transferring the tunnel segment to the designated position.

[0016] If the low-frequency receiving circuit does not detect the low-frequency notification signal, the interruption is ignored, the high-frequency transmitting circuit remains powered off, and the wireless transmitting module then enters a low-power sleep mode.

[0017] When the self-reset switch is pressed for more than 100ms, the wireless transmission module is automatically woken up. The wireless transmission module then locks the self-reset switch for a certain period of time to prevent it from popping up during the lifting of the segment hoisting screws by the clamping mechanism, thus avoiding damage caused by relative friction. After the clamping mechanism completes the segment assembly, the wireless transmission module automatically unlocks, the self-reset switch resumes its self-reset function, pops up and returns to its initial state, waiting for the next coupling test.

[0018] In step S2, the signal S of the self-reset switch is set to {0,1}, where 0 indicates that the self-reset switch is in the open state and 1 indicates that the self-reset switch is in the closed state. Initially, the self-reset switch is in the open state, and S=0. When the lifting system moves to the position of the lifting screw, the lifting screw begins to enter the clamping mechanism until it is fully inserted and presses the self-reset switch. At this time, the signal of the self-reset switch changes to S=1, generating a rising edge signal from 0 to 1. Based on this, it is determined that the lifting screw has been fully coupled with the clamping mechanism and there is no risk of overturning. If the lifting status is normal, the segment assembly task continues; otherwise, the work stops.

[0019] A segment assembly machine employs the aforementioned segment gripping positioning detection method to determine whether a segment has been gripped correctly. This detection method not only solves the single-point problem of "whether the segment has been gripped correctly," but also further improves the machine's operational safety and efficiency through low-power wireless technology, dual-frequency safety interlocking, and data-driven features.

[0020] The beneficial effects of this invention are as follows: The segment gripping positioning detection device of this invention adopts a mechanical-electrical dual confirmation, that is, the mechanical coupling of the clamping head is directly associated with the electrical signal of the self-reset switch, which truly reflects the physical contact state; through the physical pressure triggering of the self-reset switch, the signal is sent only when the clamping mechanism and the segment lifting screw are truly coupled, which fundamentally avoids the risk of "false clamping, true lifting" and improves the accuracy of segment gripping positioning detection. When the self-reset switch is not pressured, the wireless transmission module is in a dormant state, reducing energy consumption and extending service life. This device achieves non-contact, highly reliable, and intelligent detection of the segment gripping status through the technical path of "mechanical coupling-switch triggering-wireless transmission-host computer decision-making"; by constructing a three-in-one collaborative optimization architecture of high-frequency data transmission, low-frequency notification signal, and interrupt wake-up trigger, it breaks through the traditional power consumption control bottleneck of segment assembly and solves the problem of not being able to accurately determine whether the segment is fully clamped before and during automatic segment assembly.

[0021] This invention's segment grabbing positioning detection method achieves high security, low power consumption, and strong anti-interference intelligent discrimination of segment grabbing status through a five-step timing logic of "command-driven - low-frequency activation - event triggering - high-frequency confirmation - closed-loop feedback". Low-frequency polling + high-frequency confirmation: A Bluetooth high-frequency positioning signal is only transmitted after the transmitting end detects a periodic low-frequency notification signal from the receiving module, forming a request-response bidirectional handshake. This completely eliminates false positioning signals caused by random electromagnetic interference or switch jitter, achieving zero false alarms. The high-frequency receiving circuit B synchronously enters a listening state, ensuring that the high-frequency signal is captured instantly upon transmission, with a communication delay of <10ms, meeting the requirements of rapid hoisting cycles. The low-frequency notification signal is sent at a fixed time interval T, providing a stable synchronous clock for the transmitting end, exhibiting strong anti-timing drift capability, and maintaining reliable communication even in tunnel environments with strong vibration and multipath interference.

[0022] This invention relates to a segment assembly machine with the core function of intelligent monitoring and real-time feedback of segment clamping status. This function effectively prevents the assembly operation from starting when segments are not fully clamped, significantly reducing the risk of segments falling. It also enables long-term monitoring of the coupling status between the clamping mechanism and the lifting screws, achieving cost reduction and efficiency improvement, and enhancing segment assembly efficiency and safety. Furthermore, it solves problems such as limited space for wiring in existing segment assembly processes, providing strong support for the development and research of automated segment assembly systems. Attached Figure Description

[0023] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of the segment grabbing and positioning detection device of the present invention; Figure 2 This is an isometric schematic diagram of the segment gripping and positioning detection device of the present invention; Figure 3 This is a top view schematic diagram of the segment grabbing and positioning detection device of the present invention; Figure 4 This is a schematic diagram of a shell-type wireless transmission module; Figure 5 This is a schematic diagram of a self-reset switch; Figure 6 This is a schematic diagram of the detection logic. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1, as Figure 1 , 2As shown, a segment gripping and positioning detection device includes a load-bearing component 15 and a clamping mechanism 10 mounted on the load-bearing component 15. The load-bearing component 15, similar to a plate base structure, provides support for the clamping mechanism. The clamping mechanism has a clamping groove on its upper part, which cooperates with the lower buckle head to stably clamp the lifting screw. The buckle head is a ring structure with an opening on one side, which is adapted to the segment lifting screw. A shell-type wireless transmission module 12 is provided at the buckle head 11 of the clamping mechanism 10. The inner wall of the shell-type wireless transmission module 12 is provided with a self-resetting switch 5. The self-resetting switch is triggered by physical pressure, and a signal is only sent when the clamping mechanism and the segment lifting screw are truly coupled, fundamentally avoiding the risk of "false clamping, true lifting" and eliminating segment detachment accidents. The self-reset switch uses a controllable electromagnet as its core drive, combined with a smooth, round ball-head button (sealed), a metal push rod, and copper moving contacts. Its 4mm precise stroke design prevents false triggering and detection failure, while also reducing wear from relative movement with the lifting screw. A sealed housing plus rubber / gaskets enhances environmental adaptability. Figure 3 As shown, the upper part of the load-bearing component 15 is equipped with a shell-type wireless receiving module 14 corresponding to the shell-type wireless transmitting module 12. When the clamping head 11 of the clamping mechanism 10 clamps the segment lifting screw 13, the self-reset switch 5 is pressed, and the clamping head 11 and the segment lifting screw 13 are in a coupled state. When the self-reset switch 5 is pressed, the shell-type wireless transmitting module 12 is awakened, and the shell-type wireless receiving module 14 receives the high-frequency signal information transmitted by the shell-type wireless transmitting module 12 and transmits the high-frequency signal information to the host computer 9 of the main control unit. The mechanical coupling of the clamping head is directly related to the electrical signal of the self-reset switch, which truly reflects the physical contact state and has a low false alarm rate. The shell-type module provides protection, and the wireless method avoids the signal failure caused by cable dragging, wear, and breakage of traditional wired sensors in complex hoisting environments. This device realizes non-contact, highly reliable, and intelligent detection of the segment gripping state through the technical path of "mechanical coupling-switch triggering-wireless transmission-host computer decision-making", which solves the problems of difficulty in judging the complete clamping of the segment and the difficulty and easy breakage of the wiring in the existing technology.

[0027] Example 2, as Figure 4As shown, a segment gripping positioning detection device is further optimized based on embodiment 1. In this embodiment, the preferred shell-type wireless transmission module 12 includes a transmitting shell 121. The transmitting shell 121 has a U-shaped slot 122 adapted to the clamping port of the buckle head 11. The self-reset switch 5 is disposed inside the transmitting shell 121, and its pressing head 25 is located on the inner wall of the U-shaped slot 122. The segment lifting screw enters the U-shaped slot and can contact and press the self-reset switch. The wireless transmission module 1 is disposed inside the transmitting shell 121, and the self-reset switch 5 is connected to the wireless transmission module 1. When the lifting screw is fully coupled with the clamping mechanism, the screw forms an effective pressing on the self-reset switch, causing the switch to switch from "on" to "off". The synchronous trigger detection signal changes from an initial low level to a high level, which serves as a clear basis for determining the coupling positioning. The U-shaped slot of the launch casing directly matches the shape of the clamping port of the buckle head, forming an embedded integrated structure with high space utilization and no additional volume to the clamping mechanism; the pressing head of the self-resetting switch is located on the inner wall of the slot, so that the physical position of the switch trigger point coincides with the clamping force point of the segment lifting screw. The detection signal directly reflects the true coupling state, avoiding the lag and error caused by indirect measurement, and the response is accurate and the structure is compact.

[0028] In this embodiment, the wireless transmission module 1 includes a low-frequency receiving circuit 2, a high-frequency wireless communication circuit A3, and an external interrupt circuit 4; a self-reset switch 5 is connected to the external interrupt circuit 4; when the self-reset switch 5 is pressed, the wireless transmission module 1 is woken up. The low-frequency receiving circuit continuously listens for the wake-up signal (microampere-level standby current), and the high-frequency wireless communication circuit A is only woken up and transmits a signal through an external interrupt when the self-reset switch is triggered. The power consumption is extremely low, and the battery life can reach several years. The low-frequency and high-frequency dual-frequency separation design avoids co-frequency interference, and the communication is stable and reliable. The external interrupt mechanism ensures zero-delay signal transmission, meeting the real-time requirements of hoisting operations.

[0029] In this embodiment, the wireless transmitting module adopts a fully sealed metal casing design, achieving waterproof and shockproof functionality. Powered by a lithium battery and utilizing wireless communication technology, it effectively solves the problems of difficult wiring and easy breakage. Through low-power design technology, it avoids the inconvenience of frequent battery replacements, achieving long-cycle operation with a small-capacity battery. The module mainly consists of three parts: a low-frequency receiving circuit, a high-frequency wireless communication circuit, and an external interrupt circuit. The low-frequency receiving circuit is primarily used to monitor notification signals; the high-frequency wireless communication circuit is responsible for actively reporting the status of the self-reset switch to the wireless receiving module and receiving the module's "response" signal; the external interrupt circuit is connected to the self-reset switch and monitors the switch status in real time through a rising-edge interrupt wake-up mechanism. When the self-reset switch is pressed, the wireless transmitting module is awakened. It then polls to check for the presence of a low-frequency notification signal. If present, it sends the current status to the wireless receiving module via high-frequency wireless communication; otherwise, it ignores the status and immediately enters sleep mode.

[0030] The wireless receiving module is installed on the weighing plate and needs to be deployed in a location close to the wireless transmitting module to avoid data transmission failure due to excessive communication distance. This module is powered by an external power supply and mainly consists of three parts: a low-frequency transmitting circuit, a high-frequency wireless communication circuit, and a serial communication circuit. The functions of each part are as follows: Low-frequency transmitting circuit: Primarily used during the segment grabbing stage, it transmits low-frequency signals to the wireless transmitting module to feedback the connectivity status of the communication link; in non-segment grabbing scenarios, this circuit will shut down the low-frequency transmitting signal to reduce unnecessary energy consumption. High-frequency wireless communication circuit: Mainly responsible for receiving the self-reset switch status data uploaded by the wireless transmitting module and sending back a "response received" signal to ensure the integrity of data interaction. Serial communication circuit: Actively reports the received switch status data to the host computer via a wired connection, realizing centralized management and subsequent processing of monitoring information.

[0031] Example 3, as Figure 5 As shown, a segment gripping positioning detection device is further optimized based on embodiment 1 or 2. In this embodiment, the self-resetting switch 5 includes a sealed housing 18, within which a push rod 19 and a contact mechanism are provided. The contact mechanism includes a correspondingly arranged moving contact assembly and a stationary contact 26. One end of the push rod 19 is provided with a button head 16. The button head 16 preferably adopts a ball-shaped design and has a smooth surface. The push rod 19 can be a metal push rod, and the push rod and the button head are connected by an "internal thread + anti-loosening pin" structure to prevent the button head from loosening. The surface of the push rod is also coated with a PTFE or other lubricating coating to reduce frictional resistance with the seal. A sealing structure 17 is provided between the button head 16 and the sealed housing 18. The sealing structure 17 can be a combination of an O-ring and a lip seal, which can significantly reduce wear during relative movement with the lifting screw and also has waterproof performance. The other end of the push rod 19 corresponds to the moving contact assembly, and a main spring 20 is connected between the two. The upper end of the main spring is sleeved on the outside of the metal push rod, mainly providing the reset force. The stationary contact 26 is housed within the sealed housing 18, and a reset mechanism is provided between the moving contact assembly and the stationary contact 26 to reset the moving contact assembly, push rod, etc. The sealed housing completely encloses the push rod and contact mechanism, and together with the sealing structure at the button head, forms an IP67 or higher protection capability, effectively isolating dust, mud, and moisture from entering the tunnel. The push rod drives the moving contact assembly through the main spring, achieving rapid response. The reset mechanism ensures reliable contact separation after the clamping force is removed, avoiding adhesion failure and significantly improving the switch's service life and reliability under harsh operating conditions.

[0032] In this preferred embodiment, the moving contact assembly includes an elastic conductive buffer pad 21 connected to the main spring 20. Multiple moving contacts 22 are provided on the elastic conductive buffer pad 21, and the moving contacts 22 are vertically aligned with the stationary contacts 26 to ensure stable contact. The silver alloy stationary contact cooperates with the moving contact to achieve the switching of the reset switch's on / off state. The surface of the elastic conductive buffer pad 21 is covered with conductive silver paste. This conductive silver paste coating on the surface of the elastic conductive buffer pad simultaneously performs the functions of "buffering + auxiliary contact," reducing the individual vibration of the silver alloy moving contact. Furthermore, the elastic conductive buffer pad can absorb the impact vibration during clamping, preventing the contacts from welding or deforming due to rigid collisions. The conductive silver paste coating significantly reduces contact resistance (down to the micro-ohm level), improving current transmission stability. This composite structure combines mechanical buffering and electrical optimization functions, ensuring the continuity of signal triggering and low power consumption characteristics under vibration conditions.

[0033] In a preferred embodiment, the lower end face of the moving contact 22 and the upper end face of the stationary contact 26 are mating bevels, and both the moving contact 22 and the stationary contact 26 are silver alloy contacts. The bevels are 15° micro-bevels, which can scrape away the oxide layer of the stationary contact group during the pressing process, achieving a self-cleaning effect. The beveled design of the moving and stationary contacts generates a lateral sliding motion at the moment of contact, which can automatically remove the surface oxide layer and deposits, achieving a self-cleaning function; the silver alloy material has excellent conductivity, resistance to arc erosion, and mechanical strength, extending the contact life; the beveled structure increases the effective contact area, reduces the pressure per unit area, further reduces wear, and improves the current carrying capacity.

[0034] As a preferred embodiment, the reset mechanism includes an iron block 23 mounted on the elastic conductive buffer pad 21 and an electromagnet 27 mounted on the sealed housing 18, with the iron block 23 and electromagnet 27 positioned vertically opposite each other. The electromagnet controls the attraction / release of the iron block to achieve automatic reset control of the switch. Together, they control the ejection of the button head: when the device fully clamps the lifting screw, the lifting system starts and slowly pulls up the lifting screw. At this time, the electromagnet is energized and attracts the iron block, preventing the button head from ejecting and damaging the switch. The lifting system can use a lifting cylinder to primarily handle the gripping and transportation of the tunnel segments. A secondary spring 25 is also provided on the elastic conductive buffer pad 21, located between the iron block 23 and the electromagnet 27. The secondary spring is positioned between the silver alloy moving contact and the iron block, buffering the contact force and preventing jamming caused by a single spring force. An insulating isolation plate 24 is provided on the iron block 23; the insulating isolation plate prevents accidental short circuits due to contact errors. When the electromagnet is energized, it actively attracts the iron block. Combined with the mechanical elasticity of the secondary spring, it forms a dual electromagnetic and mechanical reset force, ensuring that even in extreme cases such as aging of the main spring or slight adhesion of the contacts, the contacts can still be forcibly separated, eliminating the risk of reset failure. The insulating isolation sheet on the iron block blocks the current path and prevents the electromagnetic coil from interfering with the main circuit. This design realizes the fail-safe principle and greatly improves the system safety.

[0035] The sealed housing 18 includes an upper housing 181 and a lower housing 182. The upper housing 181 has a button groove 183 corresponding to the button head 16. A sealing structure 17 is disposed between the button groove 183 and the button head 16 to ensure a tight seal. The lower housing 182 has a guide groove adapted to the push rod 19 and the moving contact assembly, allowing the push rod 19 and the moving contact assembly to move only vertically. The lower housing 182 has signal pins 28 corresponding to the electromagnet 27 and the stationary contact 26. The pins include electromagnet control pins and reset switch signal pins for circuit connection. The separate upper and lower housing structure facilitates modular assembly and maintenance. The guide groove ensures precise alignment of the push rod and the contact assembly, improving assembly efficiency. The integrated design of the button groove and the sealing structure simplifies the sealing process and reduces leakage points.

[0036] The self-reset switch's compression amount is designed to be no less than the distance between the lifting screw and the clamping mechanism when they are fully coupled. Combined with a 6mm precise stroke and an elastic conductive buffer pad, it avoids the risk of false triggering due to excessive stroke and prevents detection failure due to insufficient stroke, ensuring trigger reliability. Functionally, the switch connects to the external interrupt circuit interface of the wireless transmission module. It determines the coupling state between the lifting screw and the clamping mechanism based on the "on-off-on" state change: a high-level 1 signal is generated when compressed, and a low-level 0 signal is output when released, achieving precise signal feedback of the coupling state.

[0037] Example 4 provides a segment grabbing and positioning detection device, further optimized based on Examples 1 or 3. In this example, the shell-type wireless receiving module 14 includes a receiving shell 141, within which a wireless receiving module 6 is housed. The wireless receiving module 6 includes a low-frequency transmitting circuit 7, a high-frequency wireless communication circuit B31, and a serial communication circuit 8. The serial communication circuit 8 is connected to the host computer 9 of the main control unit. The low-frequency receiving circuit 2 receives the low-frequency signal from the low-frequency transmitting circuit 7, and the high-frequency wireless communication circuit B31 receives the high-frequency signal from the high-frequency wireless communication circuit A3. The low-frequency transmitting circuit periodically sends an activation signal, and the high-frequency wireless communication circuit B31 receives the positioning information, forming a two-way handshake protocol to prevent false triggering and illegal signal intrusion. The serial communication circuit (such as RS485 / CAN) is directly connected to the host computer of the main control unit, with a standardized interface, facilitating integration into existing tunnel boring machine or gantry crane control systems. This architecture supports one-to-many networking, allowing a single receiving module to manage multiple transmitting modules, resulting in strong system scalability and significantly reduced wiring complexity.

[0038] This wireless receiver module is powered by an external power supply and integrates an ATA5790 chip and a CC2340R5 chip to achieve 125kHz low-frequency transmission and Bluetooth high-frequency reception, respectively. It also features serial communication capabilities, with the high-frequency receiver chip (CC2340R5) as the main control core. The casing is made of waterproof aluminum alloy, making it suitable for complex working environments such as humidity and dust. The working mechanism is designed around the segment assembly process: when the clamping mechanism starts to grip the lifting nail, the host computer sends a "start gripping" command via serial communication; after receiving the command, the module continuously sends low-frequency notification signals at fixed time intervals T, while the high-frequency receiving circuit simultaneously enters a listening state. Once the segment assembly is complete, the host computer sends a "complete" command, and the module immediately stops sending low-frequency signals; if the corresponding signal is successfully captured through the high-frequency receiving channel, the module will send an "acknowledgment" signal back to the wireless transmitting module and report this signal to the host computer in real time via serial communication, forming a closed-loop command interaction.

[0039] In this embodiment, the wireless transmission module is specifically designed for industrial construction scenarios such as tunnel segment installation. It is powered by a lithium battery and incorporates low-power components. The core integrates a 125kHz low-frequency receiver (SI3933 chip), a Bluetooth high-frequency transmitter (CC2340R5 chip), and external interrupt functionality. The low-frequency receiver chip (SI3933 chip) is the main control core, balancing battery life and communication stability. The packaging design adapts to the construction environment and installation requirements: the module uses a titanium alloy shell, which enhances impact resistance and minimizes interference with wireless transmission. Considering the limited installation space of the clamping mechanism, the shell height is strictly controlled within 20mm to avoid collisions with tunnel segments during gripping. An independent circuit cavity is provided inside the shell, with three 1mm high steps on both sides and in the middle of the cavity for precise positioning and stable installation of the circuit module. After assembly, waterproof sealant is filled, forming triple protection against dust, water, and vibration, ensuring reliable operation of the module in harsh construction environments. The operating logic is as follows: When the controllable reset switch is pressed for more than 100ms, a "0-1" level signal is generated, and the module is woken up by an external interrupt. This reset switch is a non-self-reset design; after being woken up, it remains pressed until the chip installation is complete. After the module is woken up, it polls the SI3933 chip to detect a 125kHz low-frequency notification signal. If this signal is detected, the Bluetooth high-frequency transmission function of the CC2340R5 chip is immediately activated, simultaneously sending the interrupt signal and the chip acquisition status notification to the wireless receiving module. If the low-frequency notification signal is not detected, the interrupt is ignored, the high-frequency transmission circuit remains powered off, and the module enters a low-power sleep mode, effectively extending the lithium battery's battery life and adapting to the power supply requirements of long-term construction scenarios.

[0040] Example 5: A method for detecting the positioning of tunnel segments, such as... Figure 6As shown, the segment gripping detection device described in Embodiment 3 is used; the specific process is as follows: S1, when the segment needs to be clamped, the host computer first sends a "start clamping" command to the wireless receiving module 6. After receiving the command, the wireless receiving module immediately sends a low-frequency notification signal continuously at a fixed time interval T; at the same time, the high-frequency receiving circuit B enters the listening state.

[0041] S2. When the lifting screw is fully coupled with the clamping mechanism, the self-reset switch 5 is pressed, the wireless transmission module 1 is awakened, and the low-frequency receiving circuit 2 polls to detect the low-frequency notification signal. If the signal is detected, the high-frequency wireless communication circuit A3 performs Bluetooth high-frequency transmission, synchronously sending the segment clamping signal to the high-frequency receiving circuit B of the wireless receiving module 6. If the low-frequency receiving circuit 2 does not detect the low-frequency notification signal, the interruption is ignored, the high-frequency transmission circuit remains powered off, and the wireless transmission module 1 immediately enters a low-power sleep mode. The low-frequency polling + high-frequency confirmation method only transmits the Bluetooth high-frequency arrival signal after the transmitting end detects the periodic low-frequency notification signal from the receiving module, forming a request-response two-way handshake, completely eliminating false arrival signals caused by random electromagnetic interference or switch jitter, and achieving zero false alarms.

[0042] S3. The wireless receiving module will send a signal to the host computer that the segment clamp is in place and then enter sleep mode.

[0043] S4. After receiving the segment clamping signal, the host computer sends a "clamping end" command to the wireless receiving module and determines that the lifting screw has been fully clamped.

[0044] S5. After receiving the "clamping ended" command, the wireless receiving module stops sending low-frequency notification signals. At the same time, the lifting system starts and slowly pulls up the lifting screws, eventually transferring the tunnel segment to the designated position.

[0045] To prevent damage to the switch during the clamping mechanism's operation, an intelligent protection logic is implemented: when the self-reset switch 5 is pressed for more than 100ms, the wireless transmission module is automatically activated. The wireless transmission module then locks the self-reset switch 5 for a certain period to prevent it from popping up during the clamping mechanism's lifting of the segment lifting screw 13, thus avoiding damage caused by relative friction. After the clamping mechanism completes the segment assembly, the wireless transmission module automatically unlocks, and the self-reset switch 5 resumes its self-reset function, popping up to return to its initial state, awaiting the next coupling detection. The overall design, through a combination of structural optimization and intelligent control, ensures the accuracy of coupling detection while extending the switch's lifespan through the locking protection mechanism, adapting to the stable operation requirements of industrial scenarios such as segment assembly.

[0046] The principle for determining whether the lifting screw and the clamping mechanism are fully coupled in step S2 is as follows: Assume the signal S of the self-reset switch 5 has a value of {0,1}, where 0 indicates the self-reset switch is in the open state and 1 indicates the self-reset switch is in the closed state. Initially, the self-reset switch is in the open state, S=0. When the lifting system reaches the position of the lifting screw, the lifting screw begins to enter the clamping mechanism until it is fully engaged and presses the self-reset switch. At this time, the self-reset switch signal changes to S=1, generating a rising edge signal from 0 to 1. Based on this, it is determined that the lifting screw is fully coupled with the clamping mechanism and there is no risk of overturning. If the lifting status is normal, the segment assembly task continues; otherwise, work stops.

[0047] Example 6 describes a segment assembly machine that uses the segment gripping positioning detection method described in Example 5 to detect whether the segments have been gripped in place. A low-power technology combining low-frequency notification communication and an interrupt mechanism is preferred; however, this technology can also be replaced by LoRa's over-the-air wake-up technology. It can also be used in conjunction with a clamping status monitoring system. This system, deployed on a handheld terminal or PC, establishes real-time data interaction with a wireless receiving module via serial wired communication. It can monitor the operating status of the self-reset switch in real time and accurately determine the coupling status between the lifting screw and the clamping mechanism. The system can visually display the above status or analyze the status data through built-in logic algorithms, thereby issuing prompts to the operator or outputting "pause" or "continue" control commands to the automatic assembly system. This technically avoids construction safety accidents caused by incomplete segment clamping, providing reliable safety assurance for shield tunnel segment assembly operations. The segment assembly machine of the present invention solves the problems of difficult wiring and inaccurate judgment of the segment clamping and fastening status in the prior art. It realizes the function of long-term monitoring of the coupling status between the clamping mechanism and the lifting screw, thereby achieving the goal of cost reduction and efficiency improvement, and improving the segment assembly efficiency and safety.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A segment gripping into place detection device, characterized by: The utility model provides a kind of pipe piece lifting screw clamp device, including load-bearing member (15) and the clamping mechanism (10) being arranged on load-bearing member (15), the buckle head (11) of clamping mechanism (10) is equipped with shell wireless sending module (12), the inner wall surface of shell wireless sending module (12) is equipped with self-resetting switch (5), the upper portion of load-bearing member (15) is equipped with the shell wireless receiving module (14) corresponding with shell wireless sending module (12);When the buckle head (11) of clamping mechanism (10) clamps pipe piece lifting screw (13), self-resetting switch (5) is pressed, and buckle head (11) and pipe piece lifting screw (13) are in coupling state;Self-resetting switch (5) is pressed, and shell wireless sending module (12) is woken up, and shell wireless receiving module (14) receives the high-frequency signal information transmitted by shell wireless sending module (12), and the high-frequency signal information is transmitted to host computer (9) on main control unit.

2. The segment grabbing-in-place detection device according to claim 1, characterized in that: Shell wireless sending module (12) includes transmitting shell (121), and U-shaped notch (122) suitable for the clamping mouth of buckle head (11) is formed on transmitting shell (121), and self-resetting switch (5) is arranged in transmitting shell (121) and its pressing head (25) is located the inner wall surface of U-shaped notch (122);Transmitting shell (121) is equipped with wireless sending module (1) in, and self-resetting switch (5) is connected with wireless sending module (1).

3. The segment grab-to-place detection apparatus of claim 2, wherein: Wireless sending module (1) includes low-frequency receiving circuit (2), high-frequency wireless communication circuit A (3) and external interrupt circuit (4);Self-resetting switch (5) is connected with external interrupt circuit (4);When self-resetting switch (5) is pressed, wireless sending module (1) is woken up.

4. The segment gripping-in-place detection device according to any one of claims 1 to 3, characterized in that: Self-resetting switch (5) includes sealed shell (18), and push rod (19) and contact mechanism are equipped in sealed shell (18);Contact mechanism includes correspondingly arranged moving contact assembly and static contact (26), and one end of push rod (19) is equipped with button head (16);Sealed structure (17) is equipped between button head (16) and sealed shell (18);The other end of push rod (19) is corresponded with moving contact assembly, and main spring (20) is connected between the other end of push rod (19) and moving contact assembly;Static contact (26) is arranged in sealed shell (18), and reset mechanism is equipped between moving contact assembly and static contact (26).

5. The segment grab-to-place detection apparatus of claim 4, wherein: Moving contact assembly includes elastic conductive cushion pad (21) connected with main spring (20), and moving contact (22) is equipped on elastic conductive cushion pad (21), and moving contact (22) and static contact (26) are correspondingly arranged up and down, and the surface of elastic conductive cushion pad (21) is covered with conductive silver adhesive.

6. The segment grab-to-place detection apparatus of claim 5, wherein: The lower end surface of moving contact (22) and the upper end surface of static contact (26) are matching bevels, and moving contact (22) and static contact (26) are both silver alloy contacts.

7. The segment grab-to-place detection apparatus of claim 5 or 6, wherein: The reset mechanism comprises an iron block (23) arranged on the elastic conductive buffer pad (21) and an electromagnet (27) arranged on the sealing shell (18), the iron block (23) and the electromagnet (27) are arranged in correspondence with each other, and a secondary spring (25) is further arranged on the elastic conductive buffer pad (21) and located between the iron block (23) and the electromagnet (27); and the iron block (23) is provided with an insulating isolation sheet (24).

8. The segment grab-to-place detection apparatus of claim 7, wherein: The sealing shell (18) comprises an upper shell (181) and a lower shell (182), the upper shell (181) is provided with a button slot (183) corresponding to the button head (16), and the sealing structure (17) is arranged between the button slot (183) and the button head (16); the lower shell (182) is provided with a guide slot matched with the push rod (19) and the movable contact assembly, and the lower shell (182) is provided with a signal pin (28) corresponding to the electromagnet (27) and the static contact (26).

9. The segment grabbing-in-place detection apparatus according to claim 1 or 8, characterized in that: The pipe piece grabbing in-place detection device according to claim 8, wherein the shell-type wireless receiving module (14) comprises a receiving shell (141), and the receiving shell (141) is provided with a wireless receiving module (6) therein; the wireless receiving module (6) comprises a low-frequency transmitting circuit (7), a high-frequency wireless communication circuit B (31) and a serial communication circuit (8); the serial communication circuit (8) is connected with the host computer (9) of the main control unit; the low-frequency receiving circuit (2) receives the low-frequency signal of the low-frequency transmitting circuit (7), and the high-frequency wireless communication circuit B (31) receives the high-frequency signal of the high-frequency wireless communication circuit A (3).

10. A segment gripping-in-place detection method, characterized in that: The pipe piece grabbing in-place detection device according to any one of claims 1-9 is adopted; and the specific process is as follows: S1, when the pipe piece needs to be fastened and clamped, the host computer first sends a "start clamping" instruction to the wireless receiving module (6), and the wireless receiving module immediately sends a low-frequency notification signal at a fixed time interval T after receiving the instruction; at the same time, the high-frequency receiving circuit B synchronously enters a listening state; S2, when the lifting screw is completely coupled with the clamping mechanism, the self-resetting switch (5) is pressed, the wireless sending module (1) is awakened, and the low-frequency receiving circuit (2) detects the low-frequency notification signal in a polling manner: if the signal is detected, the high-frequency wireless communication circuit A (3) performs Bluetooth high-frequency transmission, and the pipe piece clamping in-place signal is synchronously sent to the high-frequency receiving circuit B of the wireless receiving module (6); S3, the wireless receiving module feeds back the pipe piece clamping in-place signal to the host computer and enters a sleep state; S4, after receiving the pipe piece clamping in-place signal, the host computer sends a "clamping end" instruction to the wireless receiving module and determines that the lifting screw has been completely clamped; S5, after receiving the "clamping end" instruction, the wireless receiving module stops sending the low-frequency notification signal, and at the same time, the lifting system starts and slowly pulls the lifting screw, and finally the pipe piece is transported to the designated position.

11. The segment grabbing-in-place detection method according to claim 10, characterized in that: If the low-frequency receiving circuit (2) does not detect the low-frequency notification signal, the interruption is ignored, the high-frequency transmitting circuit is kept in a power-off state, and the wireless sending module (1) enters a low-power sleep mode.

12. The segment grabbing-in-place detection method according to claim 10 or 11, characterized in that: When the self-resetting switch (5) is pressed for more than 100 ms, the wireless sending module is automatically woken up, and the wireless sending module immediately locks the self-resetting switch (5) for a certain period of time to prevent it from bouncing up during the lifting of the pipe piece by the clamping mechanism to lift the screw (13), thereby avoiding damage caused by relative friction; after the clamping mechanism completes the pipe piece assembly, the wireless sending module is automatically unlocked, the self-resetting switch (5) restores the self-resetting function, bounces back to the initial state, and waits for the next coupling detection.

13. The segment grabbing-in-place detection method according to claim 12, characterized in that: In step S2, the signal S of the self-resetting switch (5) is valued as {0, 1}, wherein 0 represents that the self-resetting switch is in an open state, and 1 represents that the self-resetting switch is in a closed state; in the initial state, the self-resetting switch is in the open state, and S=0; when the lifting system runs to the lifting screw position, the lifting screw starts to enter the clamping mechanism until it is completely entered and presses the self-resetting switch, at which time the self-resetting switch signal becomes S=1, generating a rising edge signal from 0 to 1, according to which it is determined that the lifting screw has been completely coupled with the clamping mechanism and there is no risk of overturning; if the lifting state is normal, the pipe piece assembly task is continued to be executed, otherwise the work is stopped.

14. A segment erector, characterized by: The pipe piece grabbing position detection method of any one of claims 10-13 is used to detect whether the pipe piece is grabbed to the position.

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