Multi-posture adjusting erector

Abstract

The utility model relates to a multi-posture adjusting erector. The erector is used for assembling tunnel segments. The assembling machine comprises a rotating device, an axial sliding device, a radial sliding device and a grabbing device, and the rotating device drives the axial sliding device to rotate to adjust the assembling angle of the tunnel segments. The grabbing device comprises a grabbing arm, a posture adjusting assembly and a grabbing disc assembly, the posture adjusting assembly comprises at least one telescopic element, the two ends of the telescopic element are connected with the grabbing arm and the grabbing disc assembly respectively, and the telescopic element stretches out and draws back to drive the grabbing disc assembly to move relative to the grabbing arm. The adjusting device is used for adjusting the assembling posture of the tunnel segment. The axial sliding device and the radial sliding device are located at the end of the rotating device, do not occupy the space of the center portion and can be suitable for tunnel construction with small pipe diameters.

Description

Technical Field

[0001] The utility model relates to the technical field of tunnel construction machinery, in particular to a segment erector, and more particularly to a segment erector with multi-posture adjustment. Background Art

[0002] During the tunnel construction process, different channels need to be opened in the main tunnel to achieve different functions, such as ventilation, drainage, escape, etc. The diameters of these channels are usually smaller than the size of the main tunnel. Therefore, how to carry out effective construction in a limited space is a challenge.

[0003] As disclosed in the Chinese published document CN210178383U, a segment attitude adjustment device of a segment erector is provided. The segment attitude adjustment device of the segment erector includes a locking mechanism, a jacking fine adjustment mechanism, a connecting arm, a horizontal rotation fine adjustment mechanism, a connecting plate, a lifting mechanism, a translation mechanism and a slewing mechanism; the locking mechanism locks and disassembles the segment and the connecting plate through a locking oil cylinder; the jacking fine adjustment mechanism is fixedly installed on the connecting arm through a jacking oil cylinder, and the four jacking oil cylinders are arranged in pairs on both sides of the connecting plate; the connecting arm is a rigid structure; the horizontal rotation fine adjustment mechanism is fixedly connected between the connecting plate and the connecting arm in a hinged form through a horizontal rotation oil cylinder; the lifting mechanism is connected to the connecting arm in a hinged form through a lifting oil cylinder; the translation mechanism is fixed on the walking beam; the slewing mechanism is fixed on the translation frame.

[0004] The walking beam is fixedly installed at the center of the shield machine, and other parts of the attitude adjustment device are attached to the walking beam, that is, the walking beam is used to support the operation of the entire mechanism. However, during the construction of a small-diameter tunnel, the construction space of the tunnel is small. Not only the conveying space of the tunnel segments needs to be reserved, but also the movement space required for attitude adjustment needs to be provided. The existing segment erectors are too large in size and difficult to construct in a small-diameter tunnel, and there are technical problems such as high construction difficulty. Therefore, improvement is needed. Summary of the Utility Model

[0005] To overcome the problems existing in the related art, an embodiment of the utility model provides a segment erector with multi-posture adjustment.

[0006] According to the first aspect of the embodiment of the utility model, a segment erector with multi-posture adjustment is provided. The segment erector is used for assembling tunnel segments. The segment erector includes a rotating device, an axial sliding device fixed to the rotating device, a radial sliding device slidably installed on the axial sliding device, and a grasping device slidably installed on the radial sliding device. The axial sliding device is symmetrically arranged on the rotating device and protrudes in a cantilever shape. The sliding direction of the axial sliding device driving the grasping device and the sliding direction of the radial sliding device driving the grasping device intersect. The rotating device drives the axial sliding device to rotate to adjust the assembling angle of the tunnel segments.

[0007] The grasping device includes a grasping arm, an attitude adjustment component, and a grasping disc component movably connected to the grasping arm. The grasping disc component is used to grasp tunnel segments. The attitude adjustment component includes at least one telescopic element. Two ends of the telescopic element are respectively connected to the grasping arm and the grasping disc component. The telescopic movement of the telescopic element drives the grasping disc component to move relative to the grasping arm, so as to adjust the assembly attitude of the tunnel segments.

[0008] In one embodiment, the telescopic element is arranged as a lateral fine-tuning oil cylinder. One end of the lateral fine-tuning oil cylinder is hinged to the grasping arm, and the other end is obliquely hinged to the grasping disc component. The telescopic center line of the lateral fine-tuning oil cylinder intersects with the rotation axis of the grasping disc component to drive the grasping disc component to rotate.

[0009] In one embodiment, the telescopic element is arranged as an oblique fine-tuning oil cylinder. One end of the oblique fine-tuning oil cylinder is hinged to the grasping arm, and the other end is obliquely hinged to the grasping disc component. The telescopic center line of the oblique fine-tuning oil cylinder is inclined relative to the rotation axis of the grasping disc component to drive the grasping disc component to swing. On a plane perpendicular to the rotation axis of the grasping disc component, the projection of the telescopic center line of the lateral fine-tuning oil cylinder and the projection of the telescopic center line of the oblique fine-tuning oil cylinder are perpendicular to each other.

[0010] In one embodiment, the attitude adjustment component includes a convex spherical part. One of the grasping arm and the grasping disc component is installed with the convex spherical part, and the other is provided with a concave spherical groove adapted to the surface of the convex spherical part.

[0011] In one embodiment, the grasping disc component includes a mounting seat installed on the grasping arm, a grasping box mechanism movably installed on the mounting seat, a grasping power component assembled in the grasping box mechanism, and a grasping head connected to the grasping power component. The grasping head is used to connect the tunnel segments. At least part of the grasping box mechanism abuts against the surface of the tunnel segments. The grasping power component drives the grasping head to move so that the grasping box mechanism is tightened to limit the tunnel segments.

[0012] In one embodiment, the grasping box mechanism includes a mounting sleeve, a grasping plate connected to the mounting sleeve, and multiple abutting blocks fixedly spaced on the grasping plate. The grasping head can rotatably pass through the grasping plate. The abutting blocks are fixed with elastic pads, and the elastic pads elastically abut against the surface of the tunnel segments.

[0013] In one embodiment, the rotating device includes a mounting flange and a rotary power mechanism installed on the mounting flange. The axial sliding device is installed on the end face of the rotary power mechanism.

[0014] In one embodiment, the rotating device further includes a wire winding mechanism installed on the mounting flange. The wire winding mechanism and the rotary power mechanism are respectively located on two sides of the mounting flange. The mounting flange is provided with a wire threading channel, and the pipeline guided by the wire winding mechanism passes through the wire threading channel and then is connected to the axial sliding device and / or the grasping device.

[0015] In one embodiment, the wire winding mechanism includes an automatic reel installed on the mounting flange and a reel driving member drivingly connected to the automatic reel. The automatic reel winds a pipeline with a preset length, and the reel driving member drives the automatic reel to rotate.

[0016] In one embodiment, the axial sliding device includes two sets of horizontally guiding components arranged oppositely. The horizontally guiding component includes a guiding frame, a traveling frame sliding on the guiding frame, and a traveling power member connected to the traveling frame. The traveling power member drives the traveling frame to slide along the guiding frame, and the radial sliding device is installed on the traveling frame.

[0017] The technical solutions provided by the embodiments of the present utility model may include the following beneficial effects: The axial sliding device and the radial sliding device are located at the end of the rotating device, without occupying the space in the central part, and can be applied to the tunnel construction with a small pipe diameter. The rotating device, the axial sliding device and the radial sliding device realize the flexible adjustment of the rotation angle, the axial position and the radial position of the tunnel segment. The telescopic element drives the angle fine adjustment of the grasping disc assembly, so as to finely adjust the assembly position of the tunnel segment, and the adjustment is flexible.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present utility model. Description of the Drawings

[0019] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present utility model, and are used together with the specification to explain the principles of the present utility model.

[0020] Figure 1 is a schematic structural view of a segment erector shown according to an embodiment.

[0021] Figure 2 is a front view structural schematic of a segment erector shown according to an embodiment.

[0022] Figure 3 is a schematic view showing the axial sliding device and the radial sliding device in a segment erector moving to adjust the attitude of a tunnel segment.

[0023] Figure 4 is a schematic structural view of a grasping device shown according to an embodiment.

[0024] Figure 5 It is a schematic cross-sectional structure diagram showing a grasping device according to an embodiment.

[0025] In the figure, there is a rotating device 10; a mounting flange 11; a rotary power mechanism 12; a wiring groove 121; a wire winding mechanism 13; a driving power member 14; an axial sliding device 20; a guide frame 21; a traveling frame 22; a traveling power member 23; a radial sliding device 30; a connecting frame 31; a lifting power member 32; a grasping device 40; a grasping disc assembly 401; a grasping arm 41; a mounting seat 42; a grasping box mechanism 43; a butting block 431; a grasping plate 432; a grasping head 44; an inclined fine-tuning oil cylinder 45; a transverse fine-tuning oil cylinder 46; a grasping power member 47; a convex spherical member 48; a grasping sleeve 49; and a tunnel segment 50. Specific embodiments

[0026] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation to the present invention; for better illustrating the embodiments of the present invention, some components in the drawings are omitted, enlarged or reduced, and do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0027] In the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, and 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 operated in a specific orientation. Therefore, the terms describing the positional relationship in the drawings are only for illustrative purposes and should not be construed as a limitation to the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0028] In the description of the present invention, unless otherwise clearly defined and limited, if terms such as "connection" are used to indicate the connection relationship between components, this term should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] Such as Figures 1 to 4As shown in the figure, the utility model provides a multi-posture adjustable segment assembling machine, which is used for assembling tunnel segments 50. The segment assembling machine includes a rotating device 10, an axial sliding device 20, a radial sliding device 30 and a grasping device 40. The grasping device 40 is used for actively grasping the tunnel segment 50. The rotating device 10 can achieve reciprocating rotation, so as to drive the tunnel segment 50 to rotate around the rotation axis and adjust the assembling angle.

[0030] The axial sliding device 20 is symmetrically arranged on the rotating device 10 and protrudes in a cantilever shape, so as to drive the radial sliding device 30 and the grasping device 40 to move along the cantilever direction, thereby realizing the overall axial forward and backward movement. The radial sliding device 30 is slidably installed on the axial sliding device 20, and the grasping device 40 is slidably installed on the radial sliding device 30, so as to adjust the movement posture of the tunnel segment 50 in two perpendicular directions. The sliding direction of the axial sliding device 20 driving the grasping device 40 intersects with the sliding direction of the radial sliding device 30 driving the grasping device 40. The rotating device 10 drives the axial sliding device 20 to rotate to adjust the assembling angle of the tunnel segment 50. The axial sliding device 20 and the radial sliding device 30 are located at the end of the rotating device 10, without occupying the space in the central part, and can be applied to tunnel construction with a small diameter. The rotating device 10, the axial sliding device 20 and the radial sliding device 30 realize the flexible adjustment of the tunnel segment 50 in terms of rotation angle, axial position and radial position.

[0031] The grasping device 40 grasps the tunnel segment 50, and the moving ranges of the rotating device 10, the axial sliding device 20 and the radial sliding device 30 are large, so as to drive the grasping device 40 to move in a large size. Further, the grasping device 40 includes a grasping arm 41, a posture adjusting component and a grasping disc component 401 movably connected to the grasping arm 41. The grasping disc component 401 is used for grasping the tunnel segment 50. The posture adjusting component includes at least one telescopic element. The two ends of the telescopic element are respectively connected to the grasping arm 41 and the grasping disc component 401. The telescopic movement of the telescopic element drives the grasping disc component 401 to move relative to the grasping arm 41, and is used for adjusting the assembling posture of the tunnel segment 50.

[0032] When the grasping device 40 grasps the tunnel segment 50 and moves it to the position to be assembled, the telescopic element drives the angle fine adjustment of the grasping disc component 401, so as to be able to finely adjust the assembling position of the tunnel segment 50, and the adjustment is flexible. Through the combination of the telescopic element and other movable parts, the large-range posture adjustment and the small-angle assembling posture fine adjustment are realized. The assembling accuracy of the tunnel segment 50 is high. Moreover, these movable parts are all located at one end of the rotating device 10, which does not affect the conveying of the tunnel segment 50, and the required assembling space is small, and it is applicable to tunnel construction with a small diameter.

[0033] As Figures 3 to 5As shown, the gripping disc assembly 401 is rotatably connected to the gripping arm 41. For example, the gripping disc assembly 401 is connected to the gripping arm 41 through a rotating shaft structure. The gripping disc assembly 401 rotates relative to the gripping arm 41 about the rotation axis to adjust the rotation angle of the gripping disc assembly 401. In an embodiment, the telescopic element is set as the lateral fine-tuning oil cylinder 46. One end of the lateral fine-tuning oil cylinder 46 is hinged to the gripping arm 41, and the other end is obliquely hinged to the gripping disc assembly 401. The telescopic center line of the lateral fine-tuning oil cylinder 46 intersects with the rotation axis of the gripping disc assembly 401 to drive the gripping disc assembly 401 to rotate. The lateral fine-tuning oil cylinder 46 can be telescopically adjusted in length. By the telescopic movement of the lateral fine-tuning oil cylinder 46, the overall length is adjusted, so that the gripping disc assembly 401 and the gripping arm 41 connected to both ends of the lateral fine-tuning oil cylinder 46 rotate in opposite directions respectively. If the position of the gripping arm 41 is fixed, the gripping disc assembly 401 drives the tunnel segment 50 to rotate to form a rotational adjustment movement posture.

[0034] Preferably, the hinge positions at both ends of the lateral fine-tuning oil cylinder 46 are symmetrically arranged relative to the rotation axis of the gripping disc assembly 401 to achieve balanced and controllable rotation angle. Preferably, the length direction of the lateral fine-tuning oil cylinder 46 is perpendicular to the rotation axis of the gripping disc assembly 401 to further facilitate the calculation of the rotation angle.

[0035] Furthermore, the telescopic element is set as the oblique fine-tuning oil cylinder 45. One end of the oblique fine-tuning oil cylinder 45 is hinged to the gripping arm 41, and the other end is obliquely hinged to the gripping disc assembly 401. The telescopic center line of the oblique fine-tuning oil cylinder 45 is inclined relative to the rotation axis of the gripping disc assembly 401 to drive the gripping disc assembly 401 to swing.

[0036] The oblique fine-tuning oil cylinder 45 is obliquely connected to the gripping disc assembly 401 and the gripping arm 41. Correspondingly, the rotating parts of the gripping disc assembly 401 and the gripping arm 41 are universal rotation to realize the swing of the oblique fine-tuning oil cylinder 45. Among them, the attitude adjustment assembly includes a convex spherical part 48. One of the gripping arm 41 and the gripping disc assembly 401 is installed with the convex spherical part 48, and the other is provided with a concave spherical groove adapted to the surface of the convex spherical part 48. The convex spherical part 48 is located between the gripping arm 41 and the gripping disc assembly 401 to form a universal rotation. The convex spherical part 48 is annularly installed on the gripping arm 41, the convex spherical surface of the convex spherical part 48 faces outward, and the gripping disc assembly 401 is provided with a curved surface to cooperate with the convex spherical part 48 to realize universal rotation.

[0037] The central axis of the convex spherical part 48 forms a rotational axis. The telescopic axis of the oblique fine-tuning oil cylinder 45 is inclined relative to the rotational axis. The oblique fine-tuning oil cylinder 45 obliquely pulls to adjust the swing angle of the grasping box mechanism 43 relative to the mounting seat 42. Among them, the connection parts of the oblique fine-tuning oil cylinder 45, the mounting seat 42, and the grasping box mechanism 43 form a triangular structure. The oblique fine-tuning oil cylinder 45 can perform telescopic movement to adjust the overall length. With the telescopic change of the oblique fine-tuning oil cylinder 45, the grasping box mechanism 43 swings relative to the mounting seat 42 to form swing adjustment. The swing direction of the oblique fine-tuning oil cylinder 45 and the rotation direction of the transverse fine-tuning oil cylinder 46 are two directions of fine-tuning to achieve fine adjustment of the tunnel segment 50.

[0038] The grasping disc assembly 401 can achieve large-size adjustment through the rotating device 10, the axial sliding device 20, and the radial sliding device 30, and can also be finely adjusted by the oblique fine-tuning oil cylinder 45 and the transverse fine-tuning oil cylinder 46. Among them, the grasping disc assembly 401 includes a mounting seat 42 installed on the grasping arm 41, a grasping box mechanism 43 movably installed on the mounting seat 42, a grasping power part 47 assembled in the grasping box mechanism 43, and a grasping head 44 connected to the grasping power part 47. The grasping head 44 is used to connect the tunnel segment 50. At least part of the grasping box mechanism 43 abuts against the surface of the tunnel segment 50. The grasping power part 47 drives the grasping head 44 to move so that the grasping box mechanism 43 tightens and confines the tunnel segment 50.

[0039] The grasping arm 41 is a frame structure processed from pipes or plates. At least part of the grasping arm 41 is bent and protruded to form a clearance part, which is convenient for adjusting the posture of the grasping disc assembly 401 and grasping the tunnel segment 50. Among them, the grasping disc assembly 401 includes a mounting seat 42, a grasping box mechanism 43 movably installed on the mounting seat 42, a grasping power part 47 assembled in the grasping box mechanism 43, and a grasping head 44 connected to the grasping power part 47. The grasping head 44 is used to connect the tunnel segment 50. At least part of the grasping box mechanism 43 abuts against the surface of the tunnel segment 50. The grasping power part 47 drives the grasping head 44 to move so that the grasping box mechanism 43 tightens and confines the tunnel segment 50.

[0040] The gripping head 44 is slidably connected to the gripping power member 47, and there is a sliding space between the gripping head 44 and the gripping power member 47. The gripping head 44 is used for screwing connection to the tunnel segment 50. The telescopic movement of the gripping power member 47 drives the gripping head 44 to cooperate with the gripping box mechanism 43 to loosen or tension the tunnel segment 50. Preferably, the gripping power member 47 is a telescopic oil cylinder. When the gripping head 44 is connected to the assembly hole of the tunnel segment 50, wherein the gripping head 44 and the tunnel segment 50 are screwed together. After the gripping head 44 completes the connection, the gripping power member 47 retracts to drive the movement of the gripping head 44, so that the surface of the tunnel segment 50 and the gripping box mechanism 43 are closely attached, improving that the tunnel segment 50 will not shift or deform during the assembly process. Optionally, a gripping sleeve 49 is connected between the gripping head 44 and the gripping power member 47. The gripping head 44 is inserted and movably connected to the gripping sleeve 49. An empty space for the telescopic movement of the gripping head 44 is provided in the gripping sleeve 49. The output shaft of the gripping power member 47 is connected to the other end of the gripping sleeve 49. When the gripping power member 47 moves telescopically, the gripping head 44 can move correspondingly or be tensioned.

[0041] The gripping box mechanism 43 extends and unfolds from the gripping head 44 to both sides. The bending curvature of the gripping box mechanism 43 is adapted to the tunnel segment 50 to achieve multi-point support and connection. Among them, the gripping box mechanism 43 includes a mounting sleeve, a gripping plate 432 fixedly installed on the mounting sleeve, and multiple abutting blocks 431 fixedly spaced on the gripping plate 432. The gripping plate 432 is a curved plate structure, and the multiple abutting blocks 431 are spaced on the gripping plate 432. Preferably, an elastic pad is fixed on the abutting block 431, and the elastic pad elastically abuts against the surface of the tunnel segment 50. An elastic pad is fixed on the surface of the abutting block 431, which can cooperate with the gripping power member 47 to drive the tunnel segment 50 to abut and squeeze the elastic pad to achieve soft-fit tensioning.

[0042] As Figures 1 to 4 shown, the rotating device 10 serves as the rotating drive part of the segment erector and is connected to the shield machine. Among them, the rotating device 10 includes a mounting flange 11 and a slewing power mechanism 12 installed on the mounting flange 11. The axial sliding device 20 is installed on the end face of the slewing power mechanism 12. The mounting flange 11 is a rigid structural member for fixedly connecting to the main beam or the shield machine to form a fixed support connection.

[0043] The rotary power mechanism 12 is installed on the mounting flange 11. The rotary power mechanism 12 can drive the axial sliding device 20, the radial sliding device 30 and the grasping device 40 to rotate, so as to adjust the assembling rotation angle of the tunnel segment 50. Optionally, the rotary power mechanism 12 includes a rotary frame, a driving power component 14 installed on the mounting flange 11 and a gear frame installed on the rotary frame. The axial sliding device 20 is installed on the rotary frame. The driving power component 14 is connected to the gear frame in a tooth-shaped meshing manner through a driving gear. The driving gear drives the gear frame to rotate, so as to drive the rotary frame to rotate. Preferably, an encoder is installed on the mounting flange 11 to realize the limit control of the rotation action angle.

[0044] Further, the segment erector is provided with cables and hydraulic oil pipes. The cables are control lines for realizing the hydraulic control function, and are used to drive motors or hydraulic cylinders to drive so as to realize the telescopic movement. The rotating device 10 further includes a wire winding mechanism 13 installed on the mounting flange 11. The wire winding mechanism 13 and the rotary power mechanism 12 are respectively located on both sides of the mounting flange 11. The mounting flange 11 is provided with a wire passing channel. The pipelines guided by the wire winding mechanism 13 pass through the wire passing channel and are then connected to the axial sliding device 20 and / or the grasping device 40.

[0045] The rotary power mechanism 12 is provided with a wiring groove 121. The pipelines guided by the wire winding mechanism 13 are tensioned and arranged in the wiring groove 121. The pipelines are connected to the grasping device 40 and the horizontal guiding assembly. The wire winding mechanism 13 drives the cables and hydraulic oil pipes to be tensioned and telescopic, so as to reduce the discreteness of the cables. Among them, part of the pipelines are tensioned and arranged in the wiring groove 121, and extend out of the wiring groove 121 at the corresponding positions and are connected to the corresponding hydraulic cylinders or electrical components, so as to shorten the length of the pipelines extending out of the wiring groove 121.

[0046] Preferably, the wire winding mechanism 13 includes an automatic reel installed on the mounting flange 11 and a reel driving component drivingly connected to the automatic reel. The automatic reel is wound with pipelines of a preset length. The reel driving component drives the automatic reel to rotate. The cable with a reserved length is spirally wound 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 a spring-loaded reel to realize automatic winding or active winding linkage and keep the storage neatness of the pipelines.

[0047] The driving modes and driving structures of the axial sliding device 20 and the radial sliding device 30 are similar, and the telescopic oil cylinder can be used as the driving power. Among them, the axial sliding device 20 includes two sets of horizontally arranged guiding assemblies which are oppositely arranged. The horizontally arranged guiding assemblies are installed on the end face of the rotary frame and protrude away from the mounting flange 11.

[0048] The horizontal guiding assembly includes a guiding frame 21, a traveling frame 22 slidably disposed on the guiding frame 21, and a traveling power member 23 connected to the traveling frame 22. The traveling power member 23 drives the traveling frame 22 to slide along the guiding frame 21, and the radial sliding device 30 is installed on the traveling frame 22. The guiding frame 21 is of a cantilever structure, and the traveling frame 22 slides on the guiding frame 21 to form a linear sliding structure, so as to drive the radial sliding device 30 to move linearly back and forth. It is worth mentioning that the horizontal guiding assembly is located on one side of the slewing frame, and the occupied assembly space is within the rotational projection range of the mounting flange 11, without the need to additionally configure a moving space or a supporting structure, reducing the operating space of the segment erector and being applicable to the tunnel construction of small-diameter pipes.

[0049] The traveling frame 22 is slidably connected to the guiding frame 21. Among them, the traveling frame 22 is sleeved outside the guiding frame 21 to form a force-bearing support structure. The traveling power member 23 is connected to the traveling frame 22 to drive the traveling frame 22 to move along the guiding frame 21. The traveling power member 23 expands and contracts to drive the traveling frame 22 to move along the guiding frame 21 to change the moving amount.

[0050] Preferably, the traveling power member 23 and the guiding frame 21 are arranged at intervals. The end of the output shaft of the traveling power member 23 is hingedly connected to the axial sliding device 20, and the cylinder block of the traveling power member 23 is connected to the guiding frame 21 to improve the stability and accuracy of the moving stroke. Optionally, the traveling power member 23 is set as a traveling oil cylinder, and the traveling oil cylinder expands and contracts to drive the guiding frame 21 to slide linearly. Further preferably, the clamp frame is connected to the middle of the guiding frame 21 to improve the balance of the force during reciprocating movement.

[0051] The radial sliding device 30 is located in the area between the two guiding frames 21 to reduce the span of the grasping device 40 and concentrate the force on the tunnel segment 50 on the inner sides of the two guiding frames 21, so as to flexibly adjust the assembling posture of the tunnel segment 50.

[0052] The radial sliding device 30 includes a connecting frame 31 slidably connected to the axial sliding device 20 and a lifting power member 32. Both ends of the grasping arm 41 are connected to the connecting frame 31. The lifting power member 32 is fixedly connected to the traveling frame 22 and is movably connected to the connecting frame 31. The connecting frame 31 is slidably connected to the traveling frame 22, and the lifting power member 32 drives the connecting frame 31 to slide along the traveling frame 22 to adjust the grasping position of the grasping disc assembly 401.

[0053] Optionally, the lifting power member 32 can be configured as a lifting oil cylinder to improve the moving thrust and the accuracy of the stopping position. Preferably, the lifting power member 32 is a lifting oil cylinder and is located on one side of the connecting frame 31, and the lifting oil cylinder and the connecting frame 31 are arranged in parallel. As a preference, connecting beams are connected to the ends of the two connecting frames 31, and the connecting beam, the two connecting frames 31 and the grasping arm 41 form an annular structure to improve the stability of the structural form.

[0054] Therefore, the adjustment of the assembling machine in the present utility model has multi-dimensional and refined adjustment. Its working process is as follows: the gripping head 44 is rotatably connected to the tunnel segment 50. The gripping power member 47 retracts to drive the gripping head 44 to retract. The gripping plate 432 is in multi-point abutment against the surface of the tunnel segment 50 through the abutting block 431. The gripping power member 47 continues to apply pressure to cause elastic deformation of the elastic pad. The slewing power mechanism 12 drives the slewing frame and the grabbed tunnel segment 50 to rotate and adjust the assembling angle. The lifting power member 32 drives the connecting frame 31 and the tunnel segment 50 to move radially to reduce the radial movement size. Then, the traveling frame 22 drives the tunnel segment 50 to slide along the guiding frame 21 to adjust the axial position.

[0055] After the tunnel segment 50 moves to the area to be assembled, the lifting power member 32 drives the connecting frame 31 and the tunnel segment 50 to move radially to increase the radial movement size. Then, the swing inclination angle of the tunnel segment 50 is adjusted by the oblique fine-tuning oil cylinder 45, and the rotation angle of the tunnel segment 50 is adjusted by the lateral fine-tuning oil cylinder 46. After comprehensive and refined adjustment, the tunnel segment 50 is moved and inserted for assembly through the traveling frame 22, so that the side surface of the tunnel segment 50 is assembled and connected to the adjacent tunnel segment 50 in a matching manner.

[0056] Those skilled in the art will readily conceive of other embodiments of the present utility model after considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present utility model, which follow the general principles of the present utility model and include known common knowledge or conventional technical means in the technical field not disclosed in the present utility model. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present utility model are pointed out by the following claims.

[0057] It should be understood that the present utility model is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present utility model is only limited by the appended claims.

Claims

1. A multi-posture adjustable assembling machine, which is used for assembling tunnel segments, is characterized in that, The segment assembling machine includes a rotating device, an axial sliding device fixed to the rotating device, a radial sliding device slidably mounted on the axial sliding device, and a grasping device slidably mounted on the radial sliding device. The axial sliding device is symmetrically arranged on the rotating device and protrudes in a cantilever shape. The sliding direction of the axial sliding device driving the grasping device and the sliding direction of the radial sliding device driving the grasping device intersect. The rotating device drives the axial sliding device to rotate and adjust the assembling angle of the tunnel segment. The grasping device includes a grasping arm, an attitude adjusting assembly, and a grasping disc assembly movably connected to the grasping arm. The grasping disc assembly is used to grasp the tunnel segment. The attitude adjusting assembly includes at least one telescopic element. Two ends of the telescopic element are respectively connected to the grasping arm and the grasping disc assembly. The telescopic movement of the telescopic element drives the grasping disc assembly to move relative to the grasping arm, for adjusting the assembling attitude of the tunnel segment.

2. The assembling machine according to claim 1, characterized in that, The telescopic element is set as a lateral fine-tuning oil cylinder. One end of the lateral fine-tuning oil cylinder is hingedly connected to the grasping arm, and the other end is obliquely hingedly connected to the grasping disc assembly. The telescopic center line of the lateral fine-tuning oil cylinder intersects with the rotation axis of the grasping disc assembly, so as to drive the grasping disc assembly to rotate.

3. The assembling machine according to claim 2, wherein The telescopic element is set as an inclined fine-tuning oil cylinder. One end of the inclined fine-tuning oil cylinder is hingedly connected to the grasping arm, and the other end is obliquely hingedly connected to the grasping disc assembly. The telescopic center line of the inclined fine-tuning oil cylinder is inclined relative to the rotation axis of the grasping disc assembly, so as to drive the grasping disc assembly to swing. On the plane perpendicular to the rotation axis of the grasping disc assembly, the projection of the telescopic center line of the lateral fine-tuning oil cylinder and the projection of the telescopic center line of the inclined fine-tuning oil cylinder are perpendicular to each other.

4. The assembling machine according to claim 1, wherein The attitude adjusting assembly includes a convex spherical part. One of the grasping arm and the grasping disc assembly is installed with the convex spherical part, and the other is provided with a concave spherical groove adapted to the surface of the convex spherical part.

5. The assembling machine according to claim 1, characterized in that, The grasping disc assembly includes a mounting seat installed on the grasping arm, a grasping box mechanism movably installed on the mounting seat, a grasping power part assembled in the grasping box mechanism, and a grasping head connected to the grasping power part. The grasping head is used to connect the tunnel segment. At least part of the grasping box mechanism abuts against the surface of the tunnel segment. The grasping power part drives the grasping head to move, so that the grasping box mechanism is tightened to limit the tunnel segment.

6. The assembling machine according to claim 5, characterized in that, The grasping box mechanism includes a mounting sleeve, a grasping plate connected to the mounting sleeve, and multiple abutting blocks fixedly spaced on the grasping plate. The grasping head can rotatably pass through the grasping plate. Elastic pads are fixed on the abutting blocks, and the elastic pads elastically abut against the surface of the tunnel segment.

7. The assembling machine according to claim 1, wherein, The rotating device includes a mounting flange and a rotary power mechanism installed on the mounting flange. The axial sliding device is installed on the end face of the rotary power mechanism.

8. The assembling machine according to claim 7, wherein, The rotating device further includes a wire winding mechanism mounted on the mounting flange. The wire winding mechanism and the rotary power mechanism are respectively located on both sides of the mounting flange. The mounting flange is provided with a wire threading channel, and the pipeline guided by the wire winding mechanism passes through the wire threading channel and then is connected to the axial sliding device and / or the grasping device.

9. The assembling machine according to claim 8, wherein The wire winding mechanism includes an automatic reel mounted on the mounting flange and a reel driving member drivingly connected to the automatic reel. The automatic reel is wound with a pipeline of a preset length, and the reel driving member drives the automatic reel to rotate.

10. The assembling machine according to claim 1, wherein, The axial sliding device includes two sets of horizontally guiding components arranged oppositely. The horizontally guiding component includes a guiding frame, a traveling frame sliding on the guiding frame, and a traveling power member connecting the traveling frame. The traveling power member drives the traveling frame to slide along the guiding frame, and the radial sliding device is mounted on the traveling frame.

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