Shield segment water collecting and plastering device

Abstract

The utility model discloses a water collecting and plastering device for a shield segment. The water collecting and plastering device comprises a driving mechanical arm; the plastering mechanism comprises a base connected with the driving end of the driving mechanical arm and a plastering scraper arranged in a mounting groove of the base in a hinged and driven mode, rotating driving devices are arranged on the mounting groove and located on the two sides of the hinged position of the plastering scraper, and the telescopic driving ends of the rotating driving devices abut against the inner end face of the plastering scraper through vibrators; the plastering mold is provided with an arc-shaped forming groove and a striker plate which are used for duct piece mortar pouring and shield duct piece plastering forming; a plastering mold is arranged on the first guide rail in a sliding driving manner; the second guide rail is located on the side face of the first guide rail and provided with a driving mechanical arm in a sliding driving mode. The utility model can solve the problems that the manual plastering efficiency of the existing shield segment is low, the quality of finished products is poor, and the plastering device cannot be suitable for the plastering processing of an arc-shaped surface.

Description

Technical Field

[0001] The utility model relates to the technical field of shield segment production devices, in particular to a shield segment water collecting and finishing device. Background Art

[0002] Shield segments are the primary assembly components of shield construction and the innermost barrier of the tunnel, responsible for resisting soil pressure, groundwater pressure, and certain special loads. They are the permanent lining structure of shield tunnels. The quality of their forming directly impacts the overall quality and safety of the tunnel, affecting its waterproofing and durability.

[0003] The production of shield segments generally uses concrete slurry as raw material for one-time molding. The production process is relatively complicated, including processing steel skeletons, placing steel skeletons, placing embedded parts, closing the cover plates, pouring concrete to form, water-absorbing finishing, covering with plastic film, pressing the cover, stopping, steam curing, demoulding, secondary curing, inspection, and stacking of finished products.

[0004] In order to match the size and shape of the tunnel, the outer surface of the concrete shield segments is mostly curved to improve the surface finish of the segments and ensure stable and secure positioning during subsequent assembly. However, the finishing process of the outer curved surface of the concrete shield segments is still mostly done manually. Each assembly line requires at least two people to work simultaneously. When finishing, the workers stand on both sides of the mold, holding the finishing channel steel handles, finishing the uneven parts of the concrete segment surface and scraping away the excess cement. This working method is not only time-consuming and labor-intensive, but also difficult to ensure the quality of the segments and reduces production efficiency. Existing finishing equipment is not suitable for the finishing of the curved surface of the shield segments. Utility Model Content

[0005] The purpose of the utility model is to provide a shield segment water-collecting and finishing device in order to solve the problems of low efficiency of manual finishing of existing shield segments, poor quality of finished products and inability of finishing devices to be applied to finishing of curved surfaces.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a shield segment water collecting and finishing device, comprising:

[0007] Drive the robotic arm;

[0008] The plastering mechanism comprises a base connected to the driving end of the driving mechanical arm and a plastering scraper hingedly connected to and driven by the plastering scraper in a mounting groove of the base, wherein the mounting groove is provided with a rotation drive device on both sides of the hinge of the plastering scraper, and the telescopic drive end of the rotation drive device abuts against the inner end surface of the plastering scraper through a vibrator;

[0009] The finishing mold is provided with arc-shaped forming grooves and material baffles for pouring mortar and forming the shield segment finishing;

[0010] a first guide rail on which the plastering mold is slidably driven;

[0011] The second guide rail is located on the side of the first guide rail, and the driving mechanical arm is slidingly driven thereon.

[0012] As a further description of the above technical solution:

[0013] The driving robot arm includes a rotating seat arranged on the base for rotating and driving on a horizontal plane and a multi-axis robot positioned on the rotating seat, and the driving end of the multi-axis robot is connected to the top surface of the base through a buffer frame.

[0014] As a further description of the above technical solution:

[0015] A first hinge seat is provided at the axis in the longitudinal direction of the top of the installation groove, and the first hinge seat is hinged to the second hinge seat of the wiping scraper.

[0016] As a further description of the above technical solution:

[0017] A buffer pad is provided at the bottom of the vibrator, and the buffer pad abuts against the inner end surface of the plastering scraper.

[0018] As a further description of the above technical solution:

[0019] A preload spring is also provided between the inner end surface of the plastering scraper and the top surface of the mounting groove.

[0020] As a further description of the above technical solution:

[0021] The bottom surface of the base is also provided with a guide wheel for docking with the top edge of the arc-shaped forming groove.

[0022] As a further description of the above technical solution:

[0023] The driving mechanical arm is docked with a drag chain at its side, and the drag chain is arranged on a bracket, and the bracket is parallel to the second guide rail.

[0024] In summary, due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0025] This shield segment finishing device drives the mechanical arm to adjust the position of the finishing mechanism so that it can dock with the arc-shaped forming groove of the finishing mold. The finishing scraper is rotated and driven and the angle is adjusted by the rotating drive equipment so that it is close to the surface of the segment mortar and the finishing is carried out. The vibrator can ensure the compaction of the segment mortar. The second guide rail cooperates with the synchronous drive of the driving mechanical arm to realize the continuous and efficient automatic finishing treatment of the mortar extending outside the arc-shaped forming groove by the finishing scraper, thereby ensuring the forming quality of the shield segment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is the main view of a shield segment water-collecting and finishing device.

[0028] Figure 2 It is a side cross-sectional view of the plastering mechanism in a shield segment water-collecting and plastering device.

[0029] Legend:

[0030] 1. Driving robot arm; 11. Rotating seat; 12. Multi-axis robot; 13. Buffer frame; 2. Plastering mechanism; 20. Base; 21. Mounting slot; 22. Plastering scraper; 23. Rotation drive device; 24. Vibrator; 25. First articulated seat; 26. Second articulated seat; 27. Buffer pad; 28. Preload spring; 29. ​​Guide wheel; 3. Plastering mold; 31. Arc forming groove; 32. Material stop plate; 4. First guide rail; 5. Second guide rail; 6. Drag chain; 61. Bracket; 100. Shield segment. DETAILED DESCRIPTION

[0031] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0033] See also Figure 1-2 The utility model provides a technical solution: a shield segment water collecting and finishing device, comprising:

[0034] Drive robotic arm 1;

[0035] The plastering mechanism 2 includes a base 20 connected to the driving end of the driving robot arm 1 and a plastering scraper 22 that is hinged and driven in a mounting groove 21 of the base 20. The mounting groove 21 is provided with a rotation drive device 23 on both sides of the hinge of the plastering scraper 22. The telescopic drive end of the rotation drive device 23 abuts against the inner end surface of the plastering scraper 22 through a vibrator 24.

[0036] The finishing mold 3 is provided with an arc-shaped forming groove 31 and a material retaining plate 32 for pouring mortar of the segment and forming the finishing of the shield segment 100;

[0037] A first guide rail 4 on which the plastering mold 3 is slidably mounted;

[0038] The second guide rail 5 is located on the side of the first guide rail 4, and the driving mechanical arm 1 is slidingly driven thereon.

[0039] This shield segment finishing device drives the mechanical arm to adjust the position of the finishing mechanism so that it can dock with the arc-shaped forming groove of the finishing mold. The finishing scraper is rotated and driven and the angle is adjusted by the rotating drive equipment so that it is close to the surface of the segment mortar and the finishing is carried out. The vibrator can ensure the compaction of the segment mortar. The second guide rail cooperates with the synchronous drive of the driving mechanical arm to realize the continuous and efficient automatic finishing treatment of the mortar extending outside the arc-shaped forming groove by the finishing scraper, thereby ensuring the forming quality of the shield segment.

[0040] The driving robotic arm 1 includes a rotating base 11 arranged on a base for rotating on a horizontal plane and a multi-axis manipulator 12 positioned on the rotating base 11. The driving end of the multi-axis manipulator 12 is docked with the top surface of the base 20 through a buffer frame 13 to improve the flexibility of the driving robotic arm 1.

[0041] A first hinged seat 25 is provided at the axis in the longitudinal direction of the top of the mounting groove 21. The first hinged seat 25 is hinged to the second hinged seat 26 of the plastering scraper 22, thereby improving the flexibility of rotation and direction adjustment of the plastering scraper 22, ensuring the continuity of the plastering of the pipe segment mortar on the surface of the arc-shaped forming groove, and ensuring the quality of the plastering treatment.

[0042] A buffer pad 27 is provided at the bottom of the vibrator 24, and the buffer pad 27 abuts against the inner end surface of the plastering scraper 22, which can reduce the collision and extrusion force between the two sides of the rotating driving devices 23 when pushing the plastering scraper 22 to achieve steering.

[0043] A preload spring 28 is provided between the inner end surface of the plastering scraper 22 and the top surface of the mounting groove 21, which can provide a preload force (pulling force or pushing force) for the plastering scraper 22 when the vibrator 24 is running, so as to cooperate with the vibrator 24 to realize the slurry plastering compaction processing of the plastering scraper 22.

[0044] The bottom surface of the base 20 is also provided with a guide wheel 29 for docking with the top edge of the arc-shaped forming groove 31, so that the finishing mechanism 2 can move close to the top edge of the arc-shaped forming groove 31, ensuring the stability and continuity of the finishing of the arc-shaped surface of the shield segment 100.

[0045] The driving robot arm 1 is docked with the drag chain 6 at its side. The drag chain 6 is arranged on a bracket 61. The bracket 61 is parallel to the second guide rail 5, thereby improving the stability of the driving robot arm 1 moving parallel to the plastering mold 3.

[0046] The above-mentioned driving device and method adopt one or more of motor, cylinder or hydraulic cylinder.

[0047] The working principle of a shield segment water-collecting and finishing device of the present embodiment includes: when in use, the finishing mold 3 pre-cast with the segment slurry is moved to the driving mechanical arm 1 through the first guide rail 4, the rotating seat 11 rotates, driving the finishing mechanism 2 to move above the finishing mold 3, and the multi-axis manipulator 12 moves the finishing mechanism 2 to the arc-shaped forming groove 31. Through its synchronous movement drive with the second guide rail 5, the finishing mechanism 2 slides stably on the arc surface of the arc-shaped forming groove 31, realizing continuous and efficient arc-shaped finishing treatment of the slurry. During this period, the rotating drive device 23 rotates and drives the finishing scraper 22, adjusts the angle, makes it close to the segment mortar surface and performs finishing. The vibrator 24 cooperates with the pre-tightening spring 28 to ensure that the segment mortar is compacted. After the finishing is completed, the driving mechanical arm 1 drives the finishing mechanism 2 to reset, and the first guide rail 4 moves the finished finishing mold 3 to the next process.

[0048] In summary, due to the adoption of the above technical solution, the shield segment water-collecting and finishing device of this embodiment has the following beneficial effects compared with the prior art:

[0049] This shield segment finishing device drives the mechanical arm to adjust the position of the finishing mechanism so that it can dock with the arc-shaped forming groove of the finishing mold. The finishing scraper is rotated and driven and the angle is adjusted by the rotating drive equipment so that it is close to the surface of the segment mortar and the finishing is carried out. The vibrator can ensure the compaction of the segment mortar. The second guide rail cooperates with the synchronous drive of the driving mechanical arm to realize the continuous and efficient automatic finishing treatment of the mortar extending outside the arc-shaped forming groove by the finishing scraper, thereby ensuring the forming quality of the shield segment.

[0050] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A shield segment water collection and finishing device, characterized in that: include: Drive the robotic arm; The plastering mechanism comprises a base connected to the driving end of the driving mechanical arm and a plastering scraper hingedly connected to and driven by the plastering scraper in a mounting groove of the base, wherein the mounting groove is provided with a rotation drive device on both sides of the hinge of the plastering scraper, and the telescopic drive end of the rotation drive device abuts against the inner end surface of the plastering scraper through a vibrator; The finishing mold is provided with arc-shaped forming grooves and material baffles for pouring mortar and forming the shield segment finishing; a first guide rail on which the plastering mold is slidably driven; The second guide rail is located on the side of the first guide rail, and the driving mechanical arm is slidingly driven thereon.

2. A shield segment water collecting and finishing device according to claim 1, characterized in that: The driving robot arm includes a rotating seat arranged on the base for rotating and driving on a horizontal plane and a multi-axis robot positioned on the rotating seat, and the driving end of the multi-axis robot is connected to the top surface of the base through a buffer frame.

3. A shield segment water collecting and finishing device according to claim 1, characterized in that: A first hinge seat is provided at the axis in the longitudinal direction of the top of the installation groove, and the first hinge seat is hinged to the second hinge seat of the wiping scraper.

4. A shield segment water collecting and finishing device according to claim 1, characterized in that: A buffer pad is provided at the bottom of the vibrator, and the buffer pad abuts against the inner end surface of the plastering scraper.

5. The shield segment water collecting and finishing device according to claim 1, characterized in that: A preload spring is also provided between the inner end surface of the plastering scraper and the top surface of the mounting groove.

6. A shield segment water collecting and finishing device according to claim 1, characterized in that: The bottom surface of the base is also provided with a guide wheel for docking with the top edge of the arc-shaped forming groove.

7. The shield segment water collecting and finishing device according to claim 1, characterized in that: The driving mechanical arm is docked with a drag chain at its side, and the drag chain is arranged on a bracket, and the bracket is parallel to the second guide rail.

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