The invention provides a crane, a shield segment reinforcement cage in-mold carrying system and a control method thereof.The shield segment reinforcement cage in-mold carrying system comprises an industrial camera used for collecting the size parameters and the rotation angle of a reinforcement cage to be subjected to in-mold carrying; the control unit is used for calculating the center point coordinate of the reinforcement cage to be put into the mold according to the size parameters and performing coordinate conversion on the center point coordinate and the rotation angle to obtain a new center point coordinate and a new rotation angle; and the suction cup mechanism is used for adjusting the suction cup angle according to the new rotation angle, hoisting the reinforcement cage to be put into the mold according to the new center point coordinate, and moving the reinforcement cage to be put into the mold into the mold under the condition that a mold entering control instruction sent by the control unit is received. According to the system, automatic carrying of reinforcement cage mold entering is achieved, the carrying efficiency is improved, accurate hoisting of the reinforcement cage by a crane is achieved through position conversion with a crane movement system, and therefore accurate mold entering is achieved.

    本发明提供一种起重机、盾构管片钢筋笼入模搬运系统及其控制方法,该盾构管片钢筋笼入模搬运系统,包括:工业相机,用于采集待入模钢筋笼的尺寸参数和旋转角度;控制单元,用于根据尺寸参数计算待入模钢筋笼的中心点坐标,并将中心点坐标和旋转角度进行坐标转换,得到新的中心点坐标和新的旋转角度;吸盘机构,用于根据新的旋转角度调整吸盘角度,根据新的中心点坐标将待入模钢筋笼吊起,并在接收到控制单元发送的入模控制指令的情况下,将待入模钢筋笼移动至模具内。本发明所述系统实现了钢筋笼入模的自动化搬运,提高了搬运效率,并通过与起重机运动系统的位置换算实现了起重机对钢筋笼的精准吊取,从而实现了精准入模。


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    Title :

    Crane, shield segment reinforcement cage in-mold carrying system and control method of shield segment reinforcement cage in-mold carrying system


    Additional title:

    起重机、盾构管片钢筋笼入模搬运系统及其控制方法


    Contributors:
    ZHANG YUAN (author) / ZHANG KELIN (author) / DENG YU (author) / LI MINGHUA (author) / WANG ZHENGYONG (author) / CUI XUEQIANG (author) / WANG HUI (author) / LIU QIANG (author) / LIU HAO (author) / WANG WENJUAN (author)

    Publication date :

    2024-11-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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