Small-diameter tunnel segment erector

Abstract

The invention relates to a small-diameter tunnel segment erector, which comprises a mounting flange, a rotary power mechanism, a rotating shaft, a rotating shaft and a rotating shaft, the rotary frame is mounted on the rotary power mechanism, the rotary power mechanism is used for driving the rotary frame to rotate, the rotary frame is provided with at least one group of horizontal guide components, and each horizontal guide component comprises a guide frame and a walking frame sliding on the guide frame. The grabbing device is connected with the walking frame in a sliding mode, the sliding direction of the grabbing device intersects with the sliding direction of the walking frame, the grabbing device is used for grabbing tunnel segments, and the grabbing device, the walking frame and the rotary power mechanism movably adjust the assembling posture of the tunnel segments. And the grabbing device and the rotary frame are both located at the front end of the rotary power mechanism, and can adapt to small-pipe-diameter tunnel construction, the overall construction size is small, and the construction flexibility is high.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction machinery, and in particular to an assembling machine, and in particular to an assembling machine for small-diameter tunnel segments. Background Art

[0002] During the tunnel construction process, different channels need to be opened in the main tunnel to achieve different functions. For example, communication channels and functional channels are opened in the main tunnel. The diameter of these channels is smaller than the size of the main tunnel. For example, the diameter of some communication channels is less than or equal to 3.5 meters.

[0003] The tunnel uses an assembling machine to assemble the tunnel segments. For example, China's public document CN109113770A discloses a segment assembling machine, which includes a main beam and a slewing mechanism. The main beam is connected to the shield machine, and the slewing mechanism is arranged on the main beam. The slewing mechanism is movably arranged on the main beam, and a left lifting power member and a right lifting power member are arranged on the slewing mechanism. A segment grabbing device is arranged between the left lifting power member and the right lifting power member, and the segment grabbing device is respectively hinged to the left lifting power member and the right lifting power member.

[0004] In the existing assembly machine, the main beam is fixed to the shield machine, and the main beam passes through the slewing mechanism and can guide the slewing mechanism to slide along the main beam. This structure requires a large installation space and operation space, and the overall structure size is large. However, when constructing in a small-diameter tunnel, the diameter space in the tunnel channel is small, and it is difficult to arrange the assembly construction process of the main beam to insert and connect and guide the slewing mechanism to slide. There are technical problems such as difficulty in assembling the tunnel segments and adjusting their postures, so improvements are needed. Summary of the invention

[0005] In order to overcome the problems existing in the related art, an embodiment of the present invention provides a small-diameter tunnel segment assembly machine to solve the technical problems of difficult tunnel segment assembly and posture adjustment.

[0006] According to a first aspect of an embodiment of the present invention, a small-diameter tunnel segment assembly machine is provided, the assembly machine comprising: Rotary power mechanism; A slewing frame installed on the slewing power mechanism, the slewing power mechanism is used to drive the slewing frame to rotate, the slewing frame is equipped with at least one set of horizontal guide components, and the horizontal guide components include a guide frame and a walking frame sliding on the guide frame; A grabbing device is slidably connected to the traveling frame, wherein the sliding direction of the grabbing device intersects with the sliding direction of the traveling frame, and the grabbing device is used to grab the tunnel segments. The grabbing device, the traveling frame and the rotary power mechanism can flexibly adjust the assembly posture of the tunnel segments.

[0007] In one embodiment, the horizontal guide assembly includes a fixed base fixed to the rotating frame and a traveling power member, the guide frame protrudes from the fixed base, the traveling power member is connected to the traveling frame to drive the traveling frame to move along the guide frame, and the grabbing device is located in the area between the two guide frames.

[0008] In one embodiment, the grabbing device includes a connecting frame, a lifting power member, a grabbing arm connected to the connecting frame at both ends, and a grabbing plate assembly movably mounted on the grabbing arm, the grabbing plate assembly is used to grab the tunnel segment, the lifting power member is fixedly connected to the traveling frame and movably connected to the connecting frame, the connecting frame is slidably connected to the traveling frame, and the lifting power member drives the connecting frame to slide along the traveling frame to adjust the grabbing position of the grabbing plate assembly.

[0009] In one embodiment, the grabbing disc assembly includes a mounting seat installed on the grabbing arm, a grabbing box mechanism movably installed on the mounting seat, a grabbing power member assembled on the grabbing box mechanism, and a grabbing head connected to the grabbing power member, the grabbing head is used to connect the tunnel segment, at least a portion of the grabbing box mechanism abuts against the surface of the tunnel segment, and the grabbing power member drives the grabbing head to move so that the grabbing box mechanism tensions and confines the tunnel segment.

[0010] In one embodiment, a joint ball bearing is provided between the mounting seat and the grab box mechanism, the mounting seat is connected to the outer peripheral wall of the joint ball bearing, and the grab box mechanism is connected to the inner peripheral wall of the joint ball bearing.

[0011] In one embodiment, the grabbing plate assembly includes an oblique fine-tuning cylinder connecting the mounting seat and the grabbing box mechanism, the telescopic axis of the oblique fine-tuning cylinder is inclined relative to the axis of the grabbing head, and the oblique fine-tuning cylinder is used to obliquely adjust the swing angle of the grabbing box mechanism relative to the mounting seat.

[0012] In one embodiment, the grabbing plate assembly includes a transverse fine-tuning cylinder connecting the mounting seat and the grabbing box mechanism, the telescopic axis of the transverse fine-tuning cylinder is inclined relative to the axis of the grabbing head, and the transverse fine-tuning cylinder is used to axially adjust the rotation angle of the grabbing box mechanism relative to the mounting seat.

[0013] In one embodiment, the grab box mechanism includes a mounting sleeve, a grab plate connected to the mounting sleeve, and a plurality of abutment blocks fixed to the grab plate at intervals, the abutment blocks are fixed with elastic pads, and the elastic pads elastically abut the surface of the tunnel segment.

[0014] In one embodiment, the grabbing arm includes a bent carrying arm and an adjusting arm plugged into one end of the carrying arm, the adjusting arm is hingedly connected to one of the connecting frames, the carrying arm is hingedly connected to the other connecting frame, and the mounting seat is arranged on the carrying arm.

[0015] In one embodiment, the assembling machine includes a wire-taking mechanism installed on the rotary power mechanism, the rotary power mechanism is provided with a wiring groove, the wire-taking mechanism guides the pipeline to be tautly arranged in the wiring groove, and the pipeline is connected to the grasping device and the horizontal guide component.

[0016] The technical solution provided by the embodiment of the present invention may include the following beneficial effects: the rotating frame can drive the horizontal guide assembly and the grabbing device to rotate to adjust the rotation angle; the grabbing device can move linearly along the axial direction of the guide frame on the rotating frame to adjust the axial assembly position of the tunnel segment. The grabbing device then slides along the walking frame to adjust the radial sliding of the tunnel segment, so that the posture adjustment and assembly of the tunnel segment grabbed by the assembler can be achieved in all directions, and the construction is flexible. In addition, the grabbing device and the rotating frame are both located at the front end of the rotary power mechanism, which can adapt to the construction of small-diameter tunnels, and the overall construction size is small and the construction flexibility is high.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1 It is a schematic structural diagram of an assembling machine according to an exemplary embodiment.

[0020] Figure 2 It is a schematic structural diagram showing a rotating frame driving a grabbing device and a tunnel segment to rotate according to an exemplary embodiment.

[0021] Figure 3 It is a schematic diagram of the side structure of an assembling machine according to an exemplary embodiment.

[0022] Figure 4 It is a schematic cross-sectional view showing a gripping device and a gripping portion of a tunnel segment according to an exemplary embodiment.

[0023] In the figure, there are a rotary power mechanism 10; a mounting flange 11; a wiring groove 12; a horizontal guide assembly 20; a guide frame 21; a traveling frame 22; a traveling power member 23; a fixed base 24; a grabbing device 30; a connecting frame 31; a grabbing arm 32; a bearing arm 321; an adjusting arm 322; a grabbing plate assembly 33; a mounting seat 331; a grabbing box mechanism 332; a mounting sleeve 3321; a grabbing plate 3322; an abutment block 3323; a grabbing head 333; a grabbing power member 334; a lateral fine-tuning cylinder 335; an oblique fine-tuning cylinder 336; a joint ball bearing 337; a lifting power member 34; a connecting beam 35; a rotary frame 40; a tunnel segment 50; and a wire-winding mechanism 60. DETAILED DESCRIPTION

[0024] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0025] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inside", "outside", etc. appear to indicate the orientation or position relationship, it is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0026] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figures 1 to 4As shown, the present invention provides a small-diameter tunnel segment assembly machine, which includes a rotary power mechanism 10, a rotary frame 40 and a gripping device 30. The rotary power mechanism 10 is provided with a mounting flange 11, which is used to fix the main beam or the shield machine to form a fixed support connection. The rotary frame 40 is installed on the rotary power mechanism 10, and the rotary power mechanism 10 can rotate the rotary frame 40 and the mechanism located on the rotary frame 40 at the same time, so as to adjust the assembly rotation angle of the tunnel segment 50. The rotation axis of the rotary power mechanism 10 is defined as the center line direction of the assembly machine movement.

[0028] Optionally, the rotary power mechanism 10 includes a driving power member mounted on the mounting flange 11 and a gear frame mounted on the rotary frame 40, and the driving power member is connected to the gear frame through a driving gear. The driving gear drives the gear frame to rotate, thereby driving the rotary frame 40 to rotate. Preferably, the mounting flange 11 is installed with an encoder to realize the angle control limit of the rotation action.

[0029] The slewing frame 40 is equipped with at least one set of horizontal guide components 20, which protrude from the end surface of the slewing frame 40 and protrude in a direction away from the mounting flange 11. Optionally, one set of horizontal guide components 20 can be provided, and the set of horizontal guide components 20 can be centrally arranged or eccentrically arranged. Optionally, two sets of horizontal guide components 20 can be provided, and the two sets of horizontal guide components 20 are arranged oppositely and distributed on both sides of the axis of the slewing power mechanism 10. Optionally, more than two sets of horizontal guide components 20 can be provided to form a multi-point combined support to provide stable support.

[0030] Preferably, the horizontal guide assembly 20 includes a guide frame 21 and a traveling frame 22 sliding on the guide frame 21. The guide frame 21 is a cantilever structure, and the traveling frame 22 slides on the guide frame 21 to form a linear sliding structure. The guide frame 21 is protrudingly arranged on the rotating frame 40 so that the traveling frame 22 can move along the center line direction, thereby realizing the forward and backward movement in the center line direction to adjust the assembly position of the tunnel segment 50. It is worth mentioning that the horizontal guide assembly 20 is located on one side of the rotating frame 40, and the assembly space occupied by it is located within the rotation projection range of the rotating frame 40, without the need for additional activity space or support structure, thereby reducing the operating space of the assembly machine, and can be suitable for small-diameter tunnel construction.

[0031] The grabbing device 30 is slidably connected to the traveling frame 22, and the sliding direction of the grabbing device 30 intersects with the sliding direction of the traveling frame 22. The grabbing device 30 is used to grab the tunnel segment 50, and the grabbing device 30, the traveling frame 22 and the rotary power mechanism 10 can flexibly adjust the assembly posture of the tunnel segment 50. Among them, the rotary frame 40 can drive the horizontal guide assembly 20 and the grabbing device 30 to rotate to adjust the rotation angle; the grabbing device 30 can move linearly along the guide frame 21 in the axial direction of the rotary frame 40 to adjust the axial assembly position of the tunnel segment 50. The grabbing device 30 then slides along the traveling frame 22 to adjust the radial sliding of the tunnel segment 50, so that the posture adjustment and assembly of the assembler in all directions can be realized, and the construction is flexible.

[0032] The horizontal guide assembly 20 can drive the grabbing device 30 to move along the sliding direction perpendicular to the traveling frame 22, that is, the tunnel segment 50 grabbed by the grabbing device 30 can move along the radial direction of the tunnel to adjust the radial position of the assembly. In an optional embodiment, the traveling frame 22 and the grabbing device 30 realize linear reciprocating motion on the horizontal guide assembly 20 through a gear rack mechanism, and the structure is stable and highly reliable. In an optional embodiment, the guide wheel is provided with a power element to drive the guide wheel to crawl autonomously along the grooves on both sides of the guide frame 21, and the power and structural layout are simplified.

[0033] Preferably, the horizontal guide assembly 20 includes a fixed base 24 fixed to the rotating frame 40 and a travel power member 23, and the guide frame 21 protrudes from the fixed base 24. The guide frame 21 and the fixed base 24 are an integral structure, or the guide frame 21 and the fixed base 24 are detachably connected and are locked into one piece by fasteners. The guide frame 21 is a rectangular pipe frame structure or an I-beam structure to form a guide and support structure.

[0034] like Figures 1 to 4 As shown, the walking frame 22 is slidably connected to the guide frame 21, wherein the walking frame 22 is sleeved outside the guide frame 21 to form a force-bearing support structure. Preferably, the walking frame 22 is provided with guide wheels, which are defined in grooves on both sides of the guide frame 21 to improve the stability of support and movement, and can improve the load-bearing effect of the grasping device 30. The walking power member 23 is connected to the walking frame 22 to drive the walking frame 22 to move along the guide frame 21. The walking power member 23 moves telescopically to drive the walking frame 22 to move along the guide frame 21 to change the amount of movement.

[0035] Preferably, the travel power member 23 and the guide frame 21 are spaced apart, the output shaft end of the travel power member 23 is hingedly connected to the fixed base 24, and the cylinder of the travel power member 23 is connected to the guide frame 21 through a clamp frame to improve the stability and accuracy of the moving stroke. Optionally, the travel power member 23 is configured as a travel cylinder, and the travel cylinder telescopic movement drives the guide frame 21 to slide linearly. Further preferably, the clamp frame is connected to the middle of the guide frame 21 to improve the balance of the reciprocating force.

[0036] The grabbing device 30 is located in the area between the two guide frames 21 to reduce the span of the grabbing device 30 and concentrate the force of the tunnel segment 50 on the inner side of the two guide frames 21, so as to flexibly adjust the assembly posture of the tunnel segment 50. In addition, the small span of the grabbing device 30 can reduce the moment, thereby reducing the requirements on the structural strength of the assembly machine, extending the service life and stability of the equipment.

[0037] In one embodiment, the grabbing device 30 includes a connecting frame 31, a lifting power member 34, a grabbing arm 32 connected to the connecting frame 31 at both ends, and a grabbing disc assembly 33 movably mounted on the grabbing arm 32, and the grabbing disc assembly 33 is used to grab the tunnel segment 50. The lifting power member 34 is fixedly connected to the traveling frame 22 and movably connected to the connecting frame 31, and the connecting frame 31 is slidably connected to the traveling frame 22. The lifting power member 34 drives the connecting frame 31 to slide along the traveling frame 22 to adjust the grabbing position of the grabbing disc assembly 33. The connecting frame 31 adopts a columnar structure to be slidably connected to the traveling frame 22 to form a radial sliding position adjustment, change the moving position of the tunnel segment 50 in the tunnel radial direction, and can be equipped with the traveling frame 22 to move and adjust the assembly position. The lifting power member 34 is used to drive the connecting frame 31 to slide along the traveling frame 22. Optionally, the lifting power member 34 can adopt a gear rack mechanism that cooperates with the connecting frame 31, and the assembly space is small and no oil circuit needs to be arranged. Optionally, the lifting power member 34 can be configured as a lifting cylinder to improve the accuracy of the moving thrust and the stop position. Preferably, the lifting power member 34 adopts a lifting cylinder and is located on one side of the connecting frame 31, and the lifting cylinder and the connecting frame 31 are arranged in parallel.

[0038] Preferably, the ends of the two connecting frames 31 are connected with a connecting beam 35, and the connecting beam 35, the two connecting frames 31 and the grabbing arm 32 form an annular structure to improve the stability of the structural form. Among them, the two connecting frames 31 are arranged in parallel, and the connecting beam 35 and the grabbing arm 32 are in an arc or curved structure. Preferably, the grabbing arm 32 includes a curved load-bearing arm 321 and an adjustment arm 322 plugged and connected to one end of the load-bearing arm 321, the adjustment arm 322 is hingedly connected to one of the connecting frames 31, the load-bearing arm 321 is hingedly connected to the other connecting frame 31, and the mounting seat 331 is arranged on the load-bearing arm 321. The load-bearing arm 321 and the adjustment arm 322 are plug-fitted and connected to form a length adjustment for easy adjustment. Optionally, the plug-fitting parts of the load-bearing arm 321 and the adjustment arm 322 are locked by fasteners to achieve length locking. Optionally, a telescopic member is provided between the carrying arm 321 and the adjusting arm 322 , and the telescopic member automatically adjusts the total length of the grabbing arm 32 formed by the carrying arm 321 and the adjusting arm 322 , and then adjusts the spacing and movement stability of the connecting frame 31 .

[0039] Optionally, both ends of the adjusting arm 322 and the carrying arm 321 are respectively hingedly connected to the connecting frame 31 to form a connection activity to transmit power and angle. Preferably, both ends of the adjusting arm 322 and the carrying arm 321 are fixed with rotation holes to cooperate with the connecting frame 31 to rotate through the pin shaft.

[0040] The grabbing arm 32 protrudes radially outward to form a protruding structure, and the grabbing disc assembly 33 is located in the protruding middle area of ​​the grabbing arm 32. In one embodiment, the grabbing disc assembly 33 includes a mounting seat 331, a grabbing box mechanism 332 movably mounted on the mounting seat 331, a grabbing power member 334 assembled on the grabbing box mechanism 332, and a grabbing head 333 connected to the grabbing power member 334, and the grabbing head 333 is used to connect the tunnel segment 50. At least part of the grabbing box mechanism 332 abuts against the surface of the tunnel segment 50, and the grabbing power member 334 drives the grabbing head 333 to move, so that the grabbing box mechanism 332 tightens and defines the tunnel segment 50.

[0041] The mounting seat 331 is fixed to the grabbing arm 32 to form a part of the grabbing arm 32. The mounting seat 331 is movably connected to the grabbing box mechanism 332. Optionally, the grabbing box mechanism 332 can rotate relative to the mounting seat 331. Further preferably, the mounting seat 331 and the grabbing box mechanism 332 rotate and swing relative to each other to form a universal rotation. As a preference, a joint ball bearing 337 is arranged between the mounting seat 331 and the grabbing box mechanism 332, the mounting seat 331 is connected to the outer peripheral wall of the joint ball bearing 337, and the grabbing box mechanism 332 is connected to the inner peripheral wall of the joint ball bearing 337. The joint ball bearing 337 is integrally mounted and connected to the mounting seat 331 and the grabbing box mechanism 332 to form an assembly connection. Further preferably, the mounting seat 331 and the grabbing box mechanism 332 constitute the inner ring and outer ring of the joint ball bearing 337, and a universal ball is arranged between the mounting seat 331 and the grabbing box mechanism 332 to form a flexible rotation.

[0042] like Figures 1 to 4 As shown, the grabbing power member 334 is connected to the grabbing head 333 to form the connection and tension locking of the grabbing head 333. Preferably, the grabbing power member 334 is a telescopic oil cylinder. When the grabbing head 333 is connected to the assembly hole of the tunnel segment 50, the grabbing head 333 and the tunnel segment 50 are spirally connected. After the grabbing head 333 completes the connection, the grabbing power member 334 retracts to drive the grabbing head 333 to move, so that the surface of the tunnel segment 50 and the grabbing box mechanism 332 fit closely, and the tunnel segment 50 is not displaced or deformed during the assembly process. Optionally, a grabbing sleeve is connected between the grabbing head 333 and the grabbing power member 334, and the grabbing head 333 is plugged and movably connected to the grabbing sleeve. An air-avoiding space for the grabbing head 333 to telescopically move is provided in the grabbing sleeve, and the output shaft of the grabbing power member 334 is connected to the other end of the grabbing sleeve. When the grabbing power member 334 moves telescopically, the grabbing head 333 can be moved or tensioned accordingly.

[0043] The grab box mechanism 332 includes a mounting sleeve 3321. The mounting sleeve 3321 is movably connected to the mounting seat 331, wherein the mounting sleeve 3321 is a tubular structure plugged and connected to the mounting seat 331 to form a movably connected. Further preferably, a movable ring is fixedly installed outside the mounting sleeve 3321, and the outer peripheral wall of the movable ring is set as a spherical surface. The mounting seat 331 and the movable ring are movably matched to form a universal swing or rotation, thereby forming a movable joint part for posture adjustment.

[0044] The grabbing box mechanism 332 includes a grabbing plate 3322 fixedly mounted on the mounting sleeve 3321 and a plurality of abutting blocks 3323 fixed at intervals on the grabbing plate 3322. The abutting blocks 3323 are fixed with elastic pads, and the elastic pads elastically abut against the surface of the tunnel segment 50. The grabbing plate 3322 is fixed to the mounting sleeve 3321 and extends to both sides to form a cantilever clamping structure. The grabbing plate 3322 is configured as a curved plate to expand the combination area between the grabbing box mechanism 332 and the tunnel segment 50, thereby improving the stability of the grabbing.

[0045] A plurality of abutment blocks 3323 are spaced apart on the grab plate 3322, and the abutment blocks 3323 form a local abutment structure, thereby improving stability. Preferably, an elastic pad is fixed on the surface of the abutment block 3323, and the grab power member 334 can drive the tunnel segment 50 to abut against and squeeze the elastic pad to achieve soft fit tensioning.

[0046] The grab plate assembly 33 is movably connected with the mounting sleeve 3321 and the mounting seat 331, and is also equipped with the adjustment of the swing angle and the rotation angle. The grab plate assembly 33 includes an oblique fine-tuning oil cylinder 336 connecting the mounting seat 331 and the grab box mechanism 332. The telescopic axis of the oblique fine-tuning oil cylinder 336 is inclined relative to the axis of the grab head 333. The oblique fine-tuning oil cylinder 336 is used to obliquely adjust the swing angle of the grab box mechanism 332 relative to the mounting seat 331. The oblique fine-tuning oil cylinder 336 can adjust the overall length by telescopic movement. The connection part of the oblique fine-tuning oil cylinder 336, the mounting seat 331 and the grab box mechanism 332 forms a triangular structure. With the telescopic change of the oblique fine-tuning oil cylinder 336, the grab box mechanism 332 swings relative to the mounting seat 331 to form a swing adjustment. Preferably, in the initial state, the hinge points at both ends of the oblique fine-tuning cylinder 336 are eccentric relative to the axis of the grab head 333, so that the oblique fine-tuning cylinder 336 can achieve swing angle adjustment when extending or shortening.

[0047] Further, the grabbing plate assembly 33 includes a transverse fine-tuning oil cylinder 335 connecting the mounting seat 331 and the grabbing box mechanism 332, the telescopic axis of the transverse fine-tuning oil cylinder 335 is tilted relative to the axis of the grabbing head 333, and the transverse fine-tuning oil cylinder 335 is used to axially adjust the rotation angle of the grabbing box mechanism 332 relative to the mounting seat 331. The transverse fine-tuning oil cylinder 335 and the oblique fine-tuning oil cylinder 336 are arranged to intersect on a plane, wherein the transverse fine-tuning oil cylinder 335 can adjust the overall length by telescopic movement, and the two ends of the transverse fine-tuning oil cylinder 335 are respectively connected to the mounting seat 331 and the grabbing box mechanism 332. With the telescopic change of the transverse fine-tuning oil cylinder 335, the grabbing box mechanism 332 is rotated relative to the mounting seat 331 to form a rotation adjustment. Preferably, in the initial state, the hinge points at both ends of the transverse fine-tuning oil cylinder 335 are symmetrical relative to the axis of the grabbing head 333, so that the transverse fine-tuning oil cylinder 335 can achieve rotation angle adjustment when extending or shortening.

[0048] Therefore, the adjustment of the assembly machine in the present invention has multi-dimensional and refined adjustment, and its working process is that the grab head 333 is rotated and connected to the tunnel segment 50, the grab power member 334 retracts to drive the grab head 333 to retract, the grab plate 3322 is abutted against the surface of the tunnel segment 50 at multiple points through the abutment block 3323, and the grab power member 334 continues to pressurize to elastically deform the elastic pad. The rotary power mechanism 10 drives the rotary frame 40 and the grabbed tunnel segment 50 to rotate and adjust the assembly angle, and the lifting power member 34 drives the connecting frame 31 and the tunnel segment 50 to move radially. After reducing the radial movement size, the walking frame 22 drives the tunnel segment 50 to slide along the guide frame 21 to adjust the axial position.

[0049] like Figures 1 to 4 As shown, after the tunnel segment 50 is moved to the area to be assembled, the lifting power member 34 drives the connecting frame 31 and the tunnel segment 50 to move radially to increase the radial movement size. Then, the swing inclination of the tunnel segment 50 is adjusted by the oblique fine-tuning cylinder 336, and the rotation angle of the tunnel segment 50 is adjusted by the lateral fine-tuning cylinder 335. After comprehensive and fine adjustment, the tunnel segment 50 is moved, plugged and assembled through the traveling frame 22, so that the side of the tunnel segment 50 matches and assembles the adjacent tunnel segments 50.

[0050] Furthermore, the assembly machine is provided with cables and hydraulic oil pipes. The cables are control lines for realizing the hydraulic control function, which are used to drive the motor or hydraulic cylinder to realize the telescopic movement. Among them, the assembly machine includes a wire-taking mechanism 60 installed on the mounting flange 11, and the rotary power mechanism 10 is provided with a wiring groove 12. The wire-taking mechanism 60 guides the pipeline to be tightened and arranged in the wiring groove 12, and the pipeline is connected to the grasping device 30 and the horizontal guide assembly 20. The wire-taking mechanism 60 drives the cables and hydraulic oil pipes to be tightened and extended, thereby reducing the discreteness of the cables. Among them, part of the pipeline is tightened and arranged in the wiring groove 12, and then extends out of the wiring groove 12 at the corresponding position and is connected to the corresponding hydraulic cylinder or electrical component, thereby shortening the length of the distance from the pipeline to the wiring groove 12.

[0051] Preferably, the wire take-up mechanism 60 comprises an automatic reel mounted on the mounting flange 11, and the reserved length of the cable is coiled on the automatic reel in advance to form a tensioning and releasing structure. The automatic reel can be set as a motor-driven reel or loaded with a winding spring.

[0052] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0053] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A small diameter tunnel segment assembly machine, characterized in that: The assembly machine includes: Rotary power mechanism; A slewing frame installed on the slewing power mechanism, the slewing power mechanism is used to drive the slewing frame to rotate, the slewing frame is equipped with at least one set of horizontal guide components, and the horizontal guide components include a guide frame and a walking frame sliding on the guide frame; A grabbing device is slidably connected to the traveling frame, wherein the sliding direction of the grabbing device intersects with the sliding direction of the traveling frame, and the grabbing device is used to grab the tunnel segments. The grabbing device, the traveling frame and the rotary power mechanism can flexibly adjust the assembly posture of the tunnel segments.

2. The assembling machine according to claim 1, characterized in that: The horizontal guide assembly includes a fixed base and a travel power member fixed to the rotating frame, the guide frame protrudes from the fixed base, the travel power member is connected to the travel frame to drive the travel frame to move along the guide frame, and the grabbing device is located in the area between the two guide frames.

3. The assembling machine according to claim 1, characterized in that: The grabbing device includes a connecting frame, a lifting power member, a grabbing arm connected to the connecting frame at both ends, and a grabbing plate assembly movably installed on the grabbing arm, the grabbing plate assembly is used to grab the tunnel segment, the lifting power member is fixedly connected to the traveling frame and movably connected to the connecting frame, the connecting frame is slidably connected to the traveling frame, and the lifting power member drives the connecting frame to slide along the traveling frame to adjust the grabbing position of the grabbing plate assembly.

4. The assembling machine according to claim 3, characterized in that: The grabbing disc assembly includes a mounting seat installed on the grabbing arm, a grabbing box mechanism movably installed on the mounting seat, a grabbing power member assembled on the grabbing box mechanism and a grabbing head connected to the grabbing power member, the grabbing head is used to connect the tunnel segment, at least a portion of the grabbing box mechanism abuts against the surface of the tunnel segment, and the grabbing power member drives the grabbing head to move so that the grabbing box mechanism tensions and confines the tunnel segment.

5. The assembling machine according to claim 4, characterized in that: A joint ball bearing is arranged between the mounting seat and the grab box mechanism, the mounting seat is connected to the outer peripheral wall of the joint ball bearing, and the grab box mechanism is connected to the inner peripheral wall of the joint ball bearing.

6. The assembling machine according to claim 4, characterized in that: The grabbing plate assembly includes an oblique fine-tuning cylinder connecting the mounting seat and the grabbing box mechanism, the telescopic axis of the oblique fine-tuning cylinder is inclined relative to the axis of the grabbing head, and the oblique fine-tuning cylinder is used to obliquely adjust the swing angle of the grabbing box mechanism relative to the mounting seat.

7. The assembling machine according to claim 4 or 6, characterized in that: The grabbing plate assembly includes a transverse fine-tuning cylinder connecting the mounting seat and the grabbing box mechanism, the telescopic axis of the transverse fine-tuning cylinder is tilted relative to the axis of the grabbing head, and the transverse fine-tuning cylinder is used to axially adjust the rotation angle of the grabbing box mechanism relative to the mounting seat.

8. The assembling machine according to claim 4, characterized in that: The grab box mechanism includes a mounting sleeve, a grab plate connected to the mounting sleeve, and a plurality of abutment blocks fixed to the grab plate at intervals, wherein the abutment blocks are fixed with elastic pads, and the elastic pads elastically abut against the surface of the tunnel segment.

9. The assembling machine according to claim 3, characterized in that: The grabbing arm comprises a bent bearing arm and an adjusting arm plugged into one end of the bearing arm, the adjusting arm is hingedly connected to one of the connecting frames, the bearing arm is hingedly connected to the other connecting frame, and the mounting seat is arranged on the bearing arm.

10. The assembling machine according to claim 1, characterized in that: The assembling machine includes a wire-taking mechanism installed on the rotary power mechanism, the rotary power mechanism is provided with a wiring groove, the wire-taking mechanism guides the pipeline to be tautly arranged in the wiring groove, and the pipeline is connected to the grasping device and the horizontal guide component.

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