Real-time detection device for rock slag on tunnel belt conveyor and tunnel belt conveyor

Abstract

The utility model discloses a real-time detection device for rock slag on a tunnel belt conveyor and the tunnel belt conveyor, the real-time detection device comprises a longitudinal support frame, a counterweight beam, a clamping assembly and a tower crane balance structure, the top end of the longitudinal support frame is provided with a first connecting seat; one end of the counterweight beam is connected with the first connecting seat, and the other end is provided with a counterweight block; the clamping assembly is connected with the first connecting base and used for transversely extending to the position above the tunnel belt conveyor so as to clamp shooting equipment. The number of the clamping assemblies is two, the two clamping assemblies and the balance weight beam are arranged on the same plane, and the two clamping assemblies and the balance weight beam are distributed around the first connecting base in a Y shape. The tower crane balance structure is arranged on the top face of the first connecting base, a first pull rod used for pulling the clamping assembly is arranged on one side of the tower crane balance structure, and a second pull rod used for pulling the balancing weight is arranged on the other side of the tower crane balance structure. The two sets of clamping assemblies are stabilized at the same time to fix the two shooting devices, depth information of rock slag can be collected, three-dimensional positioning is carried out, and the detection precision is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to tunnel engineering technical field especially a kind of real-time detection device of rock slag on tunnel belt conveyor and tunnel belt conveyor. BACKGROUND

[0002] During tunnel construction, in order to facilitate the discharge of soil and gravel excavated by shield machine, belt conveyor is often used for conveying, one end of the belt conveyor is fixed on the shield machine, and the other end is fixed on the ground outside the tunnel, so as to carry out automated tunnel construction and save manpower. Moreover, when transporting spoil materials, by aligning the conveyor belt of the tunnel belt conveyor to take pictures, the size, shape, position and other information of the spoil sample can be detected in real time, so as to reflect the tunneling condition by detecting the spoil sample state. For example, by analyzing the particle size and color and other characteristics, it can be judged that the shield machine has entered different geological layers, so as to adjust the tunneling parameters and ensure the safety and smoothness of tunneling.

[0003] However, at present, only two-dimensional image information of rock slag is obtained by taking pictures, so only part of the situation on the surface of rock slag can be detected, and the judgment of the spoil sample state is not accurate enough, which affects the accuracy of the detection result.

[0004] Therefore, the prior art still needs to be improved and developed. CONTENT OF THE UTILITY MODEL

[0005] In view of the above shortcomings of the prior art, the purpose of the utility model is to provide a real-time detection device of rock slag on tunnel belt conveyor and tunnel belt conveyor, to solve the problem of inaccurate information obtained during detection of rock slag on tunnel belt conveyor and insufficient precision of detection result.

[0006] The technical scheme of the utility model is as follows:

[0007] A real-time detection device of rock slag on tunnel belt conveyor, comprising:

[0008] A longitudinal support frame is provided with a first connecting seat at the top end;

[0009] A counterweight beam is connected at one end of the first connecting seat and provided with a counterweight block at the other end;

[0010] A clamping assembly is connected with the first connecting seat and used for extending horizontally above the tunnel belt conveyor to clamp a shooting device for collecting rock slag data; the clamping assembly is provided with two groups, and the two groups of clamping assemblies and the counterweight beam are arranged on the same plane, and the two groups of clamping assemblies and the counterweight beam are distributed in Y shape around the first connecting seat;

[0011] A tower crane balance structure is arranged on the top surface of the first connecting seat; one side of the tower crane balance structure is provided with a first pull rod for pulling the clamping assembly, and the other side is provided with a second pull rod for pulling the counterweight.

[0012] Optionally, the first connecting seat is provided with a first connecting head and a second connecting head at intervals of 180°; the longitudinal support frame comprises a first longitudinal telescopic rod and a second longitudinal telescopic rod arranged at an angle; the first longitudinal telescopic rod can be telescopic along the axial direction thereof, and the second longitudinal telescopic rod can be telescopic along the axial direction thereof; the top end of the first longitudinal telescopic rod is hingedly connected to the first connecting head, and the top end of the second longitudinal telescopic rod is hingedly connected to the second connecting head; the first longitudinal telescopic rod and the second longitudinal telescopic rod can be rotated towards or away from each other.

[0013] Optionally, the bottom end of the first longitudinal telescopic rod and the bottom end of the second longitudinal telescopic rod are both provided with a buffer base, and the cross-sectional area of the buffer base is greater than the radial cross-sectional area of the first longitudinal telescopic rod / second longitudinal telescopic rod.

[0014] Optionally, the bottom end of the first longitudinal telescopic rod is provided with a first ball head, and the bottom end of the second longitudinal telescopic rod is provided with a second ball head; the buffer base comprises a bottom plate, an intermediate plate and a connecting plate stacked in sequence from bottom to top, and the bottom plate is a magnetic plate; the intermediate plate comprises a plurality of support units arranged in a honeycomb array; the top surface of the connecting plate is protrudingly provided with a ball head connecting seat, and the ball head connecting seat is hingedly connected to the first ball head / second ball head.

[0015] Optionally, a sleeve extending transversely is arranged on the first longitudinal telescopic rod, and a sleeve rod extending transversely is arranged on the second longitudinal telescopic rod; the sleeve rod is inserted into the sleeve; a plurality of insertion holes are arranged at intervals on the sleeve rod, and a plurality of through holes are arranged at intervals on the sleeve; when the insertion holes and the through holes are aligned, a pin is inserted to connect the sleeve rod and the sleeve.

[0016] Optionally, the clamping assembly comprises:

[0017] a transverse telescopic rod connected to the first connecting seat;

[0018] a second connecting seat arranged at the end of the transverse telescopic rod away from the first connecting seat; the second connecting seat is provided with a longitudinally extending connecting hole;

[0019] a shaft rod inserted into the connecting hole; the bottom end of the shaft rod is provided with a connecting groove;

[0020] a fixing ring connected to the second connecting seat and sleeved on the shaft rod; the fixing ring is contractible for clamping the shaft rod;

[0021] The clamps are provided with a clamping opening on one side for clamping a shooting device, and a rotating seat on the other side, wherein a ball screw is press-fitted in the rotating seat, and the ball screw is screwed with the connecting groove.

[0022] Optionally, the clamps are provided with protrusions on the side surfaces, and the top surfaces of the protrusions are provided with level bubbles.

[0023] Optionally, the counterweight beams are telescopic along the axial direction of the beams, and the transverse telescopic rods are telescopic along the axial direction of the rods.

[0024] Optionally, the tower crane balancing structure comprises a supporting body and a rotating roller, the supporting body is arranged on the first connecting seat, the top end of the supporting body is provided with an assembly slot, and the rotating roller is rotatably arranged in the assembly slot; the first pull rod and the second pull rod are connected with the rotating roller.

[0025] The application also discloses a tunnel belt conveyor.

[0026] Compared with the prior art, the embodiment of the utility model has the following advantages:

[0027] The real-time detection device for rock slag on the tunnel belt conveyor disclosed by the utility model is used for placing the longitudinal supporting frame beside the tunnel belt conveyor, extending two clamping assemblies from the side of the tunnel belt conveyor to the top of the feeding path, collecting rock slag data through the two shooting devices, collecting depth information, realizing three-dimensional positioning, and improving the accuracy of real-time detection of rock slag.

[0028] Specifically, the first pull rod and the second pull rod of the tower crane balancing structure pull the clamping assemblies and the counterweight beams, so that the gravity center of the whole is located on the longitudinal plane where the first connecting seat is located, i.e. the longitudinal supporting frame can be used for supporting, so that stability is achieved. The counterweight beams and the two groups of clamping assemblies are distributed in a Y shape, so that the gravity of the two groups of clamping assemblies can be balanced at the same time, the structure symmetrically arranged on the real-time detection device has high symmetry, and the gravity center of the structure is more easily balanced at the center position, i.e. the position of the first connecting seat, so that stability is further improved, and tilting is avoided.

[0029] In summary, the utility model can clamp two shooting devices at the same time by stably arranging the two groups of clamping assemblies above the tunnel belt conveyor, three-dimensional information can be collected, and the accuracy of real-time detection of rock slag is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0031] Figure 1 It is a structural schematic view of the real-time detection device for rock slag on the tunnel belt conveyor in the present application.

[0032] Figure 2 It is a top view of the real-time detection device for rock slag on the tunnel belt conveyor in the present application.

[0033] Figure 3 It is a side view of the real-time detection device for rock slag on the tunnel belt conveyor in the present application.

[0034] Figure 4 It is a front view of the real-time detection device for rock slag on the tunnel belt conveyor in the present application.

[0035] Figure 5 It is an assembly view of the first connecting seat and the counterweight beam in the present application.

[0036] Figure 6 It is a partial structural schematic view of the clamping assembly in the present application.

[0037] Figure 7 It is a partial structural schematic view of the clamping assembly in the present application.

[0038] Figure 8 It is an assembly view of the tower crane balance structure and the first pull rod and the second pull rod in the present application.

[0039] Figure 9 It is an assembly view of the buffer base and the first longitudinal telescopic rod or the second longitudinal telescopic rod in the present application.

[0040] Figure 10 It is a principle view of the binocular stereo vision system.

[0041] Figure 11 It is an imaging schematic view of the three-dimensional space point P in the camera.

[0042] Wherein, 10, longitudinal support frame; 11, first longitudinal telescopic rod; 111, first ball head; 112, sleeve; 1121, via hole; 12, second longitudinal telescopic rod; 121, second ball head; 122, sleeve rod; 1221, insertion hole; 20, first connecting seat; 21, first connecting head; 22, second connecting head; 30, counterweight beam; 40, counterweight block; 50, clamping assembly; 51, transverse telescopic rod; 52, second connecting seat; 53, shaft rod; 54, fixed ring; 55, clamp; 551, clamping opening; 552, rotating seat; 56, ball head screw; 57, protruding block; 571, level bubble; 60, tower crane balance structure; 61, support main body; 611, assembly notch; 62, rotating roller; 70, first pull rod; 80, second pull rod; 90, buffer base; 91, bottom plate; 92, middle plate; 93, connecting plate; 931, ball head connecting seat. DETAILED DESCRIPTION

[0043] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor belong to the scope of protection of the present application.

[0044] Due to manufacturing techniques and / or tolerances, variations in the shapes illustrated in the drawings can occur. Therefore, the examples described herein are not limited to the specific shapes illustrated in the drawings, but include variations in the shapes that occur during manufacturing.

[0045] Although terms such as "first", "second", and "third" can be used herein to describe various components, assemblies, regions, layers or parts, these components, assemblies, regions, layers or parts are not limited by these terms. Rather, these terms are only used to distinguish one component, assembly, region, layer or part from another component, assembly, region, layer or part. Therefore, the first component, assembly, region, layer or part referred to in the examples described herein can also be referred to as the second component, assembly, region, layer or part without departing from the teachings of the examples.

[0046] For ease of description, spatially relative terms such as "on", "upper", "lower", "above", and "below" can be used herein for the purpose of illustrating one element's relationship to another element within the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if the device in the figures is turned over, elements described as being "on" or "upper" relative to other elements would then be oriented "below" or "lower" relative to the other elements. Thus, the term "on" encompasses both an "on" and "below" orientation. The device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative terms used herein interpreted accordingly.

[0047] The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has", "having" and the like are inclusive and open-ended and specify the presence of stated features, integers, operations, members, elements and / or groups but do not preclude the presence or addition of one or more other features, integers, operations, members, elements and / or groups thereof.

[0048] Referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 , in an embodiment of the present application, a real-time detection device for rock slag on a tunnel belt conveyor is disclosed, which comprises a longitudinal support frame 10, a counterweight beam 30, a clamping assembly 50 and a tower crane balance structure 60. The longitudinal support frame 10 is provided with a first connecting seat 20 at the top end. One end of the counterweight beam 30 is connected to the first connecting seat 20, and the other end is provided with a counterweight block 40. The clamping assembly 50 is connected to the first connecting seat 20 and extends transversely above the tunnel belt conveyor to clamp a shooting device for collecting rock slag data. The clamping assembly 50 is provided with two groups, and the two groups of clamping assemblies 50 and the counterweight beam 30 are arranged on the same plane.

[0049] In the present embodiment, the longitudinal support frame 10 is stably arranged beside the tunnel belt conveyor, the first connecting seat 20 is arranged at the top end of the longitudinal support frame 10, and the clamping assembly 50 is fixedly connected to the first connecting seat 20 by welding, insertion, clamping or screwing, so that the clamping assembly 50 can be stably arranged above the tunnel belt conveyor, facilitating clamping of the shooting device. The shooting device disclosed in the present embodiment includes but is not limited to a camera, a digital camera, a depth camera, an ultrasonic sensor, etc.

[0050] Specifically, the two sets of clamping assemblies 50 are fixed on the first connecting seat 20 and extend towards one side, which is easy to cause the overall structure to tilt, so the counterweight beam 30 is arranged on the first connecting seat 20 to balance the two sets of clamping assemblies 50; preferably, the counterweight beam 30 and the clamping assembly 50 are arranged on the two sides of the longitudinal support frame 10 respectively, so that the gravity center of the overall structure can be adjusted to the longitudinal plane where the first connecting seat 20 is located, and the support is realized through the longitudinal support frame 10.

[0051] As shown in Figure 1 , the two sets of clamping assemblies 50 and the counterweight beam 30 are distributed in a Y shape around the first connecting seat 20. From the perspective of force analysis, the Y-shaped structure has good symmetry, when the two sets of clamping assemblies 50 are symmetrically arranged on the two sides of the counterweight beam 30, the resultant force of the gravity of the two sets of clamping assemblies 50 is just balanced with the gravity of the counterweight beam 30 and the counterweight block 40, thereby forming a downward force in the numerical direction at the position of the first connecting seat 20, and the horizontal component forces generated by the two clamping assemblies 50 cancel each other out, so the overall structure of the real-time detection device is not easy to tilt and is more stable.

[0052] As shown in Figure 1 and Figure 2 , the tower crane balancing structure 60 is arranged on the top surface of the first connecting seat 20; one side of the tower crane balancing structure 60 is provided with a first pull rod 70 for pulling the clamping assembly 50, and the other side is provided with a second pull rod 80 for pulling the counterweight block 40.

[0053] In this embodiment, the tower crane balancing structure 60, the first connecting seat 20 and the longitudinal support frame 10 are located on the same longitudinal plane, so the first pull rod 70 and the second pull rod 80 extending from the two sides of the tower crane balancing structure 60 provide pulling force, further balancing the weight of the counterweight block 40, the counterweight beam 30 and the clamping assembly 50. A triangular support is formed between the first pull rod 70, the clamping assembly 50 and the tower crane balancing structure 60, and a triangular support is also formed between the second pull rod 80, the counterweight beam 30 and the tower crane balancing structure 60, thereby further improving the stability of the structure.

[0054] In addition, through the pulling force of the first pull rod 70 and the second pull rod 80, the stress points of the counterweight beam 30 and the clamping assembly 50 are increased, so that the pulling force on the counterweight beam 30 and the clamping assembly 50 along their own axial direction is increased, thereby reducing the occurrence of the situation that the distal end of the counterweight beam 30 or the distal end of the clamping assembly 50 collapses and deforms, making the structure of the real-time detection device more stable, avoiding distortion or fracture displacement.

[0055] In summary, when the real-time detection device for the rock slag on the tunnel belt conveyor is working, the longitudinal support frame 10 is placed beside the tunnel belt conveyor, the two clamping assemblies 50 extend from the side of the tunnel belt conveyor to directly above the feeding path, can clamp two shooting devices at the same time, collect rock slag data through the two shooting devices, collect depth information, realize three-dimensional positioning, and improve the accuracy of real-time detection of rock slag.

[0056] As shown in Figure 2 , Figure 4 and Figure 5 , as an embodiment of the present embodiment, the first connecting head 21 and the second connecting head 22 are arranged on the first connecting seat 20 at an interval of 180°; the longitudinal support frame 10 comprises a first longitudinal telescopic rod 11 and a second longitudinal telescopic rod 12 arranged at a certain angle; the first longitudinal telescopic rod 11 can be telescopic along the axial direction of itself, and the second longitudinal telescopic rod 12 can be telescopic along the axial direction of itself; the top end of the first longitudinal telescopic rod 11 is hinged to the first connecting head 21, and the top end of the second longitudinal telescopic rod 12 is hinged to the second connecting head 22; the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 can rotate towards or away from each other.

[0057] In the present embodiment, the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are arranged obliquely on the two sides of the first connecting seat 20, forming a “triangular” support structure, thereby improving the stability of the support. The first connecting head 21 and the second connecting head 22 are arranged at an interval of 180°, so that the plane on which the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are located coincides with the plane on which the center of gravity of the first connecting seat 20 is located, so that the first connecting seat 20 can be more stably supported.

[0058] In the present embodiment, the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 can adopt the same type of rod body, both being multi-section telescopic rods or multi-section sleeve rods 122. By adjusting the length of the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12, the height of the first connecting seat 20 can be adjusted, so as to adjust the height of the clamping assembly 50, so as to adapt to various working conditions and environments, and also adapt to various models of tunnel belt conveyors, so that the shooting device can maintain a proper distance from the tunnel belt conveyor, and can collect high-definition images and obtain effective information during work.

[0059] It should be noted that the types of the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are only exemplified in the present embodiment, but the protection scope of the present application is not limited thereto, and other types of first longitudinal telescopic rods 11 and second longitudinal telescopic rods 12 that can achieve the technical effects disclosed in the present application, as equivalent replacements of the present application, should also be within the protection scope of the present application.

[0060] Specifically, the first longitudinal telescopic rod 11 is hinged with the first connecting head 21, and the second longitudinal telescopic rod 12 is hinged with the second connecting head 22, so that the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 can rotate, and the rotating directions are opposite or the same, so that the distance can be adjusted, and the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 can be adjusted to pass obstacles flexibly. When there are stones, sand pits and other uneven terrains in the working environment, the positions of the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 can be adjusted, so that the fixing position can be better selected, the stability of the longitudinal support frame 10 is improved, and use is facilitated.

[0061] As shown in Figure 5 , the outer circular surface of the first connecting seat 20 can be provided with two parallel limiting sheets, and a transverse rotating shaft is arranged between the two limiting sheets. The first connecting head 21 and the second connecting head 22 can be sleeved on the rotating shaft to rotate, so that the positions can be flexibly adjusted when the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are connected.

[0062] Specifically, the first connecting head 21 and the second connecting head 22 have the same structure, which can be a sleeve 112 structure. The first connecting head 21 has a shell structure and is sleeved on the first longitudinal telescopic rod 11. The second connecting head 22 is sleeved on the second longitudinal telescopic rod 12. Such an assembly method is simple and stable. Moreover, detachable assembly is realized, which is beneficial to the disassembly and transportation of the first connecting seat 20 and the longitudinal support frame 10, and facilitates the movement and transportation of the real-time detection device.

[0063] Specifically, the rotating angles of the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are within the range of 0-90°. When the rotating angles are both 0°, the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are parallel. When the rotating angles are both 90°, the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are both placed horizontally. Within the range of 0-90°, the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are both arranged obliquely, and a triangular shape is formed with the ground to provide stable supporting force to support the first connecting seat 20.

[0064] As shown in Figure 4 , as another embodiment of the present embodiment, the first longitudinal telescopic rod 11 is provided with a transversely extending sleeve 112, the second longitudinal telescopic rod 12 is provided with a transversely extending sleeve rod 122, the sleeve rod 122 is inserted into the sleeve 112, a plurality of insertion holes 1221 are arranged on the sleeve rod 122 at intervals, and a plurality of through holes 1121 are arranged on the sleeve 112 at intervals. When the insertion hole 1221 is aligned with the through hole 1121, a pin is inserted to connect the sleeve rod 122 and the sleeve 112.

[0065] In this embodiment, the sleeve 112 and the sleeve rod 122 are arranged transversely, so that the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 are connected to form an "A-shaped" structure, thereby further increasing the structural strength of the longitudinal support frame 10 and improving the stability.

[0066] Specifically, the sleeve rod 122 is butted against the sleeve 112, and the distance between the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 is adjusted. After the insertion hole 1221 and the via hole 1121 are aligned, the pin is inserted, so that the first longitudinal telescopic rod 11, the second longitudinal telescopic rod 12 and the first connecting seat 20 are connected as a whole, the overall structure is stable and not easy to shake. In actual work, since the angle of the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12 changes when rotating, the caliber of the sleeve 112 is set to be larger than the cross-sectional diameter of the sleeve rod 122, so as to leave a space for assembly. When the sleeve rod 122 and the sleeve 112 form an obtuse angle and are not in the same straight line direction, they can also be butted.

[0067] In addition, in another embodiment of the present embodiment, the sleeve rod 122 and the sleeve 112 can be arc-shaped, and the center of the arc coincides with the center of the first connecting seat 20, so as to ensure that the sleeve rod 122 and the sleeve 112 can be accurately butted during the rotation of the first longitudinal telescopic rod 11 and the second longitudinal telescopic rod 12.

[0068] As shown in Figure 3 , Figure 4 and Figure 6 , as another embodiment of the present embodiment, it is disclosed that the clamping assembly 50 comprises a transverse telescopic rod 51, a second connecting seat 52, a shaft rod 53, a fixing ring 54 and a clamp 55, the transverse telescopic rod 51 is connected with the first connecting seat 20 and extends transversely above the tunnel belt conveyor, the second connecting seat 52 is arranged at the end of the transverse telescopic rod 51 away from the first connecting seat 20, and a connecting hole longitudinally penetrating through the second connecting seat 52 is arranged, so as to longitudinally assemble the shaft rod 53.

[0069] In this embodiment, the transverse telescopic rod 51, the second connecting seat 52 and the shaft rod 53 are connected in sequence, so that the shooting device can be hung above the tunnel belt conveyor in a clamping manner, without contacting the tunnel belt conveyor, and can be used flexibly and conveniently transported.

[0070] Specifically, the shaft rod 53 is inserted into the connecting hole, and the detachable cooperation mode makes the shaft rod 53 move up and down, so as to conveniently adjust the height of the shooting device and find a suitable shooting distance to obtain clear images of the rock slag.

[0071] Specifically, the fixed ring 54 is connected with the second connecting seat 52 and is sleeved on the shaft rod 53; the fixed ring 54 is retractable for clamping the shaft rod 53. By clamping the shaft rod 53 through the fixed ring 54, the shaft rod 53 is fixed by using the friction force generated by the contact, so that the shaft rod 53 can be kept stable, and the shooting device can be fixed at a height meeting the detection condition for working. Specifically, the fixed ring 54 can be a ring-shaped metal sheet or a ring-shaped plastic knob. By rotating the fixed ring 54, the inner wall inside the fixed ring 54 can be retracted, so that the space inside the fixed ring 54 is reduced, the fixed ring 54 is tightly fitted with the shaft rod 53, and the friction force is generated.

[0072] As shown in Figure 7 the bottom end of the shaft rod 53 is provided with a connecting groove; one side of the clamp 55 is formed with a clamping opening 551 for clamping the shooting device, and the other side is provided with a rotating seat 552, a ball head screw 56 is pressed in the rotating seat 552, and the ball head screw 56 is screwed with the connecting groove.

[0073] In the embodiment, the rotating seat 552 and the shaft rod 53 are connected through the ball head screw 56, so that the clamp 55 can rotate relative to the shaft rod 53, thereby adjusting the orientation of the clamp 55, so that the shooting device can shoot image information of the collection angle and adapt to more use scenarios.

[0074] Specifically, in the embodiment, the two sides of the clamping opening 551 can be provided with supporting plates, and the supporting plates are L-shaped, and the shooting device is clamped on the two sides and supported under the shooting device, thereby increasing the protection and constraint of the shooting device, so that the shooting device is stably arranged on the clamp 55 and is not easy to fall off.

[0075] As shown in Figure 7 as another embodiment of the embodiment, the side surface of the clamp 55 is provided with a protrusion 57, and a level bubble 571 is arranged on the top surface of the protrusion 57. In the embodiment, the level bubble 571 can be arranged to facilitate the operator to observe whether the clamp 55 is horizontal, so as to judge whether the shooting device is kept horizontal, which is beneficial to the operator to accurately control the posture of the shooting device, and further improve the accuracy of the detection data.

[0076] Specifically, the level bubble 571 is arranged on the protrusion 57, and the protrusion 57 is located on the side surface of the clamp 55, and is preferably arranged on the front side of the clamp 55 away from the longitudinal support frame 10, so as to avoid the longitudinal support frame 10 or the transverse telescopic rod 51 from blocking the line of sight, so as to facilitate the operator to observe.

[0077] Specifically, as another embodiment of the present embodiment, it is disclosed that the counterweight beam 30 is telescopic along its axial direction, and the transverse telescopic rod 51 is telescopic along its axial direction. In the present embodiment, the clamping assembly 50 is balanced by the tower crane balance structure 60 pulling the counterweight block 40, and the transverse telescopic rod 51 in the clamping assembly 50 can be telescopic to adjust the length of the transverse extension to adapt to the tunnel belt conveyor with different widths. In this process, the center of gravity of the clamping assembly 50 changes, thus affecting the balance of the entire device. The counterweight beam 30 is also provided to be telescopic, for example, a multi-stage sleeve rod 122, so that the position of the counterweight block 40 can also be moved transversely, thereby changing the center of gravity of the entire counterweight block 40 and counterweight beam 30, achieving the effect of matching the clamping assembly 50 and maintaining the balance.

[0078] Specifically, in another embodiment of the present embodiment, it is disclosed that a plurality of assembly holes are provided on the counterweight beam 30 along its axial direction. By aligning the counterweight block 40 with different assembly holes and fixing it by a pin, the position of the counterweight block 40 can also be adjusted, and the center of gravity of the entire counterweight block 40 and counterweight beam 30 can be changed.

[0079] As shown in Figure 8 As another embodiment of the present embodiment, it is disclosed that the tower crane balance structure 60 includes a support body 61 and a rotating roller 62. The support body 61 is provided on the first connecting seat 20, and the top end of the support body 61 is provided with an assembly slot 611. The rotating roller 62 is rotatably provided in the assembly slot 611. The first pull rod 70 and the second pull rod 80 are both connected with the rotating roller 62.

[0080] In the present embodiment, the tower crane balance structure 60 plays a role in supporting the first pull rod 70 and the second pull rod 80. The support body 61 is connected with the first connecting seat 20, which can be connected by welding, clamping or bonding. The rotating roller 62 is connected with the first pull rod 70 and the second pull rod 80, and can be appropriately rotated to adapt to the telescopic counterweight beam 30 and the transverse telescopic rod 51. When the position of the counterweight block 40 changes or the length of the transverse telescopic rod 51 changes, the connection position and the connection angle of the first pull rod 70 and the second pull rod 80 will change. Therefore, the rotating roller 62 can be rotated to cooperate with the first pull rod 70 and the second pull rod 80 to change the position and flexibly adapt to different working scenes.

[0081] In another embodiment of the present embodiment, the first pull rod 70 and the second pull rod 80 can be made of elastic material, or can be provided as elastic ropes.

[0082] Specifically, the telescopic structures of the counterweight beam 30, the transverse telescopic rod 51, the longitudinal telescopic rod, etc. disclosed in the embodiments of the present application can realize the telescopic function in the manner of the sleeve rod 122 or other types of telescopic structures, which are equivalent replacements of the present inventive concept and should be within the protection scope of the present application as long as the technical effects disclosed in the present application can be achieved.

[0083] Further, as shown in Figs. Figure 1 , Figure 2 , Figure 3 and Figure 4 , as another embodiment of the present embodiment, it is disclosed that the bottom end of the first longitudinal telescopic rod 11 and the bottom end of the second longitudinal telescopic rod 12 are both provided with a buffer base 90, and the cross-sectional area of the buffer base 90 is greater than the radial cross-sectional area of the first longitudinal telescopic rod 11 / second longitudinal telescopic rod 12.

[0084] In the present embodiment, the buffer base 90 is provided to reduce the vibration of the device and avoid the vibration of the tunnel construction site from causing the device to fall down. The buffer base 90 has a large cross-sectional area and a large contact area with the ground, thereby providing a better support effect.

[0085] As shown in Figs. Figure 9 , as another embodiment of the present embodiment, it is disclosed that the bottom end of the first longitudinal telescopic rod 11 is provided with a first ball head 111, and the bottom end of the second longitudinal telescopic rod 12 is provided with a second ball head 121; the buffer base 90 includes a bottom plate 91, an intermediate plate 92 and a connecting plate 93 which are sequentially stacked from bottom to top, the bottom plate 91 is a magnetic plate; the intermediate plate 92 includes a plurality of support units arranged in a honeycomb array; the top surface of the connecting plate 93 is provided with a ball head connecting seat 931 protruding therefrom, and the ball head connecting seat 931 is hingedly connected with the first ball head 111 / second ball head 121.

[0086] In the present embodiment, the first ball head 111 and the second ball head 121 are connected with the buffer base 90, which can realize universal connection, so that the buffer base 90 can be placed on an inclined ground without affecting the arrangement of the first longitudinal telescopic rod 11 or the second longitudinal telescopic rod 12, and the vertical arrangement of the longitudinal support frame 10 can be maintained to provide stable support force.

[0087] Specifically, the connecting plate 93 plays a connecting role and can be welded with the intermediate plate 92 or integrally formed, and can be made of high-strength alloy aluminum plate.

[0088] Specifically, the intermediate plate 92 is provided with a plurality of support units which can be cylindrical or polygonal cylinders arranged in a honeycomb array and connected integrally, and has stable structure, strong pressure bearing capacity and shock absorption effect. The bottom end of the intermediate plate 92 is welded or bonded with the bottom plate 91.

[0089] Specifically, the base plate 91 is a magnetic plate, such as a neodymium iron boron magnetic plate. The magnetic plate facilitates the placement of the buffer base 90 on guide rails, work platforms, and other locations, improving the connection stability between the buffer base 90 and the contact surface. This further enhances the stability of the real-time detection device during operation and improves the accuracy of information acquisition.

[0090] Specifically, in another embodiment of this invention, a real-time detection device for rock debris of a TBM tunnel conveyor belt is disclosed. The device captures the same scene of the debris from different angles using dual cameras, detects and matches feature points in the image using an algorithm, calculates the depth of each pixel using parallax information and generates a depth map, and finally converts the depth information into a three-dimensional point cloud for three-dimensional modeling, which improves the measurement accuracy. It can also measure the relative depth of objects by forming parallax through camera movement.

[0091] A simple schematic diagram of a binocular stereo vision system is shown below. Figure 10 As shown. Figure 10 The distance between the lines connecting the projection centers of the two cameras is called b, also known as the baseline. The image point of any point P in three-dimensional space on the left camera is P_i. L The imaging point of the right camera is P. R According to the principle of rectilinear propagation of light, point P in three-dimensional space is the intersection of the lines connecting the projection centers of the two cameras and the imaging point. Line segment x L and x R Let P be the distance from the image point of the left and right cameras to the left image plane, respectively. Then the parallax of point P in the left and right cameras can be defined as follows:

[0092] d=|x L -x R |;

[0093] The distance between the two imaging points PL and PR is:

[0094]

[0095] According to the theory of similar triangles, we can conclude that:

[0096]

[0097] Then the distance Z from point P to the projection center plane can be obtained:

[0098]

[0099] When the point P moves in the three-dimensional space, the imaging position of the point P on the left and right cameras will also change, so that the parallax will also change accordingly. According to the above formula, the parallax is inversely proportional to the distance of the point in the three-dimensional space to the projection center plane. Thus, as long as the parallax of a point is known, the depth information of the point can be known. As can be seen from the formula, the parallax d and the depth z are inversely proportional. The larger the parallax is, the smaller the depth that can be detected is. B is the distance between the optical centers of the two cameras, also called the baseline, and f is the focal length of the camera. F, b and the depth are all proportional. The depth can be calculated through the parallax, the baseline and the focal length.

[0100] The imaging diagram of the three-dimensional space point P on the camera is shown in FIG. 1. Figure 11 As can be seen from the above formula, according to the principle of similar triangles, the following relationship is obtained. Figure 11

[0101]

[0102] Therefore, when the parallax of any point in the three-dimensional space on different images is known, and according to the parameters of the camera, the three-dimensional coordinates of the point can be known through the above formula.

[0103] As another embodiment of the present application, a tunnel belt conveyor is disclosed, wherein the tunnel belt conveyor includes the real-time detection device for rock slag on the tunnel belt conveyor as described above.

[0104] In summary, the present application discloses a real-time detection device for rock slag on a tunnel belt conveyor, which includes a longitudinal support frame 10, a counterweight beam 30, a clamping assembly 50 and a tower crane balancing structure 60. The top end of the longitudinal support frame 10 is provided with a first connecting seat 20. One end of the counterweight beam 30 is connected to the first connecting seat 20, and the other end is provided with a counterweight block 40. The clamping assembly 50 is connected to the first connecting seat 20 and extends transversely above the tunnel belt conveyor to clamp a shooting device for collecting rock slag data. The clamping assembly 50 is provided with two groups, and the two groups of clamping assemblies 50 and the counterweight beam 30 are arranged on the same plane, and the two groups of clamping assemblies 50 and the counterweight beam 30 are distributed in a Y shape around the first connecting seat 20. The tower crane balancing structure 60 is arranged on the top surface of the first connecting seat 20. One side of the tower crane balancing structure 60 is provided with a first pull rod 70 for pulling the clamping assembly 50, and the other side is provided with a second pull rod 80 for pulling the counterweight block 40. By stably arranging the two groups of clamping assemblies 50 above the tunnel belt conveyor, two shooting devices can be clamped at the same time, three-dimensional information can be collected, and the accuracy of real-time detection of rock slag can be improved.

[0105] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0106] ​It should be noted that the specific structure and working principle of the utility model are introduced by taking the real-time detection device of rock slag on the tunnel belt conveyor and the tunnel belt conveyor as an example, but the application of the utility model is not limited to the real-time detection device of rock slag on the tunnel belt conveyor and the tunnel belt conveyor, and can also be applied to the detection and production of other similar workpieces.

[0107] It should be understood that the utility model is not limited to the precise structure already described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the utility model is only limited by the appended claims.

[0108] The above is only the preferred embodiment of the utility model, and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A real-time detection device for rock slag on a tunnel belt conveyor, characterized in that, The utility model provides a tunnel belt conveyor's rockfall data acquisition device, including: Longitudinal support frame, the top end of longitudinal support frame is equipped with first connecting seat; Counterweight beam, one end first connecting seat connects, the other end is equipped with counterweight block; Clamping assembly is connected with first connecting seat, is used for extending to the above of tunnel belt conveyor in transverse direction to the shooting equipment of rockfall data acquisition is clamped, clamping assembly is equipped with two groups, two groups clamping assembly and counterweight beam set up in the same plane, and two groups clamping assembly and counterweight beam are distributed around first connecting seat and present Y shape; Tower crane balance structure is equipped in the top surface of first connecting seat, one side of tower crane balance structure is equipped with first pull rod for pulling clamping assembly, and the other side is equipped with second pull rod for pulling counterweight block.

2. The device for real-time detection of rock slag on a tunnel belt conveyor according to claim 1, characterized in that, First connecting head and second connecting head are arranged on the first connecting seat with an interval of 180 degrees, the longitudinal support frame comprises a first longitudinal telescopic rod and a second longitudinal telescopic rod arranged at a certain angle, the first longitudinal telescopic rod can be telescopic along the axial direction of itself, and the second longitudinal telescopic rod can be telescopic along the axial direction of itself. The top end of the first longitudinal telescopic rod is hinged to the first connecting head, the top end of the second longitudinal telescopic rod is hinged to the second connecting head, and the first longitudinal telescopic rod and the second longitudinal telescopic rod can rotate towards or away from each other.

3. The device for real-time detection of rock slag on the tunnel belt conveyor according to claim 2, characterized in that, The bottom end of the first longitudinal telescopic rod and the bottom end of the second longitudinal telescopic rod are both provided with a buffer base, and the cross-sectional area of the buffer base is greater than the radial cross-sectional area of the first longitudinal telescopic rod / second longitudinal telescopic rod.

4. The device for real-time detection of rock slag on a tunnel belt conveyor according to claim 3, characterized in that, The bottom end of the first longitudinal telescopic rod is provided with a first ball head, and the bottom end of the second longitudinal telescopic rod is provided with a second ball head, the buffer base comprises a bottom plate, an intermediate plate and a connecting plate stacked from bottom to top, the bottom plate is a magnetic plate, the intermediate plate comprises a plurality of support units arranged in a honeycomb array, and the top surface of the connecting plate is protrudingly provided with a ball head connecting seat hinged to the first ball head / second ball head.

5. The device for real-time detection of rock slag on the tunnel belt conveyor according to claim 2, characterized in that, The first longitudinal telescopic rod is provided with a transversely extending sleeve, the second longitudinal telescopic rod is provided with a transversely extending sleeve rod, and the sleeve rod is inserted into the sleeve. The sleeve rod is provided with a plurality of insertion holes at intervals, the sleeve is provided with a plurality of through holes at intervals, and when the insertion holes and the through holes are aligned, a pin is inserted to connect the sleeve rod and the sleeve.

6. The device for real-time detection of rock slag on a tunnel belt conveyor according to claim 1, characterized in that, The clamping assembly comprises: A transversely telescopic rod connected with the first connecting seat, A second connecting seat provided at the end of the transversely telescopic rod away from the first connecting seat, the second connecting seat is provided with a longitudinally extending connecting hole, A shaft rod inserted into the connecting hole, the bottom end of the shaft rod is provided with a connecting groove, A fixing ring connected with the second connecting seat and sleeved on the shaft rod, the fixing ring is retractable for clamping the shaft rod, A clamp, one side of the clamp forms a clamping opening for clamping the shooting equipment, and the other side is provided with a rotating seat, a ball head screw is pressed into the rotating seat, and the ball head screw is screwed with the connecting groove.

7. The device for real-time detection of rock slag on a tunnel belt conveyor according to claim 6, characterized in that, The side surface of the clamp is provided with a protrusion, and the top surface of the protrusion is provided with a level bubble.

8. The device for real-time detection of rock slag on a tunnel belt conveyor according to claim 6, characterized in that, The counterweight beam is telescopic along its own axial direction, and the transverse telescopic rod is telescopic along its own axial direction.

9. The device for real-time detection of rock slag on a tunnel belt conveyor according to claim 1, characterized in that, The tower crane balance structure comprises a support main body and a rotating roller, the support main body is arranged on the first connecting seat, and the top end of the support main body is provided with an assembly notch, and the rotating roller is rotatably arranged in the assembly notch; the first pull rod and the second pull rod are connected with the rotating roller.

10. A tunnel belt conveyor, characterized in that The real-time detection device for the rock slag on the tunnel belt machine comprises the tunnel belt machine according to any one of claims 1 to 9.

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