A tie removing device and a segment hoisting system

Abstract

The utility model discloses a kind of sleeper removing device and segment hoist system, solve the problem of low efficiency of shield machine sleeper removal of double-segment crane in prior art.The utility model sleeper removing device, including mechanical arm and the base for providing support of mechanical arm, mechanical arm lower part is equipped with jaw assembly, and the upper portion of mechanical arm is connected with base by sliding mechanism, and mechanical arm moves up and down along base under the action of sliding mechanism, and sliding mechanism is equipped with visual detection mechanism.The utility model sleeper removing device integrates mechanical arm, sliding mechanism, visual detection in base, can realize the automatic identification of sleeper, automatic removal, solve the problem of high labor intensity and unsafe work of on-site manual removal.Sleeper removing device cooperates double-segment crane, single-segment crane, segment trolley, sleeper removing device cooperates, realizes the automation operation of segment transportation and sleeper removal;Solve the problem of low efficiency of shield machine sleeper removal of double-segment crane in prior art.

Description

Technical Field

[0001] This utility model relates to the field of tunnel construction technology, and in particular to a sleeper removal device used in segment hoisting. Background Technology

[0002] In shield tunneling, after the shield machine has excavated, it uses segmented tunneling as support. When the segmented tunneling is transported from the transport vehicle to the shield machine, the sleepers on the segmented tunneling need to be removed manually. Currently, the sleepers are manually removed by standing on the segmented tunneling or on the shield machine, which poses certain safety hazards. Existing technology cannot effectively realize the automatic removal of segmented tunneling sleepers, especially in the complex environment of shield tunneling, where it is difficult to detect and remove them.

[0003] Existing technologies, such as the method for removing sleeper blocks published in patent application CN115263377A, can achieve automatic hoisting of tunnel segments and automatic removal of sleepers. However, this solution uses an industrial six-degree-of-freedom robot as the actuator, which has low reliability and cannot meet the requirements of the environment inside the tunnel boring machine (TBM). Another method for removing sleepers published in patent application CN114517698A can achieve automatic hoisting of tunnel segments and automatic removal of sleepers. However, this solution is only applicable to TBMs equipped with unloaders and cannot be applied to TBMs using wheeled transport vehicles and dual-segment cranes.

[0004] Therefore, it is necessary to design a new type of sleeper removal device to solve the problems of existing equipment not meeting the requirements of tunnel boring machines equipped with dual segment cranes, low automation, and low reliability. Utility Model Content

[0005] To address the shortcomings in the aforementioned background technology, this utility model proposes a sleeper removal device and a segment hoisting system, which solves the problem of low sleeper removal efficiency of tunnel boring machines with dual segment hoists in the prior art.

[0006] The technical solution of this utility model is achieved as follows: A sleeper removal device includes a robotic arm and a base supporting the robotic arm. The lower part of the robotic arm is equipped with a gripper assembly, and the upper part of the robotic arm is connected to the base via a sliding mechanism. The robotic arm moves up and down along the base under the action of the sliding mechanism, which is equipped with a vision inspection mechanism. Integrating the robotic arm, sliding mechanism, and vision inspection into the base results in a compact structure that is easy to install and maintain. Guided by a vision inspection system, the robotic arm can move automatically, and the gripper assembly efficiently and accurately grasps the sleepers, completing the automatic removal of sleepers from the tunnel lining segments.

[0007] Further optimized, the sliding mechanism includes a Z-axis guide rail and a rack mounted on the base. A sliding plate slides along the Z-axis guide rail, and a motor reducer is mounted on the sliding plate. A gear is mounted on the output shaft of the motor reducer, and the gear meshes with the rack. The robotic arm is connected to the sliding plate via a first swing mechanism. The sliding plate, as an integrated platform, integrates the driving and guiding components. The motor reducer drives the gear to rotate along the rack, thereby enabling the sliding plate to drive the vision inspection mechanism and the robotic arm to move up and down synchronously. This allows the gripper assembly to smoothly grasp the sleeper with high repeatability and positioning accuracy.

[0008] Further optimized, the first swing mechanism includes a first rotary joint and a first swing joint. The first rotary joint is mounted on a sliding plate, and the first swing joint is connected to the first rotary joint. The upper part of the robotic arm is connected to the first swing joint. The first rotary joint and the swing joint constitute a two-degree-of-freedom wrist, enabling the robotic arm to flexibly adjust its posture in both the horizontal and vertical planes, covering a wider working space. The rotation and swing functions are separated and can be controlled independently, simplifying kinematic calculations and facilitating trajectory planning and dynamic compensation.

[0009] Further preferred, the visual inspection mechanism includes a connecting plate mounted on the sliding plate and a 3D camera and / or radar mounted on the connecting plate; it identifies the spatial position of the sleeper through images or point cloud data to achieve precise grasping of the sleeper.

[0010] Further preferably, the gripper assembly includes a gripper base and grippers disposed on the gripper base, the gripper base being connected to the robotic arm via a second swing mechanism. The second swing mechanism enables the grippers to adapt to sleeper posture deviations, compensate for positioning errors, and reduce reliance on visual accuracy.

[0011] Further preferably, the second swing mechanism includes a second rotary joint and a second swing joint; the second swing joint is connected to the lower part of the robotic arm, the second rotary joint is connected to the second swing joint, and the gripper base is connected to the second rotary joint. The second rotary joint and the swing joint constitute a two-degree-of-freedom wrist, enabling the gripper assembly to flexibly adjust its posture in the horizontal and vertical planes for high-precision gripping of the sleeper.

[0012] Further optimized, the gripper includes a left gripper and a right gripper. A Y-guide rail is provided on the gripper base, and both the left and right grippers are slidably mounted on the Y-guide rail. A gripper cylinder is provided between the left and right grippers. Under the action of the gripper cylinder, the left and right grippers move towards or away from each other along the Y-guide rail, achieving rapid opening and closing to efficiently and stably grip the sleeper.

[0013] Further optimized, the left and right grippers are T-shaped clamping plates with a partition on the gripper base, located between the left and right grippers. The T-shaped cross-section increases the contact area and frictional resistance with the sleepers, preventing slippage; the partition prevents the two grippers from getting too close and interfering, and also serves as a positioning tool, allowing for stable clamping of two sleepers simultaneously.

[0014] Further optimization involves using vacuum suction cups for the left and right grippers, arranged in two columns and N rows, where N ≥ 2. The N vacuum suction cups in the same column are connected by a base plate. Vacuum adsorption avoids clamping damage to the sleeper surface; the two columns and N rows layout creates multi-point adsorption, ensuring gripping even if individual suction cups fail, providing strong fault tolerance.

[0015] A segment lifting system includes a single-segment crane, a double-segment crane, and a sleeper removal device, the sleeper removal device being mounted on a rear-mounted trailer. This system achieves automated segment transportation and sleeper removal through the coordinated operation of the double-segment crane, the single-segment crane, and the sleeper removal device.

[0016] The beneficial effects of this utility model are as follows: This utility model's sleeper removal device integrates a robotic arm, a sliding mechanism, and visual inspection into a base, enabling automatic identification and removal of sleepers, thus solving the problems of high labor intensity and unsafe operation associated with manual on-site removal. This sleeper removal device works in conjunction with dual-segment cranes, single-segment cranes, segment trolleys, and sleeper removal devices to automate segment transportation and sleeper removal operations; it also solves the problem of low sleeper removal efficiency in existing technologies using dual-segment cranes for tunnel boring machines.

[0017] The robotic arm of this invention consists of a lifting device, two rotary joints, and two swing joints. Through the coordinated movement of these joints, it achieves the removal of sleepers. The robotic arm, in conjunction with a gripper assembly, offers flexible movement, a large operating range, and can adapt to the gripping of sleepers from different orientations. Integrating the sleeper removal device into the segment hoisting system and mounting it on a rear-mounted trailer enables coordinated operation of tunnel construction material handling and sleeper removal, optimizing equipment layout and construction processes, and improving the overall automation level and operational efficiency of tunnel construction. Attached Figure Description

[0018] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the sleeper removal device of this utility model; Figure 2This is a front view schematic diagram of the sleeper removal device of this utility model; Figure 3 This is a side view of the sleeper removal device of this utility model; Figure 4 This is a bottom view of the gripper assembly in Embodiment 2; Figure 5 This is a side view of the gripper assembly in Embodiment 2; Figure 6 This is a schematic diagram of the tunnel segment hoisting system; Figure 7 A schematic diagram of a twin-segment crane lifting twin segments; Figure 8 This is a schematic diagram of the retraction state of the twin-segment crane; Figure 9 A schematic diagram of a single-segment crane lifting a single segment; Figure 10 A schematic diagram of a single-segment crane hoisting and lowering a single segment; Figure 11 This is a schematic diagram of the single-segment crane in the retraction state; Figure 12 A schematic diagram showing the preparation of a sleeper-grabbing device. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Example 1, such as Figure 1 As shown, a sleeper removal device includes a robotic arm 202 and a base 204 supporting the robotic arm 202. The robotic arm removes sleepers through the coordinated movement of multiple joints. A gripper assembly 203 is located at the lower part of the robotic arm 202, responsible for gripping and releasing the sleepers. The upper part of the robotic arm 202 is connected to the base 204 via a sliding mechanism. The robotic arm 202 moves up and down along the base 204 under the action of the sliding mechanism, which is equipped with a vision detection mechanism 201. The vision detection mechanism 201 consists of a camera or radar, identifying the spatial position of the sleepers through images or point cloud data. The gripper assembly is located at the lower part of the robotic arm, conforming to the intuitive operation of gripping from below and controlling from above; the sliding mechanism is placed at the top, lowering the center of gravity and improving overall stability. Integrating the robotic arm, sliding mechanism, and vision detection into the base results in a compact structure that is easy to install and maintain.

[0022] In this embodiment, as an optional solution, such as Figure 2As shown, the sliding mechanism includes a Z-axis guide rail 2043 and a rack 2041 mounted on a base 204. A sliding plate 2023 is slidably mounted on the Z-axis guide rail 2043. The guide rail is generally composed of two V-shaped or linear guide rails, typically arranged symmetrically. The Z-axis guide rail is fixed to the base, providing guidance for the movement of the sliding plate. The rack 2041 is positioned between the two Z-axis guide rails. A motor reducer 2021 is fixedly mounted on the sliding plate 2023. A gear is mounted on the output shaft of the motor reducer 2021, meshing with the rack 2041. The motor reducer drives the gear to rotate along the rack, thereby enabling the sliding plate to move the vision inspection mechanism and the robotic arm synchronously up and down, allowing the gripper assembly to smoothly grasp the sleeper. The robotic arm 202 is connected to the sliding plate 2023 via a first swing mechanism. The first swing mechanism has rotation and swing functions; the rotary joint and swing joint constitute a two-degree-of-freedom wrist, allowing the robotic arm to flexibly adjust its posture in both horizontal and vertical planes, covering a wider working space. The rotation and oscillation functions are separated and can be controlled independently, simplifying kinematic calculations and facilitating trajectory planning and dynamic compensation.

[0023] like Figure 3 As shown, the first swing mechanism includes a first rotary joint 2024 and a first swing joint 2026. The first rotary joint 2024 is mounted on a sliding plate 2023, and the first swing joint 2026 is connected to the first rotary joint 2024. The upper part of the robotic arm 202 is connected to the first swing joint 2026. The first rotary joint allows the robotic arm to rotate along its axis, and the first swing joint allows the robotic arm to swing along its axis. Specifically, the first rotary joint 2024 includes a turntable rotatably mounted on the sliding plate 2023, which is connected to a drive component mounted on the sliding plate 2023. The drive component is a motor or electric motor. The first swing joint is a swing cylinder or a swing pneumatic cylinder, and its swing shaft is connected to the upper part of the robotic arm 202. The first rotary joint uses a motor / electric motor, which provides fast response and high control precision; the swing joint uses a cylinder / pneumatic cylinder, which provides high torque density and strong impact resistance, suitable for heavy-duty end-effector conditions.

[0024] Example 2 provides a sleeper removal device, further optimized from Example 1. In this example, the visual inspection mechanism 201 includes a connecting plate 2011 mounted on a sliding plate 2023 and a 3D camera and / or radar mounted on the connecting plate 2011. The spatial position of the sleepers is identified through images or point cloud data. The visual inspection mechanism, positioned on the sliding plate, can rise and fall with the robotic arm, maintaining a constant relative height, avoiding frequent recalibration, and improving inspection stability.

[0025] In this embodiment, as a preferred option, such as Figure 4As shown, the gripper assembly 203 includes a gripper base 2031 and grippers 2033 disposed on the gripper base 2031. The gripper base 2031 is connected to the robotic arm 202 via a second swing mechanism. The second swing mechanism includes a second rotary joint 2027 and a second swing joint 2026. The second swing joint 2026 is connected to the lower part of the robotic arm 202, and the second rotary joint 2027 is connected to the second swing joint 2026. The gripper base 2031 is connected to the second rotary joint 2027. The second swing joint is fixed to the robotic arm 202, allowing the gripper to swing along the axis of the swing joint. The second rotary joint 2027 is fixed to the swing joint 2026, allowing the gripper to rotate along the axis of the rotary joint. The second swing joint is similar to the first swing joint, also consisting of a swing cylinder or a swing arm cylinder. The swing cylinder or swing arm cylinder is fixed to the end of the robotic arm, and its swing axis is connected to the second rotary joint. The second rotary joint has the same structure as the first rotary joint, also using a turntable and drive mechanism for transmission. The drive mechanism is a motor or electric motor. The gripper is fixed to the turntable. The rotary joint and the swing joint together form a two-degree-of-freedom wrist, allowing the gripper to flexibly adjust its posture in both the horizontal and vertical planes for high-precision gripping of the sleepers.

[0026] like Figure 5 As shown, in this embodiment, the gripper 2033 includes a left gripper and a right gripper. A Y-guide rail 2032 is provided on the gripper base 2031. Generally, the Y-guide rail consists of two rails, left and right, fixed to both sides of the gripper base 2031. Both the left and right grippers are slidably mounted on the Y-guide rail 2032, and a gripper cylinder 2034 is provided between the left and right grippers. The gripper cylinder 2034 drives the gripper to move along the Y-guide rail, thereby completing the opening and closing action of the gripper. The gripper cylinder consists of two parts, each driving one of the left or right grippers independently. Hydraulic cylinders can also be used for the gripper cylinder.

[0027] In this embodiment, the left and right grippers are T-shaped clamping plates. The T-shaped cross-section increases the contact area and frictional resistance with the sleepers, preventing slippage. The Y-shaped guide rail ensures that the left and right grippers are strictly aligned and the clamping force is evenly distributed. A partition 2035 is provided on the gripper base 2031, located between the left and right grippers. The gripper cylinder consists of two parts, each driving the left and right grippers independently. Together with the middle partition, it can achieve the effect of gripping two sleepers at once.

[0028] Example 3 discloses a sleeper removal device. This example differs from Example 2 in that the left and right grippers are vacuum suction cups arranged in two columns of N rows, where N ≥ 2, preferably 2. The N vacuum suction cups in the same column are connected by a base plate. This two-column, N-row layout creates multi-point adsorption, maintaining grip even if individual suction cups fail, providing strong fault tolerance. Vacuum adsorption avoids clamping damage to the sleeper surface. The vacuum level can be adjusted to accommodate objects of different weights, offering convenient automated control and rapid adsorption / release action.

[0029] Example 4, a segment hoisting system, such as Figure 6 As shown, the system includes a single-segment crane 7, a double-segment crane 8, and the aforementioned sleeper removal device. The sleeper removal device is mounted on the rear-mounted trailer 1; a sleeper box 3 can also be mounted on the rear-mounted trailer 1. After the segment transport vehicle 9 transports the segment to its designated location, the double-segment crane 8 lifts the two segments onto the segment stepping device 6. The single-segment crane 7 completes the segmenting of the two segments. The segment stepping device 6 then transports the segment 5 and the sleeper 4 to the working range of the sleeper removal device 2. The sleeper removal device automatically grabs the sleeper 4 and places it into the sleeper box 3.

[0030] The specific process is as follows: 1. After the segment transport vehicle 9 arrives at its destination, the dual-segment crane 8 moves forward to lift two segments onto the segment stepping device 6. When the dual-segment crane 8 passes the first sensor 10, the host computer issues a command. At this time, the sleeper removal device 2, the single-segment crane 7, and the segment stepping device 6 all cease operation. Figure 7 As shown.

[0031] 2. After the dual-segment crane 8 completes its lifting operation, it reverses and passes the first sensor again. At this time, the host computer issues a command, and the single-segment crane 7 can then move forward. Figure 8 As shown.

[0032] 3. After the single-segment crane 7 lifts the first segment, as follows: Figure 9 As shown, the segment advancing device 6 advances one step. After the segment advancing device completes its advance, the single segment crane 7 lowers the segment, as follows. Figure 10 As shown.

[0033] 4. After the single-segment crane 7 completes its work, it moves backward. When it passes the second sensor 11, the host computer issues a command, and the sleeper removal device starts working. Figure 11 As shown; the sleepers on the tunnel segment are picked up and placed in the sleeper box 3. After the sleeper removal device completes its operation, the tunnel segment stepping device 6 steps once; completing the stepping transport of two tunnel segments. Then the next cycle begins, as shown. Figure 12 As shown.

[0034] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A sleeper removal device, characterized in that: It includes a robotic arm (202) and a base (204) that provides support for the robotic arm (202). The lower part of the robotic arm (202) is provided with a gripper assembly (203). The upper part of the robotic arm (202) is connected to the base (204) through a sliding mechanism. The robotic arm (202) moves up and down along the base (204) under the action of the sliding mechanism. A vision inspection mechanism (201) is provided on the sliding mechanism.

2. The sleeper removal device according to claim 1, characterized in that: The sliding mechanism includes a Z-axis guide rail (2043) and a rack (2041) mounted on the base (204). A sliding plate (2023) is slidably mounted on the Z-axis guide rail (2043). A motor reducer (2021) is mounted on the sliding plate (2023). A gear is mounted on the output shaft of the motor reducer (2021), and the gear meshes with the rack (2041). The robotic arm (202) is connected to the sliding plate (2023) through a first swing mechanism.

3. The sleeper removal device according to claim 2, characterized in that: The first swing mechanism includes a first rotary joint (2024) and a first swing joint (2025). The first rotary joint (2024) is disposed on the sliding plate (2023), and the first swing joint (2025) is connected to the first rotary joint (2024). The upper part of the robotic arm (202) is connected to the first swing joint (2025).

4. The sleeper removal device according to claim 3, characterized in that: The visual inspection mechanism (201) includes a connecting plate (2011) disposed on a sliding plate (2023) and a 3D camera and / or radar disposed on the connecting plate (2011).

5. The sleeper removal device according to any one of claims 1 to 4, characterized in that: The gripper assembly (203) includes a gripper base (2031) and grippers (2033) disposed on the gripper base (2031). The gripper base (2031) is connected to the robotic arm (202) through a second swing mechanism.

6. The sleeper removal device according to claim 5, characterized in that: The second swing mechanism includes a second rotary joint (2027) and a second swing joint (2026); the second swing joint (2026) is connected to the lower part of the robotic arm (202), the second rotary joint (2027) is connected to the second swing joint (2026), and the gripper base (2031) is connected to the second rotary joint (2027).

7. The sleeper removal device according to claim 6, characterized in that: The gripper (2033) includes a left gripper and a right gripper. A Y-guide rail (2032) is provided on the gripper base (2031). The left gripper and the right gripper are slidably arranged on the Y-guide rail (2032), and a gripper cylinder (2034) is provided between the left gripper and the right gripper.

8. The sleeper removal device according to claim 7, characterized in that: The left and right grippers are T-shaped clamps, and a partition (2035) is provided on the gripper base (2031). The partition (2035) is located between the left and right grippers.

9. The sleeper removal device according to claim 7, characterized in that: The left and right grippers are vacuum suction cups, arranged in two columns and N rows, where N ≥ 2. The N vacuum suction cups in the same column are connected by a plate base.

10. A segment hoisting system, characterized in that: It includes a single-segment crane (7), a double-segment crane (8), and a sleeper removal device as described in any one of claims 1 to 9, wherein the sleeper removal device is mounted on a rear-mounted trailer (1).

Images