Duct piece slab staggering detection device

Abstract

The utility model provides a duct piece staggering detection device, which comprises an arc-shaped guide mechanism, a linear guide mechanism and a detection mechanism, the arc-shaped guide mechanism extends along the section of duct piece arrangement, the linear guide mechanism extends along the axial direction of duct piece arrangement, the arc-shaped guide mechanism reciprocates through the linear guide mechanism, and the detection mechanism is arranged on the arc-shaped guide mechanism. The detection mechanism is movably arranged on the arc-shaped guide mechanism, the detection mechanism comprises an image acquisition unit and a laser emission unit, the laser emission unit emits laser to a splicing seam of the duct piece, and the image acquisition unit acquires a splicing seam image. According to the utility model, the circumferential and inner cambered surface slab staggering quantity of one-ring or even multi-ring segments can be rapidly and flexibly detected, and the detection efficiency of segment splicing quality is improved while the working intensity of measurement personnel is reduced; the device not only can be suitable for installation of shields with various excavation diameters, but also can flexibly adjust the ring number of the detected duct piece by adjusting the length of the linear guide mechanism, can be applied to muddy water / earth pressure shield machines with various diameters, and reduces the working intensity of personnel.

Description

Technical Field

[0001] The utility model relates to the field of shield tunneling, and in particular to a segment assembly quality detection device. Background Art

[0002] In the process of tunnel excavation using the shield method, the quality of segment assembly is one of the key indicators in the construction process. The quality of segment assembly directly affects the quality of tunnel forming, the service life of the tunnel and the waterproof effect. Therefore, the control and detection of the quality of segment assembly is very critical. The main factor affecting the quality of segment assembly is the problem of segment misalignment. At present, the detection of segment misalignment mainly relies on manual detection using steel rulers and wedge-shaped vernier feeler gauges. The detection accuracy of this method is greatly affected by the observation angle and the detection efficiency is low. In addition, most of the devices currently mounted on the shield machine to detect segment misalignment are fixed in one position and can only detect a few segments, or can only detect the misalignment of some segments by circumferential rotation. The remaining segment misalignment still needs to be measured manually, which is less flexible. Utility Model Content

[0003] Purpose of the invention: The purpose of the utility model is to address the deficiencies in the prior art and provide a segment misalignment detection device that can flexibly detect the misalignment of multi-ring segments and improve the efficiency of monitoring the segment assembly quality.

[0004] Technical solution: The utility model discloses a segment misalignment detection device, comprising:

[0005] An arc-shaped guide mechanism, wherein the arc-shaped guide mechanism extends along the cross section where the segments are arranged;

[0006] A linear guide mechanism, wherein the linear guide mechanism extends along the axial direction of the tube segment arrangement, and the arc-shaped guide mechanism reciprocates along the linear guide mechanism;

[0007] The detection mechanism is movably arranged on the arc-shaped guide mechanism, and the detection mechanism includes an image acquisition unit and a laser emitting unit facing the pipe segment, the laser emitting unit emits laser to the seam of the pipe segment, and the image acquisition unit obtains the seam image.

[0008] Furthermore, the detection mechanism also includes an encoder.

[0009] Furthermore, the detection mechanism drives the first transmission assembly through the servo assembly so that the detection mechanism moves on the arc-shaped guide mechanism.

[0010] Furthermore, the detection mechanism is arranged on the servo assembly through a lifting assembly.

[0011] Furthermore, the arc range of the arc-shaped guiding mechanism is 270°-360°.

[0012] Furthermore, first limiting members for limiting the movement limit position of the detection mechanism are provided at both ends of the arc-shaped guide mechanism.

[0013] Furthermore, the arc-shaped guide mechanism drives the second transmission assembly through the driving assembly, so that the arc-shaped guide mechanism moves along the linear guide mechanism.

[0014] Furthermore, second limiting members for limiting the movement limit position of the arc-shaped guiding mechanism are provided at both ends of the linear guiding mechanism.

[0015] Furthermore, the length of the linear guide mechanism is set to an integer multiple of the width of the pipe segment.

[0016] Furthermore, it also includes a host computer, which controls the movement of the detection mechanism on the arc guide mechanism and the movement of the arc guide mechanism along the linear guide mechanism.

[0017] Beneficial effects: The utility model can quickly and flexibly detect the circumferential and inner arc misalignment of one or more rings of segments, thereby reducing the workload of measurement personnel and improving the efficiency of detecting the assembly quality of the segments; it is not only suitable for the installation of shield machines with various excavation diameters, but also can flexibly adjust the number of rings of the detected segments by adjusting the length of the linear guide mechanism, and can be applied to mud / earth pressure shield machines of various diameters to reduce the workload of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the detection device of the utility model;

[0019] Figure 2 It is a structural schematic diagram of the arc guide mechanism;

[0020] Figure 3 is a structural schematic diagram of a lifting assembly;

[0021] Figure 4 It is a structural schematic diagram of a linear guide mechanism;

[0022] Figure 5 It is a schematic diagram of the structure of an arc-shaped guide mechanism with an arc of 270°;

[0023] Figure 6 It is a schematic diagram of the structure of an arc-shaped guide mechanism with an arc of 360°;

[0024] Figure 7 Schematic diagram of the movement direction of the detection device. DETAILED DESCRIPTION

[0025] The technical solution of the utility model is described in detail below with reference to the accompanying drawings, but the protection scope of the utility model is not limited to the embodiments.

[0026] A segment misalignment detection device, such as Figures 1 to 4 As shown, it includes an arc guide mechanism 1, a linear guide mechanism 2 and a detection mechanism 3. The arc guide mechanism 1 extends in an arc shape along the cross-section of the pipe segment arrangement, and the linear guide mechanism 2 extends along the axial direction of the pipe segment arrangement. The arc guide mechanism 1 as a whole can reciprocate along the linear guide mechanism 2. The detection mechanism 3 is movably arranged on the arc guide mechanism 1, and the detection mechanism 3 includes at least two image acquisition units facing the pipe segment and at least one laser emitting unit.

[0027] Specifically, the laser emitting unit emits lasers to aim at the joints of the pipe segments, and the image acquisition unit obtains images of the joints of the pipe segments and the vicinity of the laser. The common field of view and the laser in the field of view are obtained by at least two image acquisition units, and the coordinate information of each point on the laser line is obtained through the existing image decoding algorithm. The offset between the pipe segments is obtained by calculating the coordinate information of the emission direction of the laser line, and the image processing and coordinate information conversion can be completed by the host computer.

[0028] In some embodiments, the detection mechanism 3 is configured as two cameras and a laser transmitter on the same installation plane, the cameras are arranged on both sides of the laser transmitter, and the cameras and the laser transmitter are arranged facing the pipe segment. Figure 3 As shown, the installation plane of the camera and the laser transmitter is constructed on the outer side of the arc-shaped guide mechanism 1, and through the movement of the detection mechanism 3 along the arc-shaped guide mechanism 1, the laser is emitted to the cross section where the pipe segment is located and photos are taken.

[0029] In some embodiments, the detection mechanism 3 further includes an encoder, which can detect the movement speed, movement angle and height of the detection mechanism 3.

[0030] In some embodiments, the detection mechanism 3 moves on the arc guide mechanism 1 through the servo component and the first transmission component. The servo component can receive instructions from the host computer to control the walking direction and target position of the detection mechanism 3 on the arc guide mechanism 1. The first transmission component is driven by the servo component to realize the movement on the arc guide mechanism 1. Exemplarily, the servo component involved in this embodiment can be implemented by using existing servo motor products on the market, such as a servo motor with model MZ401N2. As one of the implementation methods, the first transmission component includes a first gear and a first rack that mesh with each other. The first gear is installed at the output end of the servo component and is driven to rotate by the servo motor. The first rack is arranged along the extension direction of the arc guide mechanism 1. When the servo component drives the first gear to rotate forward and reverse, the servo component can drive the entire detection mechanism 3 to achieve forward and reverse displacement along the first rack to find the misaligned position of the pipe segment.

[0031] In some embodiments, the detection mechanism 3 is arranged on the servo assembly through a lifting assembly, and the lifting assembly can adjust the height of the camera and the laser emitter at different detection positions on the arc-shaped guide mechanism 1 under different working conditions to ensure its detection accuracy and greatly improve reliability and flexibility. Figure 3 As shown, the lifting assembly can be implemented by a common small scissor lift 301, the image acquisition unit, the laser emitting unit and the encoder can be fixed on the base 302 of the lift 301, and the servo assembly is installed on the base 302, and the first gear in the first transmission assembly is rotatably set on the base 302.

[0032] In some embodiments, the arc formed by the arc-shaped guide mechanism 1 is 270°-360°. Figure 5 As shown, the 270° arc-shaped guide mechanism 1 is mainly installed at the assembly platform or the connecting bridge. Affected by the slice feeder at the bottom of the assembly platform and the segments to be assembled, although the device cannot perform 360° detection, the 270° detection range takes into account the lower left and lower right segments in the figure, so that the measurement personnel do not need to climb the segments for detection, reducing the safety risks during the detection process. Figure 2 , 6 As shown, the 360° annular guide mechanism is mainly installed at the connection between the rear supporting trolley and the trolley. If space permits, it can be installed around the trolley to achieve 360° detection of the pipe segment and install a mechanical anti-collision limiter at the bottom of the track.

[0033] In some embodiments, first stoppers are provided at both ends of the arc-shaped guide mechanism 1 to prevent the detection mechanism 3 from derailing and colliding. The first stopper can be in the form of a protrusion protruding from the cross section of the arc-shaped guide mechanism 1. As long as it is any structure that can block the displacement of the detection mechanism 3, its function can be achieved, and no specific limitation is made here.

[0034] In some embodiments, the arc guide mechanism 1 drives the second transmission component through the driving component to realize the movement on the linear guide mechanism 2. As one of the implementation methods, the second transmission component includes a second gear and a second rack that mesh with each other, and the second rack is arranged along the extension direction of the linear guide mechanism 2. The arc guide mechanism 1 is provided with a driving component, and its form can adopt any existing motor. The second gear is driven by the motor to rotate, so that the arc guide mechanism 1 can rotate along the second rack on the linear guide mechanism 2 to move. Here, the driving component can also be controlled by the host computer to control the forward and backward movement direction and target position of the arc guide mechanism 1 on the linear guide mechanism 2.

[0035] Furthermore, the linear guide mechanism 2 is provided with at least two groups, and the arc-shaped guide mechanism 1 is provided with a driving assembly and a second transmission assembly at corresponding positions of the linear guide mechanism 2. Exemplarily, when the linear guide mechanism 2 is set as two groups, in order to ensure the overall stability and uniform force of the device, the driving assembly and the second transmission assembly are symmetrically provided on both sides of the arc-shaped guide assembly 1, and the two groups of driving assemblies need to be synchronously controlled to achieve the stable movement of the arc-shaped guide mechanism 1 on the linear guide mechanism 2.

[0036] In some embodiments, second stoppers are provided at both ends of the linear guide mechanism 2 to prevent the arc-shaped guide mechanism 1 from sliding off the linear guide mechanism 2. The second stoppers can be in the form of protrusions protruding from the cross section of the linear guide mechanism 2, and any structure that can block the displacement of the arc-shaped guide mechanism 1 can achieve its function.

[0037] In some embodiments, the length of the linear guide mechanism 2 is set to an integer multiple of the segment width, which can be one ring or even multiple rings of segment width. The length of the linear guide mechanism 2 directly determines the distance that the arc guide mechanism 1 moves, and also determines to a certain extent the number of segment rings that the detection mechanism 3 can detect. In general, the length of the linear guide mechanism 2 can be modularly extended and dismantled according to the on-site use environment and needs, which is flexible and convenient.

[0038] Furthermore, the detection device of this embodiment also includes a host computer, which controls the movement of the detection mechanism 3 on the arc guide mechanism 1 and the movement of the arc guide mechanism 1 along the linear guide mechanism 2. As one of the possible implementations, the host computer can be a handheld device equipped with a data display, storage module and a command sending module, such as a tablet, a mobile phone, etc., or a human-machine interface, a PC and other devices, which can be selected according to the usage scenario. The main functions are to display and store segment misalignment data, control the detection mechanism 3 to move along the arc guide mechanism 1, control the arc guide mechanism 1 to move along the linear guide mechanism 2, and display the position information of the detection mechanism 3 on the arc guide mechanism 1 and the position information of the arc guide mechanism 1 on the linear guide mechanism 2.

[0039] Specifically, the detection mechanism 3 transmits the measured data to the host computer through the wireless transceiver unit, and the host computer obtains the number of segment misalignment through the data; and the host computer transmits the control signal to the detection unit through the wireless transceiver unit. The wireless transceiver unit can be implemented using conventional models (for example, model QS-DGDT-LORA-CJA). The main function is to receive the direction and position instructions of the detection mechanism 3 on the arc guide mechanism 1 and the direction and position instructions of the arc guide mechanism 1 along the linear guide mechanism 2 sent by the host computer, and transmit the control signal to the detection mechanism 3 for detection.

[0040] Before detecting the misalignment of the pipe segments in this embodiment, it is necessary to first determine the installation position of the device and the number of pipe segment rings to be detected, so as to determine the detection range of the detection device and the curvature of the arc guide mechanism 1 to be used, and at the same time determine the length of the straight line guide mechanism 2. Usually, the length of the transverse track mechanism is not less than the width of one ring of the pipe segment.

[0041] When detecting the misalignment, the detection mechanism 3 is at the middle position of the top of the arc-shaped guide mechanism 1 as the angle 0. When the detection mechanism 3 moves counterclockwise along the arc-shaped guide mechanism 1 as viewed from the direction of the shield machine, the angle is a negative value, and when it moves clockwise, the angle is a positive value.

[0042] like Figure 7 As shown, 101 is the 0-angle position of the detection mechanism 3, 102 is the counterclockwise movement of the detection mechanism 3, and 103 is the clockwise movement of the detection mechanism 3.

[0043] The movement direction of the linear guide mechanism 2 is divided into the excavation direction and the trolley direction for forward or backward movement.

[0044] In the actual segment misalignment detection, the segment misalignment types are divided into: annular misalignment and inner arc misalignment. The operator can control the movement direction and position of the detection mechanism 3 and the arc guide mechanism 1 through the host computer according to the segment misalignment type and position to be measured, so that the detection mechanism 3 and the arc guide mechanism 1 stay in the correct position to be detected. After reaching the position, the host computer controls the lifting component to move the detection mechanism 3 close to the segment to be detected. In order to ensure the quality of the camera's image information collection while avoiding the collision between the camera and the segment, the host computer sets the minimum distance between the detection mechanism 3 and the segment, which is collected by the encoder. When the minimum distance is reached, the lifting component will stop extending. During this process, the movement speed, angle, and state of the lifting component of the detection mechanism 3 will be displayed in real time on the host computer.

[0045] After the detection begins, the detection mechanism 3 starts working and transmits the data back to the host computer in real time. When the detection range needs to be expanded, for example, the detection of inner arc surface misalignment, the arc guide mechanism 1 needs to be controlled to move. After the detection begins, in order to ensure the detection quality, the host computer controls the moving speed of the arc guide mechanism 1 and moves at a lower speed. If it is not in the detection process, the speed of the arc guide mechanism 1 can be manually adjusted by the operator. During this period, the arc guide mechanism 1 can be manually stopped by the operator, or the arc guide mechanism 1 can be automatically stopped after reaching the limit.

[0046] When the detection range needs to be expanded, for example, the detection of annular misalignment, the detection mechanism 3 needs to be operated to perform annular movement. After the detection starts, in order to ensure the detection quality, the host computer controls the servo component to adjust the movement speed of the servo component and move at a lower speed. If it is not in the detection process, the speed of the servo component can be manually adjusted by the operator. During this period, the movement of the detection mechanism 3 can be manually stopped by the operator, or the detection mechanism 3 can stop moving automatically after reaching the limit.

[0047] After the detection is completed, the arc-shaped guide mechanism 1 and the detection mechanism 3 return to their initial positions.

[0048] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be interpreted as limiting the present invention itself. Various changes can be made to it in form and detail without departing from the spirit and scope of the present invention defined in the appended claims.

Claims

1. A segment misalignment detection device, characterized in that: include; An arc-shaped guide mechanism, wherein the arc-shaped guide mechanism extends along the cross section where the segments are arranged; The linear guide mechanism extends along the axial direction of the tube segment arrangement, and the arc guide mechanism extends along the The linear guide mechanism moves back and forth; The detection mechanism is movably arranged on the arc-shaped guide mechanism, and the detection mechanism includes an image acquisition unit and a laser emitting unit facing the pipe segment, the laser emitting unit emits laser to the seam of the pipe segment, and the image acquisition unit obtains the seam image.

2. The segment misalignment detection device according to claim 1, characterized in that: The detection mechanism also includes an encoder.

3. The segment misalignment detection device according to claim 1, characterized in that: The detection mechanism drives the first transmission assembly through the servo assembly so that the detection mechanism moves on the arc-shaped guide mechanism.

4. The segment misalignment detection device according to claim 3, characterized in that: The detection mechanism is arranged on the servo assembly through a lifting assembly.

5. The segment misalignment detection device according to claim 1, characterized in that: The arc range of the arc-shaped guiding mechanism is 270°-360°.

6. The segment misalignment detection device according to claim 1 or 5, characterized in that: The two ends of the arc-shaped guide mechanism are provided with first limiting members for limiting the movement limit position of the detection mechanism.

7. The segment misalignment detection device according to claim 1, characterized in that: The arc-shaped guide mechanism drives the second transmission assembly through the driving assembly, so that the arc-shaped guide mechanism moves along the linear guide mechanism.

8. The segment misalignment detection device according to claim 1, characterized in that: Second limiting members for limiting the movement limit position of the arc-shaped guiding mechanism are provided at both ends of the linear guiding mechanism.

9. The segment misalignment detection device according to claim 1, characterized in that: The length of the linear guide mechanism is set to be an integer multiple of the width of the pipe segment.

10. The segment misalignment detection device according to claim 1, characterized in that: It also includes a host computer, which controls the movement of the detection mechanism on the arc guide mechanism and the movement of the arc guide mechanism along the linear guide mechanism.

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