Six-degree-of-freedom shield segment assembling robot
A technology of shield segments and robots, which is applied in shaft equipment, shaft lining, tunnel lining, etc., can solve the problems of rare and lack of cases, and achieve the effects of simple use, high production efficiency and excellent structural performance
Pending Publication Date: 2021-12-28
SHANDONG JIANZHU UNIV
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Problems solved by technology
Because this kind of fluorescence is harmless and can be used repeatedly, although it is often used in clocks, traffic signs, etc., it is relatively rare in the application of municipal wellheads, and there are even fewer cases of application in wellheads.
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[0024] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.
[0025] figure 1 It is a schematic structural diagram of a six-degree-of-freedom shield segment assembling robot of the present invention, figure 2 yes figure 1 Schematic diagram of the structure of the mid-translation system, image 3 yes figure 1 Schematic diagram of the structure of the middle rotary system, Figure 4 yes figure 1 Schematic diagram of the lifting system structure, Figure 5 yes figure 1 Schematic diagram of the fine-tuning system structure. Cooperate with reference Figure 1 to Figure 5 , a six-degree-of-freedom shield segment assembly robot of the present invention includes a translation system 10 , a rotation system 20 , a lifting system 30 , a fine-tuning system 40 and a grabbing system 5 .
[0026] The translation system 10 includes a walking beam 11, a translation cylinder 12, a support frame 13 and a...
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The invention discloses a six-degree-of-freedom shield segment assembling robot, and belongs to the field of shield tunneling machines for tunnel construction. The six-degree-of-freedom shield segment assembling robot comprises a translation system, a rotation system, a lifting system, a fine adjustment system and a grabbing system, the translation system is arranged in the axis direction of a shield segment, the rotation system is connected to the translation system and moves on the translation system in the axis direction of the shield segment, and the lifting system is connected to the rotation system and performs lifting motion; and the lifting system rotates along the axis of a shield tunneling machine segment and performs rolling motion around the rotation system, the fine adjustment system is connected to the lifting system and can perform deflection motion and pitching motion around the lifting system, and the grabbing system is connected to the top of the fine adjustment system through a vacuum suction cup. The translation system comprises a walking beam, a translation oil cylinder, a supporting frame and a rotary platform, the rotation system comprises the rotary platform, a driving gear, a speed reducer, a hydraulic motor and an inner gear disc, the lifting system comprises a lifting oil cylinder, a connecting shaft, a lifting cross beam, a ball joint bearing seat and a ball joint bearing, the fine adjustment system comprises a vacuum suction cup, a pitching oil cylinder, a deflection oil cylinder and a mounting seat, and the grabbing system adopts the vacuum suction cup. According to the six-degree-of-freedom shield segment assembling robot, the shield segment can be adjusted along six degrees of freedom.
Description
technical field [0001] The invention relates to a six-degree-of-freedom shield segment assembling robot, in particular to the design of a shield segment assembling machine, which is applicable to the field of shield machines for tunnel construction. Background technique [0002] The shield machine is a special engineering machine that can be used for underground tunneling and related construction. my country has been researching shield tunneling machinery for decades. When shield tunneling machinery was introduced from abroad, research on segment assembly machines began, from the specific part structure to the drive of each part, and then to the There must be innovation in the structure, but my country has made great progress in this aspect. The country has a huge consumer application market, and the demand for assembly machines and the requirements for intelligence and automation are becoming higher and higher. . [0003] At present, the assembly machine system used in Chin...
Claims
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Patent Timeline
Login to View More IPC IPC(8): E21D9/06E21D11/08E21D11/40B23P19/00
CPCE21D9/0607E21D11/08E21D11/403B23P19/00
Inventor 陈继文王昌林续自来卢庆亮曹永华
Owner SHANDONG JIANZHU UNIV