Transfer primary-secondary trolley for production of prefabricated arc-shaped integral box culvert in shield tunnel
By setting up a positioning system on the mother trolley and the child trolley and adopting a twin mother trolley structure, the problems of low transit efficiency and insufficient positioning accuracy in the existing technology are solved, and an efficient and accurate transit process is achieved, ensuring the safety and efficiency of production.
Patent Information
- Application Number
- CN202421329080.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-12
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-06-12
AI Technical Summary
The existing transport mother trucks have low transport efficiency and insufficient positioning accuracy, resulting in transportation failure or even production accidents.
A transfer child-cart truck is designed for the production of prefabricated arc-shaped integral box culverts in shield tunnels. By setting up a mother car positioning system on the mother car, a child-car positioning system on the child car, and adopting a twin-mine mother car structure, two prefabricated box culvert molds are realized at one time.
It improves the conveying efficiency and positioning accuracy, ensures the success rate of transportation, and improves the production efficiency and accuracy.
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of integral box culvert production, in particular to a transfer mother-and-child vehicle for producing prefabricated arc integral box culverts in shield tunnels. Background Art
[0002] The prefabricated box culvert mold in the integral box culvert production line needs to be transferred from the curing kiln to the production casting line. However, the existing prefabricated box culvert mold is too long, and the force needs to be kept uniform during the transfer process. The curing kiln and the production casting line are in a vertical state, so it is impossible to transfer it manually. Therefore, a transfer mother-and-child vehicle is generally used to ferry between the curing kiln and the production casting line.
[0003] However, the existing transfer mother-and-child vehicle can only transport one prefabricated box culvert mold at a time, and the transportation efficiency is low. In addition, the positioning accuracy of the transfer mother-and-child vehicle is low, which often causes transfer failures and even production accidents in severe cases. Utility Model Content
[0004] The purpose of the utility model is to provide a transfer mother-and-child vehicle for the production of prefabricated arc-shaped integral box culverts in shield tunnels. By arranging a twin mother-and-child vehicle, the transportation efficiency is improved; a mother vehicle positioning system is arranged on the mother vehicle, and a child vehicle positioning system is arranged on the child vehicle, so as to achieve precise positioning, greatly improve the positioning accuracy, and ensure the success rate of transfer.
[0005] In order to achieve the above-mentioned purpose, the utility model provides a transfer mother-and-child trolley for the production of prefabricated arc-shaped integral box culverts in shield tunnels, comprising a mother trolley slidably mounted on a mother trolley track, on which two sub-trolleys arranged side by side are slidably mounted, and the sliding direction of the sub-trolleys is perpendicular to the sliding direction of the mother trolley; the mother trolley is provided with a mother trolley power system and a mother trolley positioning system, the mother trolley power system pushes the mother trolley to run along the mother trolley track, and the mother trolley positioning system is used to locate the position of the mother trolley; the upper surface of the mother trolley is provided with a sub-trolley track for the operation of the sub-trolley, and the sub-trolley track is perpendicular to the mother trolley track; the sub-trolley is provided with a sub-trolley power system, a sub-trolley positioning system and a power supply device supporting the operation of the sub-trolley power system and the sub-trolley positioning system, the sub-trolley power system pushes the sub-trolley to run along the sub-trolley track, and the sub-trolley positioning system is used to locate the position of the sub-trolley; the sub-trolley is also provided with a lifting system and an electrical system for controlling the operation of the lifting system; the mother trolley power system, the mother trolley positioning system, the sub-trolley power system, the sub-trolley positioning system, the power supply device and the electrical system are all signal-connected to the controller.
[0006] After adopting the above structure, two sub-trolleys arranged side by side are slidably installed on the mother trolley, thereby realizing a twin mother-and-child trolley, realizing the one-time transfer of two prefabricated box culvert molds, and improving the transportation efficiency; by arranging a mother trolley positioning system on the mother trolley and a sub-trolley positioning system on the sub-trolley, precise positioning is achieved, which greatly improves the positioning accuracy and ensures the success rate of transfer; through the comprehensive control of each system by the controller, the degree of automation is improved, and the production efficiency and production accuracy are guaranteed.
[0007] In order to improve the operation stability of the mother trolley, the mother trolley includes a mother trolley main frame, and the bottom of the mother trolley main frame is equipped with mother trolley running wheels, the mother trolley running wheels include a number of mother trolley active running wheels and a number of mother trolley driven running wheels, and the mother trolley active running wheels are transmission-connected to the mother trolley power system.
[0008] In order to achieve stable traction of the mother trolley and reduce the load of the mother trolley power system, two active running wheels are provided for the mother trolley, and each active running wheel of the mother trolley is connected to an independent mother trolley power system.
[0009] In order to improve the running stability of the sub-trolley, the sub-trolley includes a sub-trolley main frame, on which sub-trolley running wheels are installed. The sub-trolley running wheels include a number of sub-trolley active running wheels and a number of sub-trolley driven running wheels. The sub-trolley active running wheels are transmission-connected to the sub-trolley power system.
[0010] In order to achieve stable traction of the sub-trolley and reduce the investment in the sub-trolley power system, two sub-trolley active running wheels are provided, and the two sub-trolley active running wheels are transmission-connected to the same sub-trolley power system.
[0011] In order to achieve precise control of the position of the mother trolley, the mother trolley positioning system includes a deceleration switch, an in-place detection switch and a positioning structure; the deceleration switch includes a deceleration sensor arranged at the bottom of the mother trolley main frame and a deceleration sensing point arranged on the mother trolley track and corresponding to the deceleration sensor; the in-place detection switch includes an in-place sensor arranged at the bottom of the mother trolley main frame and an in-place sensing point arranged on the mother trolley track and corresponding to the in-place sensor; the positioning structure includes a positioning shaft arranged at the bottom of the mother trolley main frame and a positioning hole arranged on the mother trolley track for the positioning shaft to be inserted, the positioning shaft is connected to a positioning shaft driving device, and the positioning shaft driving device is connected to the electrical system.
[0012] In order to protect the extreme position of the mother trolley, the mother trolley positioning system also includes limit switches arranged at the front and rear ends of the mother trolley main frame.
[0013] In order to achieve precise control of the position of the sub-trolley, the sub-trolley positioning system includes a sub-trolley photoelectric switch fixed at one end of the sub-trolley main frame, and a sub-trolley stop point is set on the mother car main frame corresponding to the sub-trolley photoelectric switch.
[0014] In order to realize the process positioning of the mother trolley and the sub-trolley, the sub-trolley positioning system also includes a roller meter installed on the sub-trolley main frame, and the mother trolley positioning system also includes a roller meter installed on the mother trolley main frame.
[0015] In order to further realize the accurate positioning of the sub-trolley, the sub-trolley positioning system also includes a gear-type meter.
[0016] After adopting the above technical solution, the beneficial effects of the utility model are:
[0017] The utility model discloses a transfer mother-and-child vehicle for producing prefabricated arc-shaped integral box culverts in shield tunnels, which solves the technical problems of low transfer efficiency and low positioning accuracy of transfer mother-and-child vehicles in the prior art. The utility model improves the transportation efficiency by arranging twin mother-and-child vehicles; a mother vehicle positioning system is arranged on the mother vehicle, and a child vehicle positioning system is arranged on the child vehicle, thereby realizing precise positioning, greatly improving the positioning accuracy, and ensuring the success rate of transfer. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 This is a schematic diagram of the structure of a transfer mother-and-child vehicle used for the production of prefabricated curved integral box culverts in shield tunnels;
[0019] Figure 2 yes Figure 1 Schematic diagram of the internal structure of the neutron trolley;
[0020] Figure 3 yes Figure 2 A partial enlarged view of middle A;
[0021] Figure 4 yes Figure 2 A partial enlarged view of B in the middle;
[0022] Figure 5 yes Figure 2 A partial enlarged view of middle C;
[0023] Figure 6 yes Figure 1 Side view of
[0024] Figure 7 yes Figure 6 A partial enlarged view of D in the middle.
[0025] In the figure, 1, the mother trolley, 11, the main frame of the mother trolley, 121, the active walking wheel of the mother trolley, 122, the driven walking wheel of the mother trolley, 131, the motor of the mother trolley, 141, the deceleration switch, 141a, the deceleration sensor, 141b, the deceleration sensing point, 142, the in-place detection switch, 142a, the in-place sensor, 142b, the in-place sensing point, 143, the positioning structure, 143a, the positioning shaft, 143b, the positioning hole, 144, the limit switch, 2, the mother Car track, 3, sub-trolley, 31, sub-trolley main frame, 321, sub-trolley active walking wheel, 322, sub-trolley driven walking wheel, 331, sub-trolley motor, 341a, sub-trolley photoelectric switch, 341b, sub-trolley stopping point, 35, lithium battery, 4, sub-trolley track, 5, lifting system, 6, electrical system, 61, hydraulic station motor, 7, roller meter, 8, gear meter, 81, auxiliary shaft, 82, first gear, 83, second gear. DETAILED DESCRIPTION
[0026] The utility model is further described below in conjunction with the accompanying drawings.
[0027] The orientations mentioned in this specification are based on the orientation of the transfer mother-and-child vehicle used for the production of prefabricated arc-shaped integral box culverts in shield tunnels during normal operation of the utility model. The orientations during storage and transportation are not limited and only represent relative position relationships, not absolute position relationships.
[0028] like Figure 1 and Figure 2 As shown together, a transfer mother-and-child vehicle for the production of prefabricated arc-shaped integral box culverts in shield tunnels includes a mother vehicle 1, which is slidably installed on a mother vehicle track 2, and the mother vehicle track 2 is fixed on the ground.
[0029] The mother trolley 1 includes a mother trolley main frame 11, and the bottom of the mother trolley main frame 11 is equipped with mother trolley running wheels, and the mother trolley running wheels include a plurality of mother trolley active running wheels 121 and a plurality of mother trolley driven running wheels 122. A mother trolley power system is provided on the mother trolley 1, and the mother trolley power system includes a mother trolley motor 131, and the mother trolley power system is connected to the mother trolley active running wheels 121 by transmission. In order to achieve stable traction, two mother trolley active running wheels 121 are provided in this embodiment, which are respectively located on both sides of the mother trolley main frame 11; in order to reduce the load of the mother trolley motor 131, two mother trolley motors 131 are also provided, and the two mother trolley active running wheels 121 are connected to independent mother trolley motors 131. In actual applications, the two mother trolley active running wheels 121 can be connected to the same mother trolley motor 131 by transmission as needed, and this embodiment does not make a rigid requirement here.
[0030] The transmission connection mode of the mother vehicle power system transmission connection to the mother vehicle active walking wheel 121 is: a mother vehicle driving gear is fixed on the output shaft of the mother vehicle motor 131, and a mother vehicle driven gear is fixed on the axle of the mother vehicle active walking wheel 121, and the mother vehicle driving gear is meshed with the mother vehicle driven gear. In practical applications, a transmission connection mode of a chain and a sprocket can also be adopted, which is not limited in this embodiment. The mother vehicle power system drives the mother vehicle active walking wheel 121 to roll, thereby controlling the mother trolley 1 to move forward or backward along the mother vehicle track 2.
[0031] In order to achieve stable support, four driven running wheels 122 of the mother vehicle are provided in this embodiment, which are evenly distributed on both sides of the mother vehicle main frame 11, with two on each side. In actual application, the number of driven running wheels 122 of the mother vehicle can be reasonably arranged according to the supporting weight of the mother vehicle 1.
[0032] like Figure 1 , Figure 2 , Figure 6 and Figure 7 As shown in the figure, the mother trolley 1 is also provided with a mother trolley positioning system, which includes a deceleration switch 141, an in-position detection switch 142 and a positioning structure 143.
[0033] The deceleration switch 141 includes a deceleration sensor 141a arranged at the bottom of the mother vehicle main frame 11 and a deceleration sensing point 141b arranged at the bottom of the mother vehicle track 2 and corresponding to the deceleration sensor 141a, and a deceleration sensing plate is fixedly installed on the deceleration sensing point 141b; when the deceleration sensor 141a senses the deceleration sensing point 141b, the mother vehicle power system controls the mother trolley 1 to decelerate, thereby achieving a slow stop, avoiding direct stopping resulting in excessive inertia and causing production accidents.
[0034] The in-place detection switch 142 includes an in-place sensor 142a arranged at the bottom of the mother vehicle main frame 11 and an in-place sensing point 142b arranged on the mother vehicle track 2 and corresponding to the in-place sensor 142a, and an in-place sensing piece is fixedly installed on the in-place sensing point 142b; when the in-place sensing point 142b detects the entry of the sensing piece, the mother vehicle power system controls the mother trolley 1 to stop, and the position reaches the accurate position, thereby achieving the accurate stopping position of the mother trolley 1.
[0035] The positioning structure 143 includes a positioning shaft 143a arranged at the bottom of the mother vehicle main frame 11 and a positioning hole 143b arranged on the mother vehicle track 2 for the positioning shaft 143a to be inserted. The positioning shaft 143a is connected to a positioning shaft driving device, and the positioning shaft driving device is connected to the electrical system 6. The electrical system 6 drives the positioning shaft 143a to be extended and retracted, so that it is inserted into the positioning hole 143b, thereby realizing the position locking of the mother trolley 1, thereby ensuring that the mother trolley 1 will not be displaced during loading and unloading, thereby affecting the transportation.
[0036] As a supplementary solution, the mother vehicle positioning system also includes a limit switch 144 arranged at the front and rear ends of the mother vehicle main frame 11. The limit switch 144 is arranged at the front and rear ends of the mother vehicle main frame 11. The limit switch 144 can be a roller arm travel switch, such as the ME-8104 model of the ME series. Other models can also be used in actual applications. This embodiment does not limit this, as long as it can provide effective protection to prevent the mother vehicle 1 from hitting the front and rear ends of the tunnel.
[0037] like Figure 1 and Figure 2 As shown together, two sub-trolleys 3 arranged side by side are slidably mounted on the mother trolley 1 , and the sliding direction of the sub-trolley 3 is perpendicular to the sliding direction of the mother trolley 1 .
[0038] like Figure 3 and Figure 4 As shown together, a sub-trolley track 4 for the sub-trolley 3 to run is provided on the top of the mother vehicle main frame 11, and the sub-trolley track 4 is perpendicular to the mother vehicle track 2. The sub-trolley track 4 in this embodiment is an I-shaped track, and can also be a V-shaped track or a grooved track in actual application, which is not limited in this embodiment. The sub-trolley 3 includes a sub-trolley main frame 31, and a sub-trolley running wheel is installed on the sub-trolley main frame 31. The wheel surface of the sub-trolley running wheel matches the sub-trolley track 4, so that it can roll along the sub-trolley track 4 to avoid derailment. The sub-trolley running wheel includes a plurality of sub-trolley active running wheels 321 and a plurality of sub-trolley driven running wheels 322. A sub-trolley power system is provided on the sub-trolley 3, and the sub-trolley power system includes a sub-trolley motor 331, and the sub-trolley power system is connected to the sub-trolley active running wheel 321 by transmission. In order to achieve stable traction, two sub-trolley active running wheels 321 are provided in this embodiment, which are respectively located on both sides of the sub-trolley main frame 31. In order to reduce the investment in the sub-vehicle power system, the two sub-vehicle active running wheels 321 are transmission-connected to the same sub-vehicle motor 331 .
[0039] The transmission connection mode of the sub-trolley power system transmission connection with the sub-trolley active walking wheel 321 is as follows: a sub-trolley driving gear is fixed on the output shaft of the sub-trolley motor 331, and the wheel axles of the two sub-trolley active walking wheels 321 are connected by a through shaft, and a sub-trolley driven gear is fixed on the through shaft, and the sub-trolley driving gear is meshed with the sub-trolley driven gear; the sub-trolley driving gear is driven to rotate by the sub-trolley motor 331, and then the sub-trolley driven gear is driven to rotate, and the through shaft rotates, driving the two sub-trolley active walking wheels 321 to rotate, thereby driving the sub-trolley 3 to move forward or backward along the sub-trolley track 4.
[0040] In order to achieve stable support, two driven wheels 322 are provided in the present embodiment, which are respectively located on both sides of the main frame 31 of the sub-trolley. In practical applications, the number of driven wheels 322 of the sub-trolley can be reasonably arranged according to the supporting weight of the sub-trolley 3.
[0041] The sub-trolley 3 is also provided with a sub-trolley positioning system and a power supply device that supports the operation of the sub-trolley power system and the sub-trolley positioning system. The power supply device is a lithium battery 35 installed on the sub-trolley 3, and the power used by the sub-trolley 3 is supplied by the lithium battery 35. The power used by the mother trolley 1 is powered by the ground busbar. In actual applications, other wiring methods can also be used for power supply, such as setting a drag chain and setting a power line in the drag chain. A charging device can also be provided on the mother trolley 1 to charge the lithium battery 35 of the sub-trolley 3.
[0042] The sub-trolley positioning system includes a sub-trolley photoelectric switch 341a fixed at one end of the sub-trolley main frame 31, and a sub-trolley stop point 341b is provided on the mother vehicle main frame 11 corresponding to the sub-trolley photoelectric switch 341a, and a sub-trolley stop sensor is fixedly installed on the sub-trolley stop point 341b. When the sub-trolley photoelectric switch 341a senses the sub-trolley stop sensor, the sub-trolley power system controls the sub-trolley 3 to stop running.
[0043] As another embodiment, in order to monitor the midway positions of the mother trolley 1 and the sub-trolley 3, the mother trolley positioning system also includes a roller meter 7 installed on the mother trolley main frame 11, and the bottom of the roller of the roller meter 7 of the mother trolley 1 is in contact with the mother trolley track 2, so that when the mother trolley 1 travels forward, the roller of the roller meter 7 also rotates accordingly, thereby measuring the travel distance and calculating its accurate position; the sub-trolley positioning system also includes a roller meter 7 installed on the sub-trolley main frame 31, and the bottom of the roller of the roller meter 7 of the sub-trolley 3 is in contact with the ground or the sub-trolley track 4, so that when the sub-trolley travels forward, the roller of the roller meter 7 also rotates accordingly, thereby measuring the travel distance and calculating its accurate position. The roller meter 7 can use the encoder meter wheel of the Baron craftsman or the same accessories of other brands or models.
[0044] like Figure 5 As shown, as a supplementary embodiment of the roller meter 7, in order to accurately measure the position of the sub-trolley 3, the sub-trolley positioning system also includes a gear meter 8 installed on the sub-trolley main frame 31. The gear meter 8 includes a first gear 82 fixed on the through shaft of the two sub-trolley driven running wheels 322 and an auxiliary shaft 81 rotatably installed on the sub-trolley main frame 31, a second gear 83 is fixed on the auxiliary shaft 81, the first gear 82 is meshed with the second gear 83, an encoder is fixed at one end of the auxiliary shaft 81, and the sub-trolley driven running wheel 322 moves forward, driving the first gear 82 to rotate, and then driving the auxiliary shaft 81 to rotate, so that the number of rotations is counted by the encoder, and the position of the sub-trolley 3 is measured.
[0045] The sub-trolley 3 is also provided with a lifting system 5 and an electrical system 6 for controlling the operation of the lifting system 5; the lifting system 5 includes a pneumatic cylinder, an electric cylinder or an oil cylinder, and in this embodiment, an oil cylinder, and four oil cylinders are provided, respectively located at the four corners of the sub-trolley 3, for lifting the mold on the sub-trolley 3. The electrical system includes a hydraulic station provided in the sub-trolley 3 and connected to the oil cylinder, and a hydraulic station motor 61 is provided on the hydraulic station, and the hydraulic station is connected to each oil cylinder through a pipeline, so as to control the lifting of the oil cylinder. The matching of the hydraulic station and the oil cylinder has been disclosed in the prior art, so it will not be repeated here.
[0046] The mother vehicle power system, mother vehicle positioning system, sub-vehicle power system, sub-vehicle positioning system, power supply device and electrical system 6 are all connected to the controller by signals.
[0047] like Figure 1 - Figure 7 As shown together, a work flow of a transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels:
[0048] The mother vehicle power system is started by controlling the controller, and the mother vehicle active walking wheel 121 drives the mother vehicle 1 to run along the mother vehicle track 2. When the deceleration sensor 141a detects the deceleration sensing point 141b, the mother vehicle power system controls the mother vehicle active walking wheel 121 to decelerate; when the in-position sensor 142a detects the in-position sensing point 142b, the mother vehicle power system controls the mother vehicle active walking wheel 121 to stop; the positioning shaft 143a is inserted into the positioning hole 143b to realize the position locking of the mother vehicle 1.
[0049] The controller controls the sub-trolley power system to start, and the sub-trolley active walking wheel 321 drives the sub-trolley 3 to run along the sub-trolley track 4 to realize transfer. After the transfer is completed, the sub-trolley 3 returns. When the sub-trolley photoelectric switch 341a senses the sub-trolley stop point 341b, the sub-trolley 3 stops. During the whole process, the roller meter 7 and the gear meter 8 locate the position of the sub-trolley 3.
[0050] The utility model discloses a transfer mother-and-child vehicle for producing prefabricated arc-shaped integral box culverts in shield tunnels, which solves the technical problems of low transfer efficiency and low positioning accuracy of transfer mother-and-child vehicles in the prior art. The utility model improves the transportation efficiency by arranging twin mother-and-child vehicles; a mother vehicle positioning system is arranged on the mother vehicle, and a child vehicle positioning system is arranged on the child vehicle, thereby realizing precise positioning, greatly improving the positioning accuracy, and ensuring the success rate of transfer.
[0051] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.
Claims
1. A transfer vehicle for the production of prefabricated curved integral box culverts in shield tunnels, characterized in that: It comprises a mother trolley slidably mounted on a mother trolley track, on which two sub-trolleys arranged side by side are slidably mounted, and the sliding direction of the sub-trolleys is perpendicular to the sliding direction of the mother trolley; The mother trolley is provided with a mother trolley power system and a mother trolley positioning system. The mother trolley power system drives the mother trolley to run along the mother trolley track, and the mother trolley positioning system is used to locate the position of the mother trolley; the upper surface of the mother trolley is provided with a sub-trolley track for the sub-trolley to run, and the sub-trolley track is perpendicular to the mother trolley track; The sub-trolley is provided with a sub-trolley power system, a sub-trolley positioning system and a power supply device supporting the operation of the sub-trolley power system and the sub-trolley positioning system. The sub-trolley power system drives the sub-trolley to run along the sub-trolley track, and the sub-trolley positioning system is used to locate the position of the sub-trolley; The sub-trolley is also provided with a lifting system and an electrical system for controlling the operation of the lifting system; The mother vehicle power system, mother vehicle positioning system, child vehicle power system, child vehicle positioning system, power supply device and electrical system are all connected to the controller by signals.
2. The transfer vehicle for producing prefabricated curved integral box culverts in shield tunnels according to claim 1, characterized in that: The mother trolley comprises a mother trolley main frame, a mother trolley running wheels are installed at the bottom of the mother trolley main frame, the mother trolley running wheels comprise a plurality of mother trolley active running wheels and a plurality of mother trolley driven running wheels, and the mother trolley active running wheels are transmission-connected to the mother trolley power system.
3. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 2, characterized in that: The mother vehicle is provided with two active running wheels, and each active running wheel of the mother vehicle is connected to an independent power system of the mother vehicle.
4. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 2, characterized in that: The sub-trolley comprises a sub-trolley main frame, on which sub-trolley running wheels are mounted, the sub-trolley running wheels comprising a plurality of sub-trolley active running wheels and a plurality of sub-trolley driven running wheels, and the sub-trolley active running wheels are drivingly connected to the sub-trolley power system.
5. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 4, characterized in that: The sub-vehicle is provided with two active running wheels, and the two active running wheels of the sub-vehicle are transmission-connected to the same sub-vehicle power system.
6. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 2, characterized in that: The mother vehicle positioning system includes a deceleration switch, an in-place detection switch and a positioning structure; The deceleration switch includes a deceleration sensor arranged at the bottom of the main frame of the mother vehicle and a deceleration sensing point arranged on the mother vehicle track and corresponding to the deceleration sensor; The in-place detection switch comprises an in-place sensor arranged at the bottom of the main frame of the mother vehicle and an in-place sensing point arranged on the mother vehicle track and corresponding to the in-place sensor; The positioning structure includes a positioning shaft arranged at the bottom of the main frame of the mother vehicle and a positioning hole arranged on the mother vehicle track for the positioning shaft to be inserted. The positioning shaft is connected to a positioning shaft driving device, and the positioning shaft driving device is connected to the electrical system.
7. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 6, characterized in that: The mother vehicle positioning system also includes limit switches arranged at the front and rear ends of the mother vehicle main frame.
8. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 4, characterized in that: The sub-carriage positioning system comprises a sub-carriage photoelectric switch fixed at one end of the sub-carriage main frame, and a sub-carriage stopping point is arranged on the mother car main frame corresponding to the sub-carriage photoelectric switch.
9. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 8, characterized in that: The sub-carriage positioning system also includes a roller meter installed on the main frame of the sub-carriage, and the mother car positioning system also includes a roller meter installed on the main frame of the mother car.
10. The transfer mother-and-child vehicle for the production of prefabricated curved integral box culverts in shield tunnels according to claim 9, characterized in that: The sub-vehicle positioning system also includes a gear-type meter.