Automatic duct piece assembling device for shield tunneling machine

Abstract

The utility model relates to the technical field of shield tunneling machine assembly, and discloses an automatic duct piece assembly device for a shield tunneling machine, which comprises a translation sliding seat, a slewing bearing is arranged on one side of the outer wall of the translation sliding seat, a circular guide rail is arranged on one side of the outer wall of the slewing bearing, the outer wall of the slewing bearing is fixedly connected with a fixed block, and the fixed block is fixedly connected with the translation sliding seat. A lifting oil cylinder is fixedly connected to the outer wall of the fixing block, a lifting arm is fixedly connected to the output end of the lifting oil cylinder, a fixing assembly is arranged on the upper surface of the lifting arm and comprises an air cylinder, the air cylinder is arranged on the upper surface of the lifting arm, and a fixing column is fixedly connected to the output end of the air cylinder. According to the automatic pipe piece assembling device, the risk that a mechanical clamp is mostly adopted when a pipe piece is clamped by an automatic pipe piece assembling device of a traditional shield tunneling machine, and the pipe piece slides and even falls off easily due to vibration and the uneven surface of the pipe piece in a complex construction environment is effectively avoided, and the effect of stably clamping the pipe piece is achieved.

Description

Technical Field

[0001] This utility model relates to the field of tunnel boring machine assembly technology, and in particular to an automatic segment assembly device for tunnel boring machines. Background Technology

[0002] A tunnel boring machine (TBM) is a tunnel excavation equipment that integrates functions such as excavation, support, and propulsion. It is widely used in underground tunnel projects such as subways, highways, and water conservancy projects. The automatic segment assembly device uses technologies such as precise gripping by a robotic arm, six-degree-of-freedom attitude adjustment, and intelligent detection and feedback to shorten the assembly time to within 10 minutes, which greatly improves construction efficiency and quality and can better adapt to the needs of complex geological conditions and ultra-large diameter tunnel assembly.

[0003] Traditional tunnel boring machine automatic segment assembly devices use robotic arms to grab prefabricated segments with vacuum suction cups or clamps, then transport the segments to the designated assembly position at the tail of the shield. The spatial attitude is adjusted by a six-degree-of-freedom hydraulic drive system to precisely align with the assembled segments. After the individual segments are correctly positioned, the bolts are tightened to form a stable lining ring.

[0004] Traditional tunnel boring machines (TBMs) often use mechanical clamps to hold tunnel segments in their automatic segment assembly devices. In complex construction environments, vibrations and uneven surface of the segments can easily cause them to slip or even fall, posing a threat to personnel safety. Furthermore, traditional devices are difficult to fine-tune precisely during assembly, leading to an increase in the gaps between the segments. In addition, the reliance on manual intervention in tightening bolts can result in uneven preload due to human factors. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides an automatic segment assembly device for tunnel boring machines, which aims to improve the problem that traditional automatic segment assembly devices for tunnel boring machines mostly use mechanical clamps when clamping segments. In complex construction environments, the segments are prone to slippage or even falling due to vibration and unevenness of the segment surface, posing a threat to personnel safety.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an automatic segment assembly device for a tunnel boring machine, including a translation slide, a slewing bearing is provided on one side of the outer wall of the translation slide, a circular guide rail is provided on one side of the outer wall of the slewing bearing, a fixing block is fixedly connected to the outer wall of the slewing bearing, a lifting cylinder is fixedly connected to the outer wall of the fixing block, a lifting arm is fixedly connected to the output end of the lifting cylinder, and a fixing component is provided on the upper surface of the lifting arm;

[0007] The fixing component includes a cylinder, which is disposed on the upper surface of the lifting arm. A fixing column is fixedly connected to the output end of the cylinder. An arc-shaped block is fixedly connected to one end of the fixing column. A connecting column is fixedly connected to the outer wall of the lifting arm. A positioning pin is fixedly connected to the outer wall of the connecting column. A tube is disposed below the arc-shaped block. A pin hole is disposed inside the tube. The outer wall of the positioning pin is slidably connected to the inside of the pin hole.

[0008] Furthermore, a bracket is fixedly connected to the lower surface of the lifting arm, an automatic screwdriver is provided at one end of the bracket, a telescopic rod is fixedly connected to one end of the automatic screwdriver, a cutting head is fixedly connected to one end of the telescopic rod, a screw hole is provided inside the tube, the outer wall of the cutting head is slidably connected to the inside of the screw hole, a rotary ring is slidably connected inside the circular guide rail, and ball bearings are provided inside the circular guide rail.

[0009] Furthermore, a connecting column two is fixedly connected to the outer wall of the translation slide, and the lifting cylinder is located on one side of the outer wall of the translation slide.

[0010] Furthermore, a slider is fixedly connected to the inner wall of the slewing bearing, and the outer wall of the slider is slidably connected to the inside of the translation slide.

[0011] Furthermore, the slewing ring is fixedly connected to the outer wall of the slewing bearing, and the outer wall of the ball is slidably connected to the outer wall of the slewing ring.

[0012] Furthermore, the automatic screwdriver is positioned between the tube segment and the lifting arm.

[0013] Furthermore, the cylinder is located on one side of the outer wall of the slewing bearing, and the outer wall of the fixed column is slidably connected to the inside of the lifting arm.

[0014] Furthermore, the tube segment is disposed on one side of the outer wall of the translation slide, and the connecting column is disposed on one side of the outer wall of the tube segment.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, the lifting arm is raised and lowered by the lifting cylinder, so that the positioning pin is inserted into the pin hole of the segment to complete the planar positioning. The cylinder then pushes the arc block to radially press the segment, forming a two-way rigid constraint with the positioning pin in both axial and radial directions. This solves the problem that the automatic segment assembly device of the tunnel boring machine often uses mechanical clamps to hold the segments. In complex construction environments, the segments are prone to slippage or even fall due to vibration and unevenness of the segment surface, which poses a threat to personnel safety. This achieves the effect of stable clamping of the segments.

[0017] 2. In this utility model, the axial position of the segment is coarsely adjusted by moving the slider laterally, and the slewing bearing drives the rotating ring to rotate via the circular guide rail and ball bearings to finely adjust the circumferential angle of the segment. Simultaneously, the automatic screwdriver of the bracket controls the telescopic rod, so that the screw head is accurately inserted into the screw hole and automatically tightens the bolt. This solves the problem of difficult fine adjustment during splicing of traditional devices. In addition, the screw tightening process relies on manual intervention, which is prone to uneven pre-tightening force due to human factors. This achieves the effect of precise fine adjustment of the segment joint and efficient and fast tightening of the screw. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the automatic segment assembly device for tunnel boring machines proposed in this utility model;

[0019] Figure 2 This is a schematic diagram of one side of the translation slide of the automatic segment assembly device for tunnel boring machines proposed in this utility model;

[0020] Figure 3 This is a schematic diagram of the slewing bearing side of the automatic segment assembly device for tunnel boring machines proposed in this utility model;

[0021] Figure 4 This is a schematic diagram of one side of the automatic screwdriver structure of the automatic segment assembly device for tunnel boring machines proposed in this utility model.

[0022] Figure 5 This is a schematic diagram of one side of the circular guide rail structure of the automatic segment assembly device for tunnel boring machines proposed in this utility model.

[0023] Legend:

[0024] 1. Translation slide; 2. Slewing bearing; 3. Lifting cylinder; 4. Fixing block; 5. Lifting arm; 6. Tube segment; 7. Connecting column one; 8. Positioning pin; 9. Arc block; 10. Cylinder; 11. Circular guide rail; 12. Connecting column two; 13. Screw hole; 14. Pin hole; 15. Bracket; 16. Automatic screwdriver; 17. Telescopic rod; 18. Screwdriver head; 19. Rotary ring; 20. Ball bearing; 21. Fixing column; 22. Slider. 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] Reference Figure 1 - Figure 5An embodiment of this utility model provides an automatic segment assembly device for a tunnel boring machine, including a translation slide 1. The translation slide 1 serves as the basic load-bearing structure of the device, providing a guide rail support for lateral movement, enabling coarse adjustment of the axial position of the segment 6, and ensuring lateral positioning accuracy during assembly. A slewing bearing 2 is provided on one side of the outer wall of the translation slide 1, providing rotational support to achieve circumferential angle adjustment of the segment 6. A circular guide rail 11 is provided on one side of the outer wall of the slewing bearing 2, and a fixing block 4 is fixedly connected to the outer wall of the slewing bearing 2. A lifting cylinder 3 is fixedly connected to the outer wall of the fixing block 4. The lifting cylinder 3 drives the lifting arm 5 to rise and fall vertically through the extension and retraction of the piston rod, achieving precise alignment of the segment 6 in the vertical direction. The output end of the lifting cylinder 3 is fixedly connected to the lifting arm 5, and a fixing component is provided on the upper surface of the lifting arm 5.

[0027] The fixing assembly includes a cylinder 10, which is mounted on the upper surface of the lifting arm 5. A fixing column 21 is fixedly connected to the output end of the cylinder 10, and an arc-shaped block 9 is fixedly connected to one end of the fixing column 21. The cylinder 10 drives the fixing column 21 to move laterally, so that the concave surface of the arc-shaped block 9 conforms to the outer contour of the tube segment 6, providing radial clamping force to prevent the tube segment 6 from shifting due to vibration or inertial force during translation and rotation, ensuring posture stability. A connecting column 7 is fixedly connected to the outer wall of the lifting arm 5, and a positioning pin 8 is fixedly connected to the outer wall of the connecting column 7. The tube segment 6 is located below the arc-shaped block 9, and a pin hole 14 is provided inside the tube segment 6. The pin hole 14 cooperates with the positioning pin 8 to provide an axial positioning interface and guide the tube segment 6 to initial alignment. The outer wall of the positioning pin 8 is slidably connected inside the pin hole 14, and the positioning pin 8 is fixed to the end of the connecting column 7 and inserted into the tube segment. The pin hole 14 of segment 6 achieves initial locking of the planar position of segment 6, reducing positional deviation during subsequent clamping and improving assembly efficiency. The pin hole 14 cooperates with the positioning pin 8 to provide an axial positioning interface to guide the segment 6 to initial alignment. A bracket 15 is fixedly connected to the lower surface of the lifting arm 5. An automatic screwdriver 16 is provided at one end of the bracket 15. A telescopic rod 17 is fixedly connected to one end of the automatic screwdriver 16. A cutting head 18 is fixedly connected to one end of the telescopic rod 17. A screw hole 13 is provided inside the segment 6. The outer wall of the cutting head 18 is slidably connected inside the screw hole 13. The automatic screwdriver 16 adjusts its axial position through the telescopic rod 17 to align the cutting head 18 with the screw hole 13, realizing automated bolt connection in the assembly process and reducing manual operation. A rotary ring 19 is slidably connected inside the circular guide rail 11. A ball bearing 20 is provided inside the circular guide rail 11.

[0028] Reference Figure 1 - Figure 5A connecting column 2 12 is fixedly connected to the outer wall of the translation slide 1. The lifting cylinder 3 is set on one side of the outer wall of the translation slide 1. A slider 22 is fixedly connected to the inner wall of the slewing bearing 2. The slider 22 is embedded in the translation slide 1 to reduce frictional resistance during lateral movement and avoid positioning deviation of the tube segment 6 due to shaking. The outer wall of the slider 22 is slidably connected to the inside of the translation slide 1. The slewing ring 19 is fixedly connected to the outer wall of the slewing bearing 2. The outer wall of the ball bearing 20 is slidably connected to the outer wall of the slewing ring 19. Through the cooperation of the ball bearing 20 and the slewing ring 19, the rotation process is ensured to be smooth and without jamming, and the circumferential fine adjustment of the tube segment 6 is achieved. An automatic screwdriver 16 is set between the tube segment 6 and the lifting arm 5. The cylinder 10 is set on one side of the outer wall of the slewing bearing 2. The outer wall of the fixing column 21 is slidably connected to the inside of the lifting arm 5. The tube segment 6 is set on one side of the outer wall of the translation slide 1. The connecting column 1 7 is set on one side of the outer wall of the tube segment 6.

[0029] Working principle: First, the lifting cylinder 3 drives the lifting arm 5 to adjust its height vertically through telescopic movement, causing the positioning pin 8 at the end of the connecting column 7 to axially align with the pin hole 14 on the side of the segment 6, thus embedding the positioning pin 8 into the pin hole 14 and initially locking the planar position of the segment 6. Subsequently, the output end of the cylinder 10 linearly advances the fixing column 21, causing the arc-shaped block 9 to move laterally along the surface of the lifting arm 5. Its concave curved surface closely fits the outer contour of the segment 6. Through the combined action of the axial limiting of the symmetrically distributed positioning pins 8 and the radial pressing of the arc-shaped block 9, a bidirectional rigid constraint is formed, ensuring the stability of the segment 6 during the movement of the translation slide 1. This design ensures stability and avoids misalignment caused by vibration during assembly. Furthermore, the translation slide 1 moves horizontally through the linear guidance of its internal slider 22, driving the slewing bearing 2 to move as a whole to coarsely adjust the axial position of the tube segment 6. At the same time, the slewing bearing 2 forms stable rolling with the evenly distributed balls 20 through the circular guide rail 11, driving the slewing ring 19 to rotate smoothly in the circumferential direction, achieving millimeter-level fine adjustment of the angle and circumferential joint of the tube segment 6. During this process, the automatic screwdriver 16 on the bracket 15 extends and retracts axially through the telescopic rod 17, so that the screwdriver head 18 is precisely aligned with the screw hole 13 of the adjacent tube segment 6, and automatically completes the bolt tightening based on the preset torque parameters.

[0030] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic segment assembling device for a shield tunneling machine, comprising a translation slide (1), characterized in that: The outer wall of the translation slide (1) is provided with a slewing bearing (2), the outer wall of the slewing bearing (2) is provided with a circular guide rail (11), the outer wall of the slewing bearing (2) is fixedly connected with a fixed block (4), the outer wall of the fixed block (4) is fixedly connected with a lifting oil cylinder (3), the output end of the lifting oil cylinder (3) is fixedly connected with a lifting arm (5), and the upper surface of the lifting arm (5) is provided with a fixing assembly. The fixing assembly comprises a gas cylinder (10), the gas cylinder (10) is arranged on the upper surface of the lifting arm (5), the output end of the gas cylinder (10) is fixedly connected with a fixed column (21), one end of the fixed column (21) is fixedly connected with an arc-shaped block (9), the outer wall of the lifting arm (5) is fixedly connected with a connecting column (7), the outer wall of the connecting column (7) is fixedly connected with a positioning pin (8), and the lower side of the arc-shaped block (9) is provided with a pipe piece (6), the inside of the pipe piece (6) is provided with a bolt hole (14), and the outer wall of the positioning pin (8) is slidably connected in the inside of the bolt hole (14).

2. The automatic segment erector for a tunnel boring machine of claim 1, wherein: The lower surface of the lifting arm (5) is fixedly connected with a support (15), one end of the support (15) is provided with an automatic screwdriver (16), one end of the automatic screwdriver (16) is fixedly connected with a telescopic rod (17), one end of the telescopic rod (17) is fixedly connected with a tool bit (18), the inside of the pipe piece (6) is provided with a screw hole (13), the outer wall of the tool bit (18) is slidably connected in the inside of the screw hole (13), the inside of the circular guide rail (11) is slidably connected with a slewing ring (19), and the inside of the circular guide rail (11) is provided with a ball (20).

3. The automatic segment erector for a tunnel boring machine of claim 1, wherein: The outer wall of the translation slide (1) is fixedly connected with a connecting column (12), and the lifting oil cylinder (3) is arranged on one side of the outer wall of the translation slide (1).

4. The automatic segment erector for a tunnel boring machine of claim 1, wherein: The inner wall of the slewing bearing (2) is fixedly connected with a sliding block (22), and the outer wall of the sliding block (22) is slidably connected in the inside of the translation slide (1).

5. The automatic segment erector for a tunnel boring machine of claim 2, wherein: The slewing ring (19) is fixedly connected to the outer wall of the slewing bearing (2), and the outer wall of the ball (20) is slidably connected to the outer wall of the slewing ring (19).

6. The automatic segment erector for a tunnel boring machine of claim 2, wherein: The automatic screwdriver (16) is arranged between the pipe piece (6) and the lifting arm (5).

7. The automatic segment erector for a tunnel boring machine of claim 1, wherein: The gas cylinder (10) is arranged on one side of the outer wall of the slewing bearing (2), and the outer wall of the fixed column (21) is slidably connected in the inside of the lifting arm (5).

8. The automatic segment erector for a tunnel boring machine of claim 1, wherein: The pipe piece (6) is arranged on one side of the outer wall of the translation slide (1), and the connecting column (7) is arranged on one side of the outer wall of the pipe piece (6).

Images