Segment Demolition Method and Segment Demolition Equipment

Abstract

The present invention discloses a segment demolition method and a segment demolition device. The segment demolition method comprises the following steps: providing a segment demolition device that can move along the extension direction of a shield tunnel; moving the segment demolition device to a position to be demolished; using the segment demolition device to peel off the upper segments from the inner wall of the shield tunnel in blocks; using the segment demolition device to radially retract multiple upper segments into the shield tunnel, and carrying and moving the multiple upper segments outside the shield tunnel, and then unloading the multiple upper segments from the segment demolition device; moving the segment demolition device to the position to be demolished again; using the segment demolition device to peel off the lower segments from the inner wall of the shield tunnel in blocks; using the segment demolition device to radially retract multiple lower segments into the shield tunnel, and carrying and moving the multiple lower segments outside the shield tunnel, and then unloading the multiple lower segments from the segment demolition device. The present invention aims to solve the problems of long time consumption, low efficiency and low safety performance of the existing segment disassembly method.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction equipment, and particularly relates to a method and equipment for segment demolition. Background Art

[0002] In the construction of urban subways, shield machines are often used to complete the excavation of underground tunnels. Subsequently, segments are used to form the side walls of the tunnels for temporary support, and then the segments are removed for later construction to form permanent support.

[0003] In the existing tunnel segment demolition construction, workers often manually remove the segments and transfer them to transportation equipment, and then transport them to the hoisting point to complete the demolition work of the tunnel segments. The existing demolition method is time-consuming, inefficient, the construction period cannot be guaranteed, and the construction environment is relatively harsh, and workers are prone to accidental injuries during the construction process. Summary of the Invention

[0004] The main object of the present invention is to propose a method and equipment for segment demolition, aiming to solve the problems of long time consumption, low efficiency and low safety performance of the existing segment demolition method.

[0005] To achieve the above object, a method for segment demolition proposed by the present invention includes the following steps:

[0006] Demolition preparation: Provide a segment demolition equipment that can move along the extension direction of the shield tunnel;

[0007] Primary positioning: Move the segment demolition equipment to the position to be demolished;

[0008] Upper segment demolition: Use the segment demolition equipment to peel off the upper segments from the inner wall of the shield tunnel in blocks;

[0009] Upper segment transportation: Use the segment demolition equipment to retract multiple upper segments radially into the shield tunnel, carry and move multiple upper segments outside the shield tunnel, and then unload multiple upper segments from the segment demolition equipment;

[0010] Secondary positioning: Move the segment demolition equipment to the position to be demolished again;

[0011] Lower segment demolition: Use the segment demolition equipment to peel off the lower segments from the inner wall of the shield tunnel in blocks;

[0012] Lower segment transportation: Use the segment demolition equipment to retract multiple lower segments radially into the shield tunnel, carry and move multiple lower segments outside the shield tunnel, and then unload multiple lower segments from the segment demolition equipment.

[0013] Optionally, multiple of the upper segments include a top block and two adjacent blocks connected to both ends of the top block. The segment demolition device includes a mounting bracket and a plurality of robotic arms mounted on the mounting bracket and telescopically arranged radially along the shield tunnel. The plurality of robotic arms are arranged at intervals in the circumferential direction of the shield tunnel. Among them, the plurality of robotic arms include a first robotic arm and two second robotic arms located on both sides of the first robotic arm;

[0014] Transport of upper segments: The step of using the segment demolition device to retract multiple upper segments radially into the shield tunnel further includes:

[0015] Controlling the two second robotic arms to push the two adjacent blocks outwards, so as to form an avoidance space between the two adjacent blocks;

[0016] Controlling the first robotic arm to retract the top block radially into the shield tunnel through the avoidance space;

[0017] Controlling the two second robotic arms to retract the two adjacent blocks radially into the shield tunnel.

[0018] Optionally, the plurality of robotic arms further include two third robotic arms located on both sides of the two second robotic arms. The included angle between each third robotic arm and the adjacent second robotic arm is adjustable. The ends of the two adjacent blocks that are close to each other are set as the close ends, and the ends that are far from each other are set as the far ends;

[0019] Transport of upper segments: The step of using the segment demolition device to retract multiple upper segments radially into the shield tunnel includes:

[0020] Controlling each second robotic arm and the adjacent third robotic arm to be respectively connected to both ends of each adjacent block, and pushing each adjacent block outwards, so as to form an avoidance space between the two adjacent blocks;

[0021] Controlling the first robotic arm to retract the top block radially into the shield tunnel through the avoidance space;

[0022] Controlling each third robotic arm so that each far end rotates by a set angle relative to each close end;

[0023] Controlling each second robotic arm and each third robotic arm to contract radially, so that each adjacent block retracts into the shield tunnel.

[0024] Optionally, the set angle is set to a, where 17.5° ≤ a ≤ 18.5°.

[0025] Optionally, a plurality of the lower segments include a bottom block and two standard blocks connected to both ends of the bottom block. The segment demolition device further includes a lifting device, and the third robotic arm is movably arranged to rotate up and down;

[0026] Transportation of the lower segments: The step of using the segment demolition device to radially retract multiple lower segments into the shield tunnel includes:

[0027] Control the two third robotic arms to rotate downward so as to connect with the two standard blocks;

[0028] Control the two third robotic arms to radially contract so that the two standard blocks are retracted into the shield tunnel;

[0029] Control the lifting device to lift the bottom block upward so that the bottom block is retracted into the shield tunnel.

[0030] Optionally, with the extension direction of the shield tunnel as the front - rear direction, the segment demolition device includes a support platform. The support platform is arranged on the front side of the installation bracket, and the lifting device is installed on the lower side of the support platform;

[0031] After the step of controlling the two third robotic arms to contract inward so that the two standard blocks are away from the tunnel, the following steps are further included:

[0032] Control the segment demolition device to move backward so that the lifting device is located above the bottom block.

[0033] Optionally, for the first positioning: Before the step of moving the segment demolition device to the position to be demolished, the following steps are included:

[0034] Construct a shaft, and the position of the shaft corresponding to the shield tunnel is the demolition position.

[0035] Optionally, the segment demolition device includes a plurality of movably arranged support parts;

[0036] For the first positioning: After the step of moving the segment demolition device to the position to be demolished, the following steps are further included:

[0037] Control the plurality of support parts to abut against the inner wall of the shield tunnel.

[0038] The present invention also provides a segment demolition device for use in the segment demolition method as described above. With the extension direction of the tunnel as the front - rear direction, the segment demolition device includes:

[0039] Demolition device, including a mounting seat movably arranged in the front-rear direction in the tunnel, an installation bracket is provided on the mounting seat, a plurality of robotic arms are provided on the installation bracket, and the plurality of robotic arms are spaced apart and installed on the circumferential side of the demolition device and are telescopically arranged in the radial direction of the tunnel. The plurality of robotic arms are used for detachably mating and connecting with a plurality of segments;

[0040] Traction device, movably arranged in the front-rear direction, the traction device is drivingly connected to the mounting seat for driving the mounting seat to move in the front-rear direction; and,

[0041] Control device, electrically connected to the plurality of robotic arms and the traction device respectively.

[0042] Optionally, the segment demolition equipment further includes a soil-carrying device arranged on the front side of the installation bracket. The soil-carrying device includes two soil-carrying members arranged in the left-right direction. The two soil-carrying members are respectively provided with installation grooves with openings facing upwards, and the opposite side walls of the two installation grooves are penetrated. The two soil-carrying members are adjustable in the left-right direction.

[0043] In the technical solution of the present invention, a segment demolition equipment that can move along the extension direction of the shield tunnel is provided; the segment is split into upper and lower parts and demolished in batches. First, the upper segment is divided into multiple pieces and peeled off from the inner wall of the shield tunnel, then the multiple upper segments are carried on the segment demolition equipment, and then the segment demolition equipment is moved outside the shield tunnel, and then the multiple upper segments are unloaded from the segment demolition equipment, thus completing the disassembly of the upper semi-circle of the segment; similarly, the segment demolition equipment is moved to the position to be demolished to complete the disassembly of the lower semi-circle of the segment. Therefore, the segment is divided into two parts, and each part is divided into multiple pieces and peeled off from the inner wall of the shield tunnel respectively, and then the multiple pieces of segments are carried on the segment demolition equipment, removed from the shield tunnel and unloaded. In this way, multiple segments are demolished at one time, reducing the construction duration and reducing the use of labor, and improving the safety factor. Description of the Drawings

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0045] Figure 1 It is a front view schematic diagram of an embodiment of the segment demolition equipment (including segments) provided by the present invention;

[0046] Figure 2For Figure 1 Side view schematic diagram (excluding segment)

[0047] Figure 3 Schematic diagram of the state when the segment of the present invention is removed

[0048] Figure 4 Flow schematic diagram of an embodiment of the segment removal method provided by the present invention

[0049] Explanation of reference numerals in the drawings

[0050]

[0051]

[0052] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings Specific embodiments

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention

[0054] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly

[0055] In addition, if there are descriptions such as "first" and "second" in the embodiments of the present invention, the descriptions of "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or a solution that satisfies both A and B at the same time. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention

[0056] In the existing construction of tunnel segment disassembly, manual labor is often used to remove the segments and transfer them to transportation equipment, which is then transported to the hoisting point to complete the disassembly of the tunnel segments. The existing disassembly method is time-consuming and inefficient, the construction period cannot be guaranteed, and the construction environment is relatively harsh, making it easy for workers to be accidentally injured during the construction process.

[0057] Figure 1 And Figure 2 As shown in the following figures, which are an embodiment of the segment demolition equipment provided by the present invention, Figure 3 is a schematic diagram of the state during the segment demolition of the present invention, Figure 4 is a schematic flow chart of an embodiment of the segment demolition method provided by the present invention.

[0058] Please refer to Figure 1 and Figure 2 , the segment demolition equipment 100 includes a demolition device 1, a traction device, and a control device. The demolition device 1 includes a mounting seat 11 that is movably arranged in the front-rear direction within the shield tunnel 500. An installation bracket 12 is provided on the mounting seat 11, and a plurality of robotic arms 13 are provided on the installation bracket 12. The plurality of robotic arms 13 are spaced apart and installed on the periphery of the demolition device 1, and are telescopically arranged in the radial direction of the shield tunnel 500. The plurality of robotic arms 13 are used to detachably cooperate and connect with a plurality of segments; the traction device is movably arranged in the front-rear direction, and the traction device is drivingly connected to the mounting seat 11 to drive the mounting seat 11 to move in the front-rear direction; the control device is electrically connected to the plurality of robotic arms 13 and the traction device respectively.

[0059] In this embodiment, the control device controls the traction device to drive the mounting seat 11 to move along the track in the tunnel to the segment demolition position, controls the plurality of robotic arms 13 to extend to cooperate and connect with the mating parts inside the segment. After the connection is completed, controls the plurality of robotic arms 13 to retract to demolish the corresponding segment, and the traction device is used to tow the mounting seat 11 to move outside the shield tunnel 500 to demolish the segments transported out together with the demolition device 1 and the floating soil in the soil receiving groove. The demolition process of the segment is automatically disassembled by the control device controlling the plurality of robotic arms 13 according to the calculated trajectory, avoiding safety accident problems caused by cave-ins when demolishing the segments. After the segments are disassembled from the shield tunnel 500, workers then enter the site to clean the floating soil, with high efficiency, no need to set up work tools, and after the disassembly is completed, the segments disassembled can be directly transported out of the shield tunnel 500 by the traction device, and all dangerous steps are completed by the equipment, greatly reducing the probability of casualties caused by safety accidents and improving safety.

[0060] Specifically, the segment demolition device 100 further includes a soil loading device 2 disposed on the front side of the installation bracket 12. The soil loading device 2 includes two soil loading members 21 arranged in the left-right direction. Each of the two soil loading members 21 is provided with an installation groove 211 with an upward opening, and the opposite side walls of the two installation grooves 211 are provided with through holes. The two soil loading members 21 are adjustable in the left-right direction. When the upper segment 510 is peeled off from the inner wall of the shield tunnel 500, there will be floating soil on the periphery of the upper segment 510, and workers can dig the floating soil on the inner wall of the shield tunnel 500 after the segment is demolished into the installation groove 211. The floating soil can be poured out from the corresponding through side walls of the two installation grooves 211. The position of the two installation grooves 211 can also be controlled by moving the two soil loading members 21 in the left-right direction, so that the two installation grooves 211 are combined into a soil receiving groove, and the floating soil is loaded into the soil receiving groove and transported out of the tunnel together with the traction device. Since after the segment is demolished, the upper segment 510 is first demolished, and then the inner wall of the shield tunnel 500 corresponding to the upper segment 510 is deeply dug, and then the dug position is reinforced. In this way, the floating soil can be transported while the upper segment 510 is being transported, which improves the working efficiency.

[0061] It should be noted that the structure of the robotic arm 13 is not limited in this application. A plurality of the robotic arms 13 are all hydraulic robotic arms, and the hydraulic robotic arms are controlled by a hydraulic controller to drive their expansion and contraction. The hydraulic controller is disposed in the mounting seat 11. In other embodiments, a plurality of the robotic arms 13 can also be oil cylinders. Among them, a plurality of the robotic arms 13 include a first robotic arm 131 extending vertically, second robotic arms 132 disposed on both sides of the first robotic arm 131, and two third robotic arms 133 disposed on both sides of the two second robotic arms 132. The two third robotic arms 133 can be rotatably arranged in the up-down direction. At least two telescopic rods 14 are further installed on the corresponding installation bracket 12. The driving ends of the two telescopic rods 14 are respectively connected to the middle parts of the third robotic arms 133. Driving the telescopic rods 14 to extend makes the angle between each third robotic arm 133 and the adjacent second robotic arm 132 decrease, and driving the telescopic rods 14 to contract makes the angle between each third robotic arm 133 and the adjacent second robotic arm 132 increase. In this way, the third robotic arm 133 can be flexibly adjusted so that the third robotic arm 133 can connect the upper segment 510 or the lower segment 520.

[0062] In this embodiment, to facilitate the transportation of the lower segment 520, the segment demolition device 100 includes a support platform 16, which is arranged on the front side of the installation bracket 12, and the lifting device 4 is installed on the lower side of the support platform 16; the installation bracket 12 is arranged on the support platform 16, and the lifting device 4 is used to lift the lower segment 520.

[0063] Specifically, the segment demolition device 100 further includes a plurality of movably arranged support parts, and the plurality of support parts are used to support the inner wall of the segment. In this embodiment, the plurality of support parts include a plurality of fixed support parts and a plurality of sliding support parts 15. The plurality of fixed support parts are arranged at intervals in the left-right direction on the lower side of the mounting base 11, and the plurality of fixed support parts are telescopically movable in the up-down direction. When the plurality of fixed support parts move to the support state, they are in contact with the lower inner wall of the lower segment 520; the plurality of sliding support parts 15 are arranged at intervals along the circumference of the installation bracket 12. One end of each of the plurality of sliding support parts 15 is fixedly installed on the installation bracket 12, and the other end is telescopically arranged in the radial direction. A roller 151 that can roll in the front-back direction is provided at the other end of the sliding support part 15, and the plurality of rollers 151 are in contact with the lower inner wall of the lower segment 520. Thereby, the stability of the movement of the segment demolition device 100 can be improved, and the phenomenon of machine overturning can be avoided.

[0064] Based on the above structure, please refer to Figure 3 and Figure 4 , the present invention also proposes a segment demolition method, including the following steps:

[0065] S10. Demolition preparation: Provide a segment demolition device 100 that can move along the extension direction of the shield tunnel 500;

[0066] S20. Primary positioning: Move the segment demolition device 100 to the position to be demolished;

[0067] S30. Upper segment 510 demolition: Use the segment demolition device 100 to peel the upper segment 510 from the inner wall of the shield tunnel 500 in blocks;

[0068] S40. Upper segment 510 transportation: Use the segment demolition device 100 to retract multiple upper segments 510 radially into the shield tunnel 500, carry and move multiple upper segments 510 outside the shield tunnel 500, and then unload multiple upper segments 510 from the segment demolition device 100;

[0069] S50. Secondary positioning: Move the segment demolition device 100 to the position to be demolished again;

[0070] S60. Demolition of the lower segment 520: The lower segment 520 is peeled off from the inner wall of the shield tunnel 500 in blocks by using the segment demolition device 100.

[0071] S70. Transportation of the lower segment 520: The segment demolition device 100 is used to radially retract multiple lower segments 520 into the shield tunnel 500, carry and move multiple lower segments 520 outside the shield tunnel 500, and then unload multiple lower segments 520 from the segment demolition device 100.

[0072] In the technical solution of the present invention, a segment demolition device 100 that can move along the extension direction of the shield tunnel 500 is provided; the segment is split into upper and lower parts and demolished in batches. First, the upper segment 510 is divided into multiple blocks and peeled off from the inner wall of the shield tunnel 500, then multiple upper segments 510 are carried on the segment demolition device 100, and then the segment demolition device 100 is moved outside the shield tunnel 500. Then, multiple upper segments 510 are unloaded from the segment demolition device 100, thus completing the disassembly of the upper semi-circle of the segment; similarly, the segment demolition device 100 is moved to the position to be demolished to complete the disassembly of the lower semi-circle of the segment. Therefore, the segment is divided into two parts, and each part is divided into multiple blocks and peeled off from the inner wall of the shield tunnel 500 respectively, and then multiple segments are carried on the segment demolition device 100, removed from the shield tunnel 500 and unloaded. In this way, multiple segments are demolished at one time, reducing the construction duration and the use of labor, and improving the safety factor.

[0073] It should be noted that the upper segment 510 is divided into multiple parts, and multiple upper segments 510 include a top block 511 and two adjacent blocks 512 connected to both ends of the top block 511. The ends of the two adjacent blocks 512 close to each other are set as connecting ends, and the ends far from each other are set as far ends; the lower segment 520 is divided into multiple parts, and multiple lower segments 520 include a bottom block 521 and two standard blocks 522 connected to both ends of the bottom block 521.

[0074] Specifically, in one embodiment, the step S40 includes:

[0075] S41. Control the two second robotic arms 132 to push the two adjacent blocks 512 outwards so as to form an avoidance space between the two adjacent blocks 512.

[0076] S42. Control the first robotic arm 131 to retract the top block 511 through the avoidance space and radially into the shield tunnel 500.

[0077] S43. Control the two second robotic arms 132 to radially retract the two adjacent blocks 512 into the shield tunnel 500.

[0078] Since multiple segments are lap jointed by joints and bolted, in order to retract both the top block 511 and the two adjacent blocks 512 into the shield tunnel 500, the two adjacent blocks 512 need to be pushed outwards first so that the top block 511 can be retracted into the shield tunnel 500, and then the two adjacent blocks 512 can be retracted into the shield tunnel 500. This can avoid interference between the top block 511 and the two adjacent blocks 512 and the shield tunnel 500 during the movement of the mounting seat 11, which may affect the movement stroke.

[0079] In order to fully retract the two adjacent blocks 512 into the shield tunnel 500, in another embodiment, step S40 includes:

[0080] S41a. Control each second robotic arm 132 and the adjacent third robotic arm 133 to be respectively connected to both ends of each adjacent block 512, and push each adjacent block 512 outwards to form an avoidance space between the two adjacent blocks 512;

[0081] S42a. Control the first robotic arm 131 to radially retract the top block 511 through the avoidance space into the shield tunnel 500;

[0082] S43a. Control each third robotic arm 133 so that each far end rotates by a set angle relative to each near end;

[0083] S44a. Control each second robotic arm 132 and each third robotic arm 133 to radially contract so that each adjacent block 512 is retracted into the shield tunnel 500.

[0084] Here, after retracting the top block 511 into the shield tunnel 500, it is necessary to first contract each third robotic arm 133 to rotate each far end of each adjacent block 512 inwards by a set angle, and then contract each third robotic arm 133 and each second robotic arm 132 to carry each adjacent block 512 on the mounting bracket 12. This can reduce the left - right dimension of the two adjacent blocks 512 carried on the mounting bracket 12, avoid interference between the two adjacent blocks 512 and the shield tunnel 500, and enable the mounting seat 11 to slide easily in the shield tunnel 500.

[0085] Specifically, the set angle is set to a, where 17.5° ≤ a ≤ 18.5°. The set angle is determined based on the dimensional relationship among the shield tunnel 500, the second robotic arm 132, and the third robotic arm 133, which is not limited herein. When the set angle is 18°, the two adjacent blocks 512 are in the best state of inward contraction, and can stably bear on the mounting bracket 12 without interfering with the shield tunnel 500.

[0086] Specifically, in one embodiment, the step S70 includes:

[0087] S71. Control the two third robotic arms 133 to rotate downward so as to connect with the two standard blocks 522.

[0088] S72. Control the two third robotic arms 133 to contract radially so that the two standard blocks 522 retract into the shield tunnel 500.

[0089] S73. Control the lifting device 4 to lift the bottom block 521 upward so that the bottom block 521 retracts into the shield tunnel 500.

[0090] In this embodiment, the plurality of robotic arms 13 further includes two fourth robotic arms 134. The two fourth robotic arms 134 are respectively disposed on both sides of the two third robotic arms 133. The telescopic rod 14 is installed on the fourth robotic arm 134, and the driving end of the telescopic rod 14 is connected to the middle of the adjacent third robotic arm 133. The third robotic arm 133 and the adjacent fourth robotic arm 134 are respectively connected to both ends of the standard block 522. Here, the angle of the standard block 522 can also be adjusted by first contracting the third robotic arm 133, and then reducing the left - right dimension of the two standard blocks 522 bearing on the mounting bracket 12. Specifically, it can refer to the adjustment operation of the two adjacent blocks 512, which will not be elaborated herein.

[0091] Specifically, before the step S20, there is also a step:

[0092] S101. Construct a shaft, and the position of the shaft corresponding to the shield tunnel 500 is the demolition position.

[0093] In this embodiment, first, corresponding to the shield tunnel 500, a shaft is constructed from the ground downward. Then, the soil around the upper segment 510 is excavated first to facilitate the operation of demolishing the upper segment 510. In addition, during the demolition operation of the lower segment 520, the third robotic arm 133 and the fourth robotic arm 134 can be directly used to connect the two standard blocks 522 to peel the lower segment 520 from the inner wall of the shield tunnel 500.

[0094] After the step S20, the following steps are further included:

[0095] S301. Control a plurality of the supporting parts to be in contact with the inner wall of the shield tunnel 500;

[0096] In this embodiment, after the segment demolition device 100 reaches the position to be disassembled and installed, control a plurality of the fixed supporting parts to extend downward to support on the bottom block 521, and fix the segment demolition device 100 at the position to be disassembled and installed. A plurality of the sliding supporting parts 15 are arranged at intervals along the circumferential side of the mounting bracket 12. One ends of the plurality of the sliding supporting parts 15 are fixedly installed on the mounting bracket 12, and the other ends extend radially to be in contact with two of the standard blocks 522 respectively, so as to stably support the segment demolition structure and avoid the phenomenon of tipping over. In addition, rollers 151 that can roll in the front-back direction are provided at the other ends of the plurality of the sliding supporting parts 15, and the plurality of the rollers 151 are in contact with the lower inner walls of the two standard blocks 522. When transporting the upper segment 510, the segment demolition device 100 moves in the front-back direction, and the plurality of the rollers 151 can roll with the standard blocks 522, and balance the segment demolition device 100 while the segment demolition device 100 moves, improving the stability and safety performance.

[0097] It should be noted that a slide rail 3 extending in the front-back direction is installed on the shield rail corresponding to the bottom block 521, and the mounting seat 11 is slidably installed on the slide rail 3. When it is necessary to lift the bottom block 521, it is necessary to first remove a part of the guide rail corresponding to the bottom block 521. The method for removing the guide rail is not limited herein and can be manual removal.

[0098] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the description and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields shall be included in the patent protection scope of the present invention.

Claims

1. A method for removing segment, characterized in that, It includes the following steps: Demolition preparation: Provide a segment demolition device that can move along the extension direction of the shield tunnel; Primary positioning: Move the segment demolition device to the position to be demolished; Upper segment demolition: Use the segment demolition device to peel the upper segments off the inner wall of the shield tunnel in blocks; Upper segment transportation: Use the segment demolition device to radially retract multiple upper segments into the shield tunnel, carry and move multiple upper segments outside the shield tunnel, and then unload multiple upper segments from the segment demolition device; Secondary positioning: Move the segment demolition device to the position to be demolished again; Lower segment demolition: Use the segment demolition device to peel the lower segments off the inner wall of the shield tunnel in blocks; Lower segment transportation: Use the segment demolition device to radially retract multiple lower segments into the shield tunnel, carry and move multiple lower segments outside the shield tunnel, and then unload multiple lower segments from the segment demolition device; Multiple upper segments include a top block and two adjacent blocks connected to both ends of the top block. The segment demolition device includes a mounting bracket and multiple robotic arms mounted on the mounting bracket and telescopically arranged along the radial direction of the shield tunnel. The multiple robotic arms are arranged at intervals along the circumferential direction of the shield tunnel. Among them, the multiple robotic arms include a first robotic arm and two second robotic arms located on both sides of the first robotic arm; Upper segment transportation: The step of using the segment demolition device to radially retract multiple upper segments into the shield tunnel further includes: Controlling the two second robotic arms to push the two adjacent blocks outwards, so as to form an avoidance space between the two adjacent blocks; Controlling the first robotic arm to retract the top block radially into the shield tunnel through the avoidance space; Controlling the two second robotic arms to radially retract the two adjacent blocks into the shield tunnel.

2. The segment demolition method according to claim 1, characterized in that The multiple robotic arms further include two third robotic arms located on both sides of the two second robotic arms. The angle between each third robotic arm and the adjacent second robotic arm is adjustable. The ends of the two adjacent blocks that are close to each other are set as the close ends, and the ends that are far from each other are set as the far ends; Upper segment transportation: The step of using the segment demolition device to radially retract multiple upper segments into the shield tunnel includes: Controlling each second robotic arm and the adjacent third robotic arm to be respectively connected to both ends of each adjacent block, and pushing each adjacent block outwards, so as to form an avoidance space between the two adjacent blocks; Controlling the first robotic arm to retract the top block radially into the shield tunnel through the avoidance space; Controlling each third robotic arm so that each far end rotates by a set angle relative to each close end; Controlling each second robotic arm and each third robotic arm to contract radially, so as to retract each adjacent block into the shield tunnel.

3. The segment demolition method according to claim 2, characterized in that, The set angle is set as a, and 17.5° ≤ a ≤ 18.5°.

4. The segment demolition method according to claim 2, wherein, The multiple lower segments include a bottom block and two standard blocks connected to both ends of the bottom block. The segment demolition equipment further includes a lifting device, and the third robotic arm is rotatably arranged up and down. Transportation of the lower segments: The step of using the segment demolition equipment to radially retract multiple lower segments into the shield tunnel includes: Controlling the two third robotic arms to rotate downward so as to be connected to the two standard blocks. Controlling the two third robotic arms to contract radially so that the two standard blocks are retracted into the shield tunnel. Controlling the lifting device to lift the bottom block upward so that the bottom block is retracted into the shield tunnel.

5. The segment demolition method according to claim 4, characterized in that Taking the extending direction of the shield tunnel as the front-back direction, the segment demolition equipment includes a support platform, the support platform is arranged on the front side of the installation bracket, and the lifting device is installed on the lower side of the support platform. After the step of controlling the two third robotic arms to contract inward so that the two standard blocks are away from the tunnel, it further includes: Controlling the segment demolition equipment to move backward so that the lifting device is located above the bottom block.

6. The segment demolition method according to claim 1, characterized in that, Primary positioning: Before the step of moving the segment demolition equipment to the position to be demolished, it includes: Constructing a shaft, and the position of the shaft corresponding to the shield tunnel is the demolition position.

7. The segment demolition method according to claim 1, characterized in that The segment demolition equipment includes a plurality of movably arranged support parts. Primary positioning: After the step of moving the segment demolition equipment to the position to be demolished, it further includes: Controlling the plurality of support parts to abut against the inner wall of the shield tunnel.

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