CN112140284A - Rough plastering device for shield segment production - Google Patents

Abstract

The invention discloses a rough plastering device for shield tunnel segment production, comprising a main truss; an X-axis traveling mechanism, a Y-axis traveling mechanism and a Z-axis traveling mechanism are arranged on the main truss; the bottom end of the Z-axis traveling mechanism is provided with The end troweling mechanism; the end troweling mechanism includes a rotating seat and a troweling blade; the top of the rotating seat is connected with the Z-axis traveling mechanism, and the rotary drive assembly controls the rotating seat to rotate around the vertical axis; the upper part of the troweling blade is connected with the rotary plate The rotary seat at one end is provided with a rotary drive assembly, the rotary drive assembly is connected with one end of the rotary plate, and the other end of the rotary plate is rotatably connected with the rotary seat at the corresponding end; the rotary drive assembly controls the rotary plate to rotate around the horizontal axis. The invention can realize the mechanized operation of rough plastering of the outer arc surface of the shield tunnel segment through the arrangement of the X-axis traveling mechanism, the Y-axis traveling mechanism, the Z-axis traveling mechanism, the rotary servo motor and the rotary servo motor, and reduce the number of on-site operators.

Description

A rough plastering device used for the production of shield segments

technical field

The invention belongs to the technical field of shield tunnel segment production, and in particular relates to a rough surface plastering device used for shield tunnel segment production.

Background technique

With the rapid development of urbanization in my country, the scale of cities and towns is expanding, the urban population has increased significantly, and the problem of traffic congestion has become increasingly serious. As the most efficient public transportation mode, urban rail transit has become the best choice to solve the pressure of urban traffic travel. The shield segment is an important structural form of the subway tunnel, and its quality is directly related to the quality and safety of the tunnel, and affects the waterproof performance and durability of the tunnel.

The outer arc surface of the shield segment is the outermost barrier of the tunnel, which directly bears the role of resisting soil pressure, groundwater pressure and some special loads. The outer arc surface of the shield segment is the location where the concrete is filled, and excess concrete will be accumulated at the material opening. During the production process of the segment, the excess concrete should be removed and rough plastered. The traditional rough plastering method is that two workers pull the long rod and rub back and forth along the arc surface of the segment, which is labor-intensive and low-efficiency. Due to manual operation, it is difficult to control the operation strength and uniformity of workers, and the position with higher hardness in the small plane is not easy to be smoothed if the pressure is too high.

In order to gradually realize the mechanized production of the shield segment, improve the production efficiency of the shield segment, ensure the overall quality of the shield segment, and reduce the number of workers, the invention provides a rough surface plastering device for the production of the shield segment.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a rough surface plastering device for the production of shield segments in order to overcome the above-mentioned deficiencies of the prior art.

To achieve the above object, the present invention adopts the following technical solutions:

A rough plastering device used for the production of shield segments, comprising a main truss;

The main truss is provided with an X-axis traveling mechanism that can move along the front and rear directions of the main truss;

The X-axis traveling mechanism is provided with a Y-axis traveling mechanism that can move along the left and right directions of the main truss;

The Y-axis traveling mechanism is provided with a Z-axis traveling mechanism that can move in the vertical direction;

The bottom end of the Z-axis traveling mechanism is provided with an end troweling mechanism; the end troweling mechanism includes a rotating seat and a troweling blade;

The top of the rotary seat is connected with the Z-axis traveling mechanism through a rotary drive assembly, and the rotary drive assembly controls the rotary seat to rotate around the vertical axis; the bottom of both ends of the rotary seat is provided with a rotary seat;

The upper part of the troweling blade is connected with the rotary plate; the rotary seat at one end is provided with a rotary drive assembly, the rotary drive assembly is connected with one end of the rotary plate, and the other end of the rotary plate is rotatably connected with the rotary seat at the corresponding end ; The rotary drive assembly controls the rotary plate to rotate around the axis of rotation in the horizontal direction.

Preferably, the main body truss includes four supporting columns distributed in a rectangular shape, and a beam parallel to the ground is fixed between the tops of two adjacent supporting columns.

Preferably, the X-axis traveling mechanism includes an X-axis traveling trolley board and an X-axis linear guide extending in the front-rear direction;

The X-axis linear guide rails are located at the left and right ends of the X-axis traveling trolley board and are fixedly arranged on the beams extending in the front-rear direction;

The bottoms of the left and right ends of the X-axis traveling trolley plate are provided with X-axis guide rail grooves that cooperate with the corresponding X-axis linear guide rails;

The left and right ends of the X-axis traveling trolley board are provided with X-axis driving components for driving the X-axis traveling trolley board to move along the X-axis linear guide rail;

The Y-axis traveling mechanism is arranged on the X-axis traveling trolley board.

Preferably, the X-axis drive assembly includes an X-axis servo motor, an X-axis gear, and an X-axis rack extending in the front-rear direction;

The X-axis servo motor is fixedly arranged at the end of the X-axis traveling trolley, and the output end of the X-axis servo motor is downwardly connected to the X-axis gear;

The X-axis rack is fixedly arranged on the X-axis linear guide rail;

The X-axis gear is meshed with the corresponding X-axis rack.

Preferably, the Y-axis traveling mechanism includes a Y-axis traveling trolley board and a Y-axis linear guide extending along the left-right direction;

The Y-axis linear guide rail is fixedly arranged on the upper part of the X-axis traveling trolley;

The bottom of the Y-axis traveling trolley board is provided with a Y-axis guide rail groove that cooperates with the Y-axis linear guide rail;

The Y-axis traveling trolley board is provided with a Y-axis driving component for driving the Y-axis traveling trolley board to move along the Y-axis linear guide rail;

The Z-axis traveling mechanism is arranged on the Y-axis traveling trolley board.

Preferably, the Y-axis drive assembly includes a Y-axis servo motor, a Y-axis gear and a Y-axis rack extending in the left-right direction;

The Y-axis servo motor is fixedly arranged on the upper part of the Y-axis traveling trolley, and the output end of the Y-axis servo motor is downwardly connected to the Y-axis gear

The Y-axis rack is fixedly arranged on the Y-axis linear guide rail;

The Y-axis gear is meshed with the Y-axis rack.

Preferably, the Z-axis traveling mechanism includes a support frame; the support frame is provided with a Z-axis linear guide extending in a vertical direction;

A Z-axis guide rail slot that cooperates with the Z-axis linear guide rail is arranged on the Y-axis traveling trolley;

A Z-axis drive assembly for controlling the movement of the support frame along the Z-axis linear guide rail is arranged on the Y-axis traveling trolley;

The bottom end of the support frame is connected with the end leveling mechanism.

Preferably, the Z-axis drive assembly includes a Z-axis servo motor, a Z-axis gear and a Z-axis rack extending in a vertical direction;

The Z-axis servo motor is fixedly arranged on the upper part of the Y-axis traveling trolley board through the motor plate, and the output end of the Z-axis servo motor is connected with the Z-axis gear;

The Z-axis rack is fixedly arranged on one side of the support frame;

The Z-axis gear is meshed with the Z-axis rack.

Preferably, the rotary drive assembly includes a mounting seat and a rotary servo motor; the rotary servo motor is fixedly connected to the bottom of the support frame through the mounting seat, and the output end of the rotary servo motor is downwardly connected to the top of the rotary seat;

The rotary drive assembly includes a rotary servo motor, the rotary servo motor is connected to the rotary seat at one end of the rotary base, and the rotary seat at the other end of the rotary base is provided with a seat bearing; the output end of the rotary servo motor is connected to the rotary plate One end of the slewing plate is connected with the bearing with seat;

A pressing cylinder is arranged on the tops of both ends of the rotary plate, and the end of the piston rod of the pressing cylinder is connected with the top end of the troweling blade through a floating joint;

Linear bearings are arranged at both ends of the rotary plate;

The troweling blade is provided with a guide rod for sliding fit with the corresponding support bearing;

Vibration motors are arranged on the tops of both ends of the troweling blade.

Preferably, side mold cleaning components are symmetrically arranged on both ends of the trowel;

The side mold cleaning assembly includes a connecting plate, one end of the connecting plate is fixedly connected with the end surface of the trowel, and the other end of the connecting plate is provided with a scraper having an L-shaped structure;

The vertical section of the scraper is rotatably connected with the connecting plate, and the horizontal section of the scraper is located at the lower part of the bottom end face of the trowel;

Two limit blocks are arranged below the end surface of the connecting plate facing away from the troweling blade, and the vertical section of the scraper is located between the two limit blocks.

The beneficial effects of the present invention are:

(1) The rough troweling device of the present invention used for the production of shield segments makes the troweling blade have five freedoms through the settings of the X-axis traveling mechanism, the Y-axis traveling mechanism, the Z-axis traveling mechanism, the rotary servo motor, and the rotary servo motor. It can realize the mechanized operation of rough plastering of the outer arc surface of the shield segment, reduce the number of on-site operators, and improve the plastering efficiency.

(2) The arrangement of the pressing cylinder in the present invention can provide suitable troweling pressure for the troweling blade, and at the same time, it can also avoid the transitional wear of the outer arc surface of the segment caused by excessive pressure.

(3) The setting of the vibrating motor in the present invention provides vibration force for the rough wiping process, performs vibration compaction operation on the concrete, and enhances the compactness and flatness of the segment.

Description of drawings

The accompanying drawings that form a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute improper limitations on the present application.

1 is a schematic perspective view of the structure of a rough plastering device used for the production of shield segments of the present invention;

Fig. 2 is the left side view of the structure schematic diagram of the rough plastering device of the present invention for the production of shield segments;

3 is a schematic top view of the structure of the X-axis traveling mechanism in the present invention;

Fig. 4 is the structural representation of the end leveling mechanism in the present invention;

Fig. 5 is the enlarged view of A in Fig. 1;

Fig. 6 is the enlarged view of B in Fig. 1;

Fig. 7 is the enlarged view of C in Fig. 1;

8 is a schematic diagram of the cooperation between the rough plastering device and the shield segment of the present invention for the production of shield segment;

9 is a schematic diagram of the cooperation of the end leveling mechanism, the side mold cleaning assembly, and the shield segment in the present invention;

Fig. 10 is the working process schematic diagram of the rough plastering device of the present invention for the production of shield segments;

in,

0-shield segment, 01-side die table;

1-Main truss, 11-Support column, 12-Beam;

2-X-axis traveling mechanism, 21-X-axis traveling carriage plate, 22-X-axis servo motor, 23-X-axis linear guide, 24-X-axis rack, 25-X-axis limit block, 26-X-axis limit Sensor, 27-X-axis drag chain wiring unit;

3-Y-axis traveling mechanism, 31-Y-axis traveling trolley board, 32-Y-axis linear guide, 33-Y-axis rack, 34-Y-axis limit block, 35-Y-axis limit sensor, 36-Y-axis drag Chain routing unit;

4-Z-axis travel mechanism, 41-support frame, 42-Z-axis linear guide, 43-Z-axis servo motor, 431-motor plate, 44-Z-axis rack, 45-Z-axis drag chain wiring unit;

5-End troweling mechanism, 51-Rotating seat, 52-Trimming blade, 521-Guide rod, 53-Rotating seat, 54-Rotating plate, 541-Linear bearing, 55-Mounting seat, 56-Rotating servo motor, 57 - Rotary servo motor, 58 - bearing with seat, 59 - pressing cylinder, 510 - floating joint, 511 - vibration motor;

6-side mold cleaning components, 61-connecting plate, 62-scraper, 63-limit stop, 64-rotating shaft, 65-lock nut.

Detailed ways

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

In the present invention, the orientations or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the various components of the present invention or The relational word determined by the structural relationship of the elements does not specifically refer to any component or element in the present invention, and should not be construed as a limitation on the present invention.

In the present invention, terms such as "connected" and "connected" should be understood in a broad sense, indicating that it can be a fixed connection, an integral connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium. For the relevant scientific research or technical personnel in the field, the specific meanings of the above terms in the present invention can be determined according to the specific situation, and should not be construed as a limitation of the present invention.

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Example 1:

As shown in Figure 1-2, a rough plastering device for shield segment production includes a main truss 1;

The main truss 1 is provided with an X-axis traveling mechanism 2 that can move along the front and rear directions of the main truss 1;

The X-axis traveling mechanism 2 is provided with a Y-axis traveling mechanism 3 that can move along the left and right directions of the main truss 1;

The Y-axis traveling mechanism 3 is provided with a Z-axis traveling mechanism 4 that can move in the vertical direction;

The bottom end of the Z-axis traveling mechanism 4 is provided with an end troweling mechanism 5; as shown in FIG. 4 , the end troweling mechanism 5 includes a rotating seat 51 and a troweling blade 52;

The top of the rotating base 51 is connected to the Z-axis traveling mechanism 4 through a rotary drive assembly, and the rotating drive assembly controls the rotating base 51 to rotate around the vertical axis; the bottom of both ends of the rotating base 51 is provided with a rotating base 53;

The upper part of the troweling blade 52 is connected with the rotary plate 54; the rotary seat 53 at one end is provided with a rotary drive assembly, the rotary drive assembly is connected with one end of the rotary plate 54, and the other end of the rotary plate 54 is connected with the corresponding end of the rotary plate 54. The swivel base 53 is rotatably connected; the swivel drive assembly controls the swivel plate 54 to rotate around the horizontal axis.

Example 2:

On the basis of Embodiment 1, as shown in FIG. 1 , the main truss 1 includes four supporting columns 11 distributed in a rectangular shape, and a beam 12 parallel to the ground is fixed between the tops of two adjacent supporting columns 11 . ; When in use, the bottoms of the four supporting columns 11 are firmly connected to the concrete base on the ground.

Preferably, as shown in FIG. 3 , the X-axis traveling mechanism 2 includes an X-axis traveling trolley board 21 and an X-axis linear guide rail 23 extending in the front-rear direction;

The X-axis linear guide rails 23 are located at the left and right ends of the X-axis traveling trolley board 21 and are fixedly arranged on the beam 12 extending in the front-rear direction;

The bottoms of the left and right ends of the X-axis traveling trolley board 21 are provided with X-axis guide rail grooves that cooperate with the corresponding X-axis linear guide rails 23;

The left and right ends of the X-axis traveling trolley board 21 are provided with X-axis driving components for driving the X-axis traveling trolley board 21 to move along the X-axis linear guide rail 23;

The Y-axis traveling mechanism 3 is arranged on the X-axis traveling trolley board 21 .

Preferably, as shown in Figures 5-6, the X-axis drive assembly includes an X-axis servo motor 22, an X-axis gear, and an X-axis rack 23 extending in the front-rear direction;

The X-axis servo motor 22 is fixedly arranged at the end of the X-axis traveling trolley 21, and the output end of the X-axis servo motor 22 is downwardly connected to the X-axis gear; specifically, the output of the X-axis servo motor 22 The X-axis reducer is set at the end, and the output end of the X-axis reducer is connected to the X-axis gear;

The X-axis rack 24 is fixedly arranged on the X-axis linear guide rail 23;

The X-axis gear is in meshing connection with the corresponding X-axis rack 24 .

The X-axis servo motor 22 is activated, and under the meshing transmission of the X-axis gear and the X-axis rack 24, the X-axis traveling trolley plate 21 can move forward and backward along the X-axis linear guide rail 23, thereby realizing the end leveling mechanism 5 along the main body truss 1. Movement in the front and rear X-axis directions. Among them, the front and rear X-axis directions of the main truss 1 are consistent with the width direction of the shield segment 0 .

Preferably, X-axis limit blocks 25 are provided at the front and rear ends of the X-axis linear guide rail 23; an X-axis limit sensor 26 is provided at one end of the X-axis traveling trolley board 21. When the X-axis traveling trolley board 21 moves along the X axis After the axis direction reaches the predetermined position, the X-axis limit sensor 26 controls the X-axis traveling trolley board 21 to stop running.

Specifically, both ends of the X-axis traveling trolley board 21 are provided with an X-axis towline routing unit 27, one end of the X-axis towline routing unit 27 is fixed on the corresponding beam 12, and the X-axis towline routing unit The other end of the 27 is connected to the X-axis traveling mechanism 2, and follows the X-axis traveling mechanism 2 to move in the X-axis direction.

Example 3:

On the basis of Embodiment 2, the Y-axis traveling mechanism 3 includes a Y-axis traveling trolley board 31 and a Y-axis linear guide rail 32 extending in the left-right direction;

The Y-axis linear guide 32 is fixedly arranged on the upper part of the X-axis traveling trolley board 21;

The bottom of the Y-axis traveling trolley board 31 is provided with a Y-axis guide rail groove that cooperates with the Y-axis linear guide rail 32;

The Y-axis traveling trolley board 31 is provided with a Y-axis drive assembly for driving the Y-axis traveling trolley board 31 to move along the Y-axis linear guide rail 32;

The Z-axis traveling mechanism 4 is arranged on the Y-axis traveling trolley board 31 .

Preferably, the Y-axis drive assembly includes a Y-axis servo motor, a Y-axis gear, and a Y-axis rack 33 extending in the left-right direction;

The Y-axis servo motor is fixedly arranged on the upper part of the Y-axis traveling trolley plate 31, and the output end of the Y-axis servo motor is connected downward with the Y-axis gear; specifically, the output end of the Y-axis servo motor is provided with the Y-axis Reducer, the output end of the Y-axis reducer is connected to the Y-axis gear;

The Y-axis rack 33 is fixedly arranged on the Y-axis linear guide rail 32;

The Y-axis gear is in meshing connection with the Y-axis rack 33 .

The Y-axis servo motor is started, and under the meshing transmission of the Y-axis gear and the Y-axis rack 33, the left-right movement of the Y-axis traveling trolley 31 along the Y-axis linear guide rail 32 is realized, and then the end leveling mechanism 5 is realized left and right along the main truss 1. Movement in the Y-axis direction. Among them, the front and rear Y-axis directions of the main truss 1 are consistent with the longitudinal direction of the shield segment 0 .

Preferably, the left and right ends of the Y-axis linear guide rail 33 are provided with Y-axis limit blocks 34; one end of the Y-axis traveling trolley board 31 is provided with a Y-axis limit sensor 35, when the Y-axis traveling trolley board 31 moves along the Y axis After the axis direction reaches the predetermined position, the Y-axis limit sensor 35 controls the Y-axis traveling trolley board 31 to stop running.

Specifically, the Y-axis towline cabling unit 36 is provided on the Y-axis traveling trolley board 31 , one end of the Y-axis towline cabling unit 36 is fixed on the X-axis traveling trolley board 21 , and the Y-axis towline cabling unit 36 is fixed on the X-axis traveling trolley board 21 . The other end of 36 is connected with the Y-axis traveling mechanism 3, and follows the Y-axis traveling mechanism 3 to perform movement in the Y-axis direction.

Example 4:

On the basis of Embodiment 3, as shown in FIG. 2 and FIG. 5 , the Z-axis traveling mechanism 4 includes a support frame 41 ; the support frame 41 is provided with a Z-axis linear guide rail 42 extending in the vertical direction;

The Y-axis traveling carriage plate 31 is provided with a Z-axis guide rail groove that cooperates with the Z-axis linear guide rail 42;

The Y-axis traveling trolley board 31 is provided with a Z-axis drive assembly that controls the support frame 41 to move along the Z-axis linear guide rail 42;

The bottom end of the support frame 41 is connected with the end leveling mechanism 5 .

Preferably, the Z-axis drive assembly includes a Z-axis servo motor 43, a Z-axis gear and a Z-axis rack 44 extending in the vertical direction;

The Z-axis servo motor 43 is fixedly arranged on the upper part of the Y-axis traveling trolley board 31 through the motor plate 431, and the output end of the Z-axis servo motor 43 is connected with the Z-axis gear; The output end is provided with a Z-axis reducer, and the output end of the Z-axis reducer is connected to the Z-axis gear;

The Z-axis rack 44 is fixedly arranged on one side of the support frame 41;

The Z-axis gear is meshed with the Z-axis rack 44 .

The Z-axis servo motor 43 is activated, and under the meshing transmission of the Z-axis gear and the Z-axis rack 44, the up and down movement of the support frame 41 along the Z-axis linear guide rail 42 is realized, thereby realizing the vertical Z of the end leveling mechanism 5 along the main truss 1. movement in the direction of the axis.

Specifically, the support frame 41 is provided with a Z-axis towline routing unit 45, one end of the Z-axis towline routing unit 45 is fixed on the Y-axis traveling trolley board 31, and the other end of the Z-axis towline routing unit 45 is fixed on the Y-axis traveling trolley board 31. One end is connected to the top of the support frame 41 and follows the support frame 41 to move in the Z-axis direction.

Example 5:

On the basis of Embodiment 4, as shown in FIGS. 4 and 7 , the rotary drive assembly includes a mounting seat 55 and a rotary servo motor 56 ; the rotary servo motor 56 is fixedly connected to the bottom of the support frame 41 through the mounting seat 55 , the output end of the rotary servo motor 56 is connected downward with the top of the rotary base 51 ; specifically, the output end of the rotary servo motor 56 is connected with the rotary reducer, and the output end of the rotary reducer is connected with the top of the rotary base 51 Connected; the rotating servo motor 56 drives the rotating base 51 and the troweling blade 52 to rotate around the vertical axis;

The rotary drive assembly includes a rotary servo motor 57, the rotary servo motor 57 is connected to the rotary base 53 at one end of the rotary base 51, and the rotary base 53 at the other end of the rotary base 51 is provided with a seat bearing 58; the rotary servo The output end of the motor 57 is connected to one end of the rotating plate 54 , and the other end of the rotating plate 54 is connected to the bearing 58 with a seat. The rotary servo motor 57 drives the rotary plate 54 and the trowel 52 to rotate around the horizontal axis to adjust the inclination of the trowel 52 so as to adapt to the outer arc of the segment at different positions.

Preferably, a pressing cylinder 59 is provided on the tops of both ends of the rotary plate 54, and the end of the piston rod of the pressing cylinder 59 is connected to the top of the troweling blade 52 through a floating joint 510;

Linear bearings 541 are provided at both ends of the rotating plate 54;

The troweling blade 52 is provided with a guide rod 521 that is slidably matched with the corresponding linear bearing 541 .

The setting of the pressing cylinder 59 provides a suitable troweling pressure for the troweling blade 52, and at the same time avoids excessive wear of the side edges of the segment due to excessive pressure.

Preferably, vibrating motors 511 are provided on the tops of both ends of the troweling blade 52 to provide a vibrating force for the rough troweling process, so that the concrete surface is spread more uniformly and densely.

Example 6:

On the basis of Embodiment 1 or Embodiment 2 or Embodiment 3 or Embodiment 4 or Embodiment 5, the side mold cleaning components 6 are symmetrically arranged on both ends of the troweling blade 52;

The side mold cleaning assembly 6 includes a connecting plate 61, one end of the connecting plate 61 is fixedly connected with the end face of the troweling blade 52, and the other end of the connecting plate 61 is provided with a scraper 62 having an L-shaped structure;

The vertical section of the scraper 62 is rotatably connected to the connecting plate 61, and the horizontal section of the scraper 62 is located at the lower part of the bottom end surface of the trowel 52;

Two limiting blocks 63 are provided below the end surface of the connecting plate 61 facing away from the troweling blade 52 , and the vertical section of the scraper 62 is located between the two limiting blocks 63 .

As shown in FIG. 8 , the two ends of the outer arc surface of the shield segment 0 are symmetrically provided with side mold table surfaces 01 with reduced heights. When the troweling blade 52 smoothes the outer arc surface, the scraped concrete will reach the side molds on both sides. On the table top 01, and the scraper 62 in the side mold cleaning assembly 6 in this application is to scrape off the concrete on the side mold table top 01. The two limit blocks 63 on the connecting plate 61 are arranged to achieve the scraping force of the bottom of the scraper 62 on the concrete through the blocking force of the corresponding side limit blocks 63 on the scraper 62 . Wherein, when the troweling blade 52 operates, the positional relationship between the end troweling mechanism 5, the side mold cleaning assembly 6 and the shield segment 0 is shown in FIG. 9 .

Preferably, a rotating shaft 64 is provided on the end surface of the connecting plate 61 facing away from the troweling blade 52 , and the upper part of the vertical section of the scraper 62 is rotatably connected to the rotating shaft 64 through a bearing.

Preferably, a locking nut 65 is threadedly connected to the end of the rotating shaft 64 .

The rough plastering device used for the production of shield segments in Example 5, its specific embodiments are as follows:

In this application, the X-axis servo motor 22 , the Y-axis servo motor, the Z-axis servo motor 43 , the rotation servo motor 56 , and the rotation servo motor 57 are controlled by using the existing numerical control system.

As shown in Fig. 10, before the troweling starts, the numerical control system controls each servo motor so that the end troweling mechanism 5 is located at the starting position A.

When you start wiping:

(1) The end leveling mechanism 5 moves from point A to point B (point B is the highest point of the outer arc surface of the shield segment);

(2) The rotary servo motor 56 is activated to rotate the trowel blade 52 until the length direction of the trowel blade 52 is consistent with the width direction of the shield segment 0;

(3) The Y-axis servo motor, the Z-axis servo motor 43 and the rotary servo motor 57 cooperate to move the troweling blade 52 to point C;

(4) The piston rod of the pressing cylinder 59 is stretched out, so that the smoothing blade 52 is pressed on the outer arc surface of the segment and the angle of the smoothing blade 52 is consistent with the curved surface of the segment;

(5) The Y-axis servo motor, Z-axis servo motor 43, and rotary servo motor 57 work together, and the smoothing blade 52 moves from point C to point B to perform rough smoothing;

(6) The piston rod of the compression cylinder 59 is retracted, so that the smoothing blade 52 leaves the curved surface of the segment;

(7) Y-axis servo motor, Z-axis servo motor 43, and rotary servo motor 57 cooperate to move the trowel blade 52 to point D;

(8) The piston rod of the pressing cylinder 59 is stretched out, so that the smoothing blade 52 is pressed on the outer arc surface of the segment and the angle of the smoothing blade 52 is consistent with the curved surface of the segment;

(9) The Y-axis servo motor, Z-axis servo motor 43, and rotary servo motor 57 work together, and the troweling blade 52 moves from point D through point B to point C to perform rough troweling operations;

(10) The piston rod of the compression cylinder 59 is retracted, so that the smoothing blade 52 leaves the curved surface of the segment;

(11) The Y-axis servo motor, Z-axis servo motor 43, and rotary servo motor 57 work together, and the trowel 52 moves from point C to point E;

(12) The piston rod of the pressing cylinder 59 is stretched out, so that the troweling blade 52 is pressed on the outer arc surface of the segment and the angle of the troweling blade 52 is consistent with the curved surface of the segment;

(13) The Y-axis servo motor, Z-axis servo motor 43, and rotary servo motor 57 work together, and the smoothing blade 52 moves from point E to point F through points C, B, and D to perform rough troweling operations;

(14) The Y-axis servo motor, Z-axis servo motor 43, and rotary servo motor 57 work together, and the trowel 52 moves from point F to point B through point D to perform rough troweling operations;

(15) The piston rod of the compression cylinder 59 is retracted, so that the smoothing blade 52 leaves the curved surface of the segment;

(16) The numerical control system controls each servo motor to reset the end troweling mechanism to point A to wait for the next rough troweling operation.

Among them, E, C, B, D, and F are the equal points on the arc surface of the shield segment section, point B is the highest point in the middle, C and D are the middle points of symmetry, and E and F are the lowest points of symmetry .

The above-mentioned embodiment of rough plastering is only one embodiment of the rough plastering device of the present application, and other embodiments can be used to realize the smoothing operation of the outer arc surface of the shield tunnel segment.

Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they are not intended to limit the present invention. Those skilled in the art should understand that on the basis of the technical solutions of the present invention, those skilled in the art do not need to pay creative work. Various modifications or variations made are still within the protection scope of the present invention.

Claims (10)

1. a rough plastering device for shield segment production, is characterized in that, comprises main body truss; The main truss is provided with an X-axis traveling mechanism that can move along the front and rear directions of the main truss; The X-axis traveling mechanism is provided with a Y-axis traveling mechanism that can move along the left and right directions of the main truss; The Y-axis traveling mechanism is provided with a Z-axis traveling mechanism that can move in the vertical direction; The bottom end of the Z-axis traveling mechanism is provided with an end troweling mechanism; the end troweling mechanism includes a rotating seat and a troweling blade; The top of the rotary seat is connected with the Z-axis traveling mechanism through a rotary drive assembly, and the rotary drive assembly controls the rotary seat to rotate around the vertical axis; the bottom of both ends of the rotary seat is provided with a rotary seat; The upper part of the troweling blade is connected with the rotary plate; the rotary seat at one end is provided with a rotary drive assembly, the rotary drive assembly is connected with one end of the rotary plate, and the other end of the rotary plate is rotatably connected with the rotary seat at the corresponding end ; The rotary drive assembly controls the rotary plate to rotate around the axis of rotation in the horizontal direction. 2 . The rough plastering device for shield segment production according to claim 1 , wherein the main truss comprises four supporting columns distributed in a rectangular shape, and the tops of the adjacent two supporting columns are fixed between the tops. 3 . Set beams parallel to the ground. 3. The rough plastering device for shield tunnel segment production as claimed in claim 2, wherein the X-axis traveling mechanism comprises an X-axis traveling trolley and an X-axis linear guide extending along the front-rear direction; The X-axis linear guide rails are located at the left and right ends of the X-axis traveling trolley board and are fixedly arranged on the beams extending in the front-rear direction; The bottoms of the left and right ends of the X-axis traveling trolley plate are provided with X-axis guide rail grooves that cooperate with the corresponding X-axis linear guide rails; The left and right ends of the X-axis traveling trolley board are provided with X-axis driving components for driving the X-axis traveling trolley board to move along the X-axis linear guide rail; The Y-axis traveling mechanism is arranged on the X-axis traveling trolley board. 4. The rough troweling device for shield segment production according to claim 3, wherein the X-axis drive assembly comprises an X-axis servo motor, an X-axis gear and an X-axis rack extending in the front-rear direction ; The X-axis servo motor is fixedly arranged at the end of the X-axis traveling trolley, and the output end of the X-axis servo motor is downwardly connected to the X-axis gear; The X-axis rack is fixedly arranged on the X-axis linear guide rail; The X-axis gear is meshed with the corresponding X-axis rack. 5. The rough plastering device for shield tunnel segment production according to claim 4, wherein the Y-axis traveling mechanism comprises a Y-axis traveling trolley plate and a Y-axis linear guide extending along the left-right direction; The Y-axis linear guide rail is fixedly arranged on the upper part of the X-axis traveling trolley; The bottom of the Y-axis traveling trolley board is provided with a Y-axis guide rail groove that cooperates with the Y-axis linear guide rail; The Y-axis traveling trolley board is provided with a Y-axis driving component for driving the Y-axis traveling trolley board to move along the Y-axis linear guide rail; The Z-axis traveling mechanism is arranged on the Y-axis traveling trolley board. 6 . The rough troweling device for shield tunnel segment production according to claim 5 , wherein the Y-axis drive assembly comprises a Y-axis servo motor, a Y-axis gear, and a Y-axis rack extending in the left-right direction. 7 . ; The Y-axis servo motor is fixedly arranged on the upper part of the Y-axis traveling trolley, and the output end of the Y-axis servo motor is downwardly connected to the Y-axis gear The Y-axis rack is fixedly arranged on the Y-axis linear guide rail; The Y-axis gear is meshed with the Y-axis rack. 7 . The rough surface plastering device for shield segment production according to claim 6 , wherein the Z-axis traveling mechanism comprises a support frame; the support frame is provided with a Z-axis extending in a vertical direction. 8 . Linear Guides; A Z-axis guide rail slot that cooperates with the Z-axis linear guide rail is arranged on the Y-axis traveling trolley; A Z-axis drive assembly for controlling the movement of the support frame along the Z-axis linear guide rail is arranged on the Y-axis traveling trolley; The bottom end of the support frame is connected with the end leveling mechanism. 8 . The rough troweling device for shield tunnel segment production according to claim 7 , wherein the Z-axis drive assembly comprises a Z-axis servo motor, a Z-axis gear, and a Z-axis tooth extending in a vertical direction. 9 . strip; The Z-axis servo motor is fixedly arranged on the upper part of the Y-axis traveling trolley board through the motor plate, and the output end of the Z-axis servo motor is connected with the Z-axis gear; The Z-axis rack is fixedly arranged on one side of the support frame; The Z-axis gear is meshed with the Z-axis rack. 9. The rough plastering device for shield tunnel segment production according to claim 8, wherein the rotary drive assembly comprises a mounting seat and a rotary servo motor; The bottom is fixedly connected, and the output end of the rotary servo motor is downwardly connected to the top of the rotary base; The rotary drive assembly includes a rotary servo motor, the rotary servo motor is connected to the rotary seat at one end of the rotary base, and the rotary seat at the other end of the rotary base is provided with a seat bearing; the output end of the rotary servo motor is connected to the rotary plate One end of the slewing plate is connected with the bearing with seat; A pressing cylinder is arranged on the tops of both ends of the rotary plate, and the end of the piston rod of the pressing cylinder is connected with the top end of the troweling blade through a floating joint; Linear bearings are arranged at both ends of the rotary plate; The troweling blade is provided with a guide rod for sliding fit with the corresponding support bearing; Vibration motors are arranged on the tops of both ends of the troweling blade. 10. The rough troweling device for the production of shield segments according to claim 1, wherein a side mold cleaning component is symmetrically arranged on both ends of the troweling blade; The side mold cleaning assembly includes a connecting plate, one end of the connecting plate is fixedly connected with the end surface of the trowel, and the other end of the connecting plate is provided with a scraper having an L-shaped structure; The vertical section of the scraper is rotatably connected with the connecting plate, and the horizontal section of the scraper is located at the lower part of the bottom end face of the trowel; Two limit blocks are arranged below the end surface of the connecting plate facing away from the troweling blade, and the vertical section of the scraper is located between the two limit blocks.

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