Telescopic single mechanical arm duct piece splicing machine for rectangular shield

Abstract

The invention discloses a telescopic single mechanical arm duct piece splicing machine for a rectangular shield. The telescopic single mechanical arm duct piece splicing machine comprises a horizontal moving system, a rotation system, a telescopic mechanical arm system, a manipulator system, a duct piece clamping device and a motion control system. The horizontal moving system is fixed to a shield machine body and arranged in the axial direction of a duct piece of the rectangular shield. The rotation system is connected to the horizontal moving system and moves on the horizontal moving system. The telescopic mechanical arm system is connected to the rotation system and makes telescopic motion, and the telescopic mechanical arm system can rotate along the axis of the duct piece of the rectangular shield and swing around the rotation system. The manipulator system is connected to the telescopic mechanical arm system and rotates and swings around the telescopic mechanical arm system, so that the duct piece clamping device is connected to the end of the manipulator system and clamps the duct piece. The motion control system is connected to the telescopic mechanical arm system and controls the motion track of the telescopic mechanical arm system.

Description

technical field [0001] The invention relates to the field of tunnel engineering, in particular to a telescopic single-arm segment assembly machine for rectangular shield tunneling. Background technique [0002] With the advancement and development of science and technology, large-scale development of urban underground space has begun. Due to the shield tunneling method construction technology has the advantages of little impact on the ground, underground structures and surrounding environment, ensuring traffic flow, reducing road interruption and pipeline relocation, etc., so The shield tunneling method construction technology is increasingly used in the construction of urban roads, underground common trenches, subway tunnels, etc. Looking at the development of shield tunneling technology at home and abroad, it tends to be more and more diversified. In terms of tunnel section, in addition to developing towards circular tunnels, it is also developing towards rectangular secti...

AI Technical Summary

Problems solved by technology

[0003] In the development of rectangular tunnels, due to the special shape of the rectangular shield, when assembling the segments of the rectangular tunnel, if the segment assembly machine of the traditional circular shield is used, its adaptability is poor, which affects Quality of Segment Assembly

Moreover, for rectangular tunnel segments with neutral columns, the movement of existing segment assembly machines is limited by space. In addition, the adjustment of segment posture by segment assembly machines during segment assembly is complicated, thus reducing the speed of segment assembly and the construction cost. rate

[0004] On June 29, 2015, the applicant applied for an invention patent application titled "A Single Manipulator Segment Assembly Machine for Rectangular Shield Tunneling", the publication number is CN 105178982A, and the patent application specification discloses a A single manipulator segment assembly machine for rectangular shields, which includes a translation system, a rotary system, a manipulator system, a manipulator system, and a segment clamping device. Since the manipulator system is not retractable, the shield segment When a translational movement is required, the translational movement of the segment must be realized indirectly through the rotary movement of the rotary disc and the mechanical arm system, and the translational distance is controlled by the rotation angle of the rotary disc. However, when the rectangular tunnel section is large, that is, the radius of the rotary disc is larger When the value is large, it is difficult to accurately control the moving distance of the shield segment, thereby reducing the assembly quality of the shield segment

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