Trowelling device applied to shield segment

Abstract

The utility model discloses a trowelling device applied to a shield segment, and relates to the technical field of shield segment production, the trowelling device comprises a mechanical arm and a track assembly for the mechanical arm to install and walk, and a trowelling machine head is assembled on an end effector of the mechanical arm. The trowelling machine head comprises a trowelling plate, an adapter assembled on the end effector and an elastic mechanism used for elastically arranging the trowelling plate on the adapter, so that the trowelling plate can move close to or away from the adapter; the elastic mechanism comprises a connecting rod, the two ends of the connecting rod are installed on the adapting piece and the trowelling plate respectively, the connecting rod is movably installed on the adapting piece, and an elastic piece is arranged between the trowelling plate and the adapting piece. According to the trowelling device, the mechanical arm is combined with the trowelling machine head, flexible trowelling operation on the surface of the shield segment is achieved, the trowelling plate can be finely adjusted according to actual needs through the elastic mechanism in the trowelling machine head, and consistency and stability of the trowelling effect are guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of shield tunnel segment production technology, specifically to a smoothing device applied to shield tunnel segments. Background Technology

[0002] In the production of tunnel segments, the surface finishing process has traditionally relied on manual smoothing. However, this method, due to unavoidable human error, often results in unevenness and insufficient density on the outer arc surface of the segments. While existing technologies have attempted to address these issues by improving smoothing tools—such as using more precise and efficient smoothing plates or mechanical smoothing attachments—the fundamental problems inherent in manual smoothing remain unresolved.

[0003] Specifically, manual smoothing is still affected by various factors such as the operator's work experience, skill level, physical condition, and work attitude. The combined effect of these factors can lead to significant differences in smoothing results even among segments from the same production batch. This difference not only makes it difficult to ensure that segments from the same batch meet the same quality standards, but may even cause some segments to become defective due to poor smoothing, thus affecting the quality of the entire production batch.

[0004] To address this issue, we propose a smoothing device for tunnel lining segments. Utility Model Content

[0005] The purpose of this utility model is to solve the problems in the prior art by proposing a smoothing device for tunnel lining segments. Compared with the smoothing method of manually operating smoothing tools in the prior art, the smoothing device in this application is more efficient and accurate, and the smoothing work is automated without the need for manual intervention.

[0006] To solve the above problems, this utility model provides the following technical solution:

[0007] A smoothing device for tunnel boring machine segments includes a robotic arm and a track assembly for mounting and moving the robotic arm. The end effector of the robotic arm is equipped with a smoothing head. The smoothing head includes a smoothing plate, a connector mounted on the end effector, and an elastic mechanism for elastically mounting the smoothing plate onto the connector, allowing the smoothing plate to move towards or away from the connector. The elastic mechanism includes connecting rods mounted at both ends on the connector and the smoothing plate, respectively, with the connecting rods movably mounted on the connector. An elastic element is provided between the smoothing plate and the connector, so that when the connecting rods move towards the connector, the elastic element causes the smoothing plate to tend to move away from the connector.

[0008] As a further embodiment of this utility model: the track assembly includes a ground linear track, the robotic arm is slidably mounted on the ground linear track, and a drive source for driving the robotic arm to move is provided on the ground linear track.

[0009] As a further embodiment of this utility model: the track assembly includes a crossbeam and a longitudinal beam located on the same horizontal plane, and the crossbeam and the longitudinal beam are arranged vertically. The crossbeam can move on the longitudinal beam, the robotic arm is slidably mounted on the crossbeam, and the crossbeam is provided with a drive source for driving the robotic arm to move, so that the robotic arm can perform two-dimensional motion.

[0010] As a further embodiment of this utility model: the connecting rod is configured as a threaded rod, one end of which is fixedly installed on the trowel plate, and the other end passes through the adapter, and a nut is fitted on the other end, with the nut pressing against the adapter.

[0011] As a further embodiment of this utility model: the elastic element is a return spring and is sleeved on the outside of the connecting rod, and the two ends of the return spring are fixedly connected to the adapter and the smoothing plate, respectively.

[0012] As a further embodiment of this utility model: the adapter includes an adapter plate for mounting one end of the connecting rod, two sets of parallel vertical plates are fixedly arranged on the adapter plate, and a flange is fixedly arranged on the vertical plates.

[0013] As a further embodiment of this utility model: a guide rod for a movable through-connector is fixedly provided on the smearing plate, and the guide rod is arranged parallel to the connecting rod.

[0014] As a further embodiment of this utility model, the smoothing machine head also includes a baffle plate disposed around the smoothing plate, so that the smoothing plate and the baffle plate together form a box-type structure.

[0015] As a further embodiment of this utility model: a vibration motor is fixedly installed on the smearing plate, and the vibration motor is located inside the box structure.

[0016] As a further embodiment of this utility model, the vibration motor is located at the end of the box-type structure.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This smoothing device combines a robotic arm with a smoothing head to achieve flexible smoothing of the shield tunnel segment surface. The elastic mechanism in the smoothing head allows the smoothing plate to be finely adjusted according to actual needs, ensuring the consistency and stability of the smoothing effect while improving work efficiency.

[0019] 2. The track assembly of the smoothing device adopts a ground-based linear track design, providing a stable linear motion path for the robotic arm. The drive source enables the robotic arm to move smoothly along the track, ensuring the continuity and accuracy of the smoothing operation and reducing the difficulty of operation.

[0020] 3. The track assembly of the smoothing device adopts a two-dimensional motion design that combines crossbeams and longitudinal beams, enabling the robotic arm to operate flexibly in a wider area. The movement of the crossbeam on the longitudinal beam and the sliding of the robotic arm on the crossbeam together realize two-dimensional motion capability, improving the flexibility and adaptability of smoothing operations. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] Figure 1 This is a three-dimensional structural diagram of the first type of smoothing machine head in Embodiment 1 of this utility model. Figure 1 ;

[0023] Figure 2 This is a three-dimensional structural diagram of the first type of smoothing machine head in Embodiment 1 of this utility model. Figure 2 ;

[0024] Figure 3 This is a three-dimensional structural diagram of the first type of smoothing machine head in Embodiment 1 of this utility model. Figure 3 ;

[0025] Figure 4 This is a three-dimensional structural diagram of the second type of smoothing head in Embodiment 1 of this utility model;

[0026] Figure 5 This is a three-dimensional structural diagram of the first type of track assembly in Embodiment 2 of this utility model;

[0027] Figure 6 This is a three-dimensional structural diagram of the second type of track assembly in Embodiment 2 of this utility model;

[0028] Figure 7 yes Figure 6 A schematic diagram of a local structure in the image;

[0029] Figure 8 This is a schematic diagram of the three-dimensional structure of embodiment three of this utility model. Figure 1 ;

[0030] Figure 9 This is a schematic diagram of the three-dimensional structure of embodiment three of this utility model. Figure 2 ;

[0031] Figure 10 yes Figure 9 A schematic diagram of a local structure.

[0032] In the diagram: 1. Slab plate; 2. Adapter; 201. Adapter plate; 202. Vertical plate; 203. Flange; 204. Support; 205. Rotating shaft; 206. Assembly plate; 3. Connecting rod; 4. Elastic component; 5. Guide rod; 6. Enclosure plate; 7. Vibration motor; 8. Reinforcing rib plate; 9. Track assembly; 901. Ground linear track; 902. Crossbeam; 903. Longitudinal beam; 10. Robotic arm; 11. Support beam; 12. Connecting beam; 13. Seat; 14. Load beam; 15. Drive motor; 16. Reducer; a. Segment mold. Detailed Implementation

[0033] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0034] Example 1:

[0035] like Figures 1-4 As shown, a trowel head includes a trowel plate 1 and an adapter 2. The trowel plate 1 and the adapter 2 are connected by an elastic mechanism. The elastic mechanism allows the trowel plate 1 to be elastically mounted on the adapter 2, meaning the trowel plate 1 can move towards or away from the adapter 2. When using the trowel head of this application to trowel a segment mold a, the trowel head is first positioned above the head of the segment mold a. The trowel head is then gradually lowered until the trowel plate 1 at the bottom of the trowel head contacts the concrete surface of the segment mold a. Then, based on factors such as the type or dilution of the concrete, it is determined whether the trowel head should continue to move downwards. If it is determined that the smoothing head needs to be moved downwards, since the smoothing plate 1 is already in contact with the concrete surface, the downward movement of the smoothing head can rely on the elastic mechanism to apply a pressure to the smoothing plate 1. This pressure can increase the contact force between the smoothing plate 1 and the concrete surface. In the subsequent process of driving the smoothing head to move along the length of the segment mold a until the smoothing plate 1 moves to the tail of the segment mold a, the concrete surface is always subjected to the contact force of the smoothing plate 1, resulting in a better smoothing effect and strong adaptability.

[0036] The elastic mechanism described above applies a resistive force to the trowel plate 1. Because it applies elastic pressure, the resistive force between the trowel plate 1 and the concrete surface gradually increases, preventing a sudden, large-scale impact on the concrete surface due to excessive downward movement. Specifically, the elastic mechanism includes a connecting rod 3 with its two ends mounted on the adapter 2 and the trowel plate 1, respectively. The connecting rod 3 is movably mounted on the adapter 2. Specifically, the adapter 2 has a hole through which the connecting rod 3 passes. One end of the connecting rod 3 passes through the hole and is mounted on the adapter 2, allowing for a movable connection between the trowel plate 1 and the adapter 2. An elastic element 4 is provided between the trowel plate 1 and the adapter 2. When the connecting rod 3 moves towards the adapter 2, the elastic element 4 is compressed, causing the trowel plate 1 to tend to move away from the adapter 2. Preferably, the elastic element 4 is a return spring sleeved on the outside of the connecting rod 3, with both ends fixedly connected to the adapter 2 and the trowel plate 1, respectively.

[0037] When the trowel 1 comes into contact with the concrete surface and it is determined that the trowel head needs to continue moving downward, the return spring will be compressed during the downward movement of the trowel head. The return spring will apply a downward elastic force to the trowel 1. This elastic force can drive the trowel 1 to come into closer contact with the concrete surface, that is, increase the resistance force of the trowel 1 to the concrete surface.

[0038] To achieve an adjustable initial position between the trowel plate 1 and the adapter 2, this application sets the connecting rod 3 as a threaded rod. One end of the threaded rod passes through a hole in the adapter 2, and a nut is threaded onto the threaded rod. Under the action of the elastic element 4 driving the adapter 2 and the trowel plate 1 to move away from each other, the nut and the adapter 2 are in a state of pressure. Subsequently, simply rotating the nut can increase or decrease the length of the threaded rod between the adapter 2 and the trowel plate 1, that is, to achieve the adjustment of the distance between the trowel plate 1 and the adapter 2. Under this different distance adjustment, the elastic element 4 will exhibit different degrees of compression, and thus the initial state of the trowel plate 1 will also be different. Different initial states can be adapted to different types of concrete surfaces to achieve corresponding smoothing work.

[0039] Based on the connection between the adapter 2 and the squeegee 1 by setting the connecting rod 3, in order to prevent the squeegee 1 from deviating when moving closer to or away from the adapter 2, this application fixes a guide rod 5 that moves through the adapter 2 on the squeegee 1.

[0040] To ensure the smoothing of the machine head and its adaptability to different working environments, the adapter 2 has different forms, specifically the following two:

[0041] (1) For example Figures 1-3As shown, the adapter 2 includes a support 204, on which a rotating shaft 205 is rotatably mounted, and the rotating shaft 205 is arranged parallel to the smoothing plate 1. An assembly plate 206 for mounting one end of the connecting rod 3 is fixedly mounted at the end of the rotating shaft 205. Preferably, the assembly plate 206 is L-shaped. In this structural configuration, the guide rod 5 is arranged parallel to the connecting rod 3.

[0042] (2) For example Figure 4 As shown, the adapter 2 includes an adapter plate 201 for mounting one end of the connecting rod 3. Two sets of parallel vertical plates 202 are fixedly installed on the adapter plate 201, and flanges 203 are fixedly installed on the vertical plates 202.

[0043] like Figure 2 As shown, in order to ensure that the trowel 1 can effectively compact the concrete surface during its movement along the segment mold a, this application has a vibration motor 7 fixedly installed on the trowel 1. Thus, during the movement of the trowel 1, the vibration motor 7 drives the trowel 1 to vibrate, thereby achieving the compaction treatment of the concrete surface.

[0044] To prevent the slurry plate 1 from becoming contaminated with excessive mud during its movement along the segment mold a, which could affect the normal operation of components such as the connecting rod 3 and the vibrating motor 7, this application also includes a surrounding baffle 6 around the slurry plate 1, so that the slurry plate 1 and the surrounding baffle 6 together form a box-type structure. The surrounding baffle 6 has several reinforcing ribs 8 inside, making the box-type structure more robust. The connecting rod 3 and the vibrating motor 7 are both located inside the box-type structure and are covered by protective plates. This type of box-type structure can protect the corresponding components and ensure that they have a longer service life.

[0045] Example 2:

[0046] like Figures 5-7 As shown, a smoothing device for tunnel lining segments includes a robotic arm 10 and a track assembly 9 for mounting and moving the robotic arm 10. The end effector of the robotic arm 10 is equipped with a smoothing head. During use, the robotic arm 10 can automatically adjust the position of the smoothing head relative to the segment mold a until the smoothing head is adjusted to the corresponding working position. This adjustment process is quick and simple. Subsequently, the robotic arm 10 can move using the track assembly 9, allowing the smoothing head to complete the entire smoothing work. Compared to the existing manual smoothing methods, the smoothing method in this application is highly efficient and accurate, automating the smoothing work without human intervention.

[0047] Meanwhile, through the structural design of the smoothing head in Embodiment 1, during the smoothing process using the robotic arm 10, the smoothing plate 1 on the smoothing head is subjected to the elastic action of the reset spring, which gradually increases the force on the concrete surface, resulting in a better smoothing effect.

[0048] Specifically, for different types of segment molds a, the track assembly 9 in this application is configured with two structures for selection:

[0049] (1) For example Figure 5 As shown, when the robotic arm 10 needs to be placed on the ground to walk and work, the track assembly 9 can be set to include a ground linear track 901. The robotic arm 10 is slidably mounted on the ground linear track 901, and the ground linear track 901 is provided with a drive source for driving the robotic arm 10 to move. The drive source is a conventional drive component in the prior art.

[0050] (2) For example Figure 6 As shown, when the robotic arm 10 needs to be suspended in the air for work, the track assembly 9 can be configured including a crossbeam 902 and a longitudinal beam 903 located on the same horizontal plane, with the crossbeam 902 and longitudinal beam 903 arranged vertically. The crossbeam 902 can move on the longitudinal beam 903, and the robotic arm 10 is slidably mounted on the crossbeam 902. The crossbeam 902 is equipped with a drive source for moving the robotic arm 10, enabling the robotic arm 10 to perform two-dimensional motion. Simultaneously, the robotic arm 10 can drive the smoothing head to perform vertical up-and-down motion, achieving three-dimensional motion of the smoothing head, thus accurately completing the smoothing work. Similarly, the drive source in this structure is a conventional drive component in the prior art, which will not be elaborated upon here to avoid unnecessary complexity.

[0051] Based on the robotic arm 10 in this application, in order to better adapt the smoothing head to the end effector on the robotic arm 10, the smoothing head structure with flange 203 in Embodiment 1 is selected. Subsequently, it is only necessary to connect the flange 203 on the smoothing head to the end effector on the robotic arm 10 for use.

[0052] Example 3:

[0053] like Figures 8-10 As shown, a smoothing device for tunnel lining segments includes a three-dimensional motion mechanism and a smoothing head mounted on the three-dimensional motion mechanism. Specifically:

[0054] The three-dimensional motion mechanism includes two sets of parallel support beams 11 and a connecting beam 12 connecting the two sets of support beams 11. The connecting beam 12 can slide horizontally on the support beams 11. A driving component is provided on the support beams 11 to drive the connecting beam 11 to slide on the support beams 11. A seat 13 is slidably mounted on the connecting beam 12, and a driving component is also provided on the connecting beam 12 to drive the seat 13 to slide on the connecting beam 12. A load beam 14 is slidably mounted on the seat 13, and a driving component is also provided on the seat 13 to drive the load beam 14 to slide. Furthermore, the sliding directions of the connecting beam 12, seat 13, and load beam 14 are perpendicular to each other. This constraint allows the connecting beam 12, seat 13, and load beam 14 to be integrated together to achieve three-dimensional motion.

[0055] Preferably, the sliding directions of the connecting beam 12 and the seat 13 are both set to horizontal, so that their sliding directions constitute the X and Y directions. At the same time, the sliding direction of the load beam 14 is set to vertical, so that its sliding direction constitutes the Z direction. The three sliding directions cooperate with each other to achieve three-dimensional motion.

[0056] It should be noted that the sliding assembly between multiple beams and the assembly of driving components are conventional techniques in the prior art, and this article does not impose any restrictions on them.

[0057] Regarding the aforementioned smoothing head configuration, based on the three-dimensional motion mechanism designed in this application, and to accommodate the installation work between the load-bearing beam 14 and the smoothing head, the smoothing head structure with support 204 as described in Embodiment 1 is selected. Subsequently, only the support 204 needs to be fixedly connected to the bottom of the load-bearing beam 14. During use, since the segment mold a is located below the load-bearing beam 14, the movement of the load-bearing beam 14 can drive the smoothing plate 1 to move accordingly, thus achieving the smoothing operation.

[0058] In order to precisely adjust the position of the trowel 1 for more accurate smoothing of the concrete surface, this application has a drive motor 15 and a reducer 16 fixedly installed on the support 204. The drive motor 15 and the reducer 16 are connected in transmission, and the reducer 16 is connected in transmission to the rotating shaft 205. By using the cooperation of the drive motor 15 and the reducer 16, the rotating shaft 205 can rotate at a certain angle, thereby realizing the rotation of the trowel 1 connected to the rotating shaft 205. The rotation of the trowel 1 can adapt to different types of concrete surfaces, making the smoothing work adaptable and efficient.

[0059] The above description provides a detailed account of one embodiment of the present invention. However, this description is merely a preferred embodiment and should not be construed as limiting the scope of the present invention. All equivalent variations and improvements made within the scope of the claims of the present invention should still fall within the patent coverage of the present invention.

Claims

1. A smoothing device for tunnel lining segments, characterized in that, The system includes a robotic arm (10) and a track assembly (9) for mounting and moving the robotic arm (10). The end effector of the robotic arm (10) is equipped with a smoothing head. The smoothing head includes a smoothing plate (1), a adapter (2) mounted on the end effector, and an elastic mechanism for elastically placing the smoothing plate (1) on the adapter (2) so that the smoothing plate (1) can move toward or away from the adapter (2). The elastic mechanism includes a connecting rod (3) with its two ends respectively mounted on the adapter (2) and the smoothing plate (1), and the connecting rod (3) is movably mounted on the adapter (2). An elastic element (4) is provided between the smoothing plate (1) and the adapter (2) so that when the connecting rod (3) moves toward the adapter (2), the elastic element (4) will cause the smoothing plate (1) to have a tendency to move away from the adapter (2).

2. The smoothing device for tunnel lining segments according to claim 1, characterized in that, The track assembly (9) includes a ground linear track (901), the robotic arm (10) is slidably mounted on the ground linear track (901), and the ground linear track (901) is provided with a drive source for driving the robotic arm (10) to move.

3. A smoothing device for tunnel lining segments according to claim 1, characterized in that, The track assembly (9) includes a crossbeam (902) and a longitudinal beam (903) located on the same horizontal plane, and the crossbeam (902) and the longitudinal beam (903) are arranged vertically. The crossbeam (902) can move on the longitudinal beam (903). The robotic arm (10) is slidably mounted on the crossbeam (902), and the crossbeam (902) is provided with a drive source for driving the robotic arm (10) to move, so that the robotic arm (10) can perform two-dimensional motion.

4. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The connecting rod (3) is configured as a threaded rod. One end of the threaded rod is fixedly installed on the trowel plate (1), and the other end passes through the adapter (2). A nut is fitted on this end, and the nut abuts against the adapter (2).

5. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The elastic element (4) is a reset spring and is sleeved on the outside of the connecting rod (3). The two ends of the reset spring are fixedly connected to the adapter (2) and the trowel (1) respectively.

6. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The adapter (2) includes an adapter plate (201) for mounting one end of the connecting rod (3), and two sets of parallel vertical plates (202) are fixedly installed on the adapter plate (201), and flanges (203) are fixedly installed on the vertical plates (202).

7. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The smearing plate (1) is fixedly provided with a guide rod (5) that is movable through the adapter (2), and the guide rod (5) is arranged in parallel with the connecting rod (3).

8. A smoothing device for tunnel lining segments according to any one of claims 1-3, characterized in that, The screed head also includes a baffle plate (6) around the screed plate (1) so that the screed plate (1) and the baffle plate (6) together form a box structure.

9. A smoothing device for tunnel lining segments according to claim 8, characterized in that, A vibration motor (7) is fixedly installed on the smearing plate (1), and the vibration motor (7) is located inside the box structure.

10. A smoothing device for tunnel lining segments according to claim 9, characterized in that, The vibration motor (7) is located at the end of the box structure.

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