Three-degree-of-freedom attitude adjusting device of shield segment erector

Abstract

The application discloses a shield segment erector three-freedom attitude adjusting device, and relates to the field of shield segment erectors.The device comprises a first positioning platform, a second positioning platform and a third positioning platform, the third positioning platform is provided with a segment pickup device at the bottom, and the segment pickup device is used for picking up segments.Through driving multi-stage positioning platforms by three groups of swing hydraulic motors, the shield segment erector three-freedom attitude adjusting device realizes attitude adjustment of the supporting segments in three freedoms by independently adjusting swing motors in different directions, improves the positioning reliability of the supporting segments, and meanwhile, a plurality of fixed-difference pressure reducing valves are arranged at the main oil way, the attitude adjusting device selects the fixed-difference pressure reducing valves with different pressure differences according to actual operation requirements, and completes attitude adjustment with different sensitivities.

Description

TECHNICAL FIELD

[0001] The application relates to the field of shield segment assemblers, and particularly relates to a three-degree-of-freedom posture adjusting device of a shield segment assembler. BACKGROUND

[0002] A conventional shield machine segment assemblage posture adjusting mechanism usually relies on a hydraulic cylinder drive, the driving hydraulic cylinder realizes segment posture adjustment through a connecting rod mechanism, the segment angle adjusting range is limited, and meanwhile, the hydraulic cylinder output displacement and the segment rotation angle present a nonlinear relationship, so that linear and precise segment angle adjustment is difficult to achieve.

[0003] In view of the above problems, the patent provides a three-degree-of-freedom posture adjusting device of a shield segment assembler, the three-degree-of-freedom posture adjusting device of the shield segment assembler is provided with multiple positioning platforms and three sets of swing hydraulic drive motors, the posture adjusting device of the shield segment assembler realizes posture adjustment of a supporting segment in three degrees of freedom by sequentially and independently adjusting swing motors in different directions, and the positioning reliability of the supporting segment is improved. Meanwhile, multiple differential pressure reducing valves are arranged at a main oil way, the posture adjusting device selects the differential pressure reducing valves with different pressure differences according to actual operation requirements, and posture adjustment with different sensitivities is completed. In addition, pressure control devices and hydraulic locks are arranged at two oil ports of the swing hydraulic motors, the posture adjusting device realizes control of the output force limit value of the hydraulic motor by adjusting the preset pressure of the pressure control device, is used for controlling and responding to the collision contact of the segment and an external structure, and the overall safety of the system is improved. SUMMARY

[0004] Based on this, the purpose of the application is to provide a three-degree-of-freedom posture adjusting device of a shield segment assembler, so as to solve the technical problems that the segment angle adjusting range is limited and linear and precise segment angle adjustment is difficult to achieve in the prior art.

[0005] To achieve the above-mentioned purpose, the application provides the following technical scheme: a three-degree-of-freedom posture adjusting device of a shield segment assembler, comprising a first positioning platform, a second positioning platform and a third positioning platform, the first positioning platform, the second positioning platform and the third positioning platform are sequentially rotationally connected, the first positioning platform, the second positioning platform and the third positioning platform are respectively provided with a first swing hydraulic motor, a second swing hydraulic motor and a third swing hydraulic motor, the first swing hydraulic motor, the second swing hydraulic motor and the third swing hydraulic motor are respectively provided with a first displacement sensor, a second displacement sensor and a third displacement sensor, the first swing hydraulic motor, the second swing hydraulic motor and the third swing hydraulic motor are connected with a hydraulic control system, the third positioning platform is provided with a segment picking device at the bottom, and the segment picking device is used for picking a segment.

[0006] The hydraulic control system comprises a hydraulic oil source, an oil tank, a first pressure sensor, a second pressure sensor, a first safety overflow valve, a second safety overflow valve, a first hydraulic control check valve, a second hydraulic control check valve, a first check valve, a second check valve and a position controller, the first swing hydraulic motor is respectively connected with the first pressure sensor and the second pressure sensor, the first pressure sensor is connected with the first safety overflow valve, the second pressure sensor is connected with the second safety overflow valve, the first swing hydraulic motor is respectively connected with the first hydraulic control check valve and the second hydraulic control check valve, the first hydraulic control check valve, the second hydraulic control check valve, the first check valve and the second check valve in the hydraulic control system are connected with a three-position six-way proportional directional valve one, the third hydraulic control check valve, the fourth hydraulic control check valve, the third check valve and the fourth check valve in the hydraulic control system are connected with a three-position six-way proportional directional valve two, the fifth hydraulic control check valve, the sixth hydraulic control check valve, the fifth check valve and the sixth check valve in the hydraulic control system are connected with a three-position six-way proportional directional valve three, the three-position six-way proportional directional valve one, the three-position six-way proportional directional valve two and the three-position six-way proportional directional valve three are connected with the first displacement sensor, the second displacement sensor and the third displacement sensor through the position controller, the hydraulic oil source is respectively connected with the first check valve, the third check valve, the fifth check valve, the second check valve, the fourth check valve and the sixth check valve in each hydraulic control system through the first constant differential pressure reducing valve, the second constant differential pressure reducing valve and the third constant differential pressure reducing valve, and the first constant differential pressure reducing valve, the second constant differential pressure reducing valve and the third constant differential pressure reducing valve are connected with two-position two-way on-off valves one, two and three through the three-position six-way proportional directional valve one.

[0007] The first displacement sensor is arranged to detect the movement position of the first swing hydraulic motor, the second displacement sensor is arranged to detect the movement position of the second swing hydraulic motor, and the third displacement sensor is arranged to detect the movement position of the third swing hydraulic motor.

[0008] The three-position six-way proportional directional valve one, the three-position six-way proportional directional valve two and the three-position six-way proportional directional valve three are provided with a manual switch, when the valve core is in the middle position, the A port, the B port and the T port are in the conducting state, the C port and the D port are in the conducting state, and the P port is in the cut-off state; when the valve core is in the left position, the A port and the P port are in the conducting state, the B port and the T port are in the conducting state, and the C port and the D port are in the cut-off state; when the valve core is in the right position, the A port and the T port are in the conducting state, the B port and the P port are in the conducting state, and the C port and the D port are in the cut-off state.

[0009] The application is further provided with a manual switch for the two-position two-way switch valve one, the two-position two-way switch valve two and the two-position two-way switch valve three, when the valve core is in the left position, the A port and the B port are in the cut-off state; when the valve core is in the right position, the A port and the B port are in the on state.

[0010] The application is further provided with that the preset pressure of the first constant-difference pressure reducing valve, the second constant-difference pressure reducing valve and the third constant-difference pressure reducing valve is increased in turn.

[0011] The application is further provided with that the first swing hydraulic motor is an X-direction swing hydraulic motor, the second swing hydraulic motor is a Y-direction swing hydraulic motor, and the third swing hydraulic motor is a Z-direction swing hydraulic motor.

[0012] The application is further configured that the hydraulic oil source is connected with 34A port of the first constant difference pressure reducing valve 34, 35A port of the second constant difference pressure reducing valve 35 and 36A port of the third constant difference pressure reducing valve 36 respectively; 34B port of the first constant difference pressure reducing valve 34 is connected with 37A port of the two-position two-way switch valve one 37; 35B port of the second constant difference pressure reducing valve 35 is connected with 38A port of the two-position two-way switch valve two 38; 36B port of the third constant difference pressure reducing valve 36 is connected with 39A port of the two-position two-way switch valve three 39; 37B port of the two-position two-way switch valve one 37 is connected with 38B port of the two-position two-way switch valve two 38, 39B port of the two-position two-way switch valve three 39, 31P port and 31D port of the three-position six-way proportional directional valve one 31 respectively; 31A port of the three-position six-way proportional directional valve one 31 is connected with 19A port of the first hydraulic control check valve 19, 20C port of the second hydraulic control check valve 20 and 26A port of the second check valve 26 respectively; 31B port of the three-position six-way proportional directional valve one 31 is connected with 19C port of the first hydraulic control check valve 19, 20A port of the second hydraulic control check valve 20 and 25A port of the first check valve 25 respectively; 31C port of the three-position six-way proportional directional valve one 31 is connected with 32P port and 32D port of the three-position six-way proportional directional valve two 32 respectively; 19B port of the first hydraulic control check valve 19 is connected with 4A port of the first swing hydraulic motor 4, 7A port of the first pressure sensor 7 and 13A port of the first safety overflow valve 13 respectively; 20B port of the second hydraulic control check valve 20 is connected with 4B port of the first swing hydraulic motor 4, 8A port of the second pressure sensor 8 and 14A port of the second safety overflow valve 14 respectively; 32C port of the three-position six-way proportional directional valve two 32 is connected with 33P port and 33D port of the three-position six-way proportional directional valve three 33 respectively; the connection mode of the three-position six-way proportional directional valve two 32 and the three-position six-way proportional directional valve three 33 with the hydraulic control system is the same as that of the three-position six-way proportional directional valve one 31; 33C port of the three-position six-way proportional directional valve three 33 is in a cut-off state; 34C port of the first constant difference pressure reducing valve 34 is connected with 35C port of the second constant difference pressure reducing valve 35, 36C port of the third constant difference pressure reducing valve 36, 25B port of the first check valve 25 and 26B port of the second check valve 26 in each hydraulic control system respectively; the oil tank 42 is connected with 31T port of the three-position six-way proportional directional valve one 31, 32T port of the three-position six-way proportional directional valve two 32, 33T port of the three-position six-way proportional directional valve three 33, 13B port of the first safety overflow valve 13 and 14B port of the second safety overflow valve 14 in each hydraulic control system respectively.

[0013] The first positioning platform body is a rectangular thin-walled column, the shorter side of the interior of the rectangular thin-walled column is provided with two symmetrically arranged rectangular bosses, the rectangular bosses are internally provided with through holes for being connected with the second positioning platform, the second positioning platform body is a rectangular thin-walled column, the longer side of the interior of the rectangular thin-walled column is provided with two symmetrically arranged rectangular bosses, the rectangular bosses are internally provided with through holes for being connected with the third positioning platform, the longer side of the interior of the rectangular thin-walled column is provided with a mounting platform for mounting the swing hydraulic motor, the mounting platform is connected with the inner wall of the positioning platform through a plurality of groups of reinforcing grids on both sides of the mounting platform, and the outer side of the mounting platform is provided with a circular boss for being connected with the first positioning platform; the third positioning platform body is a rectangular column, the interior of the rectangular column is provided with a rectangular groove, both ends of the rectangular column are provided with circular bosses for being connected with the second positioning platform, and the bottom of the rectangular column is provided with a cylindrical mounting platform for mounting the swing hydraulic motor, and the cylindrical mounting platform is internally provided with a circular cavity for accommodating the swing hydraulic motor; the segment picking device is located below the third positioning platform and is used for picking the supporting segment.

[0014] In summary, the present application mainly has the following beneficial effects:

[0015] The present application realizes the posture adjustment of the supporting segment in three degrees of freedom through the independent adjustment of the swing motor in different directions by the three-degree-of-freedom posture adjustment device of the shield segment assembling machine, and improves the positioning reliability of the supporting segment. Meanwhile, a plurality of differential pressure regulating valves are arranged at the main oil way, and the posture adjustment device selects the differential pressure regulating valves with different pressure differences according to the actual operation requirement, so as to complete the posture adjustment with different sensitivities. In addition, the pressure control device and the hydraulic lock are arranged at the two oil ports of the swing hydraulic motor, the posture adjustment device adjusts the preset pressure of the pressure control device, so as to realize the control of the output force limit value of the hydraulic motor, and is used for controlling and responding to the collision contact between the segment and the external structure, and improving the overall safety of the system. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a system hydraulic principle diagram;

[0017] Figure 2 It is a whole schematic view of the multi-axis positioning system of the TBM segment assembling;

[0018] Figure 3 It is a cross-sectional schematic view of the multi-axis positioning system of the TBM segment assembling;

[0019] Figure 4 It is a first positioning platform schematic view;

[0020] Figure 5 It is a second positioning platform schematic view;

[0021] Figure 6 It is a third positioning platform schematic view;

[0022] Figure 7 X direction swing hydraulic motor schematic diagram;

[0023] Figure 8 Y direction swing hydraulic motor schematic diagram;

[0024] Figure 9 Z direction swing hydraulic motor schematic diagram;

[0025] Figure 10 Multi-axis positioning schematic diagram. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation on the present application.

[0027] The embodiments of the present application will be described below according to the overall structure of the present application.

[0028] The present application comprises a hydraulic oil source 41, an oil tank 42, a first positioning platform 43, a second positioning platform 44 and a third positioning platform 45, the first positioning platform 43, the second positioning platform 44 and the third positioning platform 45 are sequentially rotationally sleeved, the first positioning platform 43, the second positioning platform 44 and the third positioning platform 45 are respectively provided with a first swing hydraulic motor 4, a second swing hydraulic motor 5 and a third swing hydraulic motor 6, the first swing hydraulic motor 4, the second swing hydraulic motor 5 and the third swing hydraulic motor 6 are respectively provided with a first displacement sensor 1, a second displacement sensor 2 and a third displacement sensor 3, the first swing hydraulic motor 4, the second swing hydraulic motor 5 and the third swing hydraulic motor 6 are respectively connected with a hydraulic control system, and the internal structures of each hydraulic control system are the same, the third positioning platform 45 is provided at the bottom with a tube sheet picking device 46, and the tube sheet picking device 46 is fixed with a tube sheet 47.

[0029] The hydraulic control system comprises a first pressure sensor 7, a second pressure sensor 8, a first safety overflow valve 13, a second safety overflow valve 14, a first hydraulic control check valve 19, a second hydraulic control check valve 20, a first check valve 25, a second check valve 26, a three-position six-way proportional directional valve 31 and a position controller 40, the first swing hydraulic motor 4 is connected with the first pressure sensor 7 and the second pressure sensor 8 respectively, the first pressure sensor 7 is connected with the first safety overflow valve 13, the second pressure sensor 8 is connected with the second safety overflow valve 14, the first swing hydraulic motor 4 is connected with the first hydraulic control check valve 19 and the second hydraulic control check valve 20 respectively, the first hydraulic control check valve 19, the second hydraulic control check valve 20, the first check valve 25 and the second check valve 26 in the hydraulic control system are connected with the three-position six-way proportional directional valve 31, the third hydraulic control check valve 21, the fourth hydraulic control check valve 22, the third check valve 27 and the fifth check valve 29 in the hydraulic control system are connected with the three-position six-way proportional directional valve 32, the fifth hydraulic control check valve 23, the sixth hydraulic control check valve 24, the fifth check valve 29 and the sixth check valve 30 in the hydraulic control system are connected with the three-position six-way proportional directional valve 33, the three-position six-way proportional directional valve 31, the three-position six-way proportional directional valve 32 and the three-position six-way proportional directional valve 33 are connected with the first displacement sensor 1, the second displacement sensor 2 and the third displacement sensor 3 through the position controller 40, the hydraulic oil source 41 is connected with the first check valve 25, the third check valve 27, the fifth check valve 29, the second check valve 26, the fourth check valve 28 and the sixth check valve 30 in each hydraulic control system through the first constant differential pressure reducing valve 34, the second constant differential pressure reducing valve 35 and the third constant differential pressure reducing valve 36 respectively, the first constant differential pressure reducing valve 34, the second constant differential pressure reducing valve 35 and the third constant differential pressure reducing valve 36 are connected with the two-position two-way on-off valve 37, the two-position two-way on-off valve 38 and the two-position two-way on-off valve 39 through the three-position six-way proportional directional valve 31.

[0030] The first displacement sensor 1 is used for detecting the movement position of the first swing hydraulic motor 4, the second displacement sensor 2 is used for detecting the movement position of the second swing hydraulic motor 5, and the third displacement sensor 3 is used for detecting the movement position of the third swing hydraulic motor 6.

[0031] The three-position six-way proportional directional valve 31, the three-position six-way proportional directional valve 32 and the three-position six-way proportional directional valve 33 are provided with a manual switch, when the valve core is in the middle position, the A port, the B port and the T port are in the conducting state, the C port and the D port are in the conducting state, and the P port is in the cut-off state; when the valve core is in the left position, the A port and the P port are in the conducting state, the B port and the T port are in the conducting state, and the C port and the D port are in the cut-off state; when the valve core is in the right position, the A port and the T port are in the conducting state, the B port and the P port are in the conducting state, and the C port and the D port are in the cut-off state.

[0032] Among them, two-position two-way on-off valve one 37, two-position two-way on-off valve two 38 and two-position two-way on-off valve three 39 are provided with manual switches, when the valve core is in the left position, its A port and B port are in the cut-off state; the valve core is in the right position, its A port and B port are in the on state.

[0033] Among them, the preset pressures of the first constant-difference pressure reducing valve 34, the second constant-difference pressure reducing valve 35 and the third constant-difference pressure reducing valve 36 increase in turn.

[0034] Among them, the first swing hydraulic motor 4 is an X-direction swing hydraulic motor, the second swing hydraulic motor 5 is a Y-direction swing hydraulic motor, and the third swing hydraulic motor 6 is a Z-direction swing hydraulic motor.

[0035] The system hydraulic circuit: hydraulic oil source 41 is connected with 34A mouth of first constant differential pressure reducing valve 34, 35A mouth of second constant differential pressure reducing valve 35, 36A mouth of third constant differential pressure reducing valve 36 respectively; 34B mouth of first constant differential pressure reducing valve 34 is connected with 37A mouth of two-position two-way switch valve one 37; 35B mouth of second constant differential pressure reducing valve 35 is connected with 38A mouth of two-position two-way switch valve two 38; 36B mouth of third constant differential pressure reducing valve 36 is connected with 39A mouth of two-position two-way switch valve three 39; 37B of two-position two-way switch valve one 37 is connected with 38B mouth of two-position two-way switch valve two 38, 39B mouth of two-position two-way switch valve three 39, 31P mouth and 31D mouth of three-position six-way proportional directional valve one 31 respectively; 31A mouth of three-position six-way proportional directional valve one 31 is connected with 19A mouth of first hydraulic control check valve 19, 20C mouth of second hydraulic control check valve 20, 26A mouth of second check valve 26 respectively; 31B mouth of three-position six-way proportional directional valve one 31 is connected with 19C mouth of first hydraulic control check valve 19, 20A mouth of second hydraulic control check valve 20, 25A mouth of first check valve 25 respectively; 31C mouth of three-position six-way proportional directional valve one 31 is connected with 32P mouth and 32D mouth of three-position six-way proportional directional valve two 32 respectively; 19B mouth of first hydraulic control check valve 19 is connected with 4A mouth of first swing hydraulic motor 4, 7A mouth of first pressure sensor 7, 13A mouth of first safety overflow valve 13 respectively; 20B mouth of second hydraulic control check valve 20 is connected with 4B mouth of first swing hydraulic motor 4, 8A mouth of second pressure sensor 8, 14A mouth of second safety overflow valve 14 respectively; 32C mouth of three-position six-way proportional directional valve two 32 is connected with 33P mouth and 33D mouth of three-position six-way proportional directional valve three 33 respectively; the connection mode of three-position six-way proportional directional valve two 32, three-position six-way proportional directional valve three 33 with hydraulic control system is same as three-position six-way proportional directional valve one 31; 33C mouth of three-position six-way proportional directional valve three 33 is in the cut-off state; 34C mouth of first constant differential pressure reducing valve 34 is connected with 35C mouth of second constant differential pressure reducing valve 35, 36C mouth of third constant differential pressure reducing valve 36, 25B mouth of first check valve 25 and 26B mouth of second check valve 26 in each hydraulic control system respectively; oil tank 42 is connected with 31T mouth of three-position six-way proportional directional valve one 31, 32T mouth of three-position six-way proportional directional valve two 32, 33T mouth of three-position six-way proportional directional valve three 33, 13B mouth of first safety overflow valve 13, 14B mouth of second safety overflow valve 14 in each hydraulic control system respectively.

[0036] System mechanical structure: the first positioning platform 43 body is a rectangular thin-walled column, the shorter side of which is provided with two symmetrically arranged rectangular bosses, and the rectangular bosses are provided with through holes for connecting with the second positioning platform 44; the second positioning platform 44 body is a rectangular thin-walled column, the longer side of which is provided with two symmetrically arranged rectangular bosses, and the rectangular bosses are provided with through holes for connecting with the third positioning platform 45, and the longer side of the second positioning platform 44 is provided with a mounting platform for mounting the swing hydraulic motor, and the mounting platform is connected with the inner wall of the second positioning platform 44 through a plurality of reinforcing grids on both sides of the mounting platform, and the outer side of the mounting platform is provided with a circular boss for connecting with the first positioning platform 43; the third positioning platform 45 is a rectangular column body, which is provided with a rectangular groove in the inside, and the two ends of the third positioning platform 45 are provided with circular bosses for connecting with the second positioning platform 44, and the bottom of the third positioning platform 45 is provided with a cylindrical mounting platform for mounting the swing hydraulic motor, and the cylindrical mounting platform is provided with a circular cavity for accommodating the swing hydraulic motor; the pipe piece picking device 46 is located below the third positioning platform 45 for picking supporting pipe pieces.

[0037] X-axis rotation positioning movement: after the front cutter head completes tunnel excavation, the TBM segment assembly system needs to support the inner wall of the surrounding rock. At this time, the TBM segment assembly system picks up the segment and lays it to the predetermined position. When the segment deviates from the predetermined position, the TBM segment assembly multi-axis positioning system adjusts the position in multiple angles in turn. The specific process is as follows: when the segment needs to be adjusted clockwise around the X-axis, three-position six-way proportional directional valve one 31 is in the left position, three-position six-way proportional directional valve two 32 and three-position six-way proportional directional valve three 33 are in the middle position; according to the system requirements, select different pressure differential pressure reducing valves, when the first differential pressure reducing valve 34 is needed, two-way on-off valve one 37 is in the right position, two-way on-off valve two 38 and two-way on-off valve three 39 are in the left position;The high pressure oil in the hydraulic oil source 41 flows into the first constant differential pressure reducing valve 34 through the 34A port of the first constant differential pressure reducing valve 34, and then flows out of the first constant differential pressure reducing valve 34 through the 34B port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing out of the 34B port flows into the two-position two-way switch valve one 37 through the 37A port of the two-position two-way switch valve one 37, and then flows out of the two-position two-way switch valve one 37 through the 37B port of the two-position two-way switch valve one 37. The hydraulic oil flowing out of the 37B port flows into the three-position six-way proportional directional valve one 31 through the 31P port of the three-position six-way proportional directional valve one 31, and then flows out of the three-position six-way proportional directional valve one 31 through the 31A port of the three-position six-way proportional directional valve one 31. The hydraulic oil flowing out of the 31A port flows into the first hydraulic control check valve 19 through the 19A port of the first hydraulic control check valve 19, flows into the second hydraulic control check valve 20 through the 20C port of the second hydraulic control check valve 20, and flows into the second check valve 26 through the 26A port of the second check valve 26. The hydraulic oil flowing into the second hydraulic control check valve 20 switches the second hydraulic control check valve 20 to the conductive state. The hydraulic oil flowing into the second check valve 26 flows out through the 26B port of the second check valve 26. The hydraulic oil flowing out of the 26B port flows into the first constant differential pressure reducing valve 34 through the 34C port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing into the first constant differential pressure reducing valve 34 is used to adjust the output pressure of the constant differential pressure reducing valve. The hydraulic oil flowing out of the first hydraulic control check valve 19 flows out through the 19B port of the first hydraulic control check valve 19. The hydraulic oil flowing out of the 19A port flows into the first pressure sensor 7 through the 7A port of the first pressure sensor 7, and flows into the first swing hydraulic motor 4 through the 4A port of the first swing hydraulic motor 4. When the pipe segment excessively extrudes the inner wall of the surrounding rock or the external load is too large, the hydraulic oil pressure flowing out of the 19B port exceeds the preset pressure of the first safety overflow valve 13. The hydraulic oil flowing out of the 19B port flows into the first safety overflow valve 13 through the 13A port of the first safety overflow valve 13, and then flows into the oil tank 42 through the 13B port of the first safety overflow valve 13. The hydraulic oil flowing out of the first swing hydraulic motor 4 flows out through the 4B port of the first swing hydraulic motor 4. The hydraulic oil flowing out of the 4B port flows out of the second pressure sensor 8 through the 8A port of the second pressure sensor 8, flows into the second hydraulic control check valve 20 through the 20B port of the second hydraulic control check valve 20, and then flows out of the second hydraulic control check valve 20 through the 20A port of the second hydraulic control check valve 20. The hydraulic oil flowing out of the 20A port flows into the three-position six-way proportional directional valve one 31 through the 31B port of the three-position six-way proportional directional valve one 31, and then flows back to the oil tank 42 through the 31T port of the three-position six-way proportional directional valve one 31. When the pipe segment needs to be adjusted counterclockwise around the X axis, the three-position six-way proportional directional valve one 31 is in the right position, and the three-position six-way proportional directional valve two 32 and the three-position six-way proportional directional valve three 33 are in the middle position. Different pressure constant differential pressure reducing valves are selected according to system requirements. When the first constant differential pressure reducing valve 34 is needed, the two-position two-way switch valve one 37 is in the right position, and the two-position two-way switch valve two 38 and the two-position two-way switch valve three 39 are in the left position.The high pressure oil in the hydraulic oil source 41 flows into the first constant differential pressure reducing valve 34 through the 34A port of the first constant differential pressure reducing valve 34, and then flows out of the first constant differential pressure reducing valve 34 through the 34B port thereof. The hydraulic oil flowing out of the 34B port flows into the two-position two-way switching valve one 37 through the 37A port of the two-position two-way switching valve one 37, and then flows out of the two-position two-way switching valve one 37 through the 37B port thereof. The hydraulic oil flowing out of the 37B port flows into the three-position six-way proportional directional valve one 31 through the 31P port of the three-position six-way proportional directional valve one 31, and then flows out of the three-position six-way proportional directional valve one 31 through the 31B port thereof. The hydraulic oil flowing out of the 31B port flows into the first hydraulic control check valve 19 through the 19C port of the first hydraulic control check valve 19, flows into the second hydraulic control check valve 20 through the 20A port of the second hydraulic control check valve 20, and flows into the first check valve 25 through the 25A port of the first check valve 25. The hydraulic oil flowing into the first hydraulic control check valve 19 switches the first hydraulic control check valve 19 to the conducting state. The hydraulic oil flowing into the first check valve 25 flows out of the first check valve 25 through the 25B port thereof. The hydraulic oil flowing out of the 25B port flows into the first constant differential pressure reducing valve 34 through the 34C port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing into the first constant differential pressure reducing valve 34 is used to adjust the output pressure of the constant differential pressure reducing valve. The hydraulic oil flowing out of the second hydraulic control check valve 20 flows into the second pressure sensor 8 through the 8A port of the second pressure sensor 8, and flows into the first swing hydraulic motor 4 through the 4B port of the first swing hydraulic motor 4. When the pipe segment excessively extrudes the inner wall of the surrounding rock or the external load is too large, the pressure of the hydraulic oil flowing out of the 20B port exceeds the preset pressure of the second safety overflow valve 14. The hydraulic oil flowing out of the 20B port flows into the second safety overflow valve 14 through the 14A port of the second safety overflow valve 14, and then flows into the oil tank 42 through the 14B port of the second safety overflow valve 14. The hydraulic oil flowing out of the first swing hydraulic motor 4 flows out of the first swing hydraulic motor 4 through the 4A port thereof, and then flows out of the first pressure sensor 7 through the 7A port of the first pressure sensor 7, flows into the first hydraulic control check valve 19 through the 19B port of the first hydraulic control check valve 19, and then flows out of the first hydraulic control check valve 19 through the 19A port thereof. The hydraulic oil flowing out of the 19A port flows into the three-position six-way proportional directional valve one 31 through the 31A port of the three-position six-way proportional directional valve one 31, and then flows back to the oil tank 42 through the 31T port of the three-position six-way proportional directional valve one 31. The first swing hydraulic motor 4 is positively and reversely adjusted in angle under the action of the hydraulic oil. The movement of the first swing hydraulic motor 4 drives the second positioning platform 44 to rotate around the X axis. At this time, the displacement sensor 1 transmits its displacement signal to the position controller 40. The position controller 40 realizes the position control of the first swing hydraulic motor 4 by continuously adjusting the spool position of the three-position six-way proportional directional valve one 31. When the first swing hydraulic motor 4 moves to the preset position, the three-position six-way proportional directional valve one 31 is switched to the middle position, the first swing hydraulic motor 4 is in the self-locking state, and the angle adjustment of the multi-stage positioning platform around the X axis is completed.

[0038] Y-axis rotation positioning movement: when the pipe piece completes the angle adjustment around the X-axis, and the pipe piece needs to be adjusted clockwise around the Y-axis, three-position six-way proportional reversing valve one 31 is in the middle position, three-position six-way proportional reversing valve two 32 is in the left position, and three-position six-way proportional reversing valve three 33 is in the middle position; according to the system requirements, select different pressure differential pressure reducing valves, when the first differential pressure reducing valve 34 is needed, two-position two-way on-off valve one 37 is in the right position, two-position two-way on-off valve two 38, and two-position two-way on-off valve three 39 are in the left position;The high pressure oil in the hydraulic oil source 41 flows into the first constant differential pressure reducing valve 34 through the 34A port of the first constant differential pressure reducing valve 34, and then flows out of the first constant differential pressure reducing valve 34 through the 34B port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing out of the 34B port flows into the two-position two-way switch valve one 37 through the 37A port of the two-position two-way switch valve one 37, and then flows out of the two-position two-way switch valve one 37 through the 37B port of the two-position two-way switch valve one 37. The hydraulic oil flowing out of the 37B port flows into the three-position six-way proportional directional valve one 31 through the 31D port of the three-position six-way proportional directional valve one 31, and then flows out of the three-position six-way proportional directional valve one 31 through the 31C port of the three-position six-way proportional directional valve one 31. The hydraulic oil flowing out of the 31C port flows into the three-position six-way proportional directional valve two 32 through the 32P port of the three-position six-way proportional directional valve two 32, and then flows out of the three-position six-way proportional directional valve two 32 through the 32A port of the three-position six-way proportional directional valve two 32. The hydraulic oil flowing out of the 32A port flows into the third hydraulic control check valve 21 through the 21A port of the third hydraulic control check valve 21, flows into the fourth hydraulic control check valve 22 through the 22C port of the fourth hydraulic control check valve 22, and flows into the fourth check valve 28 through the 28A port of the fourth check valve 28. The hydraulic oil flowing into the fourth hydraulic control check valve 22 switches the fourth hydraulic control check valve 22 to the conductive state. The hydraulic oil flowing into the fourth check valve 28 flows out through the 28B port of the fourth check valve 28. The hydraulic oil flowing out of the 28B port flows into the first constant differential pressure reducing valve 34 through the 34C port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing into the first constant differential pressure reducing valve 34 is used to adjust the output pressure of the constant differential pressure reducing valve. The hydraulic oil flowing out of the third hydraulic control check valve 21 flows out through the 21B port of the third hydraulic control check valve 21. The hydraulic oil flowing out of the 21B port flows into the third pressure sensor 9 through the 9A port of the third pressure sensor 9, and flows into the second swing hydraulic motor 5 through the 5A port of the second swing hydraulic motor 5. When the pipe segment excessively extrudes the inner wall of the surrounding rock or the external load is too large, the hydraulic oil pressure flowing out of the 21B port exceeds the preset pressure of the third safety overflow valve 15. The hydraulic oil flowing out of the 21B port flows into the third safety overflow valve 15 through the 15A port of the third safety overflow valve 15. The hydraulic oil flowing out of the third safety overflow valve 15 flows into the oil tank 42 through the 15B port of the third safety overflow valve 15. The hydraulic oil flowing out of the second swing hydraulic motor 5 flows out through the 5B port of the second swing hydraulic motor 5. The hydraulic oil flowing out of the 5B port flows out of the fourth pressure sensor 10 through the 10A port of the fourth pressure sensor 10, and flows into the fourth hydraulic control check valve 22 through the 22B port of the fourth hydraulic control check valve 22. The hydraulic oil flowing out of the fourth hydraulic control check valve 22 flows out through the 22A port of the fourth hydraulic control check valve 22. The hydraulic oil flowing out of the 22A port flows into the three-position six-way proportional directional valve two 32 through the 32B port of the three-position six-way proportional directional valve two 32. The hydraulic oil flowing out of the three-position six-way proportional directional valve two 32 flows back to the oil tank 42 through the 32T port of the three-position six-way proportional directional valve two 32.According to the system requirements, the differential pressure reducing valve with different pressure is selected. When the first differential pressure reducing valve 34 is needed, the two-position two-way switch valve one 37 is in the right position, the two-position two-way switch valve two 38 and the two-position two-way switch valve three 39 are in the left position. The high-pressure oil in the hydraulic oil source 41 flows into the first differential pressure reducing valve 34 through the 34A port of the first differential pressure reducing valve 34. The hydraulic oil flows out of the first differential pressure reducing valve 34 through the 34B port of the first differential pressure reducing valve 34. The hydraulic oil flowing out of the 34B port flows into the two-position two-way switch valve one 37 through the 37A port of the two-position two-way switch valve one 37. The hydraulic oil flows out of the two-position two-way switch valve one 37 through the 37B port of the two-position two-way switch valve one 37. The hydraulic oil flowing out of the 37B port flows into the three-position six-way proportional directional valve one 31 through the 31D port of the three-position six-way proportional directional valve one 31. The hydraulic oil flows out of the three-position six-way proportional directional valve one 31 through the 31C port of the three-position six-way proportional directional valve one 31. The hydraulic oil flowing out of the 31C port flows into the three-position six-way proportional directional valve two 32 through the 32P port of the three-position six-way proportional directional valve two 32. The hydraulic oil flows out of the three-position six-way proportional directional valve two 32 through the 32B port of the three-position six-way proportional directional valve two 32. The hydraulic oil flowing out of the 32B port flows into the third hydraulic control check valve 21 through the 21C port of the third hydraulic control check valve 21, flows into the fourth hydraulic control check valve 22 through the 22A port of the fourth hydraulic control check valve 22, and flows into the third check valve 27 through the 27A port of the third check valve 27. The hydraulic oil flowing into the third hydraulic control check valve 21 switches the third hydraulic control check valve 21 to the conducting state. The hydraulic oil flowing into the third check valve 27 flows out through the 27B port of the third check valve 27. The hydraulic oil flowing out of the 27B port flows into the first differential pressure reducing valve 34 through the 34C port of the first differential pressure reducing valve 34. The hydraulic oil flowing into the first differential pressure reducing valve 34 is used to adjust the output pressure of the differential pressure reducing valve. The hydraulic oil flowing out of the fourth hydraulic control check valve 22 through the 22B port of the fourth hydraulic control check valve 22 flows into the fourth pressure sensor 10 through the 10A port of the fourth pressure sensor 10 and flows into the second swing hydraulic motor 5 through the 5B port of the second swing hydraulic motor 5. When the pipe segment excessively extrudes the inner wall of the surrounding rock or the external load is too large, the hydraulic oil pressure flowing out of the 22B port exceeds the preset pressure of the fourth safety overflow valve 16. The hydraulic oil flowing out of the 22B port flows into the fourth safety overflow valve 16 through the 16A port of the fourth safety overflow valve 16. The hydraulic oil flowing out of the fourth safety overflow valve 16 through the 16B port of the fourth safety overflow valve 16 flows into the oil tank 42. The hydraulic oil flowing out of the second swing hydraulic motor 5 through the 5A port of the second swing hydraulic motor 5 flows out of the third pressure sensor 9 through the 9A port of the third pressure sensor 9, flows into the third hydraulic control check valve 21 through the 21B port of the third hydraulic control check valve 21, and flows out of the third hydraulic control check valve 21 through the 21A port of the third hydraulic control check valve 21. The hydraulic oil flowing out of the 21A port flows into the three-position six-way proportional directional valve two 32 through the 32A port of the three-position six-way proportional directional valve two 32. The hydraulic oil flowing out of the three-position six-way proportional directional valve two 32 flows back to the oil tank 42 through the 32T port of the three-position six-way proportional directional valve two 32.The second swing hydraulic motor 5 is positively and reversely rotated and adjusted under the action of hydraulic oil, the movement of the second swing hydraulic motor 5 drives the third positioning platform 45 to rotate around the Y axis, at this time the displacement sensor 2 transmits its displacement signal to the position controller 40, the position controller 40 realizes the position control of the second swing hydraulic motor 5 by constantly adjusting the spool position of the three-position six-way proportional directional valve two 32, when the second swing hydraulic motor 5 moves to the preset position, the three-position six-way proportional directional valve two 32 switches to the middle position, the second swing hydraulic motor 5 is in the self-locking state, and the angle adjustment of the multi-stage positioning platform around the Y axis is completed.

[0039] Z-axis rotation positioning movement: when the segment is adjusted clockwise around the Z-axis after the angular adjustment around the X-axis and the Y-axis is completed, three-position six-way proportional directional valve one 31 and three-position six-way proportional directional valve two 32 are in the middle position, and three-position six-way proportional directional valve three 33 is in the left position; according to the system requirements, select different pressure differential pressure reducing valves, when the first differential pressure reducing valve 34 is needed, two-position two-way on-off valve one 37 is in the right position, two-position two-way on-off valve two 38 and two-position two-way on-off valve three 39 are in the left position;The high-pressure oil in the hydraulic oil source 41 flows into the first constant differential pressure reducing valve 34 through the 34A port of the first constant differential pressure reducing valve 34, and then flows out of the first constant differential pressure reducing valve 34 through the 34B port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing out of the 34B port flows into the two-position two-way switch valve one 37 through the 37A port of the two-position two-way switch valve one 37, and then flows out of the two-position two-way switch valve one 37 through the 37B port of the two-position two-way switch valve one 37. The hydraulic oil flowing out of the 37B port flows into the three-position six-way proportional directional valve one 31 through the 31D port of the three-position six-way proportional directional valve one 31, and then flows out of the three-position six-way proportional directional valve one 31 through the 31C port of the three-position six-way proportional directional valve one 31. The hydraulic oil flowing out of the 31C port flows into the three-position six-way proportional directional valve two 32 through the 32P port of the three-position six-way proportional directional valve two 32, and then flows out of the three-position six-way proportional directional valve two 32 through the 32C port of the three-position six-way proportional directional valve two 32. The hydraulic oil flowing out of the 32C port flows into the three-position six-way proportional directional valve three 33 through the 33P port of the three-position six-way proportional directional valve three 33, and then flows out of the three-position six-way proportional directional valve three 33 through the 33A port of the three-position six-way proportional directional valve three 33. The hydraulic oil flowing out of the 33A port flows into the fifth hydraulic control check valve 23 through the 23A port of the fifth hydraulic control check valve 23, flows into the sixth hydraulic control check valve 24 through the 24C port of the sixth hydraulic control check valve 24, and flows into the sixth one-way valve 30 through the 30A port of the sixth one-way valve 30. The hydraulic oil flowing into the sixth one-way valve 30 switches the sixth hydraulic control check valve 24 to the conducting state, and then flows out of the sixth one-way valve 30 through the 30B port of the sixth one-way valve 30. The hydraulic oil flowing out of the 30B port flows into the first constant differential pressure reducing valve 34 through the 34C port of the first constant differential pressure reducing valve 34, and is used to adjust the output pressure of the constant differential pressure reducing valve. The hydraulic oil flowing out of the fifth hydraulic control check valve 23 flows into the fifth pressure sensor 11 through the 11A port of the fifth pressure sensor 11, and flows into the third swing hydraulic motor 6 through the 6A port of the third swing hydraulic motor 6. When the pipe segment excessively extrudes the inner wall of the surrounding rock or the external load is too large, the hydraulic oil pressure flowing out of the 23B port exceeds the preset pressure of the fifth safety overflow valve 17. The hydraulic oil flowing out of the 23B port flows into the fifth safety overflow valve 17 through the 17A port of the fifth safety overflow valve 17, and then flows into the oil tank 42 through the 17B port of the fifth safety overflow valve 17. The hydraulic oil flowing out of the third swing hydraulic motor 6 flows out of the sixth pressure sensor 12 through the 12A port of the sixth pressure sensor 12, flows into the sixth hydraulic control check valve 24 through the 24B port of the sixth hydraulic control check valve 24, and then flows out of the sixth hydraulic control check valve 24 through the 24A port of the sixth hydraulic control check valve 24. The hydraulic oil flowing out of the 24A port flows into the three-position six-way proportional directional valve three 33 through the 33B port of the three-position six-way proportional directional valve three 33, and then flows back to the oil tank 42 through the 33T port of the three-position six-way proportional directional valve three 33. When the pipe segment needs to be adjusted counterclockwise around the Z axis, the three-position six-way proportional directional valve one 31 and the three-position six-way proportional directional valve two 32 are in the middle position, and the three-position six-way proportional directional valve three 33 is in the right position.According to the system requirement, the differential pressure reducing valve with different pressure is selected. When the first differential pressure reducing valve 34 is needed, the two-position two-way on-off valve 37 is in the right position, and the two-position two-way on-off valve 38 and the two-position two-way on-off valve 39 are in the left position.The high pressure oil in the hydraulic oil source 41 flows into the first constant differential pressure reducing valve 34 through the 34A port of the first constant differential pressure reducing valve 34, and then flows out of the first constant differential pressure reducing valve 34 through the 34B port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing out of the 34B port flows into the two-position two-way switching valve one 37 through the 37A port of the two-position two-way switching valve one 37, and then flows out of the two-position two-way switching valve one 37 through the 37B port of the two-position two-way switching valve one 37. The hydraulic oil flowing out of the 37B port flows into the three-position six-way proportional directional valve one 31 through the 31D port of the three-position six-way proportional directional valve one 31, and then flows out of the three-position six-way proportional directional valve one 31 through the 31C port of the three-position six-way proportional directional valve one 31. The hydraulic oil flowing out of the 31C port flows into the three-position six-way proportional directional valve two 32 through the 32P port of the three-position six-way proportional directional valve two 32, and then flows out of the three-position six-way proportional directional valve two 32 through the 32C port of the three-position six-way proportional directional valve two 32. The hydraulic oil flowing out of the 32C port flows into the three-position six-way proportional directional valve three 33 through the 33P port of the three-position six-way proportional directional valve three 33, and then flows out of the three-position six-way proportional directional valve three 33 through the 33B port of the three-position six-way proportional directional valve three 33. The hydraulic oil flowing out of the 33B port flows into the fifth hydraulic control check valve 23 through the 23C port of the fifth hydraulic control check valve 23, flows into the sixth hydraulic control check valve 24 through the 24A port of the sixth hydraulic control check valve 24, and flows into the fifth one-way valve 29 through the 29A port of the fifth one-way valve 29. The hydraulic oil flowing into the fifth hydraulic control check valve 23 switches the fifth hydraulic control check valve 23 to the conducting state. The hydraulic oil flowing into the fifth one-way valve 29 flows out through the 29B port of the fifth one-way valve 29. The hydraulic oil flowing out of the 29B port flows into the first constant differential pressure reducing valve 34 through the 34C port of the first constant differential pressure reducing valve 34. The hydraulic oil flowing into the first constant differential pressure reducing valve 34 is used to adjust the output pressure of the constant differential pressure reducing valve. The hydraulic oil flowing out of the sixth hydraulic control check valve 24 flows into the sixth pressure sensor 12 through the 12A port of the sixth pressure sensor 12, and flows into the third swing hydraulic motor 6 through the 6B port of the third swing hydraulic motor 6. When the pipe segment excessively extrudes the inner wall of the surrounding rock or the external load is too large, the hydraulic oil pressure flowing out of the 24B port exceeds the preset pressure of the sixth safety overflow valve 18. The hydraulic oil flowing out of the 24B port flows into the sixth safety overflow valve 18 through the 18A port of the sixth safety overflow valve 18, and then flows into the oil tank 42 through the 18B port of the sixth safety overflow valve 18. The hydraulic oil flowing out of the 6A port of the third swing hydraulic motor 6 flows out of the fifth pressure sensor 11 through the 11A port of the fifth pressure sensor 11, flows into the fifth hydraulic control check valve 23 through the 23B port of the fifth hydraulic control check valve 23, and then flows out of the fifth hydraulic control check valve 23 through the 23A port of the fifth hydraulic control check valve 23. The hydraulic oil flowing out of the 23A port flows into the three-position six-way proportional directional valve three 33 through the 33A port of the three-position six-way proportional directional valve three 33, and then flows back to the oil tank 42 through the 33T port of the three-position six-way proportional directional valve three 33.The third swing hydraulic motor 6 is positively and reversely rotated and adjusted under the action of hydraulic oil, the movement of the third swing hydraulic motor 6 drives the pipe piece picking device 46 to rotate around the Z axis, at this time the displacement sensor 3 transmits its displacement signal to the position controller 40, the position controller 40 realizes the position control of the third swing hydraulic motor 6 by constantly adjusting the spool position of the three-position six-way proportional directional valve three 33, when the third swing hydraulic motor 6 moves to the preset position, the three-position six-way proportional directional valve three 33 switches to the middle position, the third swing hydraulic motor 6 is in the self-locking state, the angle adjustment of the multi-stage positioning platform around the Z axis is completed, at the same time, the three-position six-way proportional directional valve and the two-position two-way on-off valve used in the application are provided with a manual switch, when the control system loses power unexpectedly, the spool position can be adjusted in a manual mode, the system safety is improved.

[0040] Each hydraulic control system controls the X-axis rotation positioning movement, the Y-axis rotation positioning movement and the Z-axis rotation positioning movement of the pipe piece respectively, the internal oil circuit system is completely same, so when the above X-axis, Y-axis and Z-axis rotation positioning movements are performed, they are all completed by the respective hydraulic control system.

[0041] Although the embodiments of the application have been shown and described, the specific embodiments are only an explanation of the application, and are not a limitation of the application, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner, and those skilled in the art can make modifications, replacements and variations of the embodiments without creative contribution after reading the specification, but as long as they are within the scope of the claims of the application, they are protected by the patent law.

Claims

1. A shield segment erector three-degree-of-freedom attitude adjustment device, characterized in that, Including first positioning platform (43), second positioning platform (44) and third positioning platform (45), first positioning platform (43), second positioning platform (44) and third positioning platform (45) are sequentially connected, first positioning platform (43), second positioning platform (44) and third positioning platform (45) are respectively equipped with first swing hydraulic motor (4), second swing hydraulic motor (5) and third swing hydraulic motor (6), first swing hydraulic motor (4), second swing hydraulic motor (5) and third swing hydraulic motor (6) are respectively provided with first displacement sensor (1), second displacement sensor (2) and third displacement sensor (3), first swing hydraulic motor (4), second swing hydraulic motor (5) and third swing hydraulic motor (6) are connected with hydraulic control system respectively, the bottom of third positioning platform (45) is provided with pipe piece pickup device (46), and the pipe piece pickup device (46) is used to pick up pipe piece (47); The hydraulic control system comprises a hydraulic oil source (41), an oil tank (42), a first pressure sensor (7), a second pressure sensor (8), a first safety overflow valve (13), a second safety overflow valve (14), a first hydraulic control check valve (19), a second hydraulic control check valve (20), a first check valve (25), a second check valve (26) and a position controller (40), the first swing hydraulic motor (4) is connected with the first pressure sensor (7) and the second pressure sensor (8) respectively, the first pressure sensor (7) is connected with the first safety overflow valve (13), the second pressure sensor (8) is connected with the second safety overflow valve (14), the first swing hydraulic motor (4) is connected with the first hydraulic control check valve (19) and the second hydraulic control check valve (20) respectively, the first hydraulic control check valve (19) is connected with the second check valve (26), the second hydraulic control check valve (20) is connected with the first check valve (25), the first hydraulic control check valve (19), the second hydraulic control check valve (20) and the three-position six-way proportional directional valve one (31) in the hydraulic control system are connected, the third hydraulic control check valve (21), the fourth hydraulic control check valve (22) and the three-position six-way proportional directional valve two (32) are connected, the fifth hydraulic control check valve (23), the sixth hydraulic control check valve (24) and the three-position six-way proportional directional valve three (33) are connected, the three-position six-way proportional directional valve one (31), the three-position six-way proportional directional valve two (32) and the three-position six-way proportional directional valve three (33) are connected with the first displacement sensor (1), the second displacement sensor (2) and the third displacement sensor (3) and the position controller (40), the hydraulic oil source (41) is connected with the first check valve (25) and the second check valve (26) of each hydraulic control system and is connected with the first constant difference pressure reducing valve (34), the second constant difference pressure reducing valve (35) and the third constant difference pressure reducing valve (36) respectively, the first constant difference pressure reducing valve (34), the second constant difference pressure reducing valve (35) and the third constant difference pressure reducing valve (36) are connected with the two-position two-way on-off valve one (37), the two-position two-way on-off valve two (38) and the two-position two-way on-off valve three (39) between the three-position six-way proportional directional valve one (31), the three-position six-way proportional directional valve two (32) and the three-position six-way proportional directional valve three (33). The first positioning platform (43) is a rectangular thin-walled column, and two symmetrically arranged rectangular bosses are arranged on the shorter side of the inside of the rectangular thin-walled column, and a through hole for connecting the second positioning platform (44) is arranged in the rectangular boss; the second positioning platform (44) is a rectangular thin-walled column, and two symmetrically arranged rectangular bosses are arranged on the longer side of the inside of the rectangular thin-walled column, and a through hole for connecting the third positioning platform (45) is arranged in the rectangular boss, and a mounting platform for mounting the swing hydraulic motor is arranged on the longer side of the inside of the rectangular thin-walled column, and the mounting platform is connected with the inner wall of the positioning platform through a plurality of reinforcing grids on both sides of the mounting platform, and a circular boss for connecting the first positioning platform (43) is arranged on the outside of the mounting platform; the third positioning platform (45) is a rectangular column, and a rectangular recess is arranged in the inside of the rectangular column, and a circular boss for connecting the second positioning platform (44) is arranged at both ends of the rectangular column, and a cylindrical mounting platform for mounting the swing hydraulic motor is arranged at the bottom of the rectangular column, and a circular cavity for accommodating the swing hydraulic motor is arranged in the inside of the cylindrical mounting platform; the segment pickup device (46) is arranged below the third positioning platform (45) and is used for picking up the support segment.

2. The three-degree-of-freedom attitude adjustment device of a shield segment erector according to claim 1, characterized in that: The first displacement sensor (1) is used for detecting the movement position of the first swing hydraulic motor (4), the second displacement sensor (2) is used for detecting the movement position of the second swing hydraulic motor (5), and the third displacement sensor (3) is used for detecting the movement position of the third swing hydraulic motor (6).

3. The three-degree-of-freedom attitude adjustment device of a shield segment erector according to claim 1, characterized in that: The three-position six-way proportional directional valve one (31), the three-position six-way proportional directional valve two (32) and the three-position six-way proportional directional valve three (33) are provided with a manual switch, when the valve core is in the middle position, the A port, the B port and the T port are in the conducting state, the C port and the D port are in the conducting state, and the P port is in the cut-off state; when the valve core is in the left position, the A port and the P port are in the conducting state, the B port and the T port are in the conducting state, and the C port and the D port are in the cut-off state; when the valve core is in the right position, the A port and the T port are in the conducting state, the B port and the P port are in the conducting state, and the C port and the D port are in the cut-off state.

4. The three-degree-of-freedom attitude adjustment device of a shield segment erector according to claim 1, characterized in that: The two-position two-way on-off valve one (37), the two-position two-way on-off valve two (38) and the two-position two-way on-off valve three (39) are provided with a manual switch, when the valve core is in the left position, the A port and the B port are in the cut-off state; when the valve core is in the right position, the A port and the B port are in the conducting state.

5. The three-degree-of-freedom attitude adjustment device of a shield segment erector according to claim 1, characterized in that: The preset pressures of the first differential pressure reducing valve (34), the second differential pressure reducing valve (35) and the third differential pressure reducing valve (36) are increased in turn.

6. The three-degree-of-freedom attitude adjustment device of a shield segment erector according to claim 1, characterized in that: The first swing hydraulic motor (4) is an X-direction swing hydraulic motor, the second swing hydraulic motor (5) is a Y-direction swing hydraulic motor, and the third swing hydraulic motor (6) is a Z-direction swing hydraulic motor.

7. The three-degree-of-freedom attitude adjustment device of a shield segment erector according to claim 1, characterized in that: The hydraulic oil source (41) is connected with the 34A port of the first constant differential pressure reducing valve (34), the 35A port of the second constant differential pressure reducing valve (35), and the 36A port of the third constant differential pressure reducing valve (36) respectively; the 34B port of the first constant differential pressure reducing valve (34) is connected with the 37A port of the two-position two-way on-off valve one (37); the 35B port of the second constant differential pressure reducing valve (35) is connected with the 38A port of the two-position two-way on-off valve two (38); the 36B port of the third constant differential pressure reducing valve (36) is connected with the 39A port of the two-position two-way on-off valve three (39); the 37B port of the two-position two-way on-off valve one (37) is connected with the 38B port of the two-position two-way on-off valve two (38), the 39B port of the two-position two-way on-off valve three (39), the 31P port and the 31D port of the three-position six-way proportional directional valve one (31) respectively; the 31A port of the three-position six-way proportional directional valve one (31) is connected with the 19A port of the first hydraulic control check valve (19), the 20C port of the second hydraulic control check valve (20), and the 26A port of the second check valve (26) respectively; the 31B port of the three-position six-way proportional directional valve one (31) is connected with the 19C port of the first hydraulic control check valve (19), the 20A port of the second hydraulic control check valve (20), and the 25A port of the first check valve (25) respectively; the 31C port of the three-position six-way proportional directional valve one (31) is connected with the 32P port and the 32D port of the three-position six-way proportional directional valve two (32) respectively; the 19B port of the first hydraulic control check valve (19) is connected with the 4A port of the first swing hydraulic motor (4), the 7A port of the first pressure sensor (7), and the 13A port of the first safety overflow valve (13) respectively; the 20B port of the second hydraulic control check valve (20) is connected with the 4B port of the first swing hydraulic motor (4), the 8A port of the second pressure sensor (8), and the 14A port of the second safety overflow valve (14) respectively; the 32C port of the three-position six-way proportional directional valve two (32) is connected with the 33P port and the 33D port of the three-position six-way proportional directional valve three (33) respectively; the three-position six-way proportional directional valve two (32) and the three-position six-way proportional directional valve three (33) are connected with the hydraulic control system in the same way as the three-position six-way proportional directional valve one (31); the 33C port of the three-position six-way proportional directional valve three (33) is in a cut-off state; the 34C port of the first constant differential pressure reducing valve (34) is connected with the 35C port of the second constant differential pressure reducing valve (35), the 36C port of the third constant differential pressure reducing valve (36), the 25B port of the first check valve (25), and the 26B port of the second check valve (26) in each hydraulic control system respectively; the oil tank (42) is connected with the 31T port of the three-position six-way proportional directional valve one (31), the 32T port of the three-position six-way proportional directional valve two (32), the 33T port of the three-position six-way proportional directional valve three (33), the 13B port of the first safety overflow valve (13), and the 14B port of the second safety overflow valve (14) in each hydraulic control system respectively.

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