Segment erector and tunneling equipment

Abstract

The utility model provides a segment erector and tunneling equipment. The segment erector comprises a grabbing assembly, a driving assembly and a driving assembly, wherein the grabbing assembly is used for grabbing segments; the moving assembly is used for driving the grabbing assembly to move; and the adjusting assembly is connected with the moving assembly and movably connected with the grabbing assembly so as to be used for adjusting the pose of the grabbing assembly relative to the moving assembly. The segment erector is simple in structure, small in size and capable of achieving high-precision assembling.

Description

TECHNICAL FIELD

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

[0002] A shield tunneling machine is a tunneling machine that adopts a shield method to construct a tunnel. The shield method refers to a tunneling machine laying and constructing a "shield" of a tunnel, i.e., a supporting segment, while tunneling. The shield tunneling machine uses a segment erector to grab and assemble segments. After tunneling a distance of one ring, the segment erector installs prefabricated segments onto a tunnel face that has been excavated, forming a lining to support the tunnel surface that has just been excavated. The quality of segment assembly directly affects the permeation of underground water and soil and the settlement of the ground surface, and the segment erector responsible for segment assembly has an important influence on the quality of segment assembly and the progress of tunnel construction.

[0003] The existing segment erector has the problem of low assembly precision, which is difficult to control. In particular, for some specific tunneling scenarios, a small shield tunneling machine (hereinafter referred to as "small shield") needs to be used. The advantages of the small shield are: small turning radius, flexible use, and the ability to make sharp turns, so it can replace the dragging pipe and be used in various small turning radius excavation scenarios. The small shield is small in size, and its diameter is generally between 2 meters and 4.2 meters. However, the existing segment erector is difficult to achieve high-precision assembly through a relatively simple and compact structure. SUMMARY

[0004] Therefore, the utility model provides a segment erector and tunneling equipment to solve the technical problem that the existing segment erector is difficult to achieve high-precision assembly through a relatively simple and compact structure.

[0005] To solve the above problems, the utility model provides a segment erector, which comprises: a grabbing assembly for grabbing segments; a moving assembly for driving the grabbing assembly to move; and an adjusting assembly connected with the moving assembly and movably connected with the grabbing assembly to adjust the pose of the grabbing assembly relative to the moving assembly.

[0006] In any of the above technical solutions, the adjusting assembly comprises: an adjusting seat connected with the moving assembly and movably connected with the grabbing assembly; and a fine adjustment mechanism for driving the grabbing assembly to move relative to the adjusting seat.

[0007] In any of the above technical solutions, the fine adjustment mechanism is configured to drive the grabbing assembly to perform at least one of the following actions or a combination thereof by extending and retracting, so that the grabbing assembly moves relative to the adjusting seat: rotating, flipping, moving, and swinging.

[0008] In any of the above technical solutions, the number of fine adjustment mechanisms is multiple, and each fine adjustment mechanism drives the grabbing assembly to move relative to the adjusting seat in a different direction.

[0009] In any of the above technical solutions, the fine adjustment mechanism comprises a first fine adjustment mechanism and a second fine adjustment mechanism.

[0010] In any of the above technical solutions, the first fine adjustment mechanism has a horizontal direction of extension and contraction, and the second fine adjustment mechanism has a vertical direction of extension and contraction.

[0011] In any of the above technical solutions, the first fine adjustment mechanism and the second fine adjustment mechanism each have a fixed end and a movable end, the fixed end is mounted on the grabbing assembly, the adjusting seat is a knuckle bearing, and the movable end is hinged to the adjusting seat.

[0012] In any of the above technical solutions, the pipe segment assembling machine further comprises a main beam, and the moving assembly comprises a walking driving assembly, a lifting driving assembly, and a rotating driving assembly.

[0013] In any of the above technical solutions, the lifting driving assembly comprises a lifting driving mechanism, one end of the lifting driving mechanism is connected to the rotating driving assembly, the other end is hinged to the telescopic rod, and the telescopic rod has one end connected to the adjusting assembly.

[0014] The utility model further provides a tunneling equipment, and the tunneling equipment comprises the pipe segment assembling machine of any of the above technical solutions.

[0015] Advantages

[0016] The pipe segment assembling machine comprises a grabbing assembly, a moving assembly, and an adjusting assembly. The grabbing assembly is used for grabbing pipe segments, and the moving assembly is used for driving the grabbing assembly to move. The adjusting assembly is connected to the moving assembly and movably connected to the grabbing assembly, so that the grabbing assembly can swing or rotate relative to the adjusting assembly in a small range. Therefore, the adjusting assembly can be used to adjust the position or direction of the grabbing assembly in a small range, so as to adjust the pose of the grabbing assembly relative to the moving assembly, and then the pipe segments can be efficiently and accurately assembled by using a simple and compact structure. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 This is one of the perspective views of the segment assembly machine of this utility model;

[0018] Figure 2 This is the second perspective view of the segment assembly machine of this utility model;

[0019] Figure 3 This is a right view of the segment assembly machine of this utility model;

[0020] Figure 4 This is a schematic diagram showing the cooperation between the adjustment component and the gripping component in the segment assembly machine of this utility model;

[0021] Figure 5 This is a schematic diagram of the structure of a segment used in conjunction with the segment assembly machine of the present invention;

[0022] Figure 6 This is a perspective view showing the cooperation between the gripper and the gripper drive mechanism in the segment assembly machine of this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] Gripping assembly: 100; Gripping disk: 110; Opening: 111; Gripper: 120; First hinge point: 121a; Second hinge point: 121b; Claw: 122; Gripper drive mechanism: 130; Main beam: 200; Beam body: 210; Outrigger: 220; Track: 230; Walking drive assembly: 300; Walking drive mechanism: 310; Gear: 320; Rack: 330; Walking wheel: 340; Connecting plate: 3 50; Reducer: 360; Lifting drive assembly: 400; Lifting drive mechanism: 410; Telescopic rod: 420; Rotation drive assembly: 500; Fixed part: 510; Rotating part: 520; Adjustment assembly: 600; Adjustment seat: 610; First hinge part: 611; Second hinge part: 612; First fine-tuning mechanism: 620; Second fine-tuning mechanism: 630; Segment: 700; Slot: 710; Wedge part: 720. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] The present invention provides a segment assembly machine for use in tunneling equipment such as a tunnel boring machine, for assembling segments inside the tunnel during tunnel excavation to form a tunnel lining.

[0027] like Figure 1 and Figure 2 As shown, the segment assembly machine provided by the present invention includes a gripping component 100 and a moving component. The gripping component 100 is used to grip the segment 700, and the moving component is used to drive the gripping component 100 to change position. The gripping component 100 and the moving component cooperate with each other to grip, move or assemble the segment 700.

[0028] like Figure 6 As shown, the gripping assembly 100 includes a gripper 120 and a gripper drive mechanism 130. The gripper drive mechanism 130 drives 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. The gripping assembly 100 also includes a gripping disk 110 with an opening 111. The gripper 120 passes through the opening 111 and has a hinge portion 121 and a claw 122 respectively disposed on both sides of the opening 111. One end of the gripper drive mechanism 130 is fixedly mounted to the gripping disk 110, and the other end is hinged to the hinge portion 121. There are two hinge points between the mutually hinged gripper drive mechanism 130 and the gripper 120, namely a first hinge point 121a and a second hinge point 121b. One of the junction points serves as a support point, thereby enabling the pair of grippers 120 to perform a swinging motion.

[0029] Specifically, the first hinge point 121a is part of the gripper 120 and is located at one end of the hinge portion 121. It is used to hinge with the gripper drive mechanism 130. The second hinge point 121b is part of the gripping disk 110 and is used to hinge with the gripper 120, serving as a support point for the gripper 120 to swing. Thus, under the extension and retraction drive of the gripper drive mechanism 130, the gripper 120 can swing around the second hinge point 121b.

[0030] like Figure 5 As shown, the gripping assembly 100 of the present invention needs to be used in conjunction with a tube segment 700 that structurally cooperates with it. The tube segment 700 includes a slot 710 and a wedge-shaped portion 720. The slot 710 is provided on the surface of the tube segment 700, and the wedge-shaped portion 720 communicates with the slot 710 and is bent relative to the slot 710. The slot 710 and the wedge-shaped portion 720 cooperate with each other to allow the gripper 120 to extend into it, so that the gripper 120 engages with the tube segment 700.

[0031] It is understandable that the moving component needs to perform a series of actions, such as translation, lifting, and rotation, through the drive tube 700 to complete the assembly. Accordingly, the moving component includes a walking drive component 300, a lifting drive component 400, and a rotation drive component 500.

[0032] In addition to the aforementioned structure, the segment assembly machine also includes an adjustment component 600. The function of the adjustment component 600 is to fine-tune the position or orientation of the segment 700, so as to adjust the segment 700 during the gripping, moving and transporting, or assembly process, thereby achieving more precise and efficient assembly.

[0033] To achieve the above objectives, the adjusting component 600 is connected to the moving component and movably connected to the gripping component 100. The adjusting component 600 is connected to the moving component to follow its movement. The adjusting component 600 can be fixedly connected to the moving component or movably connected to it. When the adjusting component 600 is movably connected to the moving component, an additional degree of freedom can be added during the assembly of the segment 700, allowing for more flexible adjustments. The movable connection between the adjusting component 600 and the gripping component 100 allows the gripping component 100 to move relative to the adjusting component 600, changing its relative position or orientation with respect to the moving component, thereby altering the pose of the gripping component 100 relative to the moving component. Preferably, the adjusting component 600 includes a joint bearing, and the gripping component 100 is hinged to the joint bearing.

[0034] like Figure 2 and Figure 3 As shown, the segment assembly machine also includes a main beam 200. The main beam 200 is arranged along the traveling direction of the segment assembly machine and is used to support and fix structures such as the walking drive assembly 300, the lifting drive assembly 400, and the rotation drive assembly 500. Specifically, the main beam 200 includes a beam body 210 and outriggers 220. At least part or all of the moving components are fixed to the beam body 210, and the outriggers 220 are connected to the beam body 210 to support it.

[0035] like Figures 1 to 3 As shown, the walking drive assembly 300 is used to drive the gripping assembly 100 to move axially along the main beam 200; the lifting drive assembly 400 is used to drive the gripping assembly 100 to rise and fall relative to the main beam 200; and the rotation drive assembly 500 is used to drive the gripping assembly 100 to rotate around the main beam 200.

[0036] At least a portion of the travel drive assembly 300 is connected to the main beam 200 and is capable of moving along the axial direction of the main beam 200. The rotation drive assembly 500 is connected to the travel drive assembly 300, thereby moving along the axial direction of the main beam 200 along with the travel drive assembly 300. The lifting drive assembly 400 is connected to the rotation drive assembly 500, thereby rotating synchronously with the rotation of the rotation drive assembly 500. The adjusting assembly 600 is connected to the lifting drive assembly 400, thereby rising and falling together with the lifting drive assembly 400.

[0037] 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.

[0038] 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.

[0039] The walking drive assembly 300 includes a walking drive mechanism 310, a gear 320, and a rack 330. The rack 330 is arranged axially along the main beam 200. The walking drive mechanism 310 has a power output shaft, and the gear 320 is connected to the power output shaft and meshes with the rack 330. Thus, the walking drive mechanism 310 provides power to drive the gear 320 to rotate. This structure causes the gear 320 to rotate and move along the meshing rack 330, ultimately driving the gripping assembly 100 to move axially along the main beam 200. Since the rotary drive assembly 500 is connected to the walking drive assembly 300, the rotation of the gear 320 can drive the rotary drive assembly 500 to move back and forth, thereby driving the lifting drive assembly 400, the adjusting assembly 600, and the gripping assembly 100, which are directly or indirectly connected to the rotary drive assembly 500, to reciprocate along the extension direction of the beam 210 of the main beam 200. Preferably, the drive assembly 300 further includes a reducer 360, and the drive mechanism 310 and gear 320 are connected by the reducer 360.

[0040] The walking drive assembly 300 also includes walking components, such asFigure 3 As shown, the main beam 200 is equipped with a track 230, and the traveling component includes traveling wheels 340. The gripping assembly 100 is connected to the traveling wheels 340, which are embedded in the track 230 for rolling along the track 230. By setting the traveling wheels 340 and connecting the gripping assembly 100 to them, the traveling wheels 340 can roll along the track 230, driving the gripping assembly 100 to move smoothly along the axial direction of the main beam 200. This achieves smooth transportation of the tunnel segment 700 with a simple and compact structure, ensuring that the tunnel segment 700 can be accurately assembled. The traveling component also includes a connecting plate 350. One side of the connecting plate 350 is connected to the traveling wheel 340, and the other side is connected to the rotary drive assembly 500.

[0041] The walking drive mechanism 310 is the power supply component, and the walking component consisting of the walking wheels 340 and the connecting plate 350 is the auxiliary moving component. By setting the walking wheels 340 and the connecting plate 350, the rotary drive assembly 500 can be supported and fixed, and a guiding function can be provided. It can also provide a reaction force to the rotary drive assembly 500 during its rotation, ensuring that the rotary drive assembly 500 can smoothly drive the lifting drive assembly 400, the adjusting assembly 600, and the gripping assembly 100 to rotate.

[0042] 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.

[0043] The lifting drive mechanism 410 can be a hydraulic cylinder or an electric push rod. Since one end of the lifting drive mechanism 410 is connected to the rotary drive assembly 500, it can rotate with the rotary drive assembly 500. Specifically, the lifting drive mechanism 410 is fixedly connected to the rotating part 520 of the rotary drive assembly 500. Since the other end of the lifting drive mechanism 410 is hinged to the telescopic rod 420, and the end of the telescopic rod 420 away from the lifting drive mechanism 410 is connected to the adjustment assembly 600, the lifting and lowering action of the lifting drive mechanism 410 and the telescopic action of the telescopic rod 420 can work together to make the adjustment assembly 600 swing left and right slightly, thereby causing the adjustment assembly 600 to drive the gripping assembly 100 to adjust its position. It can be understood that when two lifting drive assemblies 400 are symmetrically arranged on both sides of the beam 210 of the main beam 200, at least one of the lifting drive assemblies 400 needs to have a telescopic rod 420. The lifting drive mechanism 410 and the telescopic rod 420 work together to drive the gripping component 100 to a pendulum position, which can give the segment assembly machine a fourth degree of freedom.

[0044] 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.

[0045] During the above process, since the gripping component 100 is movably connected to the adjusting component 600, the gripping component 100 can adjust its position or direction relatively and slightly during any forward and backward movement, up and down movement, and rotational assembly action, so as to assemble accurately and efficiently in time.

[0046] like Figure 4 and Figure 6 As shown, the adjustment assembly 600 includes an adjustment base 610 and a fine-tuning mechanism. The adjustment base 610 is connected to the moving assembly and movably connected to the gripping assembly 100. The fine-tuning mechanism drives the gripping assembly 100 to move relative to the adjustment base 610.

[0047] Specifically, the adjustment seat 610 is connected to the drive assembly 400 in the moving assembly. More specifically, the adjustment seat 610 is connected to the telescopic rod 420 of the drive assembly 400. By coordinating the lifting and lowering action of the drive mechanism 410 and the extension and retraction action of the telescopic rod 420, the adjustment seat 610 can drive the gripping assembly 100 connected to it to perform small-amplitude position and posture adjustments.

[0048] The fine-tuning mechanism can limit and fix the gripping component 100, and drive the gripping component 100 to move along a specific direction and / or within a specific stroke to achieve fine-tuning of its pose.

[0049] Preferably, the fine-tuning mechanism is used to adjust the position and orientation of the gripping component 100 by extending and retracting. The extension and retraction adjustment can be achieved by a hydraulic cylinder, which has a simple structure, small size, and is easy to install.

[0050] It is understood that the gripping assembly 100 includes a gripping disk 110, on which a gripping drive mechanism 130 is mounted and fixed, and the gripping drive mechanism 130 is hinged to the gripper 120. The gripping drive mechanism 130 drives the gripper 120 to move, thereby gripping the tube segment 700. Both the fine-tuning mechanism and the gripping drive mechanism 130 are fixed to the upper side of the gripping disk 110, and the gripper 120 passes through the gripping disk 110 via an opening 111 and extends to the lower side of the gripping disk 110. Specifically, the fine-tuning mechanism drives the gripping disk 110 to move via a drive adjustment seat 610, thereby allowing the gripping assembly 100 to make small-scale positional adjustments. When the gripping disk 110 moves, it also drives the fine-tuning mechanism and the gripping drive mechanism 130 on it, as well as the gripper 120, to move synchronously.

[0051] For example, the gripping component 100 can perform at least one or a combination of the following actions to move the gripping component 100 relative to the adjustment seat 610: rotation, flipping, movement, and oscillation. For instance, the gripping component 100 can rotate horizontally along the axis of the adjustment seat 610, the gripping component 100 can flip up and down relative to the adjustment seat 610 about a horizontal plane, and the component 100 can oscillate by reciprocating along a linear or non-linear trajectory.

[0052] It is understood that there can be one or more fine-tuning mechanisms. If there is only one fine-tuning mechanism, it drives the gripping assembly 100 to change position only in one direction. For example, the fine-tuning mechanism can be a hydraulic cylinder horizontally positioned above the gripping disk 110, hinged to the adjustment seat 610. This cylinder, through horizontal extension and retraction, pushes the adjustment seat 610 to move, causing the gripping assembly 100 to rotate in the horizontal direction.

[0053] When there are multiple fine-tuning mechanisms, the gripping component 100 can be driven to change position from multiple directions. Preferably, there are multiple fine-tuning mechanisms, each driving the gripping component 100 to move relative to the adjusting seat 610 from different directions. For example, one of the multiple fine-tuning mechanisms can extend and retract laterally to drive the gripping component 100 to rotate horizontally relative to the adjusting seat 610, and another of the multiple fine-tuning mechanisms can extend and retract longitudinally to drive the gripping component 100 to flip vertically relative to the adjusting seat 610. By setting multiple fine-tuning mechanisms that drive the gripping component 100 to move relative to the adjusting seat 610 from different directions, the degree of freedom of movement of the gripping component 100 can be increased, improving its assembly accuracy and efficiency.

[0054] like Figure 4 and Figure 6 As shown, exemplarily, the fine-tuning mechanism includes a first fine-tuning mechanism 620 and a second fine-tuning mechanism 630. Both the first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 can extend and retract to drive the gripping component 100 to move relative to the adjustment seat 610. Optionally, the first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 are hydraulic cylinders. It is understood that the extension and retraction directions of the first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 are different, so that they cooperate to give the gripping component 100 degrees of freedom to move in two different directions.

[0055] Preferably, the extension and retraction direction of the first fine-tuning mechanism 620 is horizontal, and it drives the gripping component 100 to rotate horizontally relative to the adjusting seat 610 to achieve adjustment of the fifth degree of freedom. The extension and retraction direction of the second fine-tuning mechanism 630 is vertical, and it drives the gripping component 100 to flip up and down relative to the adjusting seat 610 to achieve adjustment of the sixth degree of freedom.

[0056] like Figure 4 and Figure 6 As shown, the first fine-tuning mechanism 620 and the second fine-tuning mechanism 630 each have a fixed end and a movable end. The fixed end is mounted on the gripping assembly 100. Specifically, the fixed end is mounted and fixed to the upper surface of the gripping disk 110. The adjustment seat 610 is a spherical bearing. The movable end of the first fine-tuning mechanism 620 is hinged to the adjustment seat 610 through a first hinge portion 611, and the movable end of the second fine-tuning mechanism 630 is hinged to the adjustment seat 610 through a second hinge portion 612.

[0057] This embodiment also provides a tunneling device, which includes a segment assembler as described in any of the above technical solutions. Therefore, it has all the beneficial effects of the segment assembler described in any of the above technical solutions, and will not be repeated here. The tunneling device is preferably a tunnel boring machine (TBM).

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A segment erector, characterized by The pipe splicing machine comprises: a grabbing assembly (100) for grabbing a pipe segment (700); a moving assembly for driving the grabbing assembly (100) to move; an adjusting assembly (600) connected with the moving assembly and movably connected with the grabbing assembly (100) for adjusting the pose of the grabbing assembly (100) relative to the moving assembly.

2. The pipe splicing machine of claim 1, wherein, The adjusting assembly (600) comprises: an adjusting seat (610) connected with the moving assembly and movably connected with the grabbing assembly (100); a fine adjustment mechanism for driving the grabbing assembly (100) to move relative to the adjusting seat (610).

3. The pipe splicing machine of claim 2, wherein, The fine adjustment mechanism is used to drive the grabbing assembly (100) to perform at least one of the following actions or a combination thereof by telescoping, so that the grabbing assembly (100) moves relative to the adjusting seat (610): rotation, overturning, movement, swinging.

4. The pipe splicing machine of claim 2, wherein, The number of the fine adjustment mechanisms is multiple, and each fine adjustment mechanism drives the grabbing assembly (100) to move relative to the adjusting seat (610) in a different direction.

5. The pipe splicing machine of claim 2, wherein, The fine adjustment mechanism comprises: a first fine adjustment mechanism (620); a second fine adjustment mechanism (630); The first fine adjustment mechanism (620) and the second fine adjustment mechanism (630) can both drive the grabbing assembly (100) to move relative to the adjusting seat (610) by telescoping, and the telescoping direction of the first fine adjustment mechanism (620) is different from the telescoping direction of the second fine adjustment mechanism (630).

6. The pipe splicing machine of claim 5, wherein, The telescoping direction of the first fine adjustment mechanism (620) is a horizontal direction, and the telescoping direction of the second fine adjustment mechanism (630) is a vertical direction.

7. The pipe splicing machine of claim 5, wherein, 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), the adjusting seat (610) is a knuckle bearing, and the movable end is hinged to the adjusting seat (610).

8. The pipe splicing machine according to any one of claims 1 to 7, characterized in that The pipe splicing machine further comprises a main beam (200), and the moving assembly comprises: a walking driving assembly (300) for driving the grabbing assembly (100) to move axially along the main beam (200); a lifting driving assembly (400) for driving the grabbing assembly (100) to lift relative to the main beam (200); a rotating driving assembly (500) for driving the grabbing assembly (100) to rotate around the main beam (200); The adjusting assembly (600) is connected with the lifting driving assembly (400), the lifting driving assembly (400) is connected with the rotating driving assembly (500), the rotating driving assembly (500) is connected with the walking driving assembly (300), and at least part of the walking driving assembly (300) can slide along the main beam (200).

9. The pipe splicing machine of claim 8, wherein, The lifting driving assembly (400) comprises: A lifting driving mechanism (410), one end of the lifting driving mechanism (410) being connected with the rotating driving assembly (500), and the other end being hingedly connected with a telescopic rod (420); The telescopic rod (420), one end of the telescopic rod (420) away from the lifting driving mechanism (410) being connected with the adjusting assembly (600).

10. A tunneling apparatus, characterized by, The tunneling equipment comprises the segment erector as claimed in any one of claims 1 to 9.

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