Pipe piece grabbing device, pipe piece, pipe piece erector and tunneling equipment

Abstract

The utility model provides a duct piece grabbing device, a duct piece, a duct piece erector and tunneling equipment. The pipe piece grabbing device comprises a grabbing assembly, and the grabbing assembly comprises a grabbing clamp and a clamping assembly; and the grabbing clamp driving mechanism is used for driving the grabbing clamp to adjust the posture, so that the grabbing clamp is clamped with the duct piece. The pipe piece can be conveniently and stably clamped and grabbed, so that the pipe piece can be carried.

Description

TECHNICAL FIELD

[0001] The utility model relates to tunnel construction technical field, specifically, relate to a segment grabbing device, segment, segment erector and tunneling equipment. BACKGROUND

[0002] The shield machine is a kind of tunnel boring machine using shield method to construct.The shield method refers to that tunnel boring machine constructs tunnel " shield " (i.e., supporting segment) while tunneling.The shield machine uses segment erector to grab and assemble segment.After tunneling a ring, segment erector installs prefabricated segment on excavated tunnel surface to form lining to support freshly excavated tunnel surface.

[0003] To realize the assembly of segment, segment erector needs to be provided with segment grabbing device to grab segment and transport it to target assembly position.In addition, besides segment erector, segment needs to be grabbed during production, storage and transportation of segment.

[0004] The existing segment grabbing device has the problem of complex grabbing steps and often needs the participation and assistance of workers. SUMMARY

[0005] Therefore, the utility model provides a segment grabbing device, segment, segment erector and tunneling equipment to solve the technical problem of complex grabbing steps and often needing the participation and assistance of workers of segment grabbing device in the prior art.

[0006] To solve the above problems, the utility model provides a segment grabbing device, which comprises a grabbing assembly, and the grabbing assembly comprises: a grabbing clamp; and a grabbing clamp driving mechanism, which is used to drive the grabbing clamp to adjust pose so that the grabbing clamp extends into the segment and is clamped with the segment.

[0007] In any of the above technical solutions, the grabbing clamp driving mechanism is used to drive the grabbing clamp to adjust pose by at least one of the following actions or a combination thereof: rotation, overturning and swinging.

[0008] In any of the above technical solutions, the grabbing clamp and the grabbing clamp driving mechanism are respectively arranged in pairs, and one grabbing clamp driving mechanism is used to drive the corresponding grabbing clamp to adjust pose.

[0009] In any of the above technical solutions, a pair of grabbing clamp driving mechanisms are used to drive the corresponding pair of grabbing clamps to swing and cooperate with each other by relative extension and contraction to be clamped with the segment.

[0010] In any of the above technical solutions, the grabbing assembly further comprises a grabbing disc, the grabbing disc having openings; wherein the grabbing clamps pass through the openings and have hinge portions and clamping claws arranged on opposite sides of the openings, and one end of the grabbing clamp driving mechanism is fixedly installed on the grabbing disc and the other end is hingedly connected with the hinge portions.

[0011] In any of the above technical solutions, the number of openings is the same as the number of grabbing clamps, and one grabbing clamp passes through a corresponding opening; or a plurality of grabbing clamps pass through a common opening.

[0012] In any of the above technical solutions, a pair of clamping claws corresponding to a pair of grabbing clamps are arranged opposite to each other, and a pair of grabbing clamp driving mechanisms drive the corresponding pair of clamping claws to swing apart to clamp the segment by relatively extending; or a pair of clamping claws corresponding to a pair of grabbing clamps are arranged opposite to each other, and a pair of grabbing clamp driving mechanisms drive the corresponding pair of clamping claws to swing close to clamp the segment by relatively retracting.

[0013] The utility model also provides a segment, the segment is used for cooperating with the segment grabbing device of any of the above technical solutions, and the segment comprises: a clamping groove arranged on the surface of the segment; and a wedge-shaped portion in communication with the clamping groove and bent relative to the clamping groove; wherein the clamping groove and the wedge-shaped portion cooperate with each other to allow the grabbing clamp to extend in, so that the grabbing clamp clamps the segment.

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

[0015] The utility model also provides a tunneling equipment, and the tunneling equipment comprises the segment grabbing device of any of the above technical solutions.

[0016] Beneficial effects

[0017] The utility model improves a segment grabbing device, and the improved segment grabbing device comprises a grabbing assembly, and the grabbing assembly is used for grabbing a segment. The grabbing assembly comprises grabbing clamps and a grabbing clamp driving mechanism. The segment has a grabbing clamp matching portion corresponding to the grabbing clamps. The grabbing clamp driving mechanism is used for driving the grabbing clamps to adjust the pose, so that the grabbing clamps extend into the grabbing clamp matching portion and clamp the segment. Therefore, after the grabbing clamps clamp the segment, the segment can be connected and fixed on the grabbing clamps, so as to realize convenient grabbing and stable transportation of the grabbing clamps. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 is one of the perspective views of the segment assembling machine of the utility model;

[0019] Figure 2 Fig. 2 is the second perspective view of the segment assembling machine of the utility model;

[0020] Figure 3 Fig. 3 is the right view of the segment assembling machine of the utility model;

[0021] Figure 4 Figure 3 is a cooperation schematic view of the adjusting assembly and the grabbing assembly in the segment splicing machine of the present application;

[0022] Figure 5 Figure 4 is a structural schematic view of the segment for cooperating with the segment splicing machine of the present application;

[0023] Figure 6 Figure 5 is a cooperation schematic view (perspective view) of the grabbing clamp and the grabbing clamp driving mechanism in the segment splicing machine of the present application.

[0024] Explanation of reference signs:

[0025] Grabbing assembly: 100; grabbing disc: 110; opening: 111; grabbing clamp: 120; first hinge point: 121a; second hinge point: 121b; clamping jaw: 122; grabbing clamp driving mechanism: 130; main beam: 200; beam body: 210; support leg: 220; track: 230; walking driving assembly: 300; walking driving mechanism: 310; gear: 320; rack: 330; walking wheel: 340; connecting plate: 350; speed reducer: 360; lifting driving assembly: 400; lifting driving mechanism: 410; telescopic rod: 420; rotating driving assembly: 500; fixed part: 510; rotating part: 520; adjusting assembly: 600; adjusting seat: 610; first hinge part: 611; second hinge part: 612; first fine adjustment mechanism: 620; second fine adjustment mechanism: 630; segment: 700; clamping groove: 710; wedge-shaped part: 720. DETAILED DESCRIPTION

[0026] 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. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0027] The present application provides a segment grabbing device, which comprises a grabbing assembly 100. The segment grabbing device can be used in the segment splicing machine and other devices for processing, transporting and storing segments. The segment grabbing device will be introduced below by taking the application in the segment splicing machine as an example.

[0028] The existing products or devices for grabbing the pipe pieces have the problems of relatively complex structure and action, large volume, complicated control, and even the need for the assistance or intervention of the workers to achieve the grabbing. Therefore, the present application is dedicated to providing a grabbing assembly 100 which is simple in action and can automatically grab the pipe pieces.

[0029] As shown in Figure 5 and Figure 6 The grabbing assembly 100 of the present application needs to be used in cooperation with the pipe piece 700 which is structurally matched therewith. The grabbing assembly 100 comprises a grabbing clamp 120 and a grabbing clamp driving mechanism 130. The grabbing clamp driving mechanism 130 is used to drive the grabbing clamp 120 to adjust the pose so as to extend into the pipe piece 700 and be clamped with the pipe piece 700.

[0030] The above technical solution drives the grabbing clamp 120 to adjust the pose by the grabbing clamp driving mechanism 130, so as to extend into the pipe piece 700 and be clamped with the pipe piece 700. After the extending and clamping actions are completed, the pipe piece 700 can be grabbed, carried or assembled.

[0031] Exemplarily, the grabbing clamp driving mechanism 130 can be used to drive the grabbing clamp 120 to adjust the pose by at least one or a combination of the following actions: rotation, overturning and swinging.

[0032] In one example, the grabbing assembly 100 is provided with one grabbing clamp driving mechanism 130 and one one-letter-shaped grabbing clamp 120 which is matched with the grabbing clamp driving mechanism 130. The grabbing clamp driving mechanism 130 can drive the grabbing clamp 120 to rotate in the horizontal direction. The grabbing clamp 120 is switched between the first position and the second position by rotation. The pipe piece 700 is provided with a one-letter-shaped opening, and the inside of the opening is a chamber. The one-letter-shaped grabbing clamp 120 can extend into the chamber along the one-letter-shaped opening when it is in the first position. After extending into the chamber, the one-letter-shaped grabbing clamp 120 is rotated by a certain angle, such as 60° or 90°, to switch to the second position. The one-letter-shaped grabbing clamp 120 is clamped in the position of the one-letter-shaped opening when it is in the second position, and cannot be taken out of the opening. Therefore, the grabbing clamp driving mechanism 130 can realize the clamping with the pipe piece 700 by driving the grabbing clamp 120 to rotate.

[0033] In another example, the grabbing assembly 100 is provided with two or more grabbing clamp driving mechanisms 130 and two or more one-letter-shaped grabbing clamps 120 which are matched with the grabbing clamp driving mechanisms 130. Each group of grabbing clamp driving mechanisms 130 and grabbing clamps 120 synchronously performs the above-mentioned action to realize the more stable grabbing of the pipe piece 700.

[0034] In another example, the shape of the gripper 120 and the opening are both cross-shaped, the gripper 120 enters the opening and rotates by a certain angle, such as 30° or 45°, to switch to a position that is clamped in the opening and cannot be pulled out.

[0035] It can be understood that, in order to achieve the grasping of the segment 700, the segment 700 needs to be provided with a structure that is mutually adapted to the gripper 120. In addition to the linear gripper 120 or the cross-shaped gripper 120 as described above, the gripper 120 can also be in the form of a claw. The gripper 120 in the form of a claw and the segment 700 corresponding thereto will be described below. As shown in Figure 5 The segment 700 matched with the segment gripper device in the form of a claw includes a clamping groove 710 and a wedge-shaped portion 720. The clamping groove 710 is arranged on the surface of the segment 700, and the wedge-shaped portion 720 is in communication with the clamping groove 710 and is bent relative to the clamping groove 710. The clamping groove 710 and the wedge-shaped portion 720 cooperate with each other to allow the gripper 120 to extend into the clamping groove 710, so that the gripper 120 is clamped with the segment 700. As described above, the gripper driving mechanism 130 and the gripper 120 can be provided with only one. However, it is preferred that the gripper 120 and the gripper driving mechanism 130 are provided in pairs, and one gripper driving mechanism 130 is used to drive the corresponding one gripper 120 to adjust the pose. The pair of grippers 120 and the gripper driving mechanism 130 can relatively stably grasp and carry the segment 700.

[0036] It is preferred that the pair of gripper driving mechanisms 130 are used to drive the corresponding pair of grippers 120 to swing and cooperate with each other by relative extension and contraction, so as to be clamped with the segment 700. As shown in Figure 6 Exemplarily, the gripper driving mechanism 130 is an oil cylinder, and the pair of oil cylinders arranged oppositely are synchronously extended, which can drive the upper part of the gripper 120 articulated therewith to swing close and the bottom part to swing apart. The pair of oil cylinders are synchronously retracted, which can drive the upper part of the gripper 120 articulated therewith to swing apart and the bottom part to swing close. When the pair of grippers 120 swing apart at the bottom part, they can be respectively clamped into the segment 700, and when the pair of grippers 120 swing close at the bottom part, they can be synchronously retracted and no longer contact the segment 700. The extension and contraction action mode is used to realize the clamping of the gripper 120 with the segment 700, which has the advantages of simple structure, convenient driving, easy action control, and relatively stable grasping of the segment 700.

[0037] As shown in Figure 6 The pair of gripper driving mechanisms 130 and the gripper 120 are provided with two hinge points, which are a first hinge point 121a and a second hinge point 121b. One of the hinge points serves as a support point, so that the pair of gripper driving mechanisms 130 can perform a swinging action.

[0038] Specifically, the first hinge point 121a belongs to a part of the gripper 120 and is arranged at one end of the hinge part 121. It is used to be hingedly connected with the gripper driving mechanism 130, and the second hinge point 121b belongs to a part of the grabbing disc 110 and is used to be hingedly connected with the gripper 120 to serve as a support point for the swinging of the gripper 120. Thus, under the extension and retraction driving of the gripper driving mechanism 130, the gripper 120 can swing around the second hinge point 121b.

[0039] As shown in Figure 6 The grabbing assembly 100 further comprises a grabbing disc 110 having an opening 111. The gripper 120 passes through the opening 111 and has a hinge part 121 and a clamping jaw 122 arranged on two sides of the opening 111, one end of the gripper driving mechanism 130 is fixedly mounted on the grabbing disc 110, and the other end is hingedly connected with the hinge part 121. It can be understood that the grabbing disc 110 is formed as a disc-shaped or plate-shaped structure, which can be a flat plate or an arc-shaped plate slightly upturned on two sides to adapt to the shape of the pipe piece 700. Preferably, the grabbing disc 110 is formed as an arc-shaped plate slightly upturned on two sides, and a pair of oppositely arranged gripper driving mechanisms 130 are arranged on the arc-shaped plate and fixedly connected with the arc-shaped plate. The pair of gripper driving mechanisms 130 are each hingedly connected with a gripper 120. The pair of grippers 120 pass through the opening 111 on the grabbing disc 110 from top to bottom. The upper end of the gripper 120 is the hinge part 121, which is hingedly connected with the one end of the gripper driving mechanism 130 capable of extension and retraction, and the lower end of the gripper 120 is the clamping jaw 122, which has a claw-shaped structure for extending into the pipe piece 700 and clamping with the pipe piece 700. By arranging the opening 111, the gripper driving mechanism 130 and the gripper 120 can be fixedly mounted on the upper surface of the grabbing disc 110, so that the grabbing disc 110 supports and carries the above-mentioned components, thereby facilitating the convenient and stable mounting of the gripper driving mechanism 130 and the gripper 120, and avoiding the interference with the grabbing of the pipe piece 700.

[0040] In one example, a plurality of grippers 120 can pass through a common opening 111. For example, two grippers 120 arranged in pairs and swingably matched with each other can pass through a common strip-shaped or rectangular or circular opening 111. The scheme of passing through a common opening 111 by a plurality of grippers 120 makes the structure of the grabbing disc 110 simpler and facilitates processing.

[0041] In another example, the number of openings 111 is the same as the number of grippers 120, and one gripper 120 passes through a corresponding opening 111. For example, as shown in Figure 6As shown, two pairs of clamps 120 arranged in pairs and swing matched with each other can pass through two corresponding openings 111. By using the scheme of multiple clamps 120 passing through the corresponding openings 111, the edges of the openings 111 can be used to assist the support of the clamps 120 when they swing to the clamping position, thereby improving the stability of the clamping.

[0042] In one example, as shown, a pair of clamps 120 can be arranged opposite to each other, and a pair of clamp driving mechanisms 130 can drive the corresponding pair of clamps 122 to swing apart by relative extension, so as to be clamped with the segment 700. Figure 6

[0043] In another example, a pair of clamps 120 can be arranged opposite to each other, and a pair of clamp driving mechanisms 130 can drive the corresponding pair of clamps 122 to swing close by relative contraction, so as to be clamped with the segment 700.

[0044] In the case of one pair of clamps 120, the pair of clamps 120 can be coaxially arranged on the left and right sides of the clamping disc 110, or coaxially arranged on the front and rear ends of the clamping disc 110. In the case of one pair of clamps 120, the pair of clamps 120 can also be arranged non-coaxially, such as on the diagonal line of the clamping disc 110. In summary, no matter the number and relative position of the clamps 120, as long as the support and clamping of the segment 700 can be achieved.

[0045] The embodiment also provides a segment assembling machine, which comprises the segment clamping device according to any one of the above technical solutions, and therefore has all the beneficial effects of the segment clamping device according to any one of the above technical solutions, which will not be repeated here.

[0046] The segment assembling machine can be used in a tunneling device such as a shield machine, for assembling segments in a tunnel to form a tunnel lining during tunnel excavation construction.

[0047] As shown in Figure 1 and Figure 2 The segment assembling machine provided by the utility model comprises a clamping assembly 100 and a moving assembly. The clamping assembly 100 is used for clamping segments 700, and the moving assembly is used for driving the clamping assembly 100 to change position. The clamping assembly 100 and the moving assembly cooperate with each other to clamp, move or assemble the segments 700.

[0048] It can be understood that the moving assembly needs to drive the segments 700 to perform a series of actions such as translation, lifting and rotation to complete the assembly. Accordingly, the moving assembly comprises a walking driving assembly 300, a lifting driving assembly 400 and a rotating driving assembly 500.​

[0049] In addition to the above structure, the segment erector further comprises an adjusting assembly 600. The adjusting assembly 600 is used to finely adjust the position or orientation of the segment 700, so as to adjust the segment 700 during the process of segment 700 grabbing, moving, transporting, or segmenting, and achieve more accurate and efficient segmenting.

[0050] 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 so as 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 process of segment 700 segmenting, so as 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 orientation with the moving assembly, thereby changing the pose of the adjusting grabbing assembly 100 relative to the moving assembly. Preferably, the adjusting assembly 600 comprises a knuckle bearing, and the grabbing assembly 100 is hinged with the knuckle bearing.

[0051] As shown in Figure 2 and Figure 3 , the segment erector further comprises a main beam 200. The main beam 200 is arranged along the advancing direction of the segment erector, and is used to support and fix the structures such as the walking driving assembly 300, the lifting driving assembly 400, and the rotating driving 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.

[0052] As shown in Figures 1 to 3 , the walking driving assembly 300 is used to drive the grabbing assembly 100 to move along the axial direction of the main beam 200; the lifting driving assembly 400 is used to drive the grabbing assembly 100 to lift relative to the main beam 200; and the rotating driving assembly 500 is used to drive the grabbing assembly 100 to rotate around the main beam 200.

[0053] At least part of the walking driving assembly 300 is connected with the main beam 200 and can move and walk along the axial direction of the main beam 200. The rotating driving assembly 500 is connected with the walking driving assembly 300, thereby moving and walking along the axial direction of the main beam 200 with the walking driving assembly 300. The lifting driving assembly 400 is connected with the rotating driving assembly 500, thereby rotating synchronously with the rotation of the rotating driving assembly 500. The adjusting assembly 600 is connected with the lifting driving assembly 400, thereby lifting together with the lifting of the lifting driving assembly 400.

[0054] Specifically, the walking drive assembly 300 is connected to the beam 210, and the rotation drive assembly 500 is sleeved on the outer periphery of the beam 210. The rotation drive assembly 500 includes a fixed part 510 and a rotating part 520 that can rotate relative to the fixed part 510. The fixed part 510 is connected to the walking drive assembly 300, and the rotating part 520 is disposed on the fixed frame 510 and can rotate around the main beam 200. The lifting drive assembly 400 is mounted on the rotating frame 520. The adjusting assembly 600 is fixedly or movably connected to the lifting drive assembly 400.

[0055] The walking drive assembly 300 is indirectly connected to the gripping assembly 100 via the rotary drive assembly 500, the lifting drive assembly 400, and the adjusting assembly 600. The walking drive assembly 300 actively provides driving force to drive itself, as well as the rotary drive assembly 500, the lifting drive assembly 400, the adjusting assembly 600, and the gripping assembly 100, which are directly or indirectly connected to it, to move back and forth along the extension direction of the beam 210 of the main beam 200. The walking drive assembly 300 drives the gripping assembly 100 to move back and forth, giving the segment assembly machine a first degree of freedom. The lifting drive assembly 400 can move up and down, thereby driving the adjusting assembly 600 and the gripping assembly 100 to move up and down. The lifting drive assembly 400 driving the gripping assembly 100 to move up and down gives the segment assembly machine a second degree of freedom. The rotary drive assembly 500 can rotate, thereby driving the lifting drive assembly 400, the adjusting assembly 600, and the gripping assembly 100 to rotate around the beam 210. The rotary drive component 500 drives the gripping component 100 to rotate circumferentially, which can give the segment assembly machine a third degree of freedom.

[0056] 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 rotary 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. The lifting drive mechanism 410 and the telescopic rod 420 cooperate to drive the gripping assembly 100 to swing left and right, which can give the segment assembly machine a fourth degree of freedom.

[0057] With the above structure, the gripping component 100 that grips the tube segment 700 can be driven to move back and forth, lift up and down, and rotate and assemble. After completing an assembly action, the gripping component 100 can be driven to reset to the position of the trolley where the tube segment 700 to be assembled is placed, and the gripping, moving and assembling can be repeated.

[0058] 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 assembling actions, so as to precisely and efficiently assemble in time.

[0059] As shown in Figure 1 and Figure 2 , 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 makes the gear 320 rotate and walk along the rack 330 in meshing connection with the gear 320, and finally makes the walking driving mechanism 310 drive the grabbing assembly 100 to move along the axial direction of the main beam 200. Since the rotating driving assembly 500 is connected with the walking driving assembly 300, the rotating walk 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 directly or indirectly connected with the rotating driving assembly 500 to reciprocate along the extending direction of the beam body 210 of the main beam 200. 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.

[0060] The walking driving assembly 300 further comprises a walking piece, as shown in Figure 3 , the main beam 200 is provided with a track 230, and the walking piece comprises 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 arranging the walking wheel 340 and connecting the grabbing assembly 100 with the walking wheel 340, the walking wheel 340 can be used to roll and walk along the track 230 to drive the grabbing assembly 100 to move stably along the axial direction of the main beam 200. Figure 3 The walking piece further comprises a connecting plate 350, as shown in

[0061] The walking driving mechanism 310 is a power supply component, and the walking piece composed of the walking wheel 340 and the connecting plate 350 is an auxiliary moving component. By arranging the walking wheel 340 and the connecting plate 350, the rotating driving assembly 500 can be supported and fixed, a guiding effect can be provided, and a reaction force can be provided for the rotating driving assembly 500, so as to ensure that the rotating driving assembly 500 can stably drive the lifting driving assembly 400, the adjusting assembly 600, and the grabbing assembly 100 to rotate.

[0062] As shown in Figure 4 andFigure 5 As shown, the adjustment assembly 600 comprises an adjustment seat 610 and fine adjustment mechanisms. The adjustment seat 610 is connected with the telescopic rod 420 of the driving assembly 400 and movably connected with the grabbing assembly 100. Through the cooperation of the lifting action of the driving mechanism 410 and the telescopic action of the telescopic rod 420, the adjustment seat 610 can drive the grabbing assembly 100 movably connected therewith to make small amplitude pose adjustment.

[0063] The fine adjustment mechanisms comprise a first fine adjustment mechanism 620 and a second fine adjustment mechanism 630. The first fine adjustment mechanism 620 and the second fine adjustment mechanism 630 can drive the grabbing assembly 100 to move relative to the adjustment seat 610 through telescopic action. Optionally, the first fine adjustment mechanism 620 and the second fine adjustment mechanism 630 are oil cylinders. The telescopic direction of the first fine adjustment mechanism 620 is horizontal, which drives the grabbing assembly 100 to rotate horizontally relative to the adjustment seat 610 to realize the adjustment of the fifth degree of freedom. The telescopic direction of the second fine adjustment mechanism 630 is vertical, which drives the grabbing assembly 100 to flip up and down relative to the adjustment seat 610 to realize the adjustment of the sixth degree of freedom.

[0064] The first fine adjustment mechanism 620 and the second fine adjustment mechanism 630 each have a fixed end and a movable end. The fixed end is installed on the grabbing assembly 100. Specifically, the fixed end is installed and fixed on the upper surface of the grabbing disc 110. The adjustment seat 610 is a knuckle bearing, the movable end of the first fine adjustment mechanism 620 is hinged with the adjustment seat 610 through a first hinge part 611, and the movable end of the second fine adjustment mechanism 630 is hinged with the adjustment seat 610 through a second hinge part 612.

[0065] 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 they 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 gripping device, characterized in that, The segment gripping device includes a gripping assembly (100), the gripping assembly (100) comprising: Grab (120); A gripper drive mechanism (130) is used to drive the gripper (120) to adjust its position so that the gripper (120) extends into the tube segment (700) and engages with the tube segment (700).

2. The segment gripping device according to claim 1, characterized in that, The gripper drive mechanism (130) is used to drive the gripper (120) to adjust its position by at least one or a combination of the following actions: rotation, flipping, and swinging.

3. The segment gripping device according to claim 1, characterized in that, The gripper (120) and the gripper driving mechanism (130) are arranged in pairs, and one gripper driving mechanism (130) is used to drive the corresponding gripper (120) to adjust its position.

4. The segment gripping device according to claim 3, characterized in that, A pair of gripper drive mechanisms (130) are used to drive a pair of corresponding grippers (120) to swing and engage with each other by relative extension and retraction, so as to engage with the tube segment (700).

5. The segment gripping device according to claim 4, characterized in that, The grasping component (100) also includes: A gripping disk (110) having an opening (111); The gripper (120) passes through the opening (111) and has a hinge (121) and a claw (122) respectively located on both sides of the opening (111). One end of the gripper drive mechanism (130) is fixed to the gripping disk (110), and the other end is hinged to the hinge (121).

6. The segment gripping device according to claim 5, characterized in that, The number of openings (111) is the same as the number of grippers (120), and one gripper (120) passes through a corresponding opening (111); or Multiple grippers (120) pass through a common opening (111).

7. The segment gripping device according to claim 5, characterized in that, A pair of grippers (120) and a pair of corresponding claws (122) are arranged opposite to each other. A pair of gripper drive mechanisms (130) extend relative to each other, driving the corresponding pair of claws (122) to swing apart so as to engage with the tube segment (700); or A pair of grippers (120) and a pair of claws (122) are arranged opposite to each other. A pair of gripper drive mechanisms (130) drive the corresponding pair of claws (122) to swing closer by retracting relative to each other, so as to engage with the tube segment (700).

8. A type of tunnel segment, characterized in that, The tube segment (700) is used to cooperate with the tube segment gripping device as described in any one of claims 1 to 7, the tube segment (700) comprising: A slot (710) is provided on the surface of the tube segment (700); A wedge-shaped portion (720) communicates with the slot (710) and is bent relative to the slot (710); The slot (710) and the wedge (720) cooperate with each other to allow the gripper (120) to extend into so that the gripper (120) engages with the tube segment (700).

9. A segment assembly machine, characterized in that, The segment assembly machine includes a segment gripping device as described in any one of claims 1 to 7.

10. A tunneling device, characterized in that, The tunneling equipment includes a segment gripping device as described in any one of claims 1 to 7.

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