Segment erector and tunneling equipment

Abstract

The invention provides a segment erector and tunneling equipment. The segment erector comprises a grabbing assembly, a driving assembly and a driving assembly, wherein the grabbing assembly is used for grabbing segments; the moving assembly is used for driving the grabbing assembly to move; and the adjusting assembly is connected with the moving assembly and movably connected with the grabbing assembly so as to be used for adjusting the pose of the grabbing assembly relative to the moving assembly. The segment erector is simple in structure, small in size and capable of achieving high-precision assembling.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to a segment assembling machine and tunneling equipment. Background Art

[0002] A shield machine is a tunnel boring machine that uses the shield method for construction. The shield method means that the tunnel boring machine lays the "shield" of the tunnel while excavating, that is, the supporting segments. The shield machine uses a segment assembler to grab and assemble the segments. After excavating a distance, the segment assembler installs the prefabricated segments on the excavated tunnel surface to form a lining to support the surface of the newly excavated tunnel. The quality of the segment assembly directly affects the infiltration of underground water and soil and the settlement of the surface. The segment assembler responsible for completing the segment assembly has an important impact on the segment assembly quality and the progress of tunnel construction.

[0003] The problem with the segment assembly machines in the prior art is that their assembly accuracy is not high and the assembly accuracy is difficult to control. In particular, for certain specific excavation scenarios, small and medium-sized shield machines (hereinafter referred to as "small shields") are required. The advantages of small shields are: small turning radius, flexible use, and the ability to make sharp turns. Therefore, they can replace drag pipes and be used in a variety of excavation scenarios with small turning radius. The small shield is small in size, and its diameter is generally between 2 meters and 4.2 meters. However, it is difficult for segment assembly machines in the prior art to achieve high-precision assembly through a relatively simple and compact structure. Summary of the invention

[0004] Therefore, the present invention provides a segment assembly machine and tunneling equipment to solve the technical problem in the prior art that the segment assembly machine is difficult to achieve high-precision assembly through a relatively simple and compact structure.

[0005] To solve the above problems, the present invention provides a pipe segment assembly machine, which includes: a grabbing assembly, which is used to grab the pipe segments; a moving assembly, which is used to drive the grabbing assembly to move; and an adjustment assembly, which is connected to the moving assembly and movably connected to the grabbing assembly to adjust the position of the grabbing assembly relative to the moving assembly.

[0006] In any of the above technical solutions, the segment assembly machine also includes a main beam, and the moving components include: a walking drive component, which is used to drive the grabbing component to move axially along the main beam; a lifting drive component, which is used to drive the grabbing component to lift and lower relative to the main beam; and a rotating drive component, which is used to drive the grabbing component to rotate around the main beam; wherein the adjustment component is connected to the lifting drive component, the lifting drive component is connected to the rotating drive component, and the rotating drive component is connected to the walking drive component, and at least part of the walking drive component can walk along the main beam.

[0007] In any of the above technical solutions, there is one main beam, the rotation drive assembly surrounds the main beam, and the even number of travel drive assemblies and lifting drive assemblies are symmetrically arranged on the main beam and on opposite sides of the rotation drive assembly.

[0008] In any of the above technical solutions, the travel drive assembly includes: a travel drive mechanism, the travel drive mechanism has a power output shaft; a gear, the gear is transmission-connected to the power output shaft and meshes with the rack; the rack is arranged along the axial direction of the main beam; a travel part, the rotation drive assembly is connected to the travel part, and the travel part can travel along the main beam.

[0009] In any of the above technical solutions, the main beam is provided with a track, and the walking parts include: walking wheels, which are embedded in the track to roll along the track; and connecting plates, one side of the connecting plate is connected to the walking wheels, and the other side is connected to the rotating drive assembly.

[0010] In any of the above technical solutions, the lifting drive assembly includes: a lifting drive mechanism, one end of which is connected to the rotating drive assembly and the other end is hinged to the telescopic rod; and a telescopic rod, one end of which is away from the lifting drive mechanism and is connected to the adjustment assembly.

[0011] In any of the above technical solutions, the rotating drive assembly includes: a fixed part, which is connected to the travel drive assembly; and a rotating part, which is arranged on the fixed part and can rotate around the main beam; wherein the lifting drive assembly is installed on the rotating part.

[0012] In any of the above technical solutions, the adjustment component includes: an adjustment seat, which is connected to the moving component and movably connected to the grabbing component; and a fine-tuning mechanism, which is used to drive the grabbing component to move relative to the adjustment seat.

[0013] In any of the above technical solutions, the grabbing assembly includes: a grabbing clamp; and a grabbing clamp driving mechanism, wherein the grabbing clamp driving mechanism is used to drive the grabbing clamp to adjust its posture so that the grabbing clamp is engaged with the pipe segment.

[0014] The present invention also provides a tunneling device, which includes a segment assembling machine according to any of the above technical solutions.

[0015] Beneficial Effects

[0016] The pipe segment assembly machine of the present invention comprises: a grabbing assembly, a moving assembly and an adjusting assembly. The grabbing assembly is used to grab the pipe segment, and the moving assembly is used to drive the grabbing assembly to move. The adjusting assembly of the present invention is connected to the moving assembly and is movably connected to the grabbing assembly, so that the grabbing assembly can swing or rotate slightly relative to the adjusting assembly, thereby, the adjusting assembly can be used to slightly adjust the position or direction of the grabbing assembly to adjust the posture of the grabbing assembly relative to the moving assembly, thereby realizing efficient and accurate assembly of the pipe segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is one of the three-dimensional diagrams of the pipe segment assembly machine of the present invention;

[0018] Figure 2 The second is a three-dimensional diagram of the segment assembly machine of the present invention;

[0019] Figure 3 The third perspective view of the segment assembly machine of the present invention;

[0020] Figure 4 It is a right side view of the pipe segment assembly machine of the present invention;

[0021] Figure 5 It is a left side view of the pipe segment assembly machine of the present invention;

[0022] Figure 6 It is a schematic diagram of the structure of the traveling wheels in the pipe segment assembly machine of the present invention;

[0023] Figure 7 It is a schematic diagram of the coordination of the adjustment component and the grabbing component in the pipe segment assembly machine of the present invention;

[0024] Figure 8 It is a schematic structural diagram of a pipe segment used to cooperate with the pipe segment assembly machine of the present invention;

[0025] Fig. 9 It is a schematic diagram (perspective view) of the coordination of the gripping clamp and the gripping clamp driving mechanism in the pipe segment assembly machine of the present invention.

[0026] Description of reference numerals:

[0027] Grabbing assembly: 100; grabbing plate: 110; opening: 111; grabbing clamp: 120; first hinge point: 121a; second hinge point: 121b; claw: 122; grabbing clamp driving mechanism: 130; main beam: 200; beam body: 210; support leg: 220; track: 230; bottom wall: 231; side wall: 232; walking driving assembly: 300; walking driving mechanism: 310; gear: 320; rack: 330; walking wheel: 340; main roller bearing: 341; side roller Wheel bearing: 342; cover plate: 343; connecting plate: 350; reducer: 360; lifting drive assembly: 400; lifting drive mechanism: 410; telescopic rod: 420; rotation drive assembly: 500; fixing part: 510; rotating part: 520; adjustment assembly: 600; adjustment seat: 610; first hinged part: 611; second hinged part: 612; first fine-tuning mechanism: 620; second fine-tuning mechanism: 630; pipe segment: 700; slot: 710; wedge-shaped part: 720. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The present invention provides a segment assembling machine, which is used in excavation equipment such as a shield machine, and is used to assemble segments in a tunnel during tunnel excavation construction to form a tunnel lining.

[0030] like Figure 1 and Figure 2 As shown, the pipe segment assembly machine provided by the present invention includes: a grabbing assembly 100 and a moving assembly. The grabbing assembly 100 is used to grab the pipe segment 700, and the moving assembly is used to drive the grabbing assembly 100 to change position. The grabbing assembly 100 and the moving assembly cooperate with each other to grab, move or assemble the pipe segment 700.

[0031] It can be understood that the moving assembly needs to drive the pipe segment 700 to perform a series of actions such as translation, lifting, and rotation to complete the assembly. Accordingly, the moving assembly includes a travel drive assembly 300, a lifting drive assembly 400, and a rotation drive assembly 500.

[0032] In addition to the above structure, the segment assembly machine also includes an adjustment assembly 600. The adjustment assembly 600 is used to fine-tune the position or direction of the segment 700 so as to adjust the segment 700 during the process of grabbing, moving, transporting, or assembling the segment 700, thereby achieving more accurate and efficient assembly.

[0033] In order to achieve the above-mentioned purpose, the adjustment component 600 is connected to the moving component and is movably connected to the grabbing component 100. The adjustment component 600 is connected to the moving component so as to move with the moving component. Among them, the adjustment component 600 can be fixedly connected to the moving component, or can be movably connected to the moving component. In the case where the adjustment component 600 is movably connected to the moving component, a degree of freedom can be added during the assembly of the pipe segment 700 to achieve more flexible adjustment. The adjustment component 600 is movably connected to the grabbing component 100 so that the grabbing component 100 can move relative to the adjustment component 600 and change the relative position or direction with the moving component, thereby adjusting the posture of the grabbing component 100 relative to the moving component. Preferably, the adjustment component 600 includes a joint bearing, and the grabbing component 100 is hinged to the joint bearing.

[0034] like Figure 2 and Figure 3As shown, the segment assembly machine further includes a main beam 200. The main beam 200 is arranged along the traveling direction of the segment assembly machine, and is used to support and fix structures such as the travel drive assembly 300, the lifting drive assembly 400, and the rotation drive assembly 500. Specifically, the main beam 200 includes a beam body 210 and a support leg 220. At least part or all of the moving assembly is fixed to the beam body 210, and the support leg 220 is connected to the beam body 210 to support the beam body 210.

[0035] like Figures 1 to 3 As shown, the travel drive assembly 300 is used to drive the grabbing assembly 100 to move axially along the main beam 200; the lifting drive assembly 400 is used to drive the grabbing assembly 100 to rise and fall relative to the main beam 200; and the rotation drive assembly 500 is used to drive the grabbing assembly 100 to rotate around the main beam 200.

[0036] At least part of the travel drive assembly 300 is connected to the main beam 200 and can move along the axial direction of the main beam 200. The rotation drive assembly 500 is connected to the travel drive assembly 300, thereby following the travel drive assembly 300 to move along the axial direction of the main beam 200. The lifting drive assembly 400 is connected to the rotation drive assembly 500, thereby following the rotation of the rotation drive assembly 500 and rotating synchronously. The adjustment assembly 600 is connected to the lifting drive assembly 400, thereby following the lifting and lowering of the lifting drive assembly 400 and rising and falling together.

[0037] Specifically, the travel drive assembly 300 is connected to the beam body 210, and the rotation drive assembly 500 is sleeved on the outer periphery of the beam body 210. The rotation drive assembly 500 includes a fixed portion 510 that is stationary, and a rotating portion 520 that can rotate relative to the fixed portion 510. The fixed portion 510 is connected to the travel drive assembly 300, and the rotating portion 520 is arranged on the fixed frame 510 and can rotate around the main beam 200. The lifting drive assembly 400 is installed on the rotating frame 520. The adjustment assembly 600 is fixedly connected or movably connected to the lifting drive assembly 400.

[0038] The travel drive assembly 300 is indirectly connected to the grab assembly 100 through the rotation drive assembly 500, the lifting drive assembly 400 and the adjustment assembly 600 in sequence. The travel drive assembly 300 can actively provide driving force to drive itself, the rotation drive assembly 500, the lifting drive assembly 400, the adjustment assembly 600, and the grab assembly 100 directly or indirectly connected thereto to reciprocate along the extension direction of the beam body 210 of the main beam 200. The travel drive assembly 300 drives the grab assembly 100 to move forward and backward, which can give the segment assembly machine a first degree of freedom. The lifting drive assembly 400 can be lifted and lowered, thereby driving the adjustment assembly 600 and the grab assembly 100 to move up and down. The lifting drive assembly 400 drives the grab assembly 100 to move up and down, which can give the segment assembly machine a second degree of freedom. The rotation drive assembly 500 can rotate, thereby driving the lifting drive assembly 400, the adjustment assembly 600, and the grab assembly 100 to rotate around the beam body 210. The rotary drive assembly 500 drives the grabbing assembly 100 to rotate circumferentially, thereby providing the segment assembly machine with a third degree of freedom.

[0039] Through the above structure, the grasping assembly 100 grasping the pipe segment 700 can be driven to flexibly move forward and backward, lift up and down, and rotate for assembly. After completing an assembly action, the grasping assembly 100 can be driven to reset to the trolley position where the pipe segment 700 to be assembled is placed, and then the grasping, moving and assembly can be repeated again.

[0040] In the above process, since the grabbing assembly 100 is movably connected to the adjustment assembly 600, the grabbing assembly 100 can relatively and slightly adjust the position or direction during any forward and backward movement, up and down lifting, and rotational assembly action to facilitate accurate and efficient assembly.

[0041] The number of the main beams 200 may be two or more than two arranged in parallel, or may be one. For a small shield, since its internal space is small and the space utilization needs to be more intensive, it is preferred to adopt a solution in which the number of the main beam 200 is one.

[0042] like Figure 4 and Figure 5 As shown, when there is only one main beam 200, the rotation drive assembly 500 surrounds the main beam 200, and the travel drive assemblies 300 of an even number are symmetrically arranged on the left and right sides of the main beam 200 and the rotation drive assembly 500, and the lifting drive assemblies 400 of an even number are also symmetrically arranged on the left and right sides of the main beam 200 and the rotation drive assembly 500. The travel drive assembly 300 is arranged on the side of the main beam 200 close to the support leg 220, and the lifting drive assembly 400 is arranged on the side of the main beam 200 away from the support leg 220.

[0043] Exemplarily, there are two travel drive assemblies 300 and two lift drive assemblies 400. The travel drive assemblies 300 and the lift drive assemblies 400 are respectively arranged at the front and rear ends of the rotary drive assembly 500. The travel wheels 340 of the travel drive assembly 300 are connected to the fixed part 510 through the connecting plate 350, and the lifting drive mechanism 410 of the lift drive assembly 400 is connected to the rotating part 520.

[0044] By setting the number of main beams 200 to one and symmetrically arranging the travel drive assembly 300 and the lifting drive assembly 400 on the left and right sides of the main beam 200 and the rotation drive assembly 500 respectively, the volume of the segment assembly machine can be reduced, its space utilization rate can be improved, and it can be ensured that the moving assembly can drive the grabbing assembly 100 to move more smoothly.

[0045] like Figure 1 , Figure 4 and Figure 5 As shown, the travel drive assembly 300 includes: a travel drive mechanism 310, a gear 320, and a rack 330. Among them, the rack 330 is arranged along the axial direction of the main beam 200, and the travel drive mechanism 310 has a power output shaft, and the gear 320 is connected to the power output shaft and meshes with the rack 330. Therefore, the travel drive mechanism 310 provides power to drive the gear 320 to rotate. The above structure enables the gear 320 to rotate and move along the meshed rack 330, and finally enables the travel drive mechanism 310 to drive the grabbing assembly 100 to move axially along the main beam 200. Since the rotation drive assembly 500 is connected to the travel drive assembly 300, the rotation and movement of the gear 320 can drive the rotation drive assembly 500 to move forward and backward, and then drive the lifting drive assembly 400, the adjustment assembly 600, and the grabbing assembly 100 directly or indirectly connected to the rotation drive assembly 500 to reciprocate along the extension direction of the beam body 210 of the main beam 200.

[0046] The driving mode in which the gear 320 and the rack 330 cooperate with each other has a simple structure, a small size, and a low cost. It can not only realize the stable movement of the grab assembly 100, but is also particularly suitable for small shield equipment.

[0047] The travel drive mechanism 310 is specifically a motor. Preferably, the travel drive mechanism 310 is a servo motor. The servo motor can accurately control the speed and acceleration to achieve high-precision movement control, and the servo motor has an excellent response speed and can quickly start, stop and reverse, thereby improving the dynamic performance of the system.

[0048] Preferably, the travel drive assembly 300 further includes: a reducer 360, and the travel drive mechanism 310 and the gear 320 are connected in transmission via the reducer 360. The reducer 360 can reduce the rotation speed of the travel drive mechanism 310, while increasing the output torque, and can also provide a more stable and controllable transmission effect. By adjusting the transmission ratio of the reducer, a more precise movement speed adjustment can be achieved.

[0049] The rack 330 can be arranged on the main beam 200, or can be arranged separately relative to the main beam 200, as long as its extension direction is consistent with the extension direction of the main beam 200. Preferably, the rack 330 is arranged on the main beam 200 to achieve a streamlined structure, and the rack 330 is stably fixed to ensure the smooth movement of the gear 320. It can be understood that the number and setting position of the rack 330 are adapted to the gear 320. In the case where the gear 320 is symmetrically arranged on the left and right sides, the rack 330 is symmetrically arranged on the left and right sides of the main beam 200.

[0050] The travel drive assembly 300 also includes a travel member, and the rotation drive assembly 500 is connected to the travel member, and the travel member can travel along the main beam 200. The travel member is used to help the rotation drive assembly 500, and the lifting drive assembly 400, the adjustment assembly 600 and the grabbing assembly 100 connected to the rotation drive assembly 500 to move smoothly.

[0051] like Figures 3 to 5 As shown, the main beam 200 is provided with a track 230, and the running member includes a running wheel 340. The grab assembly 100 is connected to the running wheel 340, and the running wheel 340 is embedded in the track 230 to roll along the track 230. By providing the running wheel 340 and connecting the grab assembly 100 with the running wheel 340, the running wheel 340 can be used to roll along the track 230, driving the grab assembly 100 to move smoothly along the axial direction of the main beam 200, thereby realizing the smooth transportation of the pipe segment 700 with a simple and compact structure, ensuring that the pipe segment 700 can be accurately assembled.

[0052] The track 230 is arranged on the left and right sides of the main beam 200. It can be installed on the main beam 200, or it can be manufactured integrally with the main beam 200 by, for example, cutting. The track 230 can be raised relative to the surface of the main beam 200, or it can be recessed relative to the surface of the main beam 200. The shape and size of the running wheel 340 are adapted to the shape and size of the track 230, and are embedded in the space surrounded and defined by the track 230.

[0053] Preferably, there is one main beam 200, and tracks 230 are symmetrically arranged on both sides of the main beam 200, and an even number of travel drive assemblies 300 are symmetrically arranged on opposite sides of the main beam 200. The tracks 230 and travel wheels 340 symmetrically arranged on both sides of the main beam 200 can assist the rotation drive assembly 500 to move more stably.

[0054] like Figures 3 to 5 As shown, the walking member further includes a connecting plate 350. One side of the connecting plate 350 is connected to the walking wheel 340, and the other side is connected to the rotation drive assembly 500. In other words, the walking wheel 340 is connected to the rotation drive assembly 500 through the connecting plate 350. Specifically, the side roller bearing 342 of the walking wheel 340 is connected to the fixing portion 510 of the rotation drive assembly 500 through the connecting plate 350.

[0055] The connecting plate 350 can be formed into any shape such as a cuboid, a cube, a cylinder, or a truncated cone, and its function is to connect and fix the rotating drive assembly 500 thereto, so that the rolling movement of the running wheel 340 can drive the rotating drive assembly 500 to move forward and backward. Specifically, the fixing portion 510 of the rotating drive assembly 500 is connected and fixed to the connecting plate 350.

[0056] The travel drive mechanism 310 is a power supply component, and the travel member composed of the travel wheel 340 and the connecting plate 350 is an auxiliary moving component. By providing the travel wheel 340 and the connecting plate 350, the rotation drive assembly 500 can be supported and fixed, and a guiding function can be provided to drive the rotation drive assembly 500 to travel smoothly.

[0057] like Figure 4 As shown, the track 230 includes a bottom wall 231 and a side wall 232, and the two side walls 232 are respectively arranged on both sides of the bottom wall 231 to surround and define a space for accommodating the running wheels 340. The running wheels 340 are respectively in contact with the bottom wall 231 and the side wall 232.

[0058] The rotating part 520 of the rotating drive assembly 500 needs to rotate to drive the lifting drive assembly 400, the adjustment assembly 600 and the grabbing assembly 100 to rotate. Therefore, by setting the walking wheels 340 embedded in the track 230 to respectively abut against the bottom wall 231 and the side wall 232, a reaction force can be provided for the rotating drive assembly 500 during the rotation of the rotating drive assembly 500, thereby ensuring that the rotating drive assembly 500 can smoothly drive the lifting drive assembly 400, the adjustment assembly 600 and the grabbing assembly 100 to rotate.

[0059] The running wheel 340 is specifically a roller bearing. The roller bearing has good stability and low friction coefficient, can withstand heavier loads and impact loads, and has low replacement and maintenance costs.

[0060] like Figure 6 As shown, the walking wheel 340 includes: a main roller bearing 341 and a side roller bearing 342. The outer ring of the main roller bearing 341 is embedded in the track 230. The side roller bearing 342 is installed inside the main roller bearing 341 and connected to the main roller bearing 341. Among them, the grab assembly 100 is connected to the side roller bearing 342.

[0061] The main roller bearing 341 and the side roller bearing 342 may each have a shaft head, and the two shaft heads are arranged in different directions. The main roller bearing 341 and the side roller bearing 342 may each have a bearing inner ring and a bearing outer ring, and a rolling body such as a ball is provided between the bearing inner ring and the bearing outer ring.

[0062] The main roller bearing 341 is used to realize the rolling of the running wheel 340, and the side roller bearing 342 is used to limit the rolling direction during the rolling of the running wheel 340 to ensure smooth rolling along a straight line. For example, the main roller bearing 341 can be a full-complement roller bearing, and the side roller bearing 342 can adopt a full-complement needle bearing design without an inner ring, with a core shaft replacing the inner ring and the shaft head to connect and bear the load.

[0063] like Figure 6 As shown, the roller bearing also includes: a cover plate 343, which connects and fixes the main roller bearing 341 and the side roller bearing 342. The function of the cover plate 343 is to fix the side roller bearing 342 and the main roller bearing 341 together with a nut and thread glue. The travel wheel 340 can also have a sealing structure, which is filled with grease to provide long-term lubrication.

[0064] As mentioned above, the segment assembly machine also includes: a rotary drive assembly 500. The rotary drive assembly 500 is used to drive the grab assembly 100 to rotate around the main beam 200. The rotary drive assembly 500 includes: a fixed portion 510 and a rotating portion 520. The side roller bearing 342 of the walking wheel 340 is connected to the fixed portion 510 of the rotary drive assembly 500 through the connecting plate 350. The rotating portion 520 is connected to the fixed portion 510 and can rotate around the main beam 200. The rotary drive assembly 500 is connected to the grab assembly 100. The lifting drive mechanism 410 of the lifting drive assembly 400 is fixedly connected to the rotating portion 520, the telescopic rod 420 of the lifting drive assembly 400 is hinged to the lifting drive mechanism 410, and the telescopic rod 420 is connected to the adjustment assembly 600, thereby indirectly connecting the grab assembly 100 and the lifting drive assembly 400.

[0065] In one example, the fixed part 510 and the rotating part 520 are connected by a flange, and bearings are arranged inside the fixed part 510, and the fixed part 510 is used to fix the bearings. In another example, the fixed part 510 and the rotating part 520 are connected by a slewing bearing.

[0066] As mentioned above, the segment assembly machine further includes: a lifting drive assembly 400, which is used to drive the grab assembly 100 to rise and fall relative to the main beam 200. The lifting drive assembly 400 is connected to the rotation drive assembly 500, and the grab assembly 100 is connected to the lifting drive assembly 400.

[0067] like Figure 2 As shown, the lifting drive assembly 400 includes: a lifting drive mechanism 410 and a telescopic rod 420. One end of the lifting drive mechanism 410 is connected to the rotation drive assembly 500, and the other end is hinged to the telescopic rod 420. One end of the telescopic rod 420 away from the lifting drive mechanism 410 is connected to the adjustment assembly 600.

[0068] The lifting drive mechanism 410 can be specifically a cylinder or an electric push rod. Since one end of the lifting drive mechanism 410 is connected to the rotating drive assembly 500, it can rotate with the rotating drive assembly 500. Specifically, the lifting drive mechanism 410 is fixedly connected to the rotating part 520 of the rotating drive assembly 500. Since the other end of the lifting drive mechanism 410 is hinged to the telescopic rod 420, and the end of the telescopic rod 420 away from the lifting drive mechanism 410 is connected to the adjustment assembly 600, the lifting action of the lifting drive mechanism 410 and the telescopic action of the telescopic rod 420 cooperate with each other, so that the adjustment assembly 600 can swing left and right with a small amplitude, and then the adjustment assembly 600 drives the grabbing assembly 100 to adjust the posture. It can be understood that in the case where two lifting drive assemblies 400 are symmetrically arranged on both sides of the beam body 210 of the main beam 200, at least one of the lifting drive assemblies 400 has a telescopic rod 420. The lifting drive mechanism 410 and the telescopic rod 420 cooperate with each other to drive the grab assembly 100 to swing left and right, thereby giving the segment assembly machine a fourth degree of freedom.

[0069] like Figure 7 As shown, the adjustment assembly 600 includes: an adjustment seat 610 and a fine adjustment mechanism. The adjustment seat 610 is connected to the moving assembly and is movably connected to the grabbing assembly 100. The fine adjustment mechanism is used to drive the grabbing assembly 100 to move relative to the adjustment seat 610.

[0070] Specifically, the adjustment seat 610 is connected to the driving assembly 400 in the moving assembly. More specifically, the adjustment seat 610 is connected to the telescopic rod 420 of the driving assembly 400. By coordinating the lifting and lowering action of the lifting driving mechanism 410 and the telescopic action of the telescopic rod 420, the adjustment seat 610 can drive the grabbing assembly 100 movably connected thereto to perform a small-amplitude posture adjustment.

[0071] The fine-tuning mechanism can limit and fix the grabbing assembly 100, and drive the grabbing assembly 100 to move along a specific direction and / or move within a specific stroke to achieve fine-tuning of its position.

[0072] Preferably, the fine adjustment mechanism is used to adjust the position of the grab assembly 100 by telescoping. The telescoping adjustment can be achieved by an oil cylinder, which has a simple structure, a small size, and is easy to install.

[0073] It is understandable that Figure 2 As shown, the grabbing assembly 100 includes a grabbing disc 110, on which a grabbing clamp driving mechanism 130 is fixedly installed, and the grabbing clamp driving mechanism 130 is hinged to the grabbing clamp 120. The grabbing clamp driving mechanism 130 drives the grabbing clamp 120 to move so as to clamp the pipe segment 700. The fine-tuning mechanism and the grabbing clamp driving mechanism 130 are both fixed on the upper side of the grabbing disc 110, and the grabbing clamp 120 passes through the grabbing disc 110 through the opening 111 and extends to the lower side of the grabbing disc 110. The fine-tuning mechanism specifically drives the adjustment seat 610 to drive the grabbing disc 110 to move, so as to adjust the posture of the grabbing assembly 100 as a whole by a small range. When the grabbing disc 110 moves, it will also drive the fine-tuning mechanism and the grabbing clamp driving mechanism 130 thereon, as well as the grabbing clamp 120 to move synchronously,

[0074] For example, the driving grasping assembly 100 may perform at least one of the following actions or a combination thereof to enable the grasping assembly 100 to move relative to the adjustment seat 610: rotation, flipping, movement, and swinging. For example, the grasping assembly 100 may rotate in the horizontal direction along the axis of the adjustment seat 610, the grasping assembly 100 may also flip up and down around the horizontal plane relative to the adjustment seat 610, and the assembly 100 may also reciprocate along a linear or nonlinear trajectory to swing.

[0075] It is understood that the number of the fine-tuning mechanism can be one or more. In the case where the number of the fine-tuning mechanism is one, it drives the gripping assembly 100 to change position only in one direction. Exemplarily, the fine-tuning mechanism can be an oil cylinder horizontally arranged on the gripping plate 110, which is hinged to the adjustment seat 610, and the oil cylinder pushes the adjustment seat 610 to move by horizontal extension and contraction, so that the gripping assembly 100 rotates in the horizontal direction.

[0076] In the case where there are multiple fine-tuning mechanisms, they can drive the grabbing assembly 100 to change position from multiple directions. Preferably, there are multiple fine-tuning mechanisms, and each fine-tuning mechanism drives the grabbing assembly 100 to move relative to the adjustment seat 610 from a different direction. For example, one of the multiple fine-tuning mechanisms can be extended and retracted laterally to drive the grabbing assembly 100 to rotate horizontally relative to the adjustment seat 610, and another fine-tuning mechanism among the multiple fine-tuning mechanisms can be extended and retracted longitudinally to drive the grabbing assembly 100 to flip vertically relative to the adjustment seat 610. By providing multiple fine-tuning mechanisms that drive the grabbing assembly 100 to move relative to the adjustment seat 610 from different directions, the degree of freedom of the movement of the driven grabbing assembly 100 can be increased, and the accuracy and efficiency of its assembly can be improved.

[0077] like Figure 7 As shown, exemplarily, the fine-tuning mechanism includes: a first fine-tuning mechanism 620 and a second fine-tuning mechanism 630. The first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 can both drive the gripping assembly 100 to move relative to the adjustment seat 610 by telescoping. Optionally, the first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 are respectively oil cylinders. It can be understood that the telescoping direction of the first fine-tuning mechanism 620 is different from the telescoping direction of the second fine-tuning mechanism 630, so that the two cooperate with each other to give the gripping assembly 100 the freedom to move in two different directions.

[0078] Preferably, the telescopic direction of the first fine-tuning mechanism 620 is the horizontal direction, which drives the grabbing assembly 100 to rotate horizontally relative to the adjustment seat 610 to achieve the fifth degree of freedom adjustment. The telescopic direction of the second fine-tuning mechanism 630 is the vertical direction, which drives the grabbing assembly 100 to flip up and down relative to the adjustment seat 610 to achieve the sixth degree of freedom adjustment.

[0079] like Figure 7 As shown, the first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 each have a fixed end and a movable end. The fixed end is mounted on the grab assembly 100. Specifically, the fixed end is mounted and fixed on the upper surface of the grab plate 110. The adjustment seat 610 is a joint bearing, and the movable end of the first fine-tuning mechanism 620 is hinged to the adjustment seat 610 through a first hinge 611, and the movable end of the second fine-tuning mechanism 630 is hinged to the adjustment seat 610 through a second hinge 612.

[0080] The basic structure and working principle of the grabbing assembly 100 have been introduced above, and the grabbing assembly 100 will be further introduced below.

[0081] It should be noted that the following technical solution provides a pipe segment grabbing device, which includes a grabbing assembly 100. In addition to being used in a pipe segment assembly machine, it can also be used in other scenarios and equipment that require processing, transportation and storage of pipe segments. The following introduces the pipe segment grabbing device including the grabbing assembly 100 using the application in a pipe segment assembly machine as an example.

[0082] The problem with the products or devices for grabbing pipe segments in the prior art is that their structures and actions are relatively complex, resulting in large volumes or complex control, and in some cases, the operator's assistance or intervention is required to achieve the grabbing. To this end, the present solution is dedicated to providing a grabbing assembly 100 that is simple in action and can automatically grab pipe segments.

[0083] like Figure 8 As shown, the grab assembly 100 of the present invention needs to be used in conjunction with the pipe segment 700 that cooperates with it in structure. Fig. 9 As shown, the gripping assembly 100 includes: a gripper 120 and a gripper driving mechanism 130. The gripper driving mechanism 130 is used to drive the gripper 120 to adjust its posture so that the gripper 120 extends into the pipe segment 700 and engages with the pipe segment 700.

[0084] The above technical solution uses the gripping driving mechanism 130 to drive the gripping clamp 120 to adjust its posture, so as to extend into the pipe segment 700 and contact and clamp the pipe segment 700. After the extending and clamping actions are completed, the pipe segment 700 can be grasped, transported or assembled.

[0085] Exemplarily, the gripper driving mechanism 130 may be used to drive the gripper 120 to adjust its posture through at least one of the following actions or a combination thereof: rotation, flipping, and swinging.

[0086] In one example, the gripping assembly 100 is provided with a gripping clamp driving mechanism 130, and a straight-line gripping clamp 120 cooperating with the gripping clamp driving mechanism 130. The gripping clamp driving mechanism 130 can drive the gripping clamp 120 to rotate in the horizontal direction, and the gripping clamp 120 switches between the first position and the second position by rotating. The pipe segment 700 is provided with a straight-line opening, and the interior of the opening is a chamber. When the straight-line gripping clamp 120 is in the first position, it can extend into the chamber along the straight-line opening. After extending into the chamber, the straight-line gripping clamp 120 rotates a certain angle, such as 60° or 90°, to switch to the second position. When the straight-line gripping clamp 120 is in the second position, it is stuck in the position of the straight-line opening and cannot be disengaged from the opening. Therefore, the gripping clamp driving mechanism 130 can achieve engagement with the pipe segment 700 by driving the gripping clamp 120 to rotate.

[0087] In another example, the gripping assembly 100 is provided with two or more gripping drive mechanisms 130, and two or more I-shaped gripping clamps 120 that are the same in number as the gripping drive mechanisms 130 and cooperate with each other. Each group of gripping drive mechanisms 130 and gripping clamps 120 synchronously performs the above-mentioned actions to achieve more stable gripping of the pipe segment 700.

[0088] In another example, the shapes of the gripper 120 and the opening can both be cross-shaped, and the gripper 120 enters the opening and rotates a certain angle, such as 30° or 45°, to switch to a position where it is stuck in the opening and cannot be dislodged.

[0089] It is understood that in order to grasp the pipe segment 700, the pipe segment 700 needs to be provided with a structure that is compatible with the gripper 120. In addition to the straight gripper 120 or the cross gripper 120 mentioned above, the gripper 120 can also be in the form of a claw. The gripper 120 in the form of a claw and the corresponding pipe segment 700 will be described in detail below. Figure 8 As shown, the pipe segment 700 that cooperates with the pipe segment grasping device in the form of a claw includes: a clamping groove 710 and a wedge-shaped portion 720. The clamping groove 710 is arranged on the surface of the pipe segment 700, and the wedge-shaped portion 720 is connected to the clamping groove 710 and bent relative to the clamping groove 710. Among them, the clamping groove 710 and the wedge-shaped portion 720 cooperate with each other for allowing the gripper 120 to extend into, so that the gripper 120 is engaged with the pipe segment 700. As mentioned above, only one gripper driving mechanism 130 and only one driving gripper 120 can be provided. However, preferably, the gripper 120 and the gripper driving mechanism 130 are respectively arranged in pairs, and one gripper driving mechanism 130 is used to drive the corresponding gripper 120 to adjust the posture. The gripper 120 and the gripper driving mechanism 130 arranged in pairs can grasp and carry the pipe segment 700 relatively stably.

[0090] Preferably, the pair of gripper driving mechanisms 130 are used to drive the corresponding pair of grippers 120 to swing and cooperate with each other through relative expansion and contraction, so as to engage with the pipe segment 700. Fig. 9 As shown, exemplarily, the gripper drive mechanism 130 is an oil cylinder, and a pair of oil cylinders arranged opposite to each other are synchronously extended, which can drive the upper part of the gripper 120 hinged to each other to swing closer and the bottom part to swing apart, and the oil cylinders are synchronously retracted, which can drive the upper part of the gripper 120 hinged to each other to swing apart and the bottom part to swing closer. When the bottom part is swung apart, the pair of grippers 120 can respectively abut against the pipe segment 700 and be clamped in, and when the bottom part is swung close, they can be synchronously retracted and opened and closed without contact with the pipe segment 700. The method of using a telescopic action mode to realize the engagement of the gripper 120 with the pipe segment 700 is simple in structure, convenient to drive, easy to control the action, and relatively stable in grasping the pipe segment 700.

[0091] like Fig. 9As shown, there are two hinge points between the mutually hinged gripper drive mechanism 130 and the driving gripper 120, namely the first hinge point 121a and the second hinge point 121b. One of the intersection points is used as a support point, so that the pair of driving grippers 120 can perform a swinging motion.

[0092] Specifically, the first hinge point 121a is a part of the gripper 120 and is provided at one end of the hinge portion 121. It is used to be hinged with the gripper drive mechanism 130. The second hinge point 121b is a part of the gripper plate 110 and is used to be hinged with the gripper 120 to serve as a support point for the gripper 120 to swing. Therefore, under the telescopic drive of the gripper drive mechanism 130, the gripper 120 can swing around the second hinge point 121b. Fig. 9 As shown, the grab assembly 100 also includes a grab plate 110, which has an opening 111. The grabbing clamp 120 passes through the opening 111 and has a hinged portion 121 and a clamping claw 122 respectively arranged on both sides of the opening 111. One end of the grabbing clamp driving mechanism 130 is fixed to the grabbing disk 110, and the other end is hinged to the hinged portion 121. It can be understood that the grabbing disk 110 is formed into a disk-shaped or plate-shaped structure, which can be a flat plate or an arc-shaped plate with slightly upturned sides, so as to adapt to the shape of the tube segment 700. Preferably, the grabbing disk 110 has slightly upturned sides to form an arc-shaped plate, and a pair of oppositely arranged grabbing clamp driving mechanisms 130 are arranged on the arc-shaped plate and fixedly connected to the arc-shaped plate. The pair of grabbing clamp driving mechanisms 130 are each hinged with a grabbing clamp 120. The pair of grabbing clamps 120 pass through the opening 111 on the grabbing disk 110 from top to bottom. The upper end of the gripper 120 is a hinged portion 121, which is hinged to the retractable end of the gripper drive mechanism 130, and the lower end of the gripper 120 is a claw 122, which has a claw-shaped structure and is used to engage with the pipe segment 700 after being inserted into the pipe segment 700. By providing the opening 111, the gripper drive mechanism 130 and the gripper 120 can be installed and fixed on the upper surface of the gripper plate 110, so that the gripper plate 110 supports and carries the above components, thereby making the gripper drive mechanism 130 and the gripper 120 can be conveniently and stably installed and fixed, and will not hinder the gripping of the pipe segment 700.

[0093] In one example, multiple grippers 120 can pass through a common opening 111. For example, two grippers 120 that are arranged in pairs and swing with each other can pass through a common strip, rectangular, or circular opening 111. The solution of multiple grippers 120 passing through a common opening 111 makes the structure of the gripping plate 110 simpler and easier to process.

[0094] In another example, the number of the openings 111 is the same as the number of the grippers 120, and one gripper 120 passes through a corresponding opening 111. Fig. 9 As shown, two grippers 120 arranged in pairs and swingingly matched with each other can pass through the two corresponding openings 111. By adopting the solution of multiple grippers 120 passing through the corresponding openings 111, the edges of the openings 111 can be used to provide auxiliary support for the grippers 120 when they swing to the gripping position, thereby improving the gripping stability.

[0095] In one example, if Fig. 9 As shown, a pair of claws 122 corresponding to a pair of grippers 120 can be arranged back to back, and a pair of gripper driving mechanisms 130 can extend relative to each other to drive the corresponding pair of claws 122 to swing apart so as to engage with the pipe segment 700.

[0096] In another example, a pair of claws 122 corresponding to a pair of grippers 120 may be arranged opposite to each other, and a pair of gripper driving mechanisms 130 may drive the corresponding pair of claws 122 to swing closer to each other through relative contraction so as to engage with the pipe segment 700 .

[0097] Taking the forward direction of the tunneling equipment as the front, when the number of the grippers 120 is a pair, the pair of grippers 120 can be coaxially arranged on the left and right sides of the gripping plate 110, or can be coaxially arranged at the front and rear ends of the gripping plate 110; when the number of the grippers 120 is a pair, the pair of grippers 120 can also be non-coaxially arranged, such as being located on the diagonal line of the gripping plate 110. In short, regardless of the number and relative position of the grippers 120, it is sufficient to achieve support and gripping of the pipe segment 700.

[0098] This embodiment also provides a segment assembly machine, which includes a segment grabbing device as in any of the above-mentioned technical solutions. Therefore, it has all the beneficial effects of the segment grabbing device as in any of the above-mentioned technical solutions, which will not be repeated here.

[0099] This embodiment also provides a tunneling device, which includes a segment assembler as in any of the above technical solutions, so it has all the beneficial effects of the segment assembler as in any of the above technical solutions, which will not be described in detail here. The tunneling device is preferably a shield machine.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A segment assembly machine, characterized in that: The segment assembly machine comprises: A grabbing assembly (100), wherein the grabbing assembly (100) is used to grab a pipe segment (700); A moving component, the moving component is used to drive the grabbing component (100) to move; An adjustment component (600) is connected to the moving component and is movably connected to the grabbing component (100) so as to adjust the position of the grabbing component (100) relative to the moving component.

2. The segment assembly machine according to claim 1, characterized in that: The segment assembly machine further comprises a main beam (200), and the moving assembly comprises: A travel drive assembly (300), the travel drive assembly (300) being used to drive the grab assembly (100) to move axially along the main beam (200); A lifting drive assembly (400), the lifting drive assembly (400) being used to drive the grabbing assembly (100) to lift and lower relative to the main beam (200); A rotation drive assembly (500), the rotation drive assembly (500) being used to drive the grab assembly (100) to rotate around the main beam (200); The adjustment assembly (600) is connected to the lifting drive assembly (400), the lifting drive assembly (400) is connected to the rotation drive assembly (500), the rotation drive assembly (500) is connected to the travel drive assembly (300), and at least a portion of the travel drive assembly (300) is capable of traveling along the main beam (200).

3. The segment assembly machine according to claim 2, characterized in that: The number of the main beam (200) is one, the rotation drive assembly (500) surrounds the main beam (200), and the walking drive assemblies (300) and the lifting drive assemblies (400) of an even number are symmetrically arranged on the main beam (200) and on opposite sides of the rotation drive assembly (500).

4. The segment assembly machine according to claim 2, characterized in that: The travel drive assembly (300) comprises: A travel drive mechanism (310), wherein the travel drive mechanism (310) has a power output shaft; A gear (320), the gear (320) is drivingly connected to the power output shaft and meshes with a rack (330); The rack (330), the rack (330) is arranged along the axial direction of the main beam (200); A walking member, the rotary drive assembly (500) is connected to the walking member, and the walking member can walk along the main beam (200).

5. The segment assembly machine according to claim 4, characterized in that: The main beam (200) is provided with a track (230), and the walking member comprises: A running wheel (340), wherein the running wheel (340) is embedded in the track (230) so as to roll along the track (230); A connecting plate (350), one side of the connecting plate (350) is connected to the walking wheel (340), and the other side of the connecting plate (350) is connected to the rotating drive assembly (500).

6. The segment assembly machine according to claim 2, characterized in that: The lifting drive assembly (400) comprises: A lifting drive mechanism (410), one end of the lifting drive mechanism (410) is connected to the rotating drive assembly (500), and the other end is hinged to the telescopic rod (420); The telescopic rod (420), one end of the telescopic rod (420) away from the lifting drive mechanism (410) is connected to the adjustment assembly (600).

7. The segment assembly machine according to claim 2, characterized in that: The rotary drive assembly (500) comprises: A fixing portion (510), the fixing portion (510) being connected to the travel drive assembly (300); a rotating part (520), the rotating part (520) being disposed on the fixing part (510) and being capable of rotating around the main beam (200); Wherein, the lifting drive assembly (400) is installed on the rotating part (520).

8. The segment assembly machine according to any one of claims 1 to 7, wherein the adjustment assembly (600) comprises: an adjustment seat (610), the adjustment seat (610) being connected to the moving component and being movably connected to the grabbing component (100); A fine-tuning mechanism, the fine-tuning mechanism is used to drive the grabbing assembly (100) to move relative to the adjustment seat (610).

9. The segment assembly machine according to any one of claims 1 to 7, wherein the grabbing assembly (100) comprises: Grasping clamp (120); A gripper drive mechanism (130), wherein the gripper drive mechanism (130) is used to drive the gripper (120) to adjust its posture so that the gripper (120) is engaged with the pipe segment (700).

10. A tunneling device, characterized in that: The tunneling equipment includes a segment assembler as described in any one of claims 1 to 9.

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