Automatic pipe piece grabbing device

Abstract

The utility model relates to the technical field of automatic pipe piece grabbing, in particular to an automatic pipe piece grabbing device which comprises a shield body and a pipe piece, a bolt hoisting head is fixedly connected to the inner side wall of the pipe piece, an assembling ring is arranged on the inner wall of the shield body in an arc-shaped sliding mode, and a fixed grabbing beam is longitudinally arranged on the side wall of the assembling ring in a sliding mode through a vertical oil cylinder. A movable grabbing beam is transversely arranged on one side wall of the fixed grabbing beam in a sliding mode through a horizontal oil cylinder, a guide plate is detachably connected to the center of the movable grabbing beam in a clamped mode, a laser receiving ring is installed in the bolt hoisting head, and small foot supporting shoe oil cylinders are installed at the symmetrical positions of the two side walls of the movable grabbing beam. The three-dimensional coordinate information of the duct piece in the grabbing process is obtained through the laser transmitter based on the laser ranging technology, the situations that the visualization degree in a tunnel is low, the complex environment, shielding, darkness and the like can be dealt with, that is, the situations that the resolution ratio of a traditional visual sensor is possibly decreased, even information is lost and the like are avoided, and the grabbing efficiency is improved. And automation of pipe piece grabbing is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic pipe segment grabbing, in particular to an automatic pipe segment grabbing device. Background Art

[0002] After the shield machine excavates the tunnel, it is necessary to install segments in the tunnel to prevent the tunnel from collapsing. The segments are transported into the tunnel through the segment conveyor track, and then transported to the back of the cutterhead by the segment hoist. Finally, the segment assembler located behind the cutterhead installs the segments in the corresponding positions, that is, the segment assembler assembles the segments into a section of pipe. Before assembling the segments, the segments must be grabbed. When assembling the segments, the shield machine must stop excavating and retract the thrust cylinders in the area to be assembled to leave space for assembly. The crane lifts the segments from the conveyor track to the segment feeder. The segment feeder moves along the axial direction of the tunnel to transport the segments to the grabbing area of ​​the assembler, and then grabs the segments through the grabbing structure and assembles them.

[0003] At present, when the shield segment assembly machine grabs the segments, it needs to rely on the workers to use their eyes to locate the segment bolts and the grabbing platform. This positioning method not only has low accuracy, but also seriously affects the construction speed. Some researchers have also tried to use the visual system to locate and grab the segments. However, in actual working conditions, the degree of visualization in the tunnel is low, coupled with complex environments, occlusions, and darkness, the visual sensor may experience a decrease in resolution or even information loss, ultimately leading to the failure of the grabbing task. Not only does it make the segment grabbing and assembly process prone to failure, but it is also difficult to meet the automation process, affecting the overall advancement of the shield machine.

[0004] Therefore, it is necessary to invent an automated segment grabbing device to solve the above problems. Utility Model Content

[0005] In order to address the deficiencies of the prior art, the purpose of the utility model is to provide an automated segment grabbing device, which solves the problem that the visual sensor in the prior art may have a decrease in resolution or even information loss, ultimately leading to the failure of the grabbing task, which not only makes the segment grabbing and assembly process prone to malfunctions, but also makes it difficult to meet the automation process, affecting the overall advancement of the shield machine.

[0006] In order to achieve the above objectives, the utility model adopts the following technical solutions:

[0007] An automated segment grabbing device comprises a shield body and a segment, the shield body being provided with a control unit, the inner side wall of the segment being fixedly connected with a bolt lifting head, the inner wall of the shield body being provided with an assembling ring for arc-shaped sliding, the side wall of the assembling ring being provided with a fixed grabbing beam for longitudinal sliding through a vertical cylinder, the side wall of the fixed grabbing beam being provided with a dynamic grabbing beam for transverse sliding through a horizontal cylinder, the center of the dynamic grabbing beam being detachably clamped with a guide plate, a laser transmitter being installed in the guide plate, and the bolt lifting head being clampable into the guide plate, a laser receiving ring for receiving the laser beam of the laser transmitter being installed in the bolt lifting head, small foot support shoe cylinders being installed at symmetrical positions on both side walls of the dynamic grabbing beam, and four of the small foot support shoe cylinders being arranged with the guide plate as the center, and the side walls of the small foot support shoe cylinders being provided with laser rangefinders for measuring the distance from the segment surface to the small foot support shoe cylinders.

[0008] As a preferred solution of the utility model, a mounting groove is opened in the center of the dynamic grabbing beam, a mounting cover is connected to the top of the guide plate, the mounting cover can be detachably installed in the mounting groove, and the laser emitter can be detachably installed between the mounting cover and the guide plate.

[0009] As a preferred solution of the utility model, the fixed grabbing beam is detachably installed with a transversely arranged guide beam at symmetrical positions, the telescopic direction of the horizontal oil cylinder is consistent with the axial direction of the guide beam, and the dynamic grabbing beam can slide transversely along the guide beam.

[0010] As a preferred solution of the utility model, the guide plate is provided with two inner and outer trumpet-shaped notches for the bolt lifting head to be clamped into.

[0011] As a preferred solution of the utility model, the bottom ends of the plurality of vertical oil cylinders are detachably connected to the top ends on both sides of the fixed grabbing beam.

[0012] As a preferred solution of the utility model, the shield body drives the assembling ring to slide in an arc along its inner wall through the motor on the panel, and the control unit in the shield body can respectively control the sliding stroke of the assembling ring and the telescopic stroke of the vertical cylinder, horizontal cylinder and small foot support shoe cylinder.

[0013] In the above technical solution, the technical effects and advantages provided by the utility model are:

[0014] In the utility model, when the pipe segment enters the assembly area, the laser beam emitted by the laser transmitter in the guide plate reaches the laser receiving ring on the bolt lifting head, and the laser beam is received by the laser receiving ring and fed back to the control unit of the shield body. By calculating the deflection angle and reflection time of the laser beam and then combining the relevant algorithm for data processing, the three-dimensional coordinates (Lx, Ly and Lz) of the bolt lifting head can be obtained. Then, the control unit controls the assembly ring to slide along the inner wall of the shield body in an arc shape to adjust the position of the guide plate and the bolt lifting head in the Lx direction, and controls the horizontal cylinder stroke by the control unit to adjust the position of the guide plate and the bolt lifting head in the Ly direction. At the same time, the control unit controls the vertical cylinder stroke. To adjust the position of the guide plate and the bolt lifting head in the Lz direction, and finally the four small foot support shoe cylinders measure the distance from the surface of the pipe segment to the small foot support shoe cylinders through the laser rangefinder, thereby controlling the stroke of the small foot support shoe cylinders to make the bolt lifting head engage with the guide plate, completing the fixation of the guide plate and the bolt lifting head. At this time, the grabbing is completed. In the utility model, the three-dimensional coordinate information of the pipe segment during the grabbing process is obtained by a laser transmitter based on laser ranging technology, which can cope with the low degree of visualization in the tunnel, coupled with complex environment, occlusion and darkness, that is, avoid the traditional visual sensors that may have reduced resolution or even information loss, and realize the automation of pipe segment grabbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the utility model during measurement;

[0016] Figure 2 It is a schematic diagram of the plan view of the structure of the utility model;

[0017] Figure 3 It is a schematic diagram of the plan view structure of the utility model;

[0018] Figure 4 It is a schematic diagram of the planar side view structure of the utility model;

[0019] Figure 5 For this utility model Figure 3 Schematic diagram of the cross-sectional structure of the middle edge small foot support shoe cylinder after cutting;

[0020] Figure 6 It is a schematic diagram of the overall structure of the utility model during measurement.

[0021] Description of reference numerals:

[0022] 1. Shield body; 2. Assembly ring; 3. Vertical cylinder; 4. Fixed grab beam; 5. Guide beam; 6. Dynamic grab beam; 7. Horizontal cylinder; 8. Small foot support shoe cylinder; 9. Laser rangefinder; 10. Installation cover; 11. Guide plate; 12. Laser transmitter. DETAILED DESCRIPTION

[0023] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.

[0024] The utility model provides Figure 1-Figure 6 The automatic segment grabbing device shown in the figure comprises a shield body 1 and a segment. The shield body 1 is provided with a control unit. The inner side wall of the segment is fixedly connected with a bolt lifting head. The inner wall of the shield body 1 is provided with an arc-shaped sliding assembly ring 2. The side wall of the assembly ring 2 is provided with a fixed grabbing beam 4 through a vertical oil cylinder 3 for longitudinal sliding. A side wall of the fixed grabbing beam 4 is provided with a dynamic grabbing beam 6 through a horizontal oil cylinder 7 for transverse sliding. The center of the dynamic grabbing beam 6 is detachably connected with a guide plate 11. A laser transmitter 12 is installed in the guide plate 11. The bolt lifting head can be connected to the guide plate 1. 1, a laser receiving ring capable of receiving the laser beam of the laser transmitter 12 is installed in the bolt lifting head, small foot support shoe cylinders 8 are installed at symmetrical positions on both side walls of the dynamic grabbing beam 6, and four small foot support shoe cylinders 8 are arranged with the guide plate 11 as the center, and a laser rangefinder 9 capable of measuring the distance from the surface of the segment to the small foot support shoe cylinders 8 is installed on the side wall of the small foot support shoe cylinders 8, and the laser receiving ring on the bolt lifting head corresponds to the laser transmitter 12 in the guide plate 11, so as to obtain the three-dimensional coordinate information of the segment through the laser ranging technology.

[0025] An installation groove is opened in the center of the dynamic grabbing beam 6, and a installation cover 10 is connected to the top of the guide plate 11. The installation cover 10 can be removably installed in the installation groove, and the laser transmitter 12 can be removably installed between the installation cover 10 and the guide plate 11. The installation groove can facilitate the installation and disassembly of the guide plate 11 in the dynamic grabbing beam 6.

[0026] The fixed grabbing beam 4 is symmetrically positioned and detachably installed with a transversely arranged guide beam 5. The telescopic direction of the horizontal oil cylinder 7 is consistent with the axial direction of the guide beam 5. The dynamic grabbing beam 6 can slide transversely along the guide beam 5. The guide beam 5 can guide the travel of the dynamic grabbing beam 6 and provide a certain anti-drop support for the dynamic grabbing beam 6.

[0027] The guide plate 11 is provided with two trumpet-shaped inner and outer grooves for the bolt lifting head to be inserted into. The trumpet-shaped inner and outer grooves can facilitate the guide plate 11 to be aligned with the bolt lifting head. When the bolt lifting head slides to the bottom in the guide groove, the inner and outer grooves are of the same size, and the head of the bolt lifting head will fall into the inner groove. At this time, the guide plate 11 is fixed to the bolt lifting head.

[0028] The bottom ends of the plurality of vertical oil cylinders 3 are detachably connected to the top ends of both sides of the fixed grabbing beam 4 respectively.

[0029] The shield body 1 drives the assembling ring 2 to slide in an arc along its inner wall through the motor on the panel. The control unit in the shield body 1 can respectively control the sliding stroke of the assembling ring 2 and the telescopic stroke of the vertical cylinder 3, the horizontal cylinder 7 and the small foot support shoe cylinder 8. The laser beam emitted by the laser transmitter 12 reaches the laser receiving ring on the bolt lifting head. The laser beam is received by the laser receiving ring and fed back to the instrument. By calculating the deflection angle and reflection time of the laser beam and combining the relevant algorithm for data processing, the three-dimensional coordinates of the lifting head can be obtained. After the feedback system passes through the processor, the cylinder stroke can be controlled by the PLC control unit.

[0030] In the utility model, when the pipe segment enters the assembly area, the laser beam emitted by the laser transmitter 12 in the guide plate 11 reaches the laser receiving ring on the bolt lifting head, and the laser beam is received by the laser receiving ring and fed back to the control unit of the shield body 1. By calculating the deflection angle and reflection time of the laser beam and then combining the relevant algorithm for data processing, the three-dimensional coordinates (Lx, Ly and Lz) of the bolt lifting head can be obtained. Then, the control unit controls the assembly ring 2 to slide along the arc of the inner wall of the shield body 1 to adjust the position of the guide plate 11 and the bolt lifting head in the Lx direction, and controls the horizontal cylinder 7 to adjust the position of the guide plate 11 and the bolt lifting head in the Ly direction. At the same time, the control unit controls the vertical cylinder 3 to move. The position of the guide plate 11 and the bolt lifting head in the Lz direction is adjusted by the process. Finally, the four small foot support shoe cylinders 8 measure the distance from the surface of the pipe segment to the small foot support shoe cylinders 8 through the laser rangefinder 9, thereby controlling the stroke of the small foot support shoe cylinders 8 so that the bolt lifting head is clamped into the guide plate 11, completing the fixation of the guide plate 11 and the bolt lifting head. At this time, the grabbing is completed. In the utility model, the three-dimensional coordinate information of the pipe segment during the grabbing process is obtained by the laser transmitter 12 based on laser ranging technology, which can cope with the low degree of visualization in the tunnel, coupled with complex environment, occlusion and darkness, that is, avoid the traditional visual sensor may have a decrease in resolution or even information loss and other situations, to achieve the automation of pipe segment grabbing.

[0031] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An automatic segment grabbing device, comprising a shield (1) and a segment, characterized in that: The shield body (1) is provided with a control unit, the inner side wall of the pipe segment is fixedly connected with a bolt lifting head, the inner wall of the shield body (1) is provided with an arc-shaped sliding assembly ring (2), the side wall of the assembly ring (2) is provided with a fixed grabbing beam (4) for longitudinal sliding through a vertical oil cylinder (3), and the side wall of the fixed grabbing beam (4) is provided with a dynamic grabbing beam (6) for transverse sliding through a horizontal oil cylinder (7), the center of the dynamic grabbing beam (6) is detachably connected with a guide plate (11), and a laser emitter is installed in the guide plate (11). The bolt lifting head is capable of being inserted into the guide plate (11), and a laser receiving ring capable of receiving the laser beam of the laser transmitter (12) is installed in the bolt lifting head. Small foot support shoe cylinders (8) are installed at symmetrical positions on both side walls of the dynamic grabbing beam (6), and four small foot support shoe cylinders (8) are arranged with the guide plate (11) as the center. The side walls of the small foot support shoe cylinders (8) are equipped with laser rangefinders (9) capable of measuring the distance from the surface of the pipe segment to the small foot support shoe cylinders (8).

2. The automatic segment grabbing device according to claim 1, characterized in that: The center of the dynamic grabbing beam (6) is provided with a mounting groove, the top end of the guide plate (11) is connected to a mounting cover (10), the mounting cover (10) is detachably mounted in the mounting groove, and the laser emitter (12) is detachably mounted between the mounting cover (10) and the guide plate (11).

3. The automatic segment grabbing device according to claim 1, characterized in that: The fixed grabbing beam (4) is symmetrically provided with a transversely arranged guide beam (5) which can be detachably mounted thereon, the telescopic direction of the horizontal oil cylinder (7) is consistent with the axial direction of the guide beam (5), and the movable grabbing beam (6) can slide transversely along the guide beam (5).

4. The automatic segment grabbing device according to claim 1, characterized in that: The guide plate (11) is provided with two trumpet-shaped inner and outer notches for the bolt lifting head to be clamped into.

5. The automatic segment grabbing device according to claim 1, characterized in that: The bottom ends of the plurality of vertical oil cylinders (3) are detachably connected to the top ends of both sides of the fixed grabbing beam (4).

6. The automatic segment grabbing device according to claim 1, characterized in that: The shield body (1) drives the assembly ring (2) to slide in an arc shape along its inner wall through a motor on the panel, and the control unit in the shield body (1) can respectively control the sliding stroke of the assembly ring (2) and the telescopic stroke of the vertical cylinder (3), the horizontal cylinder (7) and the small foot support shoe cylinder (8).

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