The invention discloses a full-automatic low-clearance duct piece conveyor based on a binocular vision technology. The full-automatic low-clearance duct piece conveyor is matched with a track arrangedat the top of a constructed tunnel for use, and comprises a walking mechanism, a duct piece taking and placing mechanism and a power mechanism for providing power for the walking mechanism and the duct piece taking and placing mechanism; the duct piece taking and placing mechanism comprises a lifting taking and placing device and a binocular camera; the lifting taking and placing device comprisesa long-strip-shaped main rack; a positive and negative rotation hydraulic motor for hoisting is arranged in the main rack, the positive and negative rotation hydraulic motor for hoisting is connectedwith a trapezoidal lead screw, a positive rotation part of the trapezoidal lead screw is in threaded connection with a first moving block, and a negative rotation part of the trapezoidal lead screw is in threaded connection with a second moving block; and the main rack is downwards connected with a mounting plate, and the binocular camera is mounted on the mounting plate. According to the full-automatic low-clearance duct piece conveyor, the main body is installed in the track in the tunnel and located on the same plane with the track, the low-clearance and automatic operation requirements are met, the industrial trend of shield tunneling machine miniaturization is met, and the working efficiency is improved.

    本发明公开了一种基于双目视觉技术的全自动低净空管片运输机,与设置于已施工的隧道顶部的轨道配合使用,包括行走机构、管片取放机构和用于为行走机构和管片取放机构提供动力的动力机构,管片取放机构包括升降取放装置和双目相机;升降取放装置包括长条形主机架;主机架内设有吊运用正反转液压马达,吊运用正反转液压马达连接有梯形丝杠,梯形丝杠的正旋部分螺纹连接有第一移动块,梯形丝杠的反旋部分螺纹连接有第二移动块;主机架向下连接有安装板,安装板上安装双目相机。本发明主体安装于隧道内的轨道内并与轨道位于同一平面,适应低净空、自动化的作业需求,适应盾构机微型化的行业趋势,提升工作效率。


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    Title :

    Full-automatic low-clearance duct piece conveyor based on binocular vision technology and duct piece conveying method


    Additional title:

    基于双目视觉技术的全自动低净空管片运输机及管片运输方法


    Contributors:
    XIAO YANQIU (author) / FEI ZHIGEN (author) / CUI GUANGZHEN (author) / FANG ZHANPENG (author) / HUANG RONGJIE (author) / SUN CHUNYA (author) / YANG XIANCHAO (author) / LI PEITING (author)

    Publication date :

    2020-12-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    E21D SHAFTS , Schächte / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last



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