Segment splicing device and heading machine

Abstract

The utility model provides a duct piece assembling device and a heading machine. The segment assembling device comprises a main beam; the grabbing assembly is used for grabbing the duct piece; the walking driving assembly is connected with the grabbing assembly, and the walking driving assembly comprises a walking driving mechanism, a gear in transmission connection with the walking driving mechanism and a rack arranged in the axial direction of the main beam; the gear is meshed with the rack so that the walking driving mechanism can drive the grabbing assembly to move in the axial direction of the main beam. The duct piece assembling device is simple in structure, small in occupied space and particularly suitable for small shield equipment.

Description

TECHNICAL FIELD

[0001] The utility model relates to a tunnel construction technical field, specifically, relates to a segment assembling device and heading machine. BACKGROUND

[0002] The shield machine is a kind of tunnel boring machine using shield method to construct.The shield method refers to that the heading machine simultaneously lays and constructs the "shield" of tunnel, i.e., the supporting segment.The shield machine uses the segment assembling device to grab and assemble the segment.After the distance of one ring is excavated, the segment assembling device installs the prefabricated segment to the tunnel face excavated, to form the lining to support the tunnel surface just excavated.The quality of segment assembly directly affects the permeation of underground water and soil and the settlement of ground surface, and the segment assembling device responsible for completing segment assembly has an important influence on the quality of segment assembly and the progress of tunnel construction.

[0003] The existing segment assembling device has the problems of complex structure and large space occupation.Especially, for some specific heading scenes, a small shield machine (hereinafter referred to as "small shield") needs to be used.The advantages of small shield are small turning radius, flexible use and being able to make sharp turns, so it can replace the dragging pipe and be used in various small turning radius excavation scenes.The small shield is small in size, and its diameter is generally between 2 meters and 4.2 meters.However, the segment assembling device with complex structure and large space occupation in the prior art cannot be installed and applied to the small shield equipment. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a segment assembling device and heading machine to solve the technical problem of complex structure and large space occupation of the segment assembling device in the prior art.

[0005] To solve the above problems, the utility model provides a segment assembling device, which comprises a main beam, a grabbing assembly for grabbing a segment, a walking driving assembly connected with the grabbing assembly, a walking driving mechanism, a gear in transmission connection with the walking driving mechanism and a rack arranged along the axial direction of the main beam, wherein the gear is engaged with the rack to drive the grabbing assembly to move along the axial direction of the main beam by the walking driving mechanism.

[0006] In any of the above technical solutions, the main beam is provided with a track, and the walking driving assembly further comprises a walking wheel connected with the grabbing assembly, and the walking wheel is embedded in the track to roll and walk along the track.

[0007] In any of the above technical solutions, the segment assembling device further comprises a rotating driving assembly for driving the grabbing assembly to rotate around the main beam, wherein the walking wheel is connected with the rotating driving assembly, and the rotating driving assembly is connected with the grabbing assembly.

[0008] In any of the above technical solutions, the segment assembling device further comprises a lifting driving assembly, the lifting driving assembly being configured to drive the grabbing assembly to lift relative to the main beam; wherein the lifting driving assembly is connected with the rotating driving assembly, and the grabbing assembly is connected with the lifting driving assembly.

[0009] In any of the above technical solutions, the walking driving assembly further comprises a connecting plate, and the walking wheel and the rotating driving assembly are connected through the connecting plate.

[0010] In any of the above technical solutions, the number of the main beams is one, and the number of the walking driving assemblies is even, and the walking driving assemblies are symmetrically arranged on opposite sides of the main beam.

[0011] In any of the above technical solutions, the rack is arranged on the main beam.

[0012] In any of the above technical solutions, the walking driving assembly further comprises a speed reducer, and the walking driving mechanism and the gear are drivingly connected through the speed reducer.

[0013] In any of the above technical solutions, the walking driving mechanism is a servo motor.

[0014] The utility model also provides a heading machine, the heading machine includes the segment assembling device of any of the above technical solutions.

[0015] Beneficial effects

[0016] The segment assembling device comprises a main beam, a grabbing assembly and a walking driving assembly. The grabbing assembly is configured to grab segments, and the walking driving assembly is connected with the grabbing assembly to drive the grabbing assembly to walk to a target assembling position or drive the grabbing assembly to walk back to a grabbing position from the target assembling position. The walking driving assembly comprises a walking driving mechanism, a gear drivingly connected with the walking driving mechanism, and a rack arranged along the axial direction of the main beam. Since the gear is drivingly connected with the walking driving mechanism, the walking driving mechanism can drive the gear to rotate. Since the gear is engaged with the rack, the walking driving mechanism can drive the gear to move along the rack by driving the gear to rotate. Since the walking driving assembly is connected with the grabbing assembly, the moving gear can drive the grabbing assembly to reciprocate along the axial direction of the main beam. The gear and rack driving mode is simple in structure, small in size and low in cost, which can not only realize stable movement of the grabbing assembly, but also is especially suitable for small shield devices. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Fig. 1 is one of the perspective views of the segment assembling device of the utility model;

[0018] Figure 2 Fig. 2 is another perspective view of the segment assembling device of the utility model;

[0019] Figure 3 Figure 3 is a perspective view of the pipe piece assembling device according to the present application;

[0020] Figure 4 Figure 4 is a right view of the pipe piece assembling device according to the present application;

[0021] Figure 5 Figure 5 is a left view of the pipe piece assembling device according to the present application;

[0022] Figure 6 Figure 6 is a schematic view of the structure of the walking wheel of the pipe piece assembling device according to the present application.

[0023] Explanation of reference signs:

[0024] The pipe piece assembling device according to the present application comprises a grabbing assembly 100, a moving assembly, a walking driving assembly 300, a lifting driving assembly 400, a rotating driving assembly 500, and an adjusting assembly 600. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0026] The pipe piece assembling device according to the present application comprises a grabbing assembly 100, a moving assembly, a walking driving assembly 300, a lifting driving assembly 400, a rotating driving assembly 500, and an adjusting assembly 600.

[0027] As shown in Figure 1 and Figure 2 The pipe piece assembling device according to the present application comprises a grabbing assembly 100, a moving assembly, a walking driving assembly 300, a lifting driving assembly 400, a rotating driving assembly 500, and an adjusting assembly 600.

[0028] As shown in Figure 2As shown, the grabbing assembly 100 comprises a grabbing disc 110, and a grabbing drive mechanism 130 is fixedly installed on the grabbing disc 110 and hinged with the grabbing clamp 120. The grabbing drive mechanism 130 drives the grabbing clamp 120 to move to clamp the pipe segment 700.

[0029] It can be understood that the moving assembly needs to drive the pipe segment 700 to perform a series of actions such as translation, lifting, and rotation to complete the assembly. Accordingly, the moving assembly comprises a walking drive assembly 300, a lifting drive assembly 400, and a rotating drive assembly 500.

[0030] As shown in Figures 1 to 3 , the walking drive assembly 300 is configured to drive the grabbing assembly 100 to move along the main beam 200 in the axial direction; the lifting drive assembly 400 is configured to drive the grabbing assembly 100 to lift relative to the main beam 200; and the rotating drive assembly 500 is configured to drive the grabbing assembly 100 to rotate around the main beam 200.

[0031] In addition to the above structure, the pipe segment assembly device further comprises an adjusting assembly 600. The adjusting assembly 600 is configured to finely adjust the position or direction of the pipe segment 700, so as to adjust the pipe segment 700 during the grabbing, moving, transporting, or assembling of the pipe segment 700, and achieve more accurate and efficient assembly.

[0032] To achieve the above purpose, the adjusting assembly 600 is connected with the moving assembly and movably connected with the grabbing assembly 100. The adjusting assembly 600 is connected with the moving assembly to move with the moving assembly. The adjusting assembly 600 can be fixedly connected with the moving assembly or movably connected with the moving assembly. In the case that the adjusting assembly 600 is movably connected with the moving assembly, one degree of freedom can be added during the assembly of the pipe segment 700 to achieve more flexible adjustment. The adjusting assembly 600 is movably connected with the grabbing assembly 100, so that the grabbing assembly 100 can move relative to the adjusting assembly 600 and change the relative position or direction with the moving assembly, thereby changing the pose of the grabbing assembly 100 relative to the moving assembly. Preferably, the adjusting assembly 600 comprises a joint bearing, and the grabbing assembly 100 is hinged with the joint bearing.

[0033] As shown in Figure 2 and Figure 3 , the pipe segment assembly device further comprises a main beam 200. The main beam 200 is arranged along the advancing direction of the pipe segment assembly device and is configured to support and fix the walking drive assembly 300, the lifting drive assembly 400, and the rotating drive assembly 500. Specifically, the main beam 200 comprises a beam body 210 and a support leg 220. At least part or all of the moving assembly is fixed to the beam body 210, and the support leg 220 is connected with the beam body 210 to support the beam body 210.

[0034] The walking driving assembly 300 is connected with the main beam 200 and can move along the axial direction of the main beam 200. The rotating driving assembly 500 is connected with the walking driving assembly 300, thereby moving along the axial direction of the main beam 200 following the walking driving assembly 300. The lifting driving assembly 400 is connected with the rotating driving assembly 500, thereby rotating synchronously following the rotation of the rotating driving assembly 500. The adjusting assembly 600 is connected with the lifting driving assembly 400, thereby lifting along with the lifting driving assembly 400.

[0035] Specifically, the walking driving assembly 300 is connected with the beam body 210, and the rotating driving assembly 500 is sleeved on the outer periphery of the beam body 210. The rotating driving assembly 500 comprises a fixed part 510 which is fixed and immovable, and a rotating part 520 which can rotate relative to the fixed part 510. The fixed part 510 is connected with the walking driving assembly 300, and the rotating part 520 is arranged on the fixed frame 510 and can rotate around the main beam 200. The lifting driving assembly 400 is installed on the rotating frame 520. The adjusting assembly 600 is fixedly connected or movably connected with the lifting driving assembly 400.

[0036] The walking driving assembly 300 is indirectly connected with the grabbing assembly 100 through the rotating driving assembly 500, the lifting driving assembly 400 and the adjusting assembly 600 in sequence. The walking driving assembly 300 can actively provide driving force to drive itself and the rotating driving assembly 500, the lifting driving assembly 400, the adjusting assembly 600 and the grabbing assembly 100 which are directly or indirectly connected with the walking driving assembly 300 to reciprocally walk along the extension direction of the beam body 210 of the main beam 200. The walking driving assembly 300 drives the grabbing assembly 100 to walk forward and backward, thereby endowing the segmental pipe assembling device with the first degree of freedom. The lifting driving assembly 400 can be lifted, thereby driving the adjusting assembly 600 and the grabbing assembly 100 to move up and down. The lifting driving assembly 400 drives the grabbing assembly 100 to move up and down, thereby endowing the segmental pipe assembling device with the second degree of freedom. The rotating driving assembly 500 can be rotated, thereby driving the lifting driving assembly 400, the adjusting assembly 600 and the grabbing assembly 100 to rotate around the beam body 210. The rotating driving assembly 500 drives the grabbing assembly 100 to rotate circumferentially, thereby endowing the segmental pipe assembling device with the third degree of freedom.

[0037] Through the above structure, the grabbing assembly 100 which grabs the segmental pipe 700 can be driven to flexibly walk forward and backward, to lift up and down, and to rotate and assemble, and after completing an assembling action, the grabbing assembly 100 can be driven to reset to the trolley position where the segmental pipe 700 to be assembled is placed, thereby repeatedly grabbing, moving and assembling again.

[0038] In the above process, since the grabbing assembly 100 is movably connected with the adjusting assembly 600, the grabbing assembly 100 can be relatively and slightly adjusted in position or direction in any forward and backward walking, upward and downward lifting, and rotating and assembling actions, so as to precisely and efficiently assemble.

[0039] As shown in Figure 1 , Figure 4 and Figure 5 , the walking driving assembly 300 comprises a walking driving mechanism 310, a gear 320, and a rack 330. The rack 330 is arranged along the axial direction of the main beam 200, the walking driving mechanism 310 has a power output shaft, the gear 320 is in transmission connection with the power output shaft and is in meshing connection with the rack 330. Thus, the walking driving mechanism 310 provides power to drive the gear 320 to rotate, and the above structure enables the gear 320 to rotate and walk along the rack 330 in meshing connection with the gear 320, and finally enables the walking driving mechanism 310 to drive the grabbing assembly 100 to move along the axial direction of the main beam 200.

[0040] Since the rotating driving assembly 500 is connected with the walking driving assembly 300, the rotating and walking of the gear 320 can drive the rotating driving assembly 500 to move forward and backward, and further drive the lifting driving assembly 400, the adjusting assembly 600, and the grabbing assembly 100 which are directly or indirectly connected with the rotating driving assembly 500 to reciprocally walk along the extending direction of the beam body 210 of the main beam 200.

[0041] The driving mode structure of the gear 320 and the rack 330 in cooperation with each other is simple, small in size, and low in cost, and not only can realize stable movement of the grabbing assembly 100, but also is especially suitable for small shield equipment.

[0042] The walking driving mechanism 310 is specifically an electric motor. Preferably, the walking driving mechanism 310 is a servo motor. The servo motor can accurately control the speed and acceleration, realize high-precision movement control, and has excellent response speed, can be quickly started, stopped, and reversed, and improves the dynamic performance of the system.

[0043] Preferably, the walking driving assembly 300 further comprises a speed reducer 360, and the walking driving mechanism 310 and the gear 320 are in transmission connection through the speed reducer 360. The speed reducer 360 can reduce the rotating speed of the walking driving mechanism 310, increase the output torque, and further provide more stable and controllable transmission effect, and through adjustment of the transmission ratio of the speed reducer, more fine movement speed adjustment can be realized.

[0044] The rack 330 can be mounted on the main beam 200 or set independently relative to the main beam 200, as long as its extension direction is consistent with the extension direction of the main beam 200. Preferably, the rack 330 is mounted on the main beam 200 to simplify the structure and to stably fix the rack 330, ensuring smooth movement of the gear 320. It can be understood that the number and position of the racks 330 are adapted to the gears 320; when there are two symmetrically arranged gears 320 on the left and right sides, the racks 330 are also symmetrically arranged on the left and right sides of the main beam 200.

[0045] The number of main beams 200 can be two or more arranged side by side, or it can be one. For small shield tunnels, due to their smaller internal space and the need for more efficient space utilization, it is preferable to use a scheme with only one main beam 200.

[0046] like Figure 4 and Figure 5 As shown, when there is only one main beam 200, the rotary drive assembly 500 surrounds the main beam 200. An even number of travel drive assemblies 300 are symmetrically arranged on the left and right sides of the main beam 200 and the rotary drive assembly 500. An even number of lifting drive assemblies 400 are also symmetrically arranged on the left and right sides of the main beam 200 and the rotary drive assembly 500. The travel drive assemblies 300 are located on the side of the main beam 200 closer to the outrigger 220, and the lifting drive assemblies 400 are located on the side of the main beam 200 away from the outrigger 220.

[0047] For example, there are two walking drive components 300 and two lifting drive components 400. The walking drive components 300 and the lifting drive components 400 are respectively disposed at the front and rear ends of the rotary drive component 500. The walking wheels 340 of the walking drive component 300 are connected to the fixed part 510 through the connecting plate 350, and the lifting drive mechanism 410 of the lifting drive component 400 is connected to the rotating part 520.

[0048] Setting the number of main beams 200 to one, and symmetrically arranging the walking drive assembly 300 and the lifting drive assembly 400 on the left and right sides of the main beam 200 and the rotation drive assembly 500 respectively, can reduce the volume of the segment assembly device, improve its space utilization, and ensure that the moving assembly can drive the gripping assembly 100 to move more smoothly.

[0049] The travel drive assembly 300 also includes a traveling member, to which the rotary drive assembly 500 is connected. The traveling member is capable of traveling along the main beam 200. The traveling member assists the rotary drive assembly 500, as well as the lifting drive assembly 400, adjusting assembly 600, and gripping assembly 100 connected to the rotary drive assembly 500, in moving smoothly.

[0050] like Figures 3 to 5As shown, the main beam 200 is provided with a track 230, and the walking member includes a walking wheel 340. The grabbing assembly 100 is connected with the walking wheel 340, and the walking wheel 340 is embedded in the track 230 to roll and walk along the track 230. By providing the walking wheel 340 and connecting the grabbing assembly 100 with the walking wheel 340, the grabbing assembly 100 can be driven to move along the main beam 200 stably by the rolling and walking of the walking wheel 340 along the track 230, so that the stable transportation of the segment 700 is realized by a simple and compact structure, and the segment 700 can be assembled accurately.

[0051] The track 230 is provided on the left and right sides of the main beam 200, which can be mounted on the main beam 200 or integrally manufactured with the main beam 200 by cutting, etc. The track 230 can be protruded relative to the surface of the main beam 200 or recessed relative to the surface of the main beam 200. The shape and size of the walking wheel 340 are matched with the shape and size of the track 230, and the walking wheel 340 is embedded in the space surrounded by the track 230.

[0052] Preferably, the number of the main beam 200 is one, the track 230 is symmetrically provided on the two sides of the main beam 200, and the number of the walking driving assembly 300 is even, which is symmetrically provided on the opposite sides of the main beam 200. The track 230 and the walking wheel 340 symmetrically provided on the two sides of the main beam 200 can assist the rotation driving assembly 500 to move more stably.

[0053] As shown, Figures 3 to 5 The walking member further includes a connecting plate 350. One side of the connecting plate 350 is connected with the walking wheel 340, and the other side is connected with the rotation driving assembly 500. In other words, the walking wheel 340 and the rotation driving assembly 500 are connected through the connecting plate 350. Specifically, the side roller bearing 342 of the walking wheel 340 and the fixed part 510 of the rotation driving assembly 500 are connected through the connecting plate 350.

[0054] The connecting plate 350 can be formed in any shape such as a cuboid, a cube, a cylinder or a circular truncated cone, etc. The connecting plate 350 connects and fixes the rotation driving assembly 500, so that the rolling and walking of the walking wheel 340 can drive the rotation driving assembly 500 to move forward and backward. Specifically, the fixed part 510 of the rotation driving assembly 500 is connected and fixed on the connecting plate 350.

[0055] The walking driving mechanism 310 is a power supply component, and the walking member composed of the walking wheel 340 and the connecting plate 350 is an auxiliary moving component. By providing the walking wheel 340 and the connecting plate 350, the rotation driving assembly 500 can be supported and fixed, and a guiding function can be provided to drive the rotation driving assembly 500 to walk stably.

[0056] As shown, Figure 4As shown, the track 230 includes a bottom wall 231 and two side walls 232, which are respectively arranged on two sides of the bottom wall 231 to enclose a space for accommodating the walking wheel 340. The walking wheel 340 is in abutting contact with the bottom wall 231 and the side wall 232, respectively.

[0057] The rotating part 520 of the rotating driving assembly 500 needs to drive the lifting driving assembly 400, the adjusting assembly 600 and the grabbing assembly 100 to rotate through rotation. Therefore, by arranging the walking wheel 340 embedded in the track 230 to be in abutting contact with the bottom wall 231 and the side wall 232, respectively, a reaction force can be provided for the rotating driving assembly 500 during the rotation of the rotating driving assembly 500, so as to ensure that the rotating driving assembly 500 can smoothly drive the lifting driving assembly 400, the adjusting assembly 600 and the grabbing assembly 100 to rotate.

[0058] The walking wheel 340 is specifically a roller bearing. The roller bearing has good stability, low friction coefficient, can bear heavy load and impact load, and has low replacement and maintenance cost.

[0059] As shown in the figures, Figure 6 The walking wheel 340 includes a main roller bearing 341 and a side roller bearing 342. The outer ring of the main roller bearing 341 is embedded in the track 230. The side roller bearing 342 is installed in the main roller bearing 341 and connected with the main roller bearing 341. The grabbing assembly 100 is connected with the side roller bearing 342.

[0060] The main roller bearing 341 and the side roller bearing 342 can each have a shaft head, and the two shaft heads are arranged in different directions. The main roller bearing 341 and the side roller bearing 342 can each have a bearing inner ring and a bearing outer ring, and the bearing inner ring and the bearing outer ring have rolling elements such as balls therebetween.

[0061] The main roller bearing 341 is used to realize the rolling of the walking wheel 340, and the side roller bearing 342 is used to limit the rolling direction during the rolling of the walking wheel 340, so as to ensure smooth rolling along a straight line. For example, the main roller bearing 341 can be a full-roller bearing, and the side roller bearing 342 can adopt a full-needle design without an inner ring, and a core shaft is used to replace the inner ring and the shaft head to bear.

[0062] As shown in the figures, Figure 6 The roller bearing further includes a cover plate 343, which connects and fixes the main roller bearing 341 and the side roller bearing 342. The cover plate 343 is used to fix the side roller bearing 342 and the main roller bearing 341 together by using nuts and thread glue. The walking wheel 340 can also have a sealing structure, and its interior is filled with lubricating grease to provide long-term lubrication.

[0063] As mentioned above, the segment assembly device also includes a rotary drive assembly 500. The rotary drive assembly 500 drives the gripping assembly 100 to rotate around the main beam 200. The rotary drive assembly 500 includes a fixed part 510 and a rotating part 520. The side roller bearings 342 of the traveling wheels 340 are connected to the fixed part 510 of the rotary drive assembly 500 via a connecting plate 350. The rotating part 520 is connected to the fixed part 510 and is capable of rotating around the main beam 200. The rotary drive assembly 500 is connected to the gripping assembly 100. The lifting drive mechanism 410 of the lifting drive assembly 400 is fixedly connected to the rotating part 520, and the telescopic rod 420 of the lifting drive assembly 400 is hinged to the lifting drive mechanism 410. The telescopic rod 420 is connected to the adjusting assembly 600, thereby indirectly connecting the gripping assembly 100 and the lifting drive assembly 400.

[0064] In one example, the fixed part 510 and the rotating part 520 are connected by a flange, and both have bearings inside, with the fixed part 510 used to fix the bearings. In another example, the fixed part 510 and the rotating part 520 are connected by a slewing bearing.

[0065] As mentioned above, the segment assembly device also includes a lifting drive assembly 400, which drives the gripping assembly 100 to move up and down relative to the main beam 200. The lifting drive assembly 400 is connected to the rotation drive assembly 500, and the gripping assembly 100 is connected to the lifting drive assembly 400.

[0066] like Figure 2 As shown, the lifting drive assembly 400 includes a lifting drive mechanism 410 and a telescopic rod 420. One end of the lifting drive mechanism 410 is connected to the rotation drive assembly 500, and the other end is hinged to the telescopic rod 420. The end of the telescopic rod 420 away from the lifting drive mechanism 410 is connected to the adjustment assembly 600.

[0067] The lifting driving mechanism 410 can be a cylinder or an electric push rod. Since one end of the lifting driving mechanism 410 is connected with the rotating driving assembly 500, the lifting driving mechanism 410 can rotate with the rotating driving assembly 500. Specifically, the lifting driving mechanism 410 is fixedly connected with the rotating part 520 of the rotating driving assembly 500. Since the other end of the lifting driving mechanism 410 is hingedly connected with the telescopic rod 420, and one end of the telescopic rod 420 away from the lifting driving mechanism 410 is connected with the adjusting assembly 600, through the cooperation of the lifting and lowering action of the lifting driving mechanism 410 and the telescoping action of the telescopic rod 420, the adjusting assembly 600 can swing left and right in a small amplitude, and the adjusting assembly 600 drives the grasping assembly 100 to adjust the pose. It can be understood that, in the case that the two lifting driving assemblies 400 are symmetrically arranged on both sides of the beam body 210 of the main beam 200, at least one of the lifting driving assemblies 400 has the telescopic rod 420. The lifting driving mechanism 410 and the telescopic rod 420 cooperate to drive the grasping assembly 100 to swing left and right, and the fourth degree of freedom of the segmental pipe assembling device is obtained.

[0068] The tunneling machine also comprises the segmental pipe assembling device according to any one of the technical solutions above, and has all the beneficial effects of the segmental pipe assembling device according to any one of the technical solutions above, which will not be repeated here. The tunneling machine is preferably a shield tunneling machine.

[0069] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A segment erector, characterized by The segment assembling device comprises: a main beam (200); a grabbing assembly (100) for grabbing a segment (700); a walking driving assembly (300) connected with the grabbing assembly (100), the walking driving assembly (300) comprising a walking driving mechanism (310), a gear (320) in transmission connection with the walking driving mechanism (310), and a rack (330) arranged axially along the main beam (200); wherein the gear (320) is in mesh with the rack (330) to enable the walking driving mechanism (310) to drive the grabbing assembly (100) to move axially along the main beam (200).

2. The segmental assembly according to claim 1, characterized in that The main beam (200) is provided with a track (230), and the walking driving assembly (300) further comprises: a walking wheel (340) connected with the grabbing assembly (100), the walking wheel (340) being embedded in the track (230) to roll and walk along the track (230).

3. The segmental assembly apparatus according to claim 2, wherein The segment assembling device further comprises: a rotating driving assembly (500) for driving the grabbing assembly (100) to rotate around the main beam (200); wherein the walking wheel (340) is connected with the rotating driving assembly (500), and the rotating driving assembly (500) is connected with the grabbing assembly (100).

4. The segmental pipe assembly apparatus of claim 3, wherein, The segment assembling device further comprises: a lifting driving assembly (400) for driving the grabbing assembly (100) to lift relative to the main beam (200); wherein the lifting driving assembly (400) is connected with the rotating driving assembly (500), and the grabbing assembly (100) is connected with the lifting driving assembly (400).

5. The segmental pipe assembly apparatus of claim 3, wherein, The walking driving assembly (300) further comprises: a connecting plate (350), the walking wheel (340) being connected with the rotating driving assembly (500) through the connecting plate (350).

6. The pipe segment assembly apparatus according to any one of claims 1 to 5, characterized in that The number of the main beam (200) is one, and the number of the walking driving assembly (300) is even, and the walking driving assemblies (300) are symmetrically arranged on opposite sides of the main beam (200).

7. The pipe segment assembly apparatus according to any one of claims 1 to 5, wherein, The rack (330) is arranged on the main beam (200).

8. The pipe segment assembly apparatus according to any one of claims 1 to 5, characterized in that The walking driving assembly (300) further comprises: a speed reducer (360), the walking driving mechanism (310) and the gear (320) being in transmission connection through the speed reducer (360).

9. The pipe segment assembly apparatus according to any one of claims 1 to 5, wherein, The walking driving mechanism (310) is a servo motor.

10. A heading machine characterized by The tunneling machine comprises the segment assembling device as claimed in any one of claims 1 to 9.

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