CN101737062B - Segment assembly robot for miniature shield machine - Google Patents
Segment assembly robot for miniature shield machine Download PDFInfo
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- CN101737062B CN101737062B CN2009102202505A CN200910220250A CN101737062B CN 101737062 B CN101737062 B CN 101737062B CN 2009102202505 A CN2009102202505 A CN 2009102202505A CN 200910220250 A CN200910220250 A CN 200910220250A CN 101737062 B CN101737062 B CN 101737062B
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- oil cylinder
- jurisdiction
- axle
- section
- lifting
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- Lining And Supports For Tunnels (AREA)
Abstract
The invention provides a segment assembly robot for a miniature shield machine, which is applied to the shield machine industry. The robot comprises a guide wheel, a lifting guide rod, a lifting oil cylinder, a driving device, a translation oil cylinder, a horizontal guide rail, an oscillating oil cylinder and the like, wherein, the guide wheel and a thrust wheel are respectively welded on the inner wall of a shield body and also serve as a supporting track for the segment assembly robot to rotate along an X axis; the driving device is fixed on a shield body bracket, and a pinion in the driving device is meshed with a bull gear in a rotating ring; the cylinder body part of the lifting oil cylinder is connected with the lifting guide rod, the piston rod end of the lifting oil cylinder is connected with the horizontal guide rail through a mechanism, and a fixed end of the lifting guide rod is fixed on the rotating ring; a grabbing head is connected with a segment through a segment lifting pin; and four groups of fine adjustment oil cylinders are supported on four points of the segment to fix the segment. The device has unique and scientific conception and exquisite and compact structure, meets the special requirement of spatial arrangement structurally, provides sufficient installation space for related components such as a spiral conveyer and the like, and meets the precision requirements of various actions and positioning in each direction in the segment assembly process.
Description
Technical field
The present invention relates to a kind of segment assembly robot that is used for miniature shield machine, after shield driving is accomplished, be responsible for prefabricated section of jurisdiction is installed to firm tunneling surface, form lining cutting.
Background technology
At present, in large-diameter shield, generally use cantilevered or single arm type duct piece assembling machine, duct piece assembling machine moves horizontally and spinning movement on its arm, and conveying worm passes duct piece assembling machine central authorities, and space structures is rationally distributed, does not have and interferes.And for miniature shield structure; Larger-diameter conveying worm is when tiltedly poling sheet assembling machine is central; Structure will receive the restriction of space and layout, in addition when its rotation or when mobile and conveying worm interfere, can't satisfy the requirement of small space layout in the miniature shield structure.Therefore developing a kind of segment assembly robot that is used for miniature shield machine is the new problem of being badly in need of solution.
Summary of the invention
The objective of the invention is particularity to space layout requirement in the miniature shield machine; A kind of segment assembly robot that is used for miniature shield machine is provided, can realize the section of jurisdiction around tunnel axis rotate, the radial lift of tunnel cross-section direction, along the tunnel axis translation and realize section of jurisdiction attitude adjustment three directions swings, tumble and turn round the six degree of freedom action.
The objective of the invention is to realize like this: a kind of segment assembly robot that is used for miniature shield machine; Form by directive wheel, thrust wheel, rotating ring, lifting guide rod, lift cylinder, section of jurisdiction lifting pin, drive unit, translation oil cylinder, horizontal guide rail, extracting head, fine setting oil cylinder, oscillating oil cylinder; Directive wheel and thrust wheel are welded on shield body inwall respectively, also as the track of segment assembly robot along the support of X axle rotation; Drive unit is fixed on the shield body support frame, pinion in the drive unit and the engagement of the gear wheel in the rotating ring; The cylinder part of lift cylinder is connected with the lifting guide rod, and the tailpiece of the piston rod of lift cylinder is connected with horizontal guide rail through mechanism, promotes the guide rod fixed end and is fixed on the rotating ring; Grasp head and promote pin through the section of jurisdiction and be connected, and finely tune oil cylinders by 4 groups and be supported on four of section of jurisdiction and name a person for a particular job that it is fixed with the section of jurisdiction; The piston rod of translation oil cylinder is connected with the extracting head, grasps head and is installed on the horizontal guide rail, and oscillating oil cylinder one end is fixed on the horizontal guide rail, and an end is connected on the fine setting oil cylinder; Its operating principle is, the axis direction in tunnel is made as the X axle, and tunnel radial level direction is the Y axle, and tunnel radially vertical direction is the Z axle; Directive wheel and thrust wheel are welded on shield body inwall respectively, also as the track of segment assembly robot along the support of X axle rotation; 2 groups of hydraulic motors in the drive unit connect that the reductor driving pinions drive gear wheels and the rotating ring that is connected with gear wheel on wheels around the X axle suitable/be rotated counterclockwise; To rotate thereby drive the entire machine people's device link to each other with rotating ring, the anglec of rotation can reach ± and 200 °; 4 groups of fine setting oil cylinders actions simultaneously in twos realize the section of jurisdiction respectively around Y direction, around X-direction swing, and 2 groups of oscillating oil cylinders can realize that the section of jurisdiction swings around Z-direction, pendulum angle ± 2 °, thus realize the attitude adjustment of section of jurisdiction; Drive the section of jurisdiction synchronously through 2 groups of lift cylinders and move along 2 groups of lifting guide rods realization Z-directions, translation mechanism then utilizes the translation oil cylinder that is fixed on the frame to promote to grasp head and moves along horizontal guide rail realization X-direction; This device adopts hydraulic-driven, and constant pressure variable displacement pump drives hydraulic motor and realizes the spinning movement of robot around the X axle, and the passing ratio reversal valve is realized stepless speed regulation, utilizes liquid braking device to realize braking control; Robot all leans on proportional reversing valve control lift cylinder and translation oil cylinder realization stepless speed regulation along the lifting of Z axle action with along the translation motion of X axle; The swing through three-position four-way valve and equalizing valve realization section of jurisdiction of fine setting oil cylinder and oscillating oil cylinder, tumble, attitude such as pitching adjusts.
Main points of the present invention are its structure and operating principle.Its operating principle is, the axis direction in tunnel is made as the X axle, and tunnel radial level direction is the Y axle, and tunnel radially vertical direction is the Z axle; Directive wheel and thrust wheel are welded on shield body inwall respectively, also as the track of segment assembly robot along the support of X axle rotation; 2 groups of hydraulic motors in the drive unit connect that the reductor driving pinions drive gear wheels and the rotating ring that is connected with gear wheel on wheels around the X axle suitable/be rotated counterclockwise; To rotate thereby drive the entire machine people's device link to each other with rotating ring, the anglec of rotation can reach ± and 200 °; 4 groups of fine setting oil cylinders actions simultaneously in twos realize the section of jurisdiction respectively around Y direction, around X-direction swing, and 2 groups of oscillating oil cylinders can realize that the section of jurisdiction swings around Z-direction, pendulum angle ± 2 °, thus realize the attitude adjustment of section of jurisdiction; Drive the section of jurisdiction synchronously through 2 groups of lift cylinders and move along 2 groups of lifting guide rods realization Z-directions, translation mechanism then utilizes the translation oil cylinder that is fixed on the frame to promote to grasp head and moves along horizontal guide rail realization X-direction; This device adopts hydraulic-driven, and constant pressure variable displacement pump drives hydraulic motor and realizes the spinning movement of robot around the X axle, and the passing ratio reversal valve is realized stepless speed regulation, utilizes liquid braking device to realize braking control; Robot all leans on proportional reversing valve control lift cylinder and translation oil cylinder realization stepless speed regulation along the lifting of Z axle action with along the translation motion of X axle; The swing through three-position four-way valve and equalizing valve realization section of jurisdiction of fine setting oil cylinder and oscillating oil cylinder, tumble, attitude such as pitching adjusts.
A kind of segment assembly robot that is used for miniature shield machine compared with prior art; Have novel science, delicate structure compactness; Energy conservation, not only guaranteed the specific (special) requirements of space layout on the structure, the exercises and each that enough installing spaces are provided but also have satisfied pipe sheet assembling to associated components such as conveying worms be to the advantages such as accurate requirement of location, will be widely used in the shield machine industry.
Description of drawings
Below in conjunction with accompanying drawing and instance the present invention is elaborated.
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the vertical view of Fig. 1.
The specific embodiment
With reference to accompanying drawing; A kind of segment assembly robot that is used for miniature shield machine; By directive wheel 1, thrust wheel 2, rotating ring 3, promote that guide rod 4, lift cylinder 5, section of jurisdiction promote pin 6, drive unit 7, translation oil cylinder 8, horizontal guide rail 9, grasp 10, fine setting oil cylinder 11, oscillating oil cylinder 12 form; Directive wheel 1 is welded on shield body inwall respectively with thrust wheel 2, also as the track of segment assembly robot along the support of X axle rotation; Drive unit 7 is fixed on the shield body support frame, the gear wheel engagement in pinion in the drive unit 7 and the rotating ring 3; The cylinder part of lift cylinder 5 is connected with lifting guide rod 4, and the tailpiece of the piston rod of lift cylinder 5 is connected with horizontal guide rail 9 through mechanism, promotes guide rod 4 fixed ends and is fixed on the rotating ring 3; Grasp 10 and promote pin 6 through the section of jurisdiction and be connected, and finely tune oil cylinders 11 by 4 groups and be supported on four of section of jurisdiction and name a person for a particular job that it is fixed with the section of jurisdiction; The piston rod of translation oil cylinder 8 with grasp 10 and be connected, grasp 10 and be installed on the horizontal guide rail 9, oscillating oil cylinder 12 1 ends are fixed on the horizontal guide rail 9, an end is connected to finely tunes on the oil cylinder 11.Its operating principle is, the axis direction in tunnel is made as the X axle, and tunnel radial level direction is the Y axle, and tunnel radially vertical direction is the Z axle; Directive wheel 1 is welded on shield body inwall respectively with thrust wheel 2, also as the track of segment assembly robot along the support of X axle rotation; 2 groups of hydraulic motors in the drive unit 7 connect that the reductor driving pinions drive gear wheels and the rotating ring 3 that is connected with gear wheel on wheels around the X axle suitable/be rotated counterclockwise; To rotate thereby drive the entire machine people's device link to each other with rotating ring 3, the anglec of rotation can reach ± and 200 °; 4 groups of fine setting oil cylinders 11 actions simultaneously in twos realize the section of jurisdiction respectively around Y direction, around X-direction swing, and 2 groups of oscillating oil cylinders 12 can realize that the section of jurisdiction swings around Z-direction, pendulum angle ± 2 °, thus realize the attitude adjustment of section of jurisdiction; Drive sections of jurisdiction synchronously through 2 groups of lift cylinders 5 and promote guide rods 4 along 2 groups and realize that Z-directions move, translation mechanism then utilizes the translation oil cylinder 8 that is fixed on the frame to promote to grasp 10 and realizes that along horizontal guide rail 9 X-directions move; This device adopts hydraulic-driven, and constant pressure variable displacement pump drives hydraulic motor and realizes the spinning movement of robot around the X axle, and the passing ratio reversal valve is realized stepless speed regulation, utilizes liquid braking device to realize braking control; Robot all leans on proportional reversing valve control lift cylinder 5 and translation oil cylinder 8 realization stepless speed regulations along the lifting of Z axle action with along the translation motion of X axle; Fine setting oil cylinder 11 and oscillating oil cylinder 12 through three-position four-way valve and equalizing valve realize the section of jurisdiction swing, tumble, attitude such as pitching adjusts.On Φ 3240mm balancing earth-pressure shielding machine, segment assembly robot has been installed, it has perfectly realized accurate location and the assembly unit quality that install the section of jurisdiction.The segment assembly robot center space is big, tiltedly wears central authorities for conveying worm enough spaces are provided.
Claims (2)
1. segment assembly robot that is used for miniature shield machine; Form by directive wheel, thrust wheel, rotating ring, lifting guide rod, lift cylinder, section of jurisdiction lifting pin, drive unit, translation oil cylinder, horizontal guide rail, extracting head, fine setting oil cylinder, oscillating oil cylinder; It is characterized in that: directive wheel and thrust wheel are welded on shield body inwall respectively, also as the track of segment assembly robot along the support of X axle rotation; Drive unit is fixed on the shield body support frame, pinion in the drive unit and the engagement of the gear wheel in the rotating ring; The cylinder part of lift cylinder is connected with the lifting guide rod, and the tailpiece of the piston rod of lift cylinder is connected with horizontal guide rail through mechanism, promotes the guide rod fixed end and is fixed on the rotating ring; Grasp head and promote pin through the section of jurisdiction and be connected, and finely tune oil cylinders by 4 groups and be supported on four of section of jurisdiction and name a person for a particular job that it is fixed with the section of jurisdiction; The piston rod of translation oil cylinder is connected with the extracting head, grasps head and is installed on the horizontal guide rail, and oscillating oil cylinder one end is fixed on the horizontal guide rail, and an end is connected on the fine setting oil cylinder.
2. a kind of segment assembly robot that is used for miniature shield machine according to claim 1 is characterized in that: its operating principle is, the axis direction in tunnel is made as the X axle, and tunnel radial level direction is the Y axle, and tunnel radially vertical direction is the Z axle; Directive wheel and thrust wheel are welded on shield body inwall respectively, also as the track of segment assembly robot along the support of X axle rotation; 2 groups of hydraulic motors in the drive unit connect that the reductor driving pinions drive gear wheels and the rotating ring that is connected with gear wheel on wheels around the X axle suitable/be rotated counterclockwise; To rotate thereby drive the entire machine people's device link to each other with rotating ring, the anglec of rotation can reach ± and 200 °; 4 groups of fine setting oil cylinders actions simultaneously in twos realize the section of jurisdiction respectively around Y direction, around X-direction swing, and 2 groups of oscillating oil cylinders can realize that the section of jurisdiction swings around Z-direction, pendulum angle ± 2 °, thus realize the attitude adjustment of section of jurisdiction; Drive the section of jurisdiction synchronously through 2 groups of lift cylinders and move along 2 groups of lifting guide rods realization Z-directions, translation mechanism then utilizes the translation oil cylinder that is fixed on the frame to promote to grasp head and moves along horizontal guide rail realization X-direction; This device adopts hydraulic-driven, and constant pressure variable displacement pump drives hydraulic motor and realizes the spinning movement of robot around the X axle, and the passing ratio reversal valve is realized stepless speed regulation, utilizes liquid braking device to realize braking control; Robot all leans on proportional reversing valve control lift cylinder and translation oil cylinder realization stepless speed regulation along the lifting of Z axle action with along the translation motion of X axle; The swing through three-position four-way valve and equalizing valve realization section of jurisdiction of fine setting oil cylinder and oscillating oil cylinder, tumble, pitch attitude adjusts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102202505A CN101737062B (en) | 2009-11-27 | 2009-11-27 | Segment assembly robot for miniature shield machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009102202505A CN101737062B (en) | 2009-11-27 | 2009-11-27 | Segment assembly robot for miniature shield machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101737062A CN101737062A (en) | 2010-06-16 |
| CN101737062B true CN101737062B (en) | 2012-05-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009102202505A Expired - Fee Related CN101737062B (en) | 2009-11-27 | 2009-11-27 | Segment assembly robot for miniature shield machine |
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| Country | Link |
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| CN (1) | CN101737062B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102767382B (en) * | 2012-08-08 | 2014-10-15 | 大连华锐重工集团股份有限公司 | Duct piece assembly device for small tunnel boring machine |
| CN103410525A (en) * | 2013-09-02 | 2013-11-27 | 中铁隧道集团有限公司 | Shield segment splicing system |
| CN108035721A (en) * | 2017-12-07 | 2018-05-15 | 徐工集团凯宫重工南京有限公司 | A kind of miniature shield six degree of freedom duct piece assembling machine |
| CN107905824B (en) * | 2017-12-18 | 2024-05-28 | 辽宁三三工业有限公司 | Posture adjusting device of small duct piece assembling machine |
| CN108049892A (en) * | 2017-12-25 | 2018-05-18 | 辽宁三三工业有限公司 | A kind of shield machine assembling machine section of jurisdiction device for adjusting posture |
| CN107989632A (en) * | 2017-12-28 | 2018-05-04 | 辽宁三三工业有限公司 | A kind of duct piece assembling machine section of jurisdiction device for adjusting posture |
| CN109113770A (en) * | 2018-10-15 | 2019-01-01 | 中铁工程装备集团有限公司 | A kind of duct piece assembling machine |
| CN109441494B (en) * | 2018-11-02 | 2024-05-14 | 中铁工程装备集团有限公司 | Double-line tunnel portal type segment assembling equipment and method by excavation method |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693666A (en) * | 2005-05-25 | 2005-11-09 | 余彬泉 | Socket shield machine construction method |
| CN1821546A (en) * | 2006-03-31 | 2006-08-23 | 上海隧道工程股份有限公司 | Pipe blade assembling machine for rectangular shield |
| CN1837578A (en) * | 2006-03-29 | 2006-09-27 | 上海隧道工程股份有限公司 | Shield segment splicing machine with six-freedom degree |
| CN1995703A (en) * | 2006-10-11 | 2007-07-11 | 大连华锐股份有限公司 | Separated vacuum chuck grasp device on duct piece assembling machine |
| CN101200063A (en) * | 2007-12-24 | 2008-06-18 | 沈阳重型机械集团有限责任公司 | Manipulator of automatic positioning and rapid grasping pipe piece |
-
2009
- 2009-11-27 CN CN2009102202505A patent/CN101737062B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1693666A (en) * | 2005-05-25 | 2005-11-09 | 余彬泉 | Socket shield machine construction method |
| CN1837578A (en) * | 2006-03-29 | 2006-09-27 | 上海隧道工程股份有限公司 | Shield segment splicing machine with six-freedom degree |
| CN1821546A (en) * | 2006-03-31 | 2006-08-23 | 上海隧道工程股份有限公司 | Pipe blade assembling machine for rectangular shield |
| CN1995703A (en) * | 2006-10-11 | 2007-07-11 | 大连华锐股份有限公司 | Separated vacuum chuck grasp device on duct piece assembling machine |
| CN101200063A (en) * | 2007-12-24 | 2008-06-18 | 沈阳重型机械集团有限责任公司 | Manipulator of automatic positioning and rapid grasping pipe piece |
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| Publication number | Publication date |
|---|---|
| CN101737062A (en) | 2010-06-16 |
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Granted publication date: 20120509 Termination date: 20181127 |
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