The invention discloses an energy recovery device in a shield duct piece assembling driving system, comprising an electric motor, a pump, a one-way valve, a hydraulic motor/pump, a relief valve, an energy accumulator, a three position four-way directional control valve, a hydraulic pressure transformer and a hydraulic cylinder. The system adopts the motor/pump, the energy accumulator and the hydraulic pressure transformer as energy conversion and recovery elements, converts part of the mechanical energy in the circumferential rotation and vertical lifting movement shield duct piece assembling machine into hydraulic energy, and stores the hydraulic energy to be used for assembly. The actuator element motor/pump of the hydraulic system drives the assembling machine to rotate when working at the state of motor, and feeds the load energy back to the energy accumulator when working at the state of pump. By switching the working states of the hydraulic transformer, the lifting of a lifting hydraulic cylinder and the recovery of gravity loading energy are realized. As no throttling element is arranged in the system, the energy transmission efficiency is high, energy loss in a throttle governing system is avoided, and the system has obvious energy conservation effect.