CN115492612B - Non-operation tunnel reinforcement method and equipment - Google Patents

Non-operation tunnel reinforcement method and equipment Download PDF

Info

Publication number
CN115492612B
CN115492612B CN202211108670.6A CN202211108670A CN115492612B CN 115492612 B CN115492612 B CN 115492612B CN 202211108670 A CN202211108670 A CN 202211108670A CN 115492612 B CN115492612 B CN 115492612B
Authority
CN
China
Prior art keywords
tunnel
steel ring
connecting arm
driving device
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202211108670.6A
Other languages
Chinese (zh)
Other versions
CN115492612A (en
Inventor
曹更新
彭冠锋
唐加功
罗先猛
王肃斌
邵宏恩
江举元
黄红才
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Rongsheng Jimei Technology Co ltd
Original Assignee
Wuhan Rongsheng Jimei Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan Rongsheng Jimei Technology Co ltd filed Critical Wuhan Rongsheng Jimei Technology Co ltd
Priority to CN202211108670.6A priority Critical patent/CN115492612B/en
Publication of CN115492612A publication Critical patent/CN115492612A/en
Application granted granted Critical
Publication of CN115492612B publication Critical patent/CN115492612B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/14—Lining predominantly with metal
    • E21D11/18—Arch members ; Network made of arch members ; Ring elements; Polygon elements; Polygon elements inside arches
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Lining And Supports For Tunnels (AREA)

Abstract

The invention discloses a non-operation tunnel reinforcement method and equipment, wherein the non-operation tunnel reinforcement method comprises the following steps: acquiring installation parameters of a steel ring piece to be installed in a tunnel; controlling the mechanical arm to obtain steel ring pieces with corresponding sizes; calculating a safety radius and controlling a driving device to adjust the mechanical arm; controlling the travelling mechanism to move the stand to a depth position corresponding to the tunnel; controlling the driving device to drive the mechanical arm so as to move the steel ring piece to a position corresponding to the circumferential position of the tunnel; controlling the driving device to drive the mechanical arm to enable the pick-up part to move away from the fixed end of the mechanical arm, so that the steel ring piece is attached to the side wall of the tunnel; judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance; the invention realizes the automatic carrying of the tunnel reinforcing pipe piece to the installation position, greatly shortens the time required by reinforcing and ensures the safety of constructors.

Description

Non-operation tunnel reinforcement method and equipment
Technical Field
The invention relates to the technical field of tunnel reinforcement, in particular to a non-operation tunnel reinforcement method and equipment.
Background
Along with the continuous construction of public transportation facilities, subway tunnels are more and more, and in order to ensure the safety of the tunnels, the maintenance and reinforcement work of the tunnels is more and more frequent, and the task amount is continuously increased.
The tunnel reinforcing method is to splice a plurality of steel ring sheets into a ring in a tunnel, then connect the steel ring with the tunnel wall through steel bars so as to achieve the purpose of reinforcing the tunnel wall, and transport by rail cars and manually transport and install the steel ring sheets in the process of splicing the steel ring sheets into the ring.
The existing reinforcing method has low installation efficiency, the reinforcing work process is slow, and the existing reinforcing method has large construction risk for constructors and is easy to cause safety accidents.
Disclosure of Invention
The invention mainly aims to provide a non-operation tunnel reinforcement method and equipment, and aims to solve the problems of low transportation efficiency, poor installation precision and high construction risk of steel ring plates during non-operation tunnel reinforcement.
In order to achieve the above object, the non-operation tunnel reinforcement method provided by the present invention comprises the following steps:
s10: acquiring installation parameters of a steel ring piece to be installed in a tunnel, wherein the installation parameters comprise the tunnel radius of the installation position of the steel ring piece, the tunnel depth parameter of the installation position of the steel ring piece and the circumferential position parameter of the installation position of the steel ring piece in the tunnel;
S20: controlling the mechanical arm to acquire the steel ring piece with the corresponding size according to the tunnel radius of the steel ring piece installation position;
s30: calculating a safety radius and controlling a driving device to adjust the mechanical arm to enable the included angle between the first connecting arm and the horizontal direction to be theta 1 The included angle between the second connecting arm and the horizontal direction is theta 2 So that the steel ring piece is positioned in the safety radius and faces the depth direction of the tunnel, and the safety radius is smaller than the tunnel radius;
s40: according to the tunnel depth parameters, the travelling mechanism is controlled to move the stand to a depth position corresponding to the tunnel, and then the driving device is controlled to drive the mechanical arm to rotate along the horizontal direction, so that the pick-up part faces the side wall of the tunnel, and the lateral direction of the steel ring sheet corresponds to the side wall of the tunnel at the moment;
s50: according to the circumferential position parameters of the tunnel, the driving device is controlled to drive the mechanical arm, so that the steel ring piece moves up and down within the safety radius range, and the steel ring piece is moved to a position corresponding to the circumferential position of the tunnel;
s60: controlling the driving device to drive the mechanical arm to enable the pick-up part to move away from the fixed end of the mechanical arm, so that the steel ring piece is attached to the side wall of the tunnel;
S70: judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance, judging that the steel ring piece is attached to the side wall of the tunnel when the actual distance is smaller than the preset distance, and repeating the step S60 and the step S70 when the actual distance is larger than or equal to the preset distance.
Optionally, the non-operational tunnel reinforcing device includes:
a base;
the traveling mechanism comprises a traveling part arranged at the bottom of the machine base;
the mechanical arm is arranged on the base, the free end of the mechanical arm is provided with a pickup part, the pickup part is used for picking up the steel ring piece, and the mechanical arm is movably arranged to have a horizontal rotating stroke, an up-down rotating stroke and a moving stroke which can be close to and far from the fixed end of the mechanical arm;
the driving device drives the mechanical arm to move;
the control device is electrically connected with the driving device, and comprises a memory, a processor and a non-operation tunnel reinforcement program which is stored on the memory and can run on the processor, wherein the non-operation tunnel reinforcement program is configured to realize the steps of the non-operation tunnel reinforcement method as claimed in claim 1.
Optionally, the mechanical arm includes:
one end of the mounting seat is rotationally connected with the base;
one end of the first connecting arm is rotationally connected with the other end of the mounting seat; the method comprises the steps of,
one end of the second connecting arm is rotationally connected with the other end of the first connecting arm, and the other end of the second connecting arm is provided for the pickup part to be installed;
the driving device includes:
the rotating device drives the mounting seat to rotate relative to the base;
the first driving device drives the first connecting arm to rotate relative to the mounting seat; the method comprises the steps of,
and the second driving device drives the second connecting arm to rotate relative to the first connecting arm.
Optionally, the rotating device comprises a rotating piece, and the rotating piece is in transmission connection with the mounting seat;
the first driving device comprises a first linear driving device, and the fixed end and the driving end of the first linear driving device are correspondingly hinged with the base and the first connecting arm; the method comprises the steps of,
the second driving device comprises a second linear driving device, and the fixed end and the driving end of the second linear driving device are correspondingly hinged with the first connecting arm and the second connecting arm.
Optionally, the rotating member includes a rotating motor, and the rotating motor is in transmission connection with the mounting seat and is used for driving the mounting seat to rotate by taking a vertical direction as an axis;
The first linear driving device comprises a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is hinged with the mounting seat, a piston rod of the first hydraulic cylinder is hinged with the first connecting arm, and the first hydraulic cylinder is used for driving the first connecting arm to rotate relative to the mounting seat by taking the horizontal direction as an axis; the method comprises the steps of,
the second linear driving device comprises a second hydraulic cylinder, a cylinder barrel of the second hydraulic cylinder is hinged with the first connecting arm, a piston rod of the second hydraulic cylinder is hinged with the second connecting arm, and the second hydraulic cylinder is used for driving the second connecting arm to rotate relative to the first connecting arm by taking the horizontal direction as an axis.
Optionally, a first angle detector is arranged on the first connecting arm, and the first angle detector is used for detecting an included angle between the first connecting arm and the horizontal direction in real time;
the second connecting arm is provided with a second angle detector, and the second angle detector is used for detecting the included angle between the second connecting arm and the horizontal direction in real time.
Optionally, one side of the pick-up part is fixedly connected with the free end of the second connecting arm, and the other side of the pick-up part is provided with a connecting piece, and the connecting piece is used for being detachably connected with a matching piece on the steel ring piece.
Optionally, the connector comprises:
the first lugs are fixedly connected to one side, far away from the second connecting arm, of the pick-up part and are arranged at intervals along the horizontal direction, and through holes are formed in the first lugs; the method comprises the steps of,
a movable bolt detachably connected with the plurality of first lugs;
the movable bolts are used for penetrating through the through holes in the first lugs and the second lugs.
Optionally, a position detecting device is disposed at one side of the stand, and the position detecting device is used for detecting a position of the stand in the depth direction of the tunnel.
Optionally, the position detection device is an image collector, two image collectors are respectively arranged at the left side and the right side of the stand, and the center position of the image collector in the running direction of the stand is in the same straight line with the connecting position of the mechanical arm and the stand.
According to the technical scheme, after the installation parameters of the steel ring pieces are obtained, the mechanical arm is controlled to obtain the corresponding steel ring pieces, the safety radius is calculated, the mechanical arm is driven to adjust the steel ring pieces to the depth direction of a tunnel in the safety radius, then the travelling mechanism is driven to move the stand to the position to be reinforced, the steel ring pieces are adjusted to the direction of the side wall of the tunnel in the safety radius, the mechanical arm is further controlled to adjust the steel ring pieces to the position to be installed in the safety radius, finally the steel ring pieces are adjusted to be attached to the side wall of the tunnel, whether the steel ring pieces move in place is judged according to the detection data of the first position sensor and the second position sensor, the subsequent reinforcing work can be completed manually after the steel ring pieces move in place, the transportation and adjustment processes are all completed automatically by equipment, the installation accuracy is guaranteed while the transportation efficiency is improved, the manual operation is reduced, and the construction risk is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a control device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for reinforcing a non-operational tunnel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a calculation assistance of a formula of the non-operational tunnel reinforcement method shown in FIG. 2;
FIG. 4 is an auxiliary schematic diagram of another calculation formula of the non-operational tunnel reinforcement method shown in FIG. 3;
FIG. 5 is a schematic structural diagram of a non-operational tunnel reinforcement device according to the present invention;
fig. 6 is a schematic view of the structure of the safety radius according to the present invention.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The technical scheme of the invention is suitable for the subway non-operation tunnel, and in the non-operation tunnel, fewer or even no pipeline bundles exist, and even if a small amount of pipeline bundles exist, the pipeline bundles are not actually applied, so that the problem of avoiding the pipeline bundles is not needed to be considered in the process of reinforcing the tunnel.
In view of this, the present invention proposes a non-operational tunnel reinforcement method, and referring to fig. 1, fig. 1 is a schematic structural diagram of a control device of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the control device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 is not limiting of the control device and may include more or fewer components than shown, or may be combined with certain components, or may be arranged in a different arrangement of components.
As shown in fig. 1, an operating system, a data storage module, a network communication module, a user interface module, and a non-operation tunnel reinforcement program may be included in the memory 1005 as one type of storage medium.
In the control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the non-operation tunnel reinforcement device of the present invention may be provided in a control device, where the control device invokes a non-operation tunnel reinforcement program stored in the memory 1005 through the processor 1001, and executes the non-operation tunnel reinforcement method provided by the embodiment of the present invention.
The embodiment of the invention provides a non-operation tunnel reinforcement method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the non-operation tunnel reinforcement method of the invention.
In this embodiment, the method for reinforcing a non-operational tunnel includes:
Step S10: acquiring installation parameters of a steel ring 300 to be installed in a non-operation tunnel 200, wherein the installation parameters comprise the radius of the non-operation tunnel 200 at the installation position of the steel ring 300, the depth parameter of the non-operation tunnel 200 at the installation position of the steel ring 300, and the circumferential position parameter of the non-operation tunnel 200 at the installation position of the steel ring 300;
in this embodiment, the aperture, the circumferential side wall, the extending direction and the position to be reinforced of the non-operational tunnel 200 are manually mapped in advance, related data are programmed and stored in the control device in advance, the corresponding matched steel ring pieces 300 are produced according to the mapping data, the size parameters of each steel ring piece 300 and the corresponding position to be installed are recorded, so that the operation tunnel reinforcing program can be called during installation, the position to be reinforced refers to the depth position where the non-operational tunnel 200 needs to be reinforced in the depth direction of the tunnel, the position to be installed refers to the angle position of the circumferential side wall of the non-operational tunnel 200, and the steel ring pieces 300 are specifically installed in the circumferential side wall of the non-operational tunnel 200.
Step S20: controlling the mechanical arm 2 to acquire the steel ring 300 with the corresponding size according to the radius of the non-operation tunnel 200 at the installation position of the steel ring 300;
The control device receives the instruction, determines that the current position to be reinforced is located at a specific position in the non-operation tunnel 200, determines the radius of the non-operation tunnel 200 at the corresponding position according to the installation parameter stored in the control device, further determines the size of each steel ring 300 required for reinforcing the steel ring, obtains the corresponding steel ring 300, and fixes the steel ring 300 on the mechanical arm 2 under the assistance of manpower.
Step S30: calculating a safety radius 201 and controlling a driving device to adjust the mechanical arm 2 to enable the included angle between the first connecting arm 21 and the horizontal direction to be theta 1 The second connecting arm 22 has an angle with the horizontal direction ofθ 2 Such that the steel ring 300 is located within the safety radius 201 and faces the depth direction of the non-operational tunnel 200, the safety radius 201 being smaller than the radius of the non-operational tunnel 200; controlling the driving device to adjust the mechanical arm 2 so that the pick-up part 211 faces the depth direction of the non-operation tunnel 200;
calculating a safety radius 201 according to the inner diameter of the non-operational tunnel 200 and the size of the steel ring 300, ensuring that the steel ring 300 does not collide with the circumferential side wall of the non-operational tunnel 200 when being adjusted within the safety radius 201, simultaneously lifting the size of the safety radius 201 as much as possible, controlling the mechanical arm 2 to move according to the size information of the steel ring 300, adjusting the steel ring 300 to the front side of the mechanical arm 2, detecting the angles between the first connecting arm 21 and the second connecting arm 22 and the horizontal direction in real time through the first angle detector and the second angle detector, and adjusting the first connecting arm 21 and the second connecting arm 22 so that the angle between the first connecting arm 21 and the horizontal direction is theta 1 The second connecting arm 22 has an angle θ with the horizontal direction 2 And the highest point of the steel ring 300 is lower than the top of the non-operation tunnel 200, and the steel ring 300 is positioned in the middle of the non-operation tunnel 200 from left to right, so as to ensure that the steel ring 300 cannot collide with the side wall of the non-operation tunnel 200 in the process of transporting the steel ring 300 to the position to be reinforced.
Step S40: according to the depth parameters of the non-operation tunnel 200, the travelling mechanism is controlled to move the stand 1 to a depth position corresponding to the non-operation tunnel 200, and then the driving device is controlled to drive the mechanical arm 2 to rotate along a horizontal direction, so that the pick-up part 211 faces the side wall of the non-operation tunnel 200, and then the side direction of the steel ring 300 corresponds to the side wall of the non-operation tunnel 200;
when the base 1 moves to the position to be reinforced, the connection point between the mechanical arm 2 and the base 1 should be aligned with the center of the position to be reinforced in the depth direction of the non-operational tunnel 200, that is, the control device controls the mechanical arm 2 to rotate so as to be opposite to the side wall of the non-operational tunnel 200, the steel ring 300 can be moved to the position to be installed only by adjusting the steel ring 300 to move in the circumferential direction of the non-operational tunnel 200.
Step S50: according to the circumferential position parameter of the non-operation tunnel 200, the driving device is controlled to drive the mechanical arm 2, so that the steel ring 300 moves up and down within a safety radius 201 to move the steel ring 300 to a position corresponding to the circumferential position of the non-operation tunnel 200, and the safety radius 201 is smaller than the radius of the non-operation tunnel 200;
referring to fig. 3, the center point of the non-operational tunnel 200 is a, and the height of the high point f of the steel ring 300 in the non-operational tunnel 200 is H f ＝h 0 +h 1 +h 2 +h 3 The height of the low point e of the steel ring 300 is H e ＝h 0 +h 1 +h 2 -h 3 By the following constitution
Specific values of the high point height and the low point height are known.
In the present embodiment, the radius r of the non-operational tunnel 200 and the height h of the support platform of the mechanical arm 2 are known through manual mapping 0 The radian angle alpha of the steel ring piece 300 and the length L of the second connecting arm 22 high Length L of first connecting arm 21 low Initial angle θ between first connecting arm 21 and horizontal direction 1 Initial angle θ between the second connecting arm 22 and the horizontal direction 2 。
After the mechanical arm 2 picks up the steel ring 300, the control device controls the driving device to drive the second connecting arm 22 and the first connecting arm 21 to rotate, so as to adjust the initial included angle θ 1 And the initial included angle theta 2 The steel ring 300 has a height H at a high point due to the different sizes of the steel ring 300 f Within the safety radius 201, the angle is 40 DEG to theta less than or equal to 1 Less than or equal to 50 DEG, the value of which is determined according to the actual condition, and the theta is adjusted 2 To the size of the different steel ringsThe high point heights of the tabs 300 are all located within the safety radius 201.
Step S60: the driving device is controlled to drive the mechanical arm 2 to enable the pick-up part 211 to move away from the fixed end of the mechanical arm 2, so that the steel ring 300 is attached to the side wall of the tunnel.
Referring to fig. 3 and fig. 4, a first plane rectangular coordinate system axy is established with the center point a of the non-operational tunnel 200 as the origin of coordinates, the vertical upward direction as the y-axis positive direction, and the horizontal rightward direction as the x-axis positive direction, and then the coordinates of the intersection point c of the second connecting arm 22 and the first connecting arm 21 in the first plane rectangular coordinate system are:
in the abovep is the angle by which the first connecting arm 21 rotates relative to the initial position.
The origin of the coordinate system O 'X' Y 'is unchanged, the coordinate axis rotates anticlockwise by t degrees to form the coordinate system O' X 'Y', and the coordinate of the point M 'in the coordinate system O' X 'Y' is M 1 ＝(x 1 ，y 1 ) The point M has a coordinate M 'in the coordinate system O' X 'Y' 2 ＝(x 2 ，y 2 ) Then:
taking an intersection point c of the second connecting arm 22 and the first connecting arm 21 as an origin of coordinates at an initial position, taking the second connecting arm 22 as a vertical axis, taking a direction along which the second connecting arm 22 is far away from the point c as a positive direction, taking a direction along which the second connecting arm 22 is far away from the first connecting arm 21 as a transverse axis positive direction, and establishing a second plane rectangular coordinate system cx 'y', wherein the conversion relationship between the second plane rectangular coordinate system and the first plane rectangular coordinate system is as follows:
the second connecting arm 22 rotates around the point c by an angle q, and the second plane rectangular coordinate system rotates together with the point c to form a third plane rectangular coordinate system cx "y", so that the conversion relationship between the second plane rectangular coordinate system and the third plane rectangular coordinate system is:
the coordinates of the highest point f of the steel ring 300 in the third plane rectangular coordinate system are
The coordinates of the lowest point e of the steel ring 300 in the third plane rectangular coordinate system are
As can be seen from the calculation formula, the radius R of the non-operational tunnel 200, the radius R of the steel ring 300, the radian alpha of the steel ring 300, and the height h of the support platform of the mechanical arm 2 are known 0 Length L of the second connecting arm 22 high Length L of the first connecting arm 21 low An initial angle θ between the first connecting arm 21 and the horizontal direction 1 An initial angle θ between the second connecting arm 22 and the horizontal direction 2 The coordinates of the highest point f and the lowest point e of the steel ring 300 in the first plane rectangular coordinate system can be determined according to the rotation angle q of the second connecting arm 22 relative to the initial position and the rotation angle p of the first connecting arm 21 relative to the initial position, that is, the positions of the steel ring 300 in the non-operation tunnel 200 are controlled, so that the steel ring 300 moves to the position to be installed without collision to the side wall of the non-operation tunnel 200Position.
In this embodiment, the steel ring 300 is attached to the non-operational tunnel 200, where r=r.
In this embodiment, the control device controls the driving device to rotate the mechanical arm 2 up and down, in this process, the driving device drives the mechanical arm 2 to rotate at a controllable angle, and after the mechanical arm 2 picks up the steel ring 300, the control device adjusts the included angles between the second connecting arm 22 and the first connecting arm 21 and the horizontal direction to θ respectively 2 And theta 1 。
It should be noted that, there are many methods for realizing the controllable rotation angle of the mechanical arm 2 through the driving device, for example, when the driving device is a hydraulic cylinder, by controlling the movement of the piston rod of the hydraulic cylinder and associating the movement range of the piston rod with the rotation angle of the mechanical arm 2, a corresponding relationship between the movement range of the piston rod and the rotation angle of the mechanical arm 2 can be established, so as to realize the controllable rotation angle; or the driving device is a motor, etc., in the prior art, the technology of realizing the rotation angle control of the mechanical arm 2 is already mature, and no excessive limitation is made here.
After the non-operational tunnel reinforcing apparatus 100 reaches the position to be reinforced, the control device controls the mechanical arm 2 to rotate, so that the steel ring 300 circumferentially corresponds to the side wall of the non-operational tunnel 200, at this time, according to the above coordinate relationship and the known condition, the coordinates of the steel ring 300 in the third coordinate system can be accurately calculated, and the coordinates are converted into the second coordinate system and then into the first coordinate system, so as to determine the coordinates of the highest point and the lowest point of the steel ring 300 in the first coordinate system after the mechanical arm 2 rotates, and by limiting the coordinates, the specific position of the steel ring 300 in the non-operational tunnel 200 can be limited, so as to avoid collision with the side wall of the non-operational tunnel 200.
S70: judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance, when the actual distance is smaller than the preset distance, judging that the steel ring 300 is attached to the side wall of the non-operation tunnel 200, and when the actual distance is larger than or equal to the preset distance, repeating the step S60 and the step S70.
The first position sensor is arranged on the side wall of the non-operation tunnel 200 at the position to be reinforced, the second position sensor is arranged at the bottom of the steel ring 300, the first position sensor and the second position sensor are mutually positioned, the actual distance between the first position sensor and the second position sensor is determined, a value is preset as a preset distance according to actual needs, when the actual distance is smaller than the preset distance, the steel ring 300 is judged to be attached to the side wall of the non-operation tunnel 200, the steel ring 300 is positioned at the position to be mounted, the subsequent work of manual reinforcement can be performed, and if the actual distance is larger than or equal to the preset distance, the step S60 and the step S70 are repeated until the actual distance is smaller than the preset distance.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The present invention also proposes a non-operational tunnel reinforcing apparatus 100, referring to fig. 5 and 6, the non-operational tunnel reinforcing apparatus 100 comprising: the device comprises a machine base 1, a travelling mechanism, a mechanical arm 2, a driving device and a control device, wherein the travelling mechanism comprises a travelling part arranged at the bottom of the machine base 1; the mechanical arm 2 is arranged on the stand 1, a pickup part 211 is arranged at the free end of the mechanical arm 2, the pickup part 211 is used for picking up the steel ring piece 300, and the mechanical arm 2 is movably arranged to have a horizontal rotation stroke, an up-down rotation stroke and a movement stroke which can approach and separate from the fixed end of the mechanical arm 2; the driving device drives the mechanical arm 2 to move; the control device is electrically connected with the driving device, and comprises a memory, a processor and a non-operation tunnel reinforcement program which is stored on the memory and can run on the processor, wherein the non-operation tunnel reinforcement program is configured to realize the steps of the non-operation tunnel reinforcement method.
The running gear locates on the frame 1, including running gear and drive division, drive division with running gear transmission is connected, drives running gear drives the frame 1 is movable in non-operation tunnel 200 degree of depth direction, so as to with steel ring piece 300 transportation to the non-operation tunnel 200 degree of depth department of waiting the mounted position, arm 2 activity is located on the frame 1, have horizontal orientation and upper and lower to the rotation stroke, and be close to and keep away from arm 2 with the removal stroke of frame 1 junction, so that locate pick up the part 211 can with the steel ring piece 300 of picking up moves to waiting the mounted position, the whole mechanical automatic operation of technical scheme that this application provided has that transport efficiency is fast, the installation accuracy is high, the construction risk is little compared to penetrating manual installation method.
It should be noted that, the running mechanism is only used for driving the base 1 to move in the depth direction of the non-operating tunnel 200, and many mature technologies in the existing driving technologies can achieve this function, for example, a motor is used to cooperate with rollers, or an oil cylinder is used to cooperate with a track, so that according to actual needs, a practical choice can be made, and the running mechanism is not limited specifically.
Further, in this embodiment, the mechanical arm 2 includes a mounting seat 11, a first connecting arm 21 and a second connecting arm 22, and one end of the mounting seat 11 is rotatably connected with the stand 1; one end of the first connecting arm 21 is rotatably connected with the other end of the mounting seat 11; one end of the second connecting arm 22 is rotatably connected with the other end of the first connecting arm 21, and the other end of the second connecting arm 22 is provided for the pickup part 211 to be mounted; the driving device includes: the rotating device drives the mounting seat 11 to rotate relative to the base 1, and comprises a first driving device 31 and a second driving device 32; the first driving device 31 drives the first connecting arm 21 to rotate relative to the mounting seat 11; the second driving device 32 drives the second connecting arm 22 to rotate relative to the first connecting arm 21.
The mounting seat 11 is in rotary connection with the machine base 1, and the rotary device is in transmission connection with the mounting seat 11 so as to drive the mounting seat 11 to rotate relative to the machine base 1, thereby realizing the rotation of the mechanical arm 2 in the horizontal direction; the first connecting arm 21 is rotatably connected with the mounting seat 11, and the first driving device 31 is in transmission connection with the first connecting portion so as to drive the first mechanical arm 2 to rotate up and down relative to the mounting seat 11; the second connecting arm 22 is rotatably connected with the first connecting arm 21, and the second driving device 32 is in transmission connection with the second connecting arm 22 so as to drive the second connecting arm 22 to rotate up and down relative to the first connecting arm 21; the first connecting arm 21 and the second connecting arm 22 cooperate to realize a rotation stroke of the mechanical arm 2 in the up-down direction and a movement stroke that can approach and depart from the fixed end of the mechanical arm 2.
In another embodiment, the mechanical arm 2 further includes a third connecting arm and a third driving device (not shown in the drawing), where the third connecting arm is rotationally connected with one end of the second connecting arm 22 away from the first connecting arm 21, and the other end of the third connecting arm is fixedly connected with the pick-up portion 211, and the third driving device is used to drive the third connecting arm to rotate up and down relative to the second connecting arm 22, and the length of the third connecting arm is shorter, so that the setting is convenient to adjust the inclination angle of the steel ring 300, so that the steel ring 300 is attached to the peripheral pipe wall of the non-operational tunnel 200 more quickly.
Specifically, in this embodiment, the rotating device includes a rotating member, and the rotating member is in transmission connection with the mounting seat 11; the first driving device 31 includes a first linear driving device, and a fixed end and a driving end of the first linear driving device are correspondingly hinged with the base 1 and the first connecting arm 21; the second driving device 32 comprises a second linear driving device, and the fixed end and the driving end of the second linear driving device are correspondingly hinged with the first connecting arm 21 and the second connecting arm 22.
The rotating piece is in transmission connection with the mounting seat 11, so that the mounting seat 11 can rotate 360 degrees relative to the machine base 1, different angle requirements when different steel ring pieces 300 are mounted on the left side and the right side of a tunnel when the steel ring pieces 300 are loaded by the pick-up part 211 are met, the rotation of the first connecting arm 21 and the second connecting arm 22 is realized by the first linear driving device and the second linear driving device, the rotation stroke of the first connecting arm 21 and the second connecting arm 22 is smaller than 180 degrees, when the steel ring pieces 300 are loaded by the pick-up part 211, the positions of the steel ring pieces 300 are adjusted by adjusting the connecting arms, the steel ring pieces 300 cannot be overturned, the stability of equipment is ensured, the rotation of the first connecting arm 21 and the second connecting arm 22 is faster, and the working efficiency is improved.
Further, in this embodiment, the rotating member includes a rotating motor, which is in transmission connection with the mounting seat 11, and is used for driving the mounting seat 11 to rotate about a vertical direction; the first linear driving device comprises a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is hinged with the mounting seat 11, a piston rod of the first hydraulic cylinder is hinged with the first connecting arm 21, and the first hydraulic cylinder is used for driving the first connecting arm 21 to rotate relative to the mounting seat 11 by taking the horizontal direction as an axis; and the second linear driving device comprises a second hydraulic cylinder, a cylinder barrel of the second hydraulic cylinder is hinged with the first connecting arm 21, a piston rod of the second hydraulic cylinder is hinged with the second connecting arm 22, and the second hydraulic cylinder is used for driving the second connecting arm 22 to rotate relative to the first connecting arm 21 by taking the horizontal direction as an axis.
So set up for arm 2 can realize quick response when the adjustment steel ring piece 300's position, and the precision is controllable, adopts the pneumatic cylinder as first linking arm 21 with the drive arrangement of second linking arm 22 also makes its bearing capacity stronger, can deal with steel ring piece 300's relatively higher weight, guarantees the life of equipment self simultaneously.
Further, a first angle detector is disposed on the first connecting arm 21, and the first angle detector is configured to detect an included angle between the first connecting arm 21 and the horizontal direction in real time; the second connecting arm 22 is provided with a second angle detector, and the second angle detector is used for detecting an included angle between the second connecting arm 22 and the horizontal direction in real time. So arranged, the angle between the first connecting arm 21 and the horizontal direction can be detected in real time by the first angle detector and the second angle detectorAnd the angle between the second connecting arm 22 and the horizontal direction +.>The calculation of the position coordinates of the steel ring 300 in the non-operational tunnel 200 is facilitated.
In order to enable the mechanical arm 2 to rapidly pick up the steel ring 300, the free end of the mechanical arm 2 is provided with the pick-up part 211, one side of the pick-up part 211 is fixedly connected with the free end of the second connecting arm 22, the other side of the pick-up part 211 is provided with a connecting piece, and the connecting piece is used for being detachably connected with a matching piece on the steel ring 300, so that the pick-up part 211 can conveniently load the steel ring 300, and the steel ring 300 can be firmly fixed on the mechanical arm 2 when being transported, so that the working efficiency is improved, and meanwhile, the construction safety is ensured.
Specifically, the connecting piece includes a plurality of first lugs and a movable bolt, the plurality of first lugs are fixedly connected to one side of the pick-up part 211 far away from the second connecting arm 22, and are arranged at intervals along the horizontal direction, and through holes are formed in the plurality of first lugs; the movable bolt is detachably connected with the first lugs; the movable bolts are used for penetrating through the through holes in the first lugs and the second lugs.
The connecting piece with counterpoint is carried out through a plurality of first lugs with a plurality of second lugs between the mating piece, pass through movable bolt a plurality of first lugs with through-holes on a plurality of second lugs will the connecting piece with the mating piece links together, so that arm 2 can with steel ring piece 300 lifts up and transport to wait the mounted position, and then adjusts the angle of steel ring piece 300 makes it laminate with tunnel pipe wall mutually.
In this embodiment, the number of the first lugs is two, the number of the second lugs is one, the length of the pick-up portion 211 along the up-down direction is set to be closer to the second connecting arm 22, and the lower end of the pick-up portion 211 is farther from the second connecting arm 22, so that when the mechanical arm 2 lifts the steel ring 300 after the connecting piece is matched with the matching piece, the lower end of the pick-up portion 211 abuts against the inner wall of the steel ring 300, so that the steel ring 300 cannot rotate under the action of gravity, and after the steel ring 300 is adjusted to the to-be-installed position, the inclination angle of the steel ring 300 can be adjusted within a certain range by adjusting the mechanical arm 2, so that the steel ring 300 is better attached to the side wall of the non-operating tunnel 200.
In order to determine the position of the non-operational tunnel reinforcement device 100 in the depth direction of the non-operational tunnel 200, a position detecting device 4 is disposed on one side of the stand 1, and the position detecting device 4 determines whether the stand 1 moves to the position to be installed, so as to improve the automation degree of the non-operational tunnel reinforcement device 100.
Specifically, in this embodiment, the position detecting device 4 is an image collector, two image collectors are respectively disposed on the left and right sides of the stand 1, and the center position of the image collector in the running direction of the stand 1 is on the same straight line with the connection position of the mechanical arm 2 and the stand 1.
Two circular curves which are arranged at intervals along the depth direction of the non-operation tunnel 200 are drawn on the side wall of the non-operation tunnel 200 at the position to be installed along the circumferential direction, the center distance of the two circular curves is the center line of the position to be installed, the image acquisition device acquires images of the two circular curves, the control device controls the driving device to drive the travelling mechanism to move according to the data, so that the connecting position of the mechanical arm 2 and the base 1 is positioned at the same tunnel depth as the center line of the two circular curves, and the non-operation tunnel reinforcing equipment 100 is determined to reach the position to be installed.
In another embodiment, the position detecting device 4 is two distance sensors, one of the two distance sensors is disposed at a fixed position, the other one is disposed on the base 1, and the control device determines the travel distance of the non-operational tunnel reinforcing apparatus 100 in the depth direction of the non-operational tunnel 200 by acquiring the distance between the two distance sensors, so as to determine whether the to-be-installed position is reached.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather, the equivalent structural changes or equivalent flow changes made by the present invention and the contents of the drawings, or the direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (10)

1. The non-operation tunnel reinforcing method is used for non-operation tunnel reinforcing equipment, a first position sensor is arranged on the side wall of the non-operation tunnel at a position to be reinforced, and a second position sensor is arranged at the bottom of a steel ring piece, and is characterized by comprising the following steps:
s10: acquiring installation parameters of a steel ring piece to be installed in a tunnel, wherein the installation parameters comprise the tunnel radius of the installation position of the steel ring piece, the tunnel depth parameter of the installation position of the steel ring piece and the circumferential position parameter of the installation position of the steel ring piece in the tunnel;
S20: controlling the mechanical arm to obtain the steel ring piece with the corresponding size according to the tunnel radius of the steel ring piece installation position;
s30: calculating a safety radius and controlling a driving device to adjust the mechanical arm to enable the included angle between the first connecting arm and the horizontal direction to be theta 1 The included angle between the second connecting arm and the horizontal direction is theta 2 So that the steel ring piece is positioned in the safety radius and faces the depth direction of the tunnel, and the safety radius is smaller than the tunnel radius;
s40: according to the tunnel depth parameters, controlling a travelling mechanism to move a stand to a depth position corresponding to the tunnel, and then controlling the driving device to drive the mechanical arm to rotate along the horizontal direction so that the pick-up part faces the side wall of the tunnel, wherein the lateral direction of the steel ring sheet corresponds to the side wall of the tunnel at the moment;
s50: according to the circumferential position parameters of the tunnel, the driving device is controlled to drive the mechanical arm, so that the steel ring piece moves up and down within the safety radius range, and the steel ring piece is moved to a position corresponding to the circumferential position of the tunnel;
s60: controlling the driving device to drive the mechanical arm to enable the pick-up part to move away from the fixed end of the mechanical arm, so that the steel ring piece is attached to the side wall of the tunnel;
S70: judging whether the actual distance between the first position sensor and the second position sensor is smaller than a preset distance, judging that the steel ring piece is attached to the side wall of the tunnel when the actual distance is smaller than the preset distance, and repeating the step S60 and the step S70 when the actual distance is larger than or equal to the preset distance.
2. A non-operational tunnel reinforcing apparatus, characterized in that the non-operational tunnel reinforcing apparatus comprises:
a base;
the traveling mechanism comprises a traveling part arranged at the bottom of the machine base;
the mechanical arm is arranged on the base, the free end of the mechanical arm is provided with a pickup part, the pickup part is used for picking up the steel ring piece, and the mechanical arm is movably arranged to have a horizontal rotating stroke, an up-down rotating stroke and a moving stroke which can be close to and far from the fixed end of the mechanical arm;
the driving device drives the mechanical arm to move;
the control device is electrically connected with the driving device, and comprises a memory, a processor and a non-operation tunnel reinforcement program which is stored on the memory and can run on the processor, wherein the non-operation tunnel reinforcement program is configured to realize the steps of the non-operation tunnel reinforcement method as claimed in claim 1.
3. The non-operational tunnel reinforcing apparatus according to claim 2,
the mechanical arm includes:
one end of the mounting seat is rotationally connected with the base;
one end of the first connecting arm is rotationally connected with the other end of the mounting seat; the method comprises the steps of,
one end of the second connecting arm is rotationally connected with the other end of the first connecting arm, and the other end of the second connecting arm is provided for the pickup part to be installed;
the driving device includes:
the rotating device drives the mounting seat to rotate relative to the base;
the first driving device drives the first connecting arm to rotate relative to the mounting seat; the method comprises the steps of,
and the second driving device drives the second connecting arm to rotate relative to the first connecting arm.
4. The non-operational tunnel reinforcing apparatus according to claim 3,
the rotating device comprises a rotating piece, and the rotating piece is in transmission connection with the mounting seat;
the first driving device comprises a first linear driving device, and the fixed end and the driving end of the first linear driving device are correspondingly hinged with the base and the first connecting arm; the method comprises the steps of,
the second driving device comprises a second linear driving device, and the fixed end and the driving end of the second linear driving device are correspondingly hinged with the first connecting arm and the second connecting arm.
5. The non-operational tunnel reinforcing apparatus according to claim 4,
the rotating piece comprises a rotating motor which is in transmission connection with the mounting seat and is used for driving the mounting seat to rotate by taking the vertical direction as an axis;
the first linear driving device comprises a first hydraulic cylinder, a cylinder barrel of the first hydraulic cylinder is hinged with the mounting seat, a piston rod of the first hydraulic cylinder is hinged with the first connecting arm, and the first hydraulic cylinder is used for driving the first connecting arm to rotate relative to the mounting seat by taking the horizontal direction as an axis; the method comprises the steps of,
the second linear driving device comprises a second hydraulic cylinder, a cylinder barrel of the second hydraulic cylinder is hinged with the first connecting arm, a piston rod of the second hydraulic cylinder is hinged with the second connecting arm, and the second hydraulic cylinder is used for driving the second connecting arm to rotate relative to the first connecting arm by taking the horizontal direction as an axis.
6. The non-operational tunnel reinforcement device according to claim 3, wherein a first angle detector is provided on the first connection arm, and the first angle detector is configured to detect an included angle between the first connection arm and a horizontal direction in real time;
The second connecting arm is provided with a second angle detector, and the second angle detector is used for detecting the included angle between the second connecting arm and the horizontal direction in real time.
7. A non-operational tunnel reinforcing apparatus according to claim 3, wherein said pick-up portion is fixedly connected on one side to the free end of said second connecting arm and on the other side is provided with a connecting member for detachable connection with a mating member on said steel ring sheet.
8. The non-operational tunnel reinforcing apparatus of claim 7, wherein the connection comprises:
the first lugs are fixedly connected to one side, far away from the second connecting arm, of the pick-up part and are arranged at intervals along the horizontal direction, and through holes are formed in the first lugs; the method comprises the steps of,
a movable bolt detachably connected with the plurality of first lugs;
the movable bolts are used for penetrating through the through holes in the first lugs and the second lugs.
9. The non-operational tunnel reinforcing apparatus according to claim 2, wherein one side of the housing is provided with a position detecting device for detecting a position of the housing in a depth direction of the tunnel.
10. The non-operating tunnel reinforcing device according to claim 9, wherein the position detecting device is an image collector, two image collectors are respectively arranged on the left side and the right side of the machine base, and the center position of the image collector in the running direction of the machine base is in the same straight line with the connecting position of the mechanical arm and the machine base.
CN202211108670.6A 2022-09-13 2022-09-13 Non-operation tunnel reinforcement method and equipment Active CN115492612B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211108670.6A CN115492612B (en) 2022-09-13 2022-09-13 Non-operation tunnel reinforcement method and equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211108670.6A CN115492612B (en) 2022-09-13 2022-09-13 Non-operation tunnel reinforcement method and equipment

Publications (2)

Publication Number Publication Date
CN115492612A CN115492612A (en) 2022-12-20
CN115492612B true CN115492612B (en) 2023-07-21

Family

ID=84468899

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211108670.6A Active CN115492612B (en) 2022-09-13 2022-09-13 Non-operation tunnel reinforcement method and equipment

Country Status (1)

Country Link
CN (1) CN115492612B (en)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103775109B (en) * 2014-01-03 2017-01-18 上海市基础工程集团有限公司 Steel ring mounting machine for tunnel construction
CN106677811B (en) * 2016-07-08 2018-11-09 山东大学 A kind of Tunnel automation construction equipment and construction method
CN111119936B (en) * 2019-12-06 2021-06-01 中铁隧道局集团建设有限公司 Automatic tunnel assembled preliminary bracing erection equipment
CN112324475A (en) * 2020-10-30 2021-02-05 同济大学 Method for reinforcing shield tunnel lining structure
CN112523777B (en) * 2020-11-19 2023-03-31 中国电建集团华东勘测设计研究院有限公司 Shield tunnel reinforcing structure and construction method
CN112796783B (en) * 2021-01-13 2023-02-24 中铁六局集团有限公司 Construction method for dismantling shield through underground excavation tunnel inner pipe sheet in advance
CN113669112B (en) * 2021-09-16 2022-06-10 中国矿业大学 Vehicle-mounted tunnel hole detection device and working method
CN114371218A (en) * 2021-12-02 2022-04-19 山东大学 Shield tunnel operation period segment inspection equipment and method based on elastic wave method
CN114899761A (en) * 2022-05-12 2022-08-12 江西东锐机械有限公司 Underground cable support steel ring installation robot

Also Published As

Publication number Publication date
CN115492612A (en) 2022-12-20

Similar Documents

Publication Publication Date Title
JP4856394B2 (en) Object position measuring apparatus for container crane and automatic cargo handling apparatus using the object position measuring apparatus
CN111482944A (en) Robot system for automatically hanging and detaching ground wire and control method thereof
CN207293963U (en) Automatic the case of automated handling operation and anti-sling system
US20220041411A1 (en) Crane inspection system and crane
CN105158276A (en) Device for detecting bridge suspension rod and detection method of device
CN1097553C (en) Crane capable of carrying
CN111806327B (en) Vehicle-mounted intelligent exchange box system
CN114684717B (en) Automatic gantry crane grab bucket control method, system, equipment and storage medium
CN115492612B (en) Non-operation tunnel reinforcement method and equipment
CN113375560B (en) Beam embedded part approach inspection system and method
CN114890280A (en) Detection alignment method and device for lifting appliance
CN113401757B (en) Track positioning system
JP2022094983A (en) Tower crane hung load swinging stop device, positioning device, swinging stop method, and positioning method
CN117565825A (en) Inclined battery grabbing method and device
CN210260442U (en) Height adjusting system
US20230018143A1 (en) Work machine and mobile crane
WO2016088253A1 (en) Crane system and processing method
CN115285842A (en) AAC and ALC plate installation vehicle, installation control system
CN113753759B (en) Lifting appliance positioning method, lifting appliance positioning device and lifting equipment
CN115539098A (en) Method and equipment for reinforcing operating tunnel
KR101371145B1 (en) Robot system for underwater working
JPS58139988A (en) Automatic balance type crane
CN112996742A (en) Crane system, crane positioning device and crane positioning method
CN216512432U (en) Container unloading device
CN216577880U (en) Robot for intelligently detecting weld defects

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant