CN101696634A - Six-degree-of-freedom shield segment assembling machine - Google Patents
Six-degree-of-freedom shield segment assembling machine Download PDFInfo
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- CN101696634A CN101696634A CN200910309433A CN200910309433A CN101696634A CN 101696634 A CN101696634 A CN 101696634A CN 200910309433 A CN200910309433 A CN 200910309433A CN 200910309433 A CN200910309433 A CN 200910309433A CN 101696634 A CN101696634 A CN 101696634A
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Abstract
The invention relates to a six-degree-of-freedom shield tunneling segment machine, belonging to the technical field of engineering machinery. The six-degree-of-freedom shield segment assembling machine comprises two cantilever beams, two translation oil cylinders, a guide rail, a slide block, a fixed disk, a rotary disk, a hydraulic motor, an internal gear, an external gear, a segment weight, a movable platform, a first branch mechanism, three second branch mechanisms and a segment tong head device, wherein the two cantilever beams are configured in parallel, and both upper and lower surfaces are provided with guide rails; both ends of the slide block are respectively connected with the guide rail and the fixed disk; the two translation oil cylinders are respectively located above the cantilever beams, and both ends are fixedly connected with the cantilever beam and the slide block; the rotary disk is inlayed in the fixed disk; the external gear is fixed in the rotary disk and engaged with the internal gear; the hydraulic motor is fixedly connected with the internal gear; the segment weight is fixed on the rotary disk; both ends of the first branch mechanism and the three second branch mechanisms are respectively connected with the segment weight and the movable platform; and the segment tong head device is fixed on the movable platform. The mechanism has high integral rigidity and strong loading capacity.
Description
Technical field
What the present invention relates to is a kind of duct piece assembling machine of technical field of engineering machinery, specifically is a kind of six-degree-of-freedom shield segment assembling machine.
Background technology
Duct piece assembling machine is one of vitals of the shield excavation machine used of constructing tunnel, must become tunnel lining with prefabricated reinforced concrete pipe sheet assembling after shield excavation machine tunnels forward, thus the good tunnel surface of protection excavation.The quality of pipe sheet assembling directly influences the infiltration of underground water and soil and the sedimentation on the face of land, and the function of being responsible for finishing the shield pipe sheet assembling machine of pipe sheet assembling has material impact to pipe sheet assembling quality and Tunnel Construction Schedule.
Through existing correlation technique literature search is found, Chinese patent application number is: 200610025189.5, and name is called: the shield pipe sheet assembling machine with six-freedom degree.This technology readme is: a kind of shield pipe sheet assembling machine with six-freedom degree includes cover in rotation disk body, drive unit, two semi girders, two translation oil cylinders, two guiding overcoats, two guiding, two lift cylinders, lifting crossbeam, section of jurisdiction binding clip device, section of jurisdiction counterweight, rotatable platform, astrosphere oscillating bearing, section of jurisdiction dump ram, section of jurisdiction rotational fuel tank, fixedly disk body and roller devices.Because this device only depends on section of jurisdiction dump ram and section of jurisdiction rotational fuel tank to realize the swing of section of jurisdiction, realize the oscilaltion and the left and right sides minute movement of section of jurisdiction by lift cylinder, therefore the load of section of jurisdiction dump ram, section of jurisdiction rotational fuel tank and lift cylinder is bigger, and the overall load ability of mechanism is lower; In addition, this device is to be in series by a two-freedom serial mechanism, a two-freedom plane mobile parallel connection mechanism and a two freedom rotary parallel mechanism in essence, exist cumulative errors more, problems such as mechanism's integral rigidity is low are unfavorable for the control and the work long-term, high capacity of duct piece assembling machine.
Summary of the invention
The objective of the invention is to overcome the above-mentioned shortcoming that exists in the prior art, a kind of six-degree-of-freedom shield segment assembling machine is provided, target is to improve the load capacity of duct piece assembling machine, reduces inter-agency accumulated error simultaneously, improves mechanism's integral rigidity.
The present invention is achieved by the following technical solutions:
The present invention includes: two semi girders, two translation oil cylinders, guide rail, slide block, fixing disk body, the rotation disk body, hydraulic motor, internal gear, external gear, the section of jurisdiction counterweight, moving platform, first branch, three second branches and section of jurisdiction binding clip device, wherein: two semi girders are along being arranged in parallel perpendicular to the fixing direction of disk body, on the semi girder, soffit is provided with guide rail along being parallel to the semi girder direction, one end of slide block is arranged on the guide rail, the other end is fixedlyed connected with fixing disk body, two translation oil cylinders are arranged at the top of two semi girders respectively, one end of translation oil cylinder is fixedlyed connected with semi girder, the other end is fixedlyed connected with slide block, the rotation disk body is nested in fixedly in the disk body, external gear is nested in the rotation disk body, hydraulic motor output shaft is fixedlyed connected with internal gear, internal gear and external gear engagement, the section of jurisdiction counterweight is fixed on the rotation disk body, one end of first branch links to each other with the section of jurisdiction counterweight, the other end links to each other with moving platform, three second branch's ends separately link to each other with the section of jurisdiction counterweight respectively, the other end separately links to each other with moving platform respectively, and section of jurisdiction binding clip device is fixed on the moving platform.
Described first branch comprises: first connecting rod and ball pivot, wherein: an end of first connecting rod links to each other with the section of jurisdiction counterweight and forms moving sets, and the other end of first connecting rod links to each other with ball pivot, and this ball pivot and moving platform flexible connection.
Described second branch comprises: second connecting rod and third connecting rod, wherein: an end of second connecting rod links to each other with third connecting rod and forms moving sets, the other end of second connecting rod links to each other with ball pivot or universal hinge, and this ball pivot or universal hinge and the flexible connection of section of jurisdiction counterweight.
Described third connecting rod one end links to each other with second connecting rod and forms moving sets, and the other end links to each other with ball pivot, and this ball pivot and moving platform flexible connection.
During work, semi girder is fixed in along the direction that is parallel to the shield machine axis on the inner housing of shield machine, under the driving of translation oil cylinder, slide block moves along guide rail, drives fixedly disk body along the translation of shield machine axis direction; The rotation of fluid motor-driven internal gear, by the engagement of internal gear and external gear, the rotation disk body is around the rotational of shield machine; Section of jurisdiction counterweight, first branch, second branch and moving platform have been formed four-freedom parallel mechanism, this four-freedom parallel mechanism is driving under the synergy of four moving sets that section of jurisdiction binding clip device moves up and down and the rotation of three different directions of ball pair between first connecting rod and moving platform, thereby has realized the six degree of freedom operation to shield duct piece.
Compared with prior art, the invention has the advantages that: adopt four-freedom parallel mechanism, for same shield duct piece, reduced input power to moving sets in first branch and second branch, thereby improved the load capacity of mechanism, in addition, adopted four-freedom parallel mechanism can reduce the accumulated error of mechanism, improve mechanism's integral rigidity, prolong working life.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention;
Wherein: (a) being left oblique view of the present invention, (b) is right oblique view of the present invention.
Fig. 2 is a lateral view of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, present embodiment comprises: two semi girders 1, two translation oil cylinders 2, guide rail 3, slide block 4, fixedly disk body 5, rotation disk body 6, hydraulic motor 7, internal gear 8, external gear 9, section of jurisdiction counterweight 10, moving platform 11, first branch 12, three second branches 13 and section of jurisdiction binding clip device 14, wherein: two semi girders 1 are along being arranged in parallel perpendicular to the fixing direction of disk body 5, guide rail 3 along be parallel to semi girder 1 direction be arranged at semi girder 1 on, soffit, one end of slide block 4 is arranged on the guide rail 3, the other end is fixedlyed connected with fixing disk body 5, two translation oil cylinders 2 are arranged at the top of two semi girders 1 respectively, one end of translation oil cylinder 2 is fixedlyed connected with semi girder 1, the other end is fixedlyed connected with slide block 4, rotation disk body 6 is nested in fixedly disk body 5 inside, external gear 9 is fixed on rotation disk body 6 inside, the output shaft of hydraulic motor 7 is fixedlyed connected with internal gear 8, internal gear 8 and external gear 9 engagements, section of jurisdiction counterweight 10 is fixed on the rotation disk body 6, one end of first branch 12 links to each other with section of jurisdiction counterweight 10, the other end links to each other with moving platform 11, three second branch 13 ends separately link to each other with section of jurisdiction counterweight 10 respectively, the other end separately links to each other with moving platform 11 respectively, and section of jurisdiction binding clip device 14 is fixed on the moving platform 11.
Described first branch 12 comprises: first connecting rod 15 and ball pivot 16, wherein: an end of first connecting rod 15 links to each other with section of jurisdiction counterweight 10 and forms moving sets 17, and the other end of first connecting rod 15 links to each other with ball pivot 16, and this ball pivot 16 flexibly connects with moving platform 11.
Described second branch 13 comprises: second connecting rod 18 and third connecting rod 19, wherein: an end of second connecting rod 18 links to each other with third connecting rod 19 and forms moving sets 17, the other end of second connecting rod 18 links to each other with ball pivot 16, and this ball pivot 16 flexibly connects with section of jurisdiction counterweight 10.
Described third connecting rod 19 1 ends link to each other with second connecting rod 18 and form moving sets 17, and the other end links to each other with ball pivot 16, and this ball pivot 16 flexibly connects with moving platform 11.
Each inter-agency accumulated error of present embodiment is low, mechanism's integral rigidity height, and load capacity is strong.
Claims (4)
1. six-degree-of-freedom shield segment assembling machine, comprise: two semi girders, two translation oil cylinders, guide rail, slide block, fixing disk body, the rotation disk body, hydraulic motor, internal gear, external gear, the section of jurisdiction counterweight, moving platform, first branch, three second branches and section of jurisdiction binding clip device, it is characterized in that, two semi girders are along being arranged in parallel perpendicular to the fixing direction of disk body, on the semi girder, soffit is provided with guide rail along being parallel to the semi girder direction, one end of slide block is arranged on the guide rail, the other end is fixedlyed connected with fixing disk body, two translation oil cylinders are arranged at the top of two semi girders respectively, one end of translation oil cylinder is fixedlyed connected with semi girder, the other end is fixedlyed connected with slide block, the rotation disk body is nested in fixedly in the disk body, external gear is nested in the rotation disk body, hydraulic motor output shaft is fixedlyed connected with internal gear, internal gear and external gear engagement, the section of jurisdiction counterweight is fixed on the rotation disk body, one end of first branch links to each other with the section of jurisdiction counterweight, the other end links to each other with moving platform, three second branch's ends separately link to each other with the section of jurisdiction counterweight respectively, the other end separately links to each other with moving platform respectively, and section of jurisdiction binding clip device is fixed on the moving platform.
2. six-degree-of-freedom shield segment assembling machine according to claim 1, it is characterized in that, described first branch comprises: first connecting rod and ball pivot, wherein: an end of first connecting rod links to each other with the section of jurisdiction counterweight and forms moving sets, the other end of first connecting rod links to each other with ball pivot, and this ball pivot and moving platform flexible connection.
3. six-degree-of-freedom shield segment assembling machine according to claim 1, it is characterized in that, described second branch comprises: second connecting rod and third connecting rod, wherein: an end of second connecting rod links to each other with third connecting rod and forms moving sets, the other end of second connecting rod links to each other with ball pivot or universal hinge, and this ball pivot or universal hinge and the flexible connection of section of jurisdiction counterweight.
4. six-degree-of-freedom shield segment assembling machine according to claim 3 is characterized in that, described third connecting rod one end links to each other with second connecting rod and forms moving sets, and the other end links to each other with ball pivot, and this ball pivot and moving platform flexible connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103094334A CN101696634B (en) | 2009-11-09 | 2009-11-09 | Six-degree-of-freedom shield segment assembling machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009103094334A CN101696634B (en) | 2009-11-09 | 2009-11-09 | Six-degree-of-freedom shield segment assembling machine |
Publications (2)
| Publication Number | Publication Date |
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| CN101696634A true CN101696634A (en) | 2010-04-21 |
| CN101696634B CN101696634B (en) | 2012-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009103094334A Expired - Fee Related CN101696634B (en) | 2009-11-09 | 2009-11-09 | Six-degree-of-freedom shield segment assembling machine |
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| CN (1) | CN101696634B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102733819A (en) * | 2012-03-29 | 2012-10-17 | 江苏凯宫隧道机械有限公司 | Shield pipe segment erector formed by splicing six-degree-of-freedom double arms in staggered way |
| CN103295462A (en) * | 2013-06-05 | 2013-09-11 | 上海市机械施工集团有限公司 | Assembling machine in solid shield tunneling machine model and used for teaching |
| CN104533472A (en) * | 2014-12-28 | 2015-04-22 | 上海隧道工程股份有限公司 | Slewing assembling machine used for rectangular shield |
| CN104806260A (en) * | 2015-03-31 | 2015-07-29 | 湖南科技大学 | Excavator with parallel mechanism type cantilever |
| CN108868808A (en) * | 2018-08-08 | 2018-11-23 | 淮南中泰矿山装备制造有限公司 | The anti-bias mechanism of pipe jacking tunnelling machine |
| CN109630141A (en) * | 2018-11-12 | 2019-04-16 | 上海隧道工程有限公司 | The shield machine assembling machine of series-parallel form |
| CN109653766A (en) * | 2018-11-15 | 2019-04-19 | 北方重工装备（沈阳）有限公司 | A kind of duct piece assembling machine suitable for miniature shield machine |
| CN110593915A (en) * | 2019-10-09 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Full-face tunnel tunneling system and segment erector thereof |
| CN114165256A (en) * | 2021-12-04 | 2022-03-11 | 武廷 | Hanging and moving device for shield segment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1170658C (en) * | 2000-04-21 | 2004-10-13 | 清华大学 | Four-freedom parallel robot mechanism |
| JP4174199B2 (en) * | 2001-08-28 | 2008-10-29 | ヤンマー株式会社 | Fuel injection device |
| CN2691776Y (en) * | 2004-03-01 | 2005-04-13 | 西安理工大学 | Three shaft parallel main shaft head mechanism for realizing multidirection vertical and horizontal processing |
| CN100501125C (en) * | 2006-03-29 | 2009-06-17 | 上海隧道工程股份有限公司 | Shield segment splicing machine with six-freedom degree |
| CN100410491C (en) * | 2006-03-31 | 2008-08-13 | 上海隧道工程股份有限公司 | Pipe blade assembling machine for rectangular shield |
| CN100575006C (en) * | 2007-12-24 | 2009-12-30 | 沈阳重型机械集团有限责任公司 | Manipulator of automatic positioning and rapid grasping pipe piece |
-
2009
- 2009-11-09 CN CN2009103094334A patent/CN101696634B/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102733819A (en) * | 2012-03-29 | 2012-10-17 | 江苏凯宫隧道机械有限公司 | Shield pipe segment erector formed by splicing six-degree-of-freedom double arms in staggered way |
| CN102733819B (en) * | 2012-03-29 | 2014-10-29 | 江苏凯宫隧道机械有限公司 | Shield pipe segment erector formed by splicing six-degree-of-freedom double arms in staggered way |
| CN103295462A (en) * | 2013-06-05 | 2013-09-11 | 上海市机械施工集团有限公司 | Assembling machine in solid shield tunneling machine model and used for teaching |
| CN104533472A (en) * | 2014-12-28 | 2015-04-22 | 上海隧道工程股份有限公司 | Slewing assembling machine used for rectangular shield |
| CN104806260A (en) * | 2015-03-31 | 2015-07-29 | 湖南科技大学 | Excavator with parallel mechanism type cantilever |
| CN108868808A (en) * | 2018-08-08 | 2018-11-23 | 淮南中泰矿山装备制造有限公司 | The anti-bias mechanism of pipe jacking tunnelling machine |
| CN108868808B (en) * | 2018-08-08 | 2023-11-17 | 淮南中泰矿山装备制造有限公司 | Deviation prevention mechanism of pipe-jacking tunneling machine |
| CN109630141A (en) * | 2018-11-12 | 2019-04-16 | 上海隧道工程有限公司 | The shield machine assembling machine of series-parallel form |
| CN109630141B (en) * | 2018-11-12 | 2021-05-28 | 上海隧道工程有限公司 | Series-parallel shield tunneling machine assembling machine |
| CN109653766A (en) * | 2018-11-15 | 2019-04-19 | 北方重工装备（沈阳）有限公司 | A kind of duct piece assembling machine suitable for miniature shield machine |
| CN110593915A (en) * | 2019-10-09 | 2019-12-20 | 中国铁建重工集团股份有限公司 | Full-face tunnel tunneling system and segment erector thereof |
| CN114165256A (en) * | 2021-12-04 | 2022-03-11 | 武廷 | Hanging and moving device for shield segment |
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|---|---|
| CN101696634B (en) | 2012-06-13 |
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