CN113482643B - Less-humanized shield tunneling machine and control system thereof - Google Patents
Less-humanized shield tunneling machine and control system thereof Download PDFInfo
- Publication number
- CN113482643B CN113482643B CN202110975931.3A CN202110975931A CN113482643B CN 113482643 B CN113482643 B CN 113482643B CN 202110975931 A CN202110975931 A CN 202110975931A CN 113482643 B CN113482643 B CN 113482643B
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- Prior art keywords
- slag
- machine
- camera
- piece
- pipe
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- 230000005641 tunneling Effects 0.000 title claims abstract description 22
- 239000002893 slag Substances 0.000 claims abstract description 72
- 238000012544 monitoring process Methods 0.000 claims abstract description 13
- 238000007599 discharging Methods 0.000 claims description 17
- 239000002689 soil Substances 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000010079 rubber tapping Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/0607—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining the shield being provided with devices for lining the tunnel, e.g. shuttering
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/124—Helical conveying means therefor
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Lining And Supports For Tunnels (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The application discloses a few-humanization shield tunneling machine and a control system thereof, and relates to the technical field of shield tunneling machines. According to the application, the segment splicing machine is remotely controlled to splice segments through the monitoring video, automatic transportation of segments is realized, whether the slag conveying vehicle is full or not is identified, the function aim of manual operation before is realized through an automatic function, the number of workers is reduced, and the working efficiency of the shield machine is improved.
Description
Technical Field
The application relates to the technical field of shield machines, in particular to a few-humanization shield machine and a control system thereof.
Background
The shield is complex equipment integrating light, mechanical, electrical, liquid, sensing and information technologies, and has the functions of excavating and cutting soil body, conveying soil slag, assembling tunnel lining and the like, and the realization of each function is an essential link of tunnel construction. At present, each link personnel go to operate or guard, so that manpower is wasted, the front of tunnel face is poor in working environment, long-term work of personnel is not facilitated, physical health is not facilitated, and the requirement for reducing manpower investment is met, and the tunnel face is realized by automation as far as possible.
In the prior art, each main working procedure of the shield machine needs manual operation, has high cost, large risk and low efficiency, and once dangerous situations such as mud burst, tunnel collapse and the like occur, workers in front of the tunnel, especially segment assembly operators at the bottom of the tunnel, can not escape, and personal casualty accidents easily occur, for example, taking a conventional subway tunnel as an example, segment assembly is carried out by-4 people, segment transportation is carried out by-2 people, and a slag discharging system is carried out by-1 person (1 person is needed to observe whether a storage battery car is full or not and the state of slag soil is watched when slag is pushed and discharged).
Disclosure of Invention
The application aims to provide a less-humanized shield machine and a control system thereof, so as to solve the defects in the prior art.
In order to achieve the above object, the present application provides the following technical solutions: the utility model provides a few humanized shield constructs machine, includes the shield shell, the inside of shield shell is provided with tunneling system, section of jurisdiction system of assembling, section of jurisdiction transfer system and slag system, tunneling system includes the blade disc, the blade disc is installed in the one end of shield shell, the section of jurisdiction system of assembling includes the section of jurisdiction kludge, the section of jurisdiction is assembled the machine and is set up in the rear of blade disc, section of jurisdiction transfer system and slag system include the section of jurisdiction kludge, the section of jurisdiction hoist and set up in the rear of section of jurisdiction kludge, the section of jurisdiction is provided with the section of jurisdiction transfer car in the slip between section of jurisdiction kludge, the section of jurisdiction transfer car moves between section of jurisdiction hoist and blade disc, section of jurisdiction transfer system is good includes the section of jurisdiction battery car, the battery car is used for transporting buckle formula section of jurisdiction to the below of jurisdiction hoist machine from outside, the section of jurisdiction hoist and mount is including shifting the frame, shifting frame horizontal slidable mounting in the tunnel inside, the bottom of shifting frame installs the hoist and mount, the section of jurisdiction is installed the section of jurisdiction and is installed the camera, the bottom of jurisdiction hoist and is installed the section of jurisdiction, section of jurisdiction buckle, section of jurisdiction end, section of jurisdiction transfer car is installed to the section of jurisdiction camera, section of jurisdiction jack catch, the end is used for the tip and the slag conveyer pipe is extended to the end of the slag conveyer, the end is provided with the slag conveyer, and the slag conveyer pipe is extended to the bottom of the end of the slag conveyer, and is used for the slag conveyer.
Preferably, the duct piece assembling camera, the hoisting camera and the slag tapping camera are all monitoring angle-variable cameras.
Preferably, the transfer frame is connected with the hoisting seat through a winch, the top of the hoisting seat is fixedly connected with a directional guide rod, and the top end of the directional guide rod is in sliding fit with the transfer frame.
Preferably, a plurality of positioning cameras are arranged around the top end of the slag conveying vehicle.
The utility model provides a few humanized shield constructs quick-witted control system, includes main driver's cabin, be equipped with main control system in the main driver's cabin, section of jurisdiction kludge, dregs conveyer belt, screw conveyer pipe, section of jurisdiction transfer car and section of jurisdiction hoist engine are by main control system through control line direct control, section of jurisdiction storage battery car and send the slag car to pass through remote control connected equipment remote control by main control system, section of jurisdiction is assembled camera, hoist and mount camera and is slag tap camera and is directly carried out signal transmission through the connecting line with main control system respectively, the section of jurisdiction is assembled the camera and is monitored the section of jurisdiction and assemble the condition, hoist and mount camera monitors the transportation condition of buckle formula section of jurisdiction that section of jurisdiction storage battery car transported, slag tap camera control send the soil property and the charge capacity condition of dregs in the slag car.
Preferably, the main control system is provided with a shield tunneling machine operation panel in a matching way, and the operation functions of the segment erector, the spiral conveying pipe, the muck conveying belt, the muck conveying vehicle and the segment lifting machine are displayed on the shield tunneling machine operation panel.
In the technical scheme, the application has the technical effects and advantages that:
according to the application, the monitoring video is observed through the duct piece assembling camera, the duct piece assembling machine is remotely controlled to assemble the duct pieces, and the video monitoring is carried out on the buckle-type duct pieces transported by the duct piece storage battery car by utilizing the hoisting camera, so that a worker can position the duct pieces by himself, clamp the buckle-type duct pieces by clamping the duct piece clamping jaws, hoist the duct pieces onto the duct piece transfer car, transport the duct pieces to the duct piece assembling machine, thereby realizing automatic transfer of the duct pieces, and meanwhile, the video monitoring is carried out through the slag tapping camera to identify whether the slag conveying car is full or not, and the slag conveying car is remotely controlled to automatically send out, thereby realizing the function of manual operation before by an automatic function, greatly reducing the workload, reducing the number of workers and improving the working efficiency of the shield machine.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a schematic diagram of the overall structure of the present application.
Fig. 2 is a block diagram of a control system of the present application.
Reference numerals illustrate:
1. a shield shell; 2. a cutterhead; 3. segment erector; segment assembly camera 31 and segment assembly camera; 4. a transfer rack; 41. segment battery car; 42. a duct piece transfer vehicle; 43. hoisting the base; 44. segment claw; 45. hoisting the camera; 46. a directional guide rod; 5. a muck conveying belt; 51. a screw conveying pipe; 52. slag conveying vehicle; 53. a slag discharging camera; 54. and positioning the camera.
Detailed Description
In order to make the technical scheme of the present application better understood by those skilled in the art, the present application will be further described in detail with reference to the accompanying drawings.
The application provides a less-humanized shield machine as shown in fig. 1, which comprises a shield shell 1, wherein a tunneling system, a pipe piece assembling system, a pipe piece transferring system and a slag discharging system are arranged in the shield shell 1, the tunneling system comprises a cutter head 2, the cutter head 2 is arranged at one end of the shield shell 1, the pipe piece assembling system comprises a pipe piece assembling machine 3, the pipe piece assembling machine 3 is arranged at the rear of the cutter head 2, a pipe piece assembling camera 31 is arranged at the bottom end of the pipe piece assembling machine 3, the pipe piece transferring system and the slag discharging system comprise a pipe piece crane, the pipe piece crane is arranged at the rear of the pipe piece assembling machine 3, a pipe piece transferring vehicle 42 is arranged between the pipe piece assembling machine 3 and the pipe piece crane in a sliding manner, the pipe piece transferring vehicle 42 moves between the pipe piece crane and the cutter head 2, the pipe piece regulating and transporting system well comprises a pipe piece storage battery car 41, the pipe piece storage battery car 41 is used for transporting the buckle type pipe piece from the outside to the lower part of the pipe piece lifting machine, the pipe piece lifting machine comprises a transfer frame 4, the transfer frame 4 is transversely and slidably arranged in a tunnel, a lifting seat 43 is arranged at the bottom of the transfer frame 4, a pipe piece claw 44 is arranged at the bottom of the lifting seat 43, the pipe piece claw 44 is used for grabbing the buckle type pipe piece, a lifting camera 45 is arranged at the bottom end of the pipe piece claw 44, the slag discharging system comprises a slag conveying belt 5 and a spiral conveying pipe 51, one end of the spiral conveying pipe 51 is connected to a cutter disc 2, the other end of the spiral conveying pipe 51 extends to one end of the slag conveying belt 5, the other end of the slag conveying belt 5 extends to the rear of the pipe piece lifting machine, the bottom of a slag discharging camera 53 is provided with a slag conveying vehicle 52, the slag conveying vehicle 52 is used for conveying slag outwards of the tunnel, the bottom of the output end of the slag discharging camera 53 is fixedly provided with the slag discharging camera 53;
furthermore, in the above technical solution, the segment assembly camera 31, the hoisting camera 45 and the slag tapping camera 53 are all monitoring angle variable cameras, so that more abundant areas can be monitored;
further, in the above technical solution, the transferring frame 4 is connected with the lifting seat 43 through a winch, the top of the lifting seat 43 is fixedly connected with the directional guide rod 46, and the top end of the directional guide rod 46 is in sliding fit with the transferring frame 4, so as to ensure that the lifting seat 43 is accurately lifted;
further, in the above technical solution, a plurality of positioning cameras 54 are installed around the top end of the slag conveyor 52;
the less-humanized shield tunneling machine and a control system thereof shown in fig. 2, the less-humanized shield tunneling machine control system comprises a main driver operating room, wherein a main control system is arranged in the main driver operating room, a segment erector 3, a slag soil conveying belt 5, a spiral conveying pipe 51, a segment transfer truck 42 and a segment lifting machine are directly controlled by the main control system through control lines, a segment storage battery truck 41 and a slag conveying truck 52 are remotely controlled by the main control system through remote control connecting equipment, a segment assembly camera 31, a lifting camera 45 and a slag tapping camera 53 respectively and directly perform signal transmission with the main control system through connecting lines, the segment assembly camera 31 monitors segment assembly conditions, the lifting camera 45 monitors transportation conditions of buckle segments transported by the segment storage battery truck 41, and the slag tapping camera 53 monitors soil quality and loading conditions of slag soil in the slag conveying truck 52;
furthermore, in the above technical solution, the main control system is configured on a shield tunneling machine operation panel, and the operation functions of the segment erector 3, the spiral conveying pipe 51, the muck conveying belt 5, the slag conveying vehicle 52 and the segment crane are displayed on the shield tunneling machine operation panel;
the implementation mode specifically comprises the following steps: for duct piece assembly, the monitoring video is observed through the duct piece assembly camera 31, and further the duct piece assembly machine 3 is remotely controlled to assemble the duct pieces, meanwhile, the duct pieces with further simplified structures are adopted, and the connection of the duct pieces is realized directly through the structural form of the duct piece buckle without using connecting bolts; for duct piece transportation, the duct piece hoisting machine is arranged, the duct piece storage battery car 41 and the duct piece transportation vehicle 42 are transported back and forth by means of transverse movement of the transfer frame 4 in a matched mode, the hoisting camera 45 is synchronously used for carrying out video monitoring on the buckle type duct piece transported by the duct piece storage battery car 41, so that a worker can automatically position the buckle type duct piece, the duct piece clamping claw 44 is clamped and controlled to clamp the buckle type duct piece, the duct piece is hoisted to the duct piece transportation vehicle 42, and the duct piece is transported to the duct piece splicing machine 3, and automatic transportation of the duct piece is realized;
for the slag discharging system, a slag discharging camera 53 is arranged at the bottom of the slag conveying belt 5 to perform video monitoring, so that whether the slag conveying vehicle 52 is full or not is identified, and meanwhile, a signal for stopping slag loading can be sent. And the slag conveying vehicle 52 is remotely controlled to automatically convey the slag;
and the automatic shield machine is further subjected to segment assembly, segment transportation and slag discharging system supervision, and is transformed to realize the function purpose of manual operation before by an automatic function, so that the workload is greatly reduced, the number of workers is reduced, and the working efficiency of the shield machine is improved.
While certain exemplary embodiments of the present application have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the application. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the application, which is defined by the appended claims.
Claims (6)
1. The utility model provides a few humanized shield constructs machine, includes shield shell (1), the inside of shield shell (1) is provided with tunnelling system, section of jurisdiction and assembles system, section of jurisdiction transportation system and slag discharging system, its characterized in that: the tunneling system comprises a cutterhead (2), the cutterhead (2) is arranged at one end of a shield shell (1), the pipe piece assembling system comprises a pipe piece assembling machine (3), the pipe piece assembling machine (3) is arranged at the rear of the cutterhead (2), a pipe piece assembling camera (31) is arranged at the bottom end of the pipe piece assembling machine (3), the pipe piece assembling system and a slag system comprise a pipe piece hoisting machine, the pipe piece hoisting machine is arranged at the rear of the pipe piece assembling machine (3), a pipe piece transfer trolley (42) is slidably arranged between the pipe piece assembling machine (3) and the pipe piece hoisting machine, the pipe piece transfer trolley (42) moves back and forth between the pipe piece hoisting machine and the cutterhead (2), the pipe piece assembling system further comprises a pipe piece storage battery car (41), the pipe piece storage battery car (41) is used for transporting the lower part of a buckle type pipe piece to the pipe piece hoisting machine from the outside, the pipe piece hoisting machine comprises a transfer frame (4), the transfer frame (4) is transversely and slidably arranged in the inside, a hoisting seat (43) is arranged at the bottom of the transfer frame (4), a hoisting seat (44) is slidably arranged between the pipe piece hoisting machine and the pipe piece hoisting machine, a clamping jaw (44) is arranged at the bottom of the pipe piece hoisting system and the slag system (45) and comprises a spiral clamping jaw (44), one end of the spiral conveying pipe (51) is connected to the cutter head (2), the other end of the spiral conveying pipe extends to one end of the muck conveying belt (5), the other end of the muck conveying belt (5) extends to the rear of the duct piece hoisting machine, a slag discharging camera (53) is fixedly arranged at the bottom of the muck conveying belt (5), a slag conveying vehicle (52) is arranged at the bottom of the slag discharging camera (53), and the slag conveying vehicle (52) is used for conveying muck out of a tunnel;
for duct piece assembly, a monitoring video is observed through a duct piece assembly camera (31), and further a duct piece assembly machine (3) is remotely controlled to assemble duct pieces; the connection of the duct pieces is directly realized through the structural form of duct piece buckles;
for duct piece transportation, the duct piece hoisting machine is arranged, the duct piece storage battery car (41) and the duct piece transport trolley (42) are transported back and forth by means of transverse movement of the transfer frame (4) in a matched mode, the hoisting camera (45) is synchronously used for carrying out video monitoring on the buckle duct piece transported by the duct piece storage battery car (41), so that a worker can position the duct piece automatically, the duct piece clamping claw (44) is controlled to clamp the buckle duct piece, the duct piece is hoisted to the duct piece transport trolley (42), and the duct piece is transported to the duct piece splicing machine (3), and automatic transportation of the duct piece is realized;
for a slag discharging system, a slag discharging camera (53) is arranged at the bottom of a slag conveying belt (5) to perform video monitoring, whether a slag conveying vehicle (52) is full or not is identified, and the slag conveying vehicle (52) is remotely controlled to automatically send out slag.
2. The less humanized shield tunneling machine according to claim 1, wherein: the duct piece assembling camera (31), the hoisting camera (45) and the slag discharging camera (53) are all monitoring angle variable cameras.
3. The less humanized shield tunneling machine according to claim 1, wherein: the transfer frame (4) is connected with the hoisting seat (43) through a winch, the top of the hoisting seat (43) is fixedly connected with the directional guide rod (46), and the top end of the directional guide rod (46) is in sliding fit with the transfer frame (4).
4. The less humanized shield tunneling machine according to claim 1, wherein: a plurality of positioning cameras (54) are arranged around the top end of the slag conveying vehicle (52).
5. The control system of a less-humanized shield tunneling machine according to claim 1, wherein: including main driver's cab, be equipped with main control system in the main driver's cab, section of jurisdiction kludge (3), dregs conveyer belt (5), screw conveyer pipe (51), section of jurisdiction transfer car (42) and section of jurisdiction hoist engine are by main control system through control line direct control, section of jurisdiction storage battery car (41) and send slag car (52) by main control system through remote control junction equipment remote control, section of jurisdiction is assembled camera (31), hoist and mount camera (45) and is slag tap camera (53) and is directly carried out signal transmission through the connecting line with main control system respectively, section of jurisdiction is assembled camera (31) and is monitored the section of jurisdiction and assemble the condition, hoist and mount camera (45) are monitored the transportation condition of buckle formula section of jurisdiction that section of jurisdiction storage battery car (41) transported, slag tap camera (53) are monitored and are sent the soil quality and the charge capacity condition of dregs in slag car (52).
6. The less-humanized shield tunneling machine control system according to claim 5, wherein: the main control system is matched with a shield tunneling machine operation panel, and the operation functions of the segment erector (3), the spiral conveying pipe (51), the dregs conveying belt (5), the dregs conveying vehicle (52) and the segment lifting machine are displayed on the shield tunneling machine operation panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975931.3A CN113482643B (en) | 2021-08-24 | 2021-08-24 | Less-humanized shield tunneling machine and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110975931.3A CN113482643B (en) | 2021-08-24 | 2021-08-24 | Less-humanized shield tunneling machine and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113482643A CN113482643A (en) | 2021-10-08 |
| CN113482643B true CN113482643B (en) | 2023-10-20 |
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ID=77947018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110975931.3A Active CN113482643B (en) | 2021-08-24 | 2021-08-24 | Less-humanized shield tunneling machine and control system thereof |
Country Status (1)
| Country | Link |
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| CN (1) | CN113482643B (en) |
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| CN104153784A (en) * | 2014-07-08 | 2014-11-19 | 同济大学 | Slurry-water balanced horseshoe-shaped shield machine |
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN109826648A (en) * | 2019-04-22 | 2019-05-31 | 中国铁建重工集团有限公司 | A kind of binocular pipe sheet assembling identifying system and its assembled recognition methods |
| CN110219661A (en) * | 2019-07-12 | 2019-09-10 | 中铁工程装备集团有限公司 | Applied to minimum starting well separate launching corollary apparatus and originate construction method |
| CN111022073A (en) * | 2019-12-17 | 2020-04-17 | 济南重工股份有限公司 | Visual shield constructs quick-witted section of jurisdiction system of assembling |
| CN112253168A (en) * | 2020-10-28 | 2021-01-22 | 中交天和机械设备制造有限公司 | Automatic assembling method and device for segments of shield tunneling machine |
-
2021
- 2021-08-24 CN CN202110975931.3A patent/CN113482643B/en active Active
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| CN104153784A (en) * | 2014-07-08 | 2014-11-19 | 同济大学 | Slurry-water balanced horseshoe-shaped shield machine |
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN109826648A (en) * | 2019-04-22 | 2019-05-31 | 中国铁建重工集团有限公司 | A kind of binocular pipe sheet assembling identifying system and its assembled recognition methods |
| CN110219661A (en) * | 2019-07-12 | 2019-09-10 | 中铁工程装备集团有限公司 | Applied to minimum starting well separate launching corollary apparatus and originate construction method |
| CN111022073A (en) * | 2019-12-17 | 2020-04-17 | 济南重工股份有限公司 | Visual shield constructs quick-witted section of jurisdiction system of assembling |
| CN112253168A (en) * | 2020-10-28 | 2021-01-22 | 中交天和机械设备制造有限公司 | Automatic assembling method and device for segments of shield tunneling machine |
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| Title |
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| 冯欢欢 ; 陈馈 ; 龚国芳 ; 王助锋 ; .一种新型盾构管片拼装系统设计与研究.液压与气动.2013,(第09期),全文. * |
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| Publication number | Publication date |
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| CN113482643A (en) | 2021-10-08 |
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