CN216901412U

CN216901412U - Automatic assembling system for shield machine pipe sheets

Info

Publication number: CN216901412U
Application number: CN202123187453.4U
Authority: CN
Inventors: 唐佳伟; 梁炜; 罗泽儒
Original assignee: Chengdu Industrial Investment Equipment Co ltd
Current assignee: Chengdu Industrial Investment Equipment Co ltd
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-07-05
Anticipated expiration: 2031-12-17

Abstract

The utility model discloses an automatic splicing system for pipe sheets of a shield tunneling machine, which belongs to the technical field of shield tunneling machines and comprises a PLC (programmable logic controller) control system and a laser positioning system, wherein the PLC control system receives light beams of a laser transmitter in the laser positioning system through a signal receiver and is in signal connection with a splicing machine through a displacement sensor, the laser positioning system comprises a laser transmitter, a laser target, a signal receiver and a signal sensor, and the signal sensor is connected with the laser transmitter through the signal receiver. Its aim at through automated control, need not artificial operation and intervention, improve the automatic intelligent degree of equipment, alleviate workman intensity of labour, improve the work efficiency of section of jurisdiction installation, practice thrift the cost, make its installation quality controllable.

Description

Automatic assembling system for shield machine pipe sheets

Technical Field

The utility model belongs to the technical field of shield tunneling machines, and particularly relates to an automatic assembling system for shield tunneling machine duct pieces.

Background

The shield construction method is a construction method of excavating a tunnel under the ground, and has been a main method of various tunnel projects such as a subway tunnel, a highway tunnel, a railway tunnel and the like. In the tunnel shield construction, a shield construction machine tunnels at the front end, a rear assembly device is arranged behind the shield construction machine for auxiliary construction, a duct piece vehicle is an important component of the rear assembly device, and the duct piece assembling speed directly influences the tunneling speed of the whole shield machine.

In the prior art, the shield tunneling machine segment assembly is that a segment is grabbed by an assembly machine and rotated by a corresponding angle to place the segment on a determined point position, an operator penetrates a bolt into the segment immediately, and the assembled segment is connected and fixed with a previous ring pipe piece. After the fixing is finished, the assembling machine is separated from the pipe piece to grab a next pipe piece, the assembling machine rotates to a corresponding angle to be installed, and the assembling machine circulates in sequence until the whole ring of pipe pieces are installed. The quality is assembled to shield constructs quick-witted section of jurisdiction mostly depends on its manipulator's technical capability level, leads to the quality of the pile of section of jurisdiction in the tunnel extremely unstable, and the section of jurisdiction assemble in the tunnel simultaneously and the connection location of the inside bolt of section of jurisdiction has cross operation, has certain potential safety hazard.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problems in the prior art, the utility model discloses an automatic assembling system for a shield machine duct piece, which changes the original installation process, does not need manual operation and intervention through automatic control, improves the automation and intelligence of equipment, reduces the labor intensity of workers, improves the working efficiency of duct piece installation, saves the cost and ensures that the installation quality is controllable.

The technical scheme adopted by the utility model is as follows:

The utility model provides a shield constructs automatic system of assembling of quick-witted section of jurisdiction, includes PLC control system and laser positioning system, PLC control system passes through signal receiver and receives laser emitter's among the laser positioning system light beam to through displacement sensor and erector signal connection, laser positioning system includes laser emitter, laser target, signal receiver and signal sensor, signal sensor passes through signal receiver and is connected with laser emitter.

In the technical scheme, the PLC control system receives a light beam of a laser transmitter in the laser positioning system through a signal receiver, the segment is installed at a required position, the distance from the initial position of the splicing machine to the upper side of the segment is controlled through a displacement sensor, the laser positioning system comprises the laser transmitter, a laser target, a signal receiver and a signal sensor, the signal sensor is used for judging whether the signal receiver receives the light beam of the laser transmitter or not, whether the splicing seam of the segment is smooth or not without a wrong platform phenomenon is judged according to the light beam, and an instruction is sent through the PLC control system to carry out fine adjustment. After the monitoring distance of the laser transmitters arranged on the 16 point positions is assembled with the installed pipe pieces for a certain number of rings, the monitoring distance is increased, meanwhile, the monitoring precision is reduced, after the distance between the laser transmitters and the signal receiver is a certain distance, the mounting point positions of the laser transmitters are disassembled, and then the laser transmitters are arranged on the 4 backward ring pipe pieces of the mounting ring pipe pieces so as to ensure the monitoring precision and the assembling quality of the pipe pieces.

Furthermore, the video monitoring system comprises an image acquisition end, an image processor, a signal transmitter and a monitoring display screen, wherein the image acquisition end is installed on a grabbing head at the lower part of the assembling machine, and the image processor is connected with the image acquisition end and the monitoring display screen through the signal transmitter.

In the technical scheme, the video monitoring system realizes monitoring of the whole segment assembly process.

Further, the system is assembled including the section of jurisdiction to the system, the section of jurisdiction is assembled the system and is included the erector, the upper portion of erector is equipped with the upper portion laser range finder who is used for detecting whether there is interference in the safe working range that the erector walking snatchs the section of jurisdiction, and the lower part of erector is equipped with and is used for detecting whether the section of jurisdiction is hoisted the lower part laser range finder on the station that can snatch.

In the technical scheme, the PLC control system controls the actions of a red cylinder and a blue cylinder of the segment assembling system, the rotation of the assembling machine is controlled by controlling an encoder of the segment assembling system, a light beam of a laser transmitter in a laser positioning system is received by a signal receiver, the segment is installed at a required position, and the distance from the initial position of the assembling machine to the upper side of the segment is controlled by a displacement sensor.

Further, the system includes a bolted securement system including a robot and a control assembly for controlling the robot.

In the technical scheme, the bolt connection fixing system is used for realizing an instruction sent by the segment assembling system.

The beneficial effects of the utility model include:

according to the utility model, through the mode of automatic control and automatic assembly, the mode of assembling the duct pieces by traditional manual operation equipment is changed, the automation and integration degree of the equipment is improved, the quality of stacking the tunnel duct pieces is controllable, the technical level of an assembling hand is not relied, the tunnel stacking quality, the equipment use efficiency and the equipment economy are improved, the failure rate of the equipment and the labor intensity of field workers are reduced, and an important step is taken for realizing the intelligent shield construction.

Drawings

Fig. 1 is a schematic view of an automatic assembling system for shield machine segments according to a second embodiment of the present invention;

fig. 2 is a schematic view of a segment-ring point position of the shield tunneling machine segment automatic assembling system according to the first embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that a product of the present invention is usually placed in when used, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

Referring to the attached drawings 1 and 2, the automatic duct piece assembling system of the shield tunneling machine comprises a PLC control system, a laser positioning system, a video monitoring system, a duct piece assembling system and a bolt connecting and fixing system.

Further, the PLC control system comprises a PLC, a displacement sensor, an encoder, a proximity switch, a signal receiver, a control box and the like, the PLC control system is used for controlling the actions of a red cylinder and a blue cylinder of the segment assembling system, the encoder of the segment assembling system is controlled, the rotation of the assembling machine is controlled, a light beam of a laser transmitter in a laser positioning system is received through the signal receiver, the segment is installed at a required position, and the distance from the initial position of the assembling machine to the upper side of the segment is controlled through the displacement sensor.

Furthermore, the laser positioning system comprises a laser transmitter, a laser target, a signal receiver and a signal sensor, wherein the signal sensor is used for judging whether the signal receiver receives laser of the laser transmitter or not so as to judge whether the splicing seam of the duct piece is flat or not, a PLC control system sends an instruction for fine adjustment, monitoring distances of the laser transmitters arranged at 16 point positions are increased along with a certain number of rings assembled by the mounted duct piece, and monitoring precision is reduced along with the increase of the monitoring distances. The viewing screen monitoring system comprises an image acquisition end, an image processor, a signal transmission sensor, a monitoring display screen and the like, wherein the image acquisition end is arranged on a grabbing head at the lower part of the splicing machine, the image processor is used for processing images acquired by the image acquisition end, the processed images are transmitted to the monitoring display screen through the signal transmitter, the process of detecting the splicing of the whole segment is realized, the segment splicing system comprises the splicing machine and the grabbed segment, the segment splicing system comprises the splicing machine, an upper laser range finder for detecting whether interference exists in the safe operation range of the splicing machine for walking and grabbing the segment is arranged at the upper part of the splicing machine, a lower laser range finder for detecting whether the segment is hoisted to a grabbed station can be arranged at the lower part of the splicing machine, the bolt connecting and fixing system comprises bolts and mechanical hands, and the mechanical hands are used for grabbing the bolts of the segment, and penetrating the bolts into the bolt holes of one ring of pipe sheet and the other ring of pipe sheet.

When the assembly point location is 16 points, the assembly procedure and the working principle are as follows:

firstly assembling standard blocks at 8-point bottom, then assembling standard blocks at 5-point left and right-point bottom and 11-point bottom, then assembling adjacent blocks at 2-point upper and 14-point upper parts, and finally assembling top sealing blocks at 16-point bottom.

The method comprises the steps that a sucker of a grabbing head of the splicing machine places a grabbed duct piece at a position of 8 points, namely the splicing machine does not rotate, the splicing machine moves forwards by an X2 value (the X2 value is about 5cm), a PLC directly controls left and right red cylinders and blue cylinders of the splicing machine to extend out by a Y2 distance, then the splicing machine moves backwards by an X2 value, the spliced duct piece is enabled to be closely attached to a previous ring pipe piece, a Y2 value is the distance between an initial position of the splicing machine when the red cylinders and the blue cylinders are not moved and a shield shell, a Y2 value set by the system is a fixed value and is not changed along with the rotation of the splicing machine, when the red cylinders and the blue cylinders of the splicing machine extend out by a Y2 value, the center of a bottom standard block is overlapped with the 8 points, a laser positioning system is installed on the duct piece 4 rings behind the current ring pipe piece, laser transmitters of the laser positioning system are installed on the current mounting ring, the current mounting ring is installed on the 4 rings, the current mounting ring, the laser transmitters are evenly distributed according to 16 points, and signals corresponding to the laser transmitters of the vacuum sucker of the splicing machine are also installed on the vacuum point positions, when the signal receivers on the vacuum chuck of the grabbing head of the splicing machine receive laser of a laser emitter, the splicing seam of the duct piece is flat and free of a wrong platform phenomenon, the light beam of the laser emitter can adjust the scattering angle, so that part or all of the light beam of the laser emitter can be received by the signal receivers, the condition that the two circumferential splicing seams are allowed to have vertical deviation in a certain range is indicated, when a standard block with 8 points at the bottom is spliced, the splicing machine moves forwards by the distance of X2 value firstly, then a red and blue cylinder of the splicing machine extends out by the distance of Y2, then the splicing machine moves backwards by the value of X2, the duct piece of the installing ring is tightly attached to the duct piece of the previous ring, when the light beams emitted by the laser emitters arranged at the positions of 7 points, 8 points and 9 points of the 4 rings behind the installing ring can be received by the signal receivers arranged on the vacuum chuck for grabbing the duct piece, explaining that laser beams are on a straight line, explaining that the circumferential joint of the installation of the ring pipe piece is smooth and has no wrong platform phenomenon, when the light beams emitted by the laser emitters at 7 points, 8 points and 9 points cannot be received by the signal receiver on the vacuum chuck, explaining that the installed ring pipe piece and the last ring pipe piece have the wrong platform phenomenon, sending a vacuum chuck fine adjustment instruction by the PLC control system, wherein the specific instruction is as follows:

(1) When the signal receiver of 7 points, 8 points, 9 points can not receive laser beam, show that this ring pipe piece is close to splice seam one end too high, shield the light beam transmission, then PLC control system control vacuum chuck is close to hoop seam one end and pushes down, keeps away from hoop seam one end upwarp. So that the signal receiver can receive the light beam emitted by the laser transmitter.

(2) When the signal receivers of 7 points, 8 points and 9 points all receive the laser beams, the circumferential joint is smooth and has no wrong station phenomenon.

(3) If the signal receivers at 7 point and 8 point can receive the light beam, the signal receivers at 9 point can not receive the light beam, or the signal receivers at 8 point and 9 point can receive the light beam, and the signal receivers at 7 point can not receive the light beam, the point position which can not receive the light beam is tilted upwards, and the transmission of the laser beam is blocked. At this moment, the PLC control system sends a vacuum chuck fine adjustment instruction, controls one end of the vacuum chuck, which cannot receive the laser beam, to be pressed down, keeps away from one end to slightly upwarp, and explains that the annular joint assembly quality of the pipe piece is excellent and the platform error phenomenon does not exist when the signal receivers of 7 points, 8 points and 9 points all detect the laser beam.

When the standard block of 8 dot positions in installation bottom, the distance that erector red blue jar stretches out Y2 makes the section of jurisdiction of this collar and the steady no wrong platform phenomenon of section of jurisdiction hoop seam installation of last ring, and 7 dot, 8 dot, when the signal receiver of 9 dot all received the signal, the manipulator snatchs the bolt of section of jurisdiction, penetrate the bolt hole of this ring section of jurisdiction and last ring section of jurisdiction with the bolt, after the bolt all penetrates and finishes, the vacuum chuck of erector and the regional pressure release of section of jurisdiction, make it reach normal atmospheric pressure, the back is accomplished in the pressure release, the red blue jar of erector withdraws the distance Y2 that stretches out, get back to the initial position promptly, prepare to snatch and assemble 2 nd standard block.

When standard blocks at the 11 point position on the left side of the bottom are assembled, when a vacuum chuck of a grabbing head of the assembling machine grabs duct pieces and then returns to the initial position, a PLC control system sends a control instruction, after an encoder of the assembling machine receives the instruction, the assembling machine is controlled to move forwards by X2 value, then the assembling machine is controlled to rotate clockwise by 72.5 degrees, then a red-blue cylinder of the assembling machine is controlled by the PLC control system to stretch out Y2 value, then the assembling machine rotates 5 degrees, the 2 nd standard block is enabled to be abutted to the 1 st standard block, the assembling machine returns to the 67.5 degree position, at the moment, the center of the vacuum chuck of the grabbing head of the assembling machine is coincided with the 11 point position, then the assembling machine moves backwards by X2 value, and the 2 nd standard block is enabled to be tightly jointed with the previous ring pipe piece. . Same 10 points, 11 points, 12 point install laser emitter, the light beam that it launched, signal receiver on the vacuum chuck receives, theory of operation and effect are unanimous when assembling the standard block of one-step 8 dot position time, signal receiver when on the vacuum chuck all receives 10 points, 11 points, when 12 point laser emitter transmission's light beam, satisfy the fixed condition of bolted connection, the manipulator snatchs the section of jurisdiction bolt and penetrates in the section of jurisdiction of this ring installation and is connected fixedly with last ring canal piece. After all the bolts of the installation standard block are installed and connected, a vacuum chuck of a grabbing head of the splicing machine releases pressure, after the system pressure reaches standard atmospheric pressure, a PLC control system controls a built-in sensor of a red cylinder and a blue cylinder of the splicing machine to retract to a distance of Y1, after the oil cylinder retracts, the PLC control system controls an encoder of the splicing machine to rotate anticlockwise by 67.5 degrees and return to an initial position, and then a third standard block, namely the standard block in the 5-point direction, is ready to be installed.

When the standard blocks at the position of 5 points on the right side of the bottom are assembled, the action and the working principle of the standard blocks are completely consistent with those of the standard blocks at the position of 11 points, and only the rotating direction is different. Namely: when the standard blocks at the position of 5 points on the right side of the bottom are assembled, the assembling machine moves forwards by X2, then the PLC control system controls the encoder of the assembling machine to rotate 72.5 degrees anticlockwise, then the PLC control system controls the red and blue cylinders of the assembling machine to extend out by Y2 values, then the assembling machine rotates 5 degrees backwards, the assembling machine returns to the position 67.5 degrees anticlockwise, the 3 rd standard block and the 1 st standard block are abutted together, and finally the assembling machine moves backwards by X2 values, so that the 3 rd standard block is tightly attached to the last ring pipe piece. After the installation is finished, after the pressure of a vacuum sucker of the grabbing head of the assembling machine is relieved, the assembling machine rotates clockwise by 67.5 degrees and returns to the initial position.

When assembling the adjacent blocks at the left 14-point position of the top, the working principle of the assembled block is approximately consistent with the action and working principle of assembling 11-point standard blocks, only the rotation angle of the assembling machine is changed, specifically, the 14-point position is 135 degrees from 8-point position, but if the assembling machine rotates only 135 degrees, the distance of the red-blue cylinder stretching Y1 is directly controlled, and the adjacent blocks which only rotate from 135 degrees to 14-point center position can not be placed in place due to the interference of the assembled 11-point standard blocks, so when assembling the adjacent blocks, no matter the adjacent blocks at the left 14-point or the adjacent blocks at the right 2-point, the rotation angle of the system is set to be 140 degrees, namely when assembling the 14-point adjacent blocks at the left, after the assembling machine grabs the adjacent blocks, the assembling machine moves forwards by X2 values, then rotates clockwise 140 degrees, then the PLC control system controls the red-blue cylinder of the assembling machine to extend out of Y2 distances, and then rotates anticlockwise by 5 degrees, and (3) tightly attaching the adjacent block and the 2 nd standard block at a transverse seam, and then moving the splicing machine backwards by an X2 value to enable the adjacent block and the previous ring of pipe pieces to be tightly attached at a longitudinal seam. Meanwhile, the standard ring is consistent with the standard ring when the 8-point position is assembled, the assembling quality and the error of slab staggering are controlled by the laser transmitters of 13 points, 14 points and 15 points and the signal receiver on the vacuum chuck, and the working principle and the satisfying conditions of the laser transmitters are consistent with those when the standard ring is assembled when the 8-point position is assembled.

When assembling the adjoining block of the top right 2 point position, the technical requirements and angle setting for assembling are consistent with those for assembling the adjoining block of the left 14 point position, and only the rotating direction of the initial assembling machine is inconsistent, namely: after a vacuum chuck of a grabbing head of the splicing machine grabs a duct piece, the splicing machine moves forwards by an X2 value firstly, then rotates anticlockwise by 140 degrees, then extends out of a Y2 distance by a red and blue cylinder of the splicing machine, rotates backwards by 5 degrees again, reaches a 2-point position, enables an adjacent block to be tightly attached to a 3 rd standard block, and finally moves backwards by an X2 value, and enables the adjacent block to be tightly attached to a previous ring pipe piece. The seam crossing quality of the adjacent block is controlled by the laser transmitter of 1 point, 2 points and 3 points and the signal receiver on the vacuum chuck, when the manipulator installs and fixes the bolt of the segment, the vacuum chuck of the assembling machine releases the pressure, the red and blue cylinder retracts to Y2 value after the pressure release is completed, and the assembling machine rotates 140 degrees clockwise and returns to the initial position. The capping block is ready to be installed.

When the top sealing block at the 16-point position of the top is assembled, the top sealing block cannot be directly installed in place because the top sealing block is in a wedge shape, the program and the action when the top sealing block is assembled are slightly different from those when the standard block and the adjacent block are assembled, the length of the top sealing block is set to be X3, after the assembly machine is set in a system to grab the top sealing block, the top sealing block returns to the initial position and moves forwards for a distance of X3/2, then a PLC control system controls an encoder to enable the assembly machine to rotate clockwise for 180 degrees, the center of the top sealing block coincides with the 16-point position, then a red-blue cylinder of the assembly machine is controlled by the PLC control system to extend out a distance of Y2, the top sealing block is placed in a wedge-shaped groove, at the time, the length of 1/2 of the wedge-shaped block is in the wedge-shaped groove, after the red-blue cylinder of the assembly machine extends out the distance of Y2, the assembly machine returns to the initial position and moves back for a distance of X3/2, namely, the exposed top sealing block of X3/2 is completely inserted into the wedge-shaped groove, meanwhile, when a signal receiver on the vacuum chuck receives a light beam of the laser transmitter, the bolt connection positioning condition is met, the manipulator grabs a segment bolt to be inserted into a bolt hole in the capping block and is fixed together with the adjacent abutting block and the previous ring pipe piece, finally, the assembling machine releases pressure in the grabbing head vacuum chuck, the red and blue cylinders of the assembling machine retract to a Y2 value, the assembling machine rotates anticlockwise by 180 degrees and returns to the initial position, and the whole installation process of a ring of segments is completed.

When the point position needing to be assembled is at a point 1, namely the position of the last top sealing block is at a point 1, the actions of assembling the point 1 are completely consistent with those of assembling the point 16, and the point 1 and the point 16 are all in return action, the return distance between the ring and the previous ring is X2, the return angle between the standard block and the adjacent block is 5 degrees, the following description is not excessive, only the difference of the rotation angle is described, and the assembling procedure and the working principle are as follows:

when the bottom standard block is assembled, the assembling machine rotates clockwise by 22.5 degrees to reach a position of 9 points to install a first standard block, the second standard block and a third standard block respectively rotate clockwise by 95 degrees, then rotate by 5 degrees to 90 degrees, reach a position of 12 points and rotate anticlockwise by 50 degrees, then rotate by 5 degrees to reach a position of 6 points by 45 degrees, when a fourth adjacent block and a fifth adjacent block are assembled, the assembling machine firstly rotates 162.5 degrees, then rotates anticlockwise by 5 degrees and rotates to a position of 157.5 degrees, namely the assembling machine rotates to a position of 15 points, and the fourth adjacent block is enabled to be close to the standard blocks; when the fifth adjacent block is assembled, the assembling machine rotates anticlockwise by 117.5 degrees, then rotates clockwise by 5 degrees to 112.5 degrees, namely the assembling machine rotates to a position of 3 points to enable the fifth adjacent block to abut against the standard block. When the last top sealing block is assembled, the assembling machine still moves forward by the distance of X3/2, X3 is the length of the top sealing block, the assembling machine rotates by 157.5 degrees in the counterclockwise direction to reach the 1-point position, the red and blue cylinder of the assembling machine extends out by the distance of Y2, the top sealing block is generally placed in the wedge-shaped groove, the assembling machine moves back by the distance of X3/2, the top sealing block is completely inserted into the wedge-shaped groove, a bolt penetrates through a bolt hole of the top sealing block by a manipulator to be connected and fixed, then a vacuum chuck releases pressure, the red and blue cylinder of the assembling machine is withdrawn, the assembling machine rotates by 157.5 degrees in the clockwise direction to return to the initial position, and all processes when the 1-point is assembled are completed.

When the point position needing to be assembled is at the 2 point position, namely the capping block is at the 2 point position, the assembling procedure and the working principle are as follows:

when the assembled point positions are 2 points, the point positions of the standard blocks are 7 points, 10 points and 13 points respectively, the point positions of the adjacent blocks are 4 points and 16 points respectively, firstly, the assembling machine rotates clockwise 45 degrees to reach the position of 10 points, the first standard block is installed, then, the second standard block is installed, the assembling machine rotates anticlockwise by 27.5 degrees, the second standard block is installed to the position of 7 points after rotating 5 degrees, after the installation is finished, the clockwise rotation is 117.5 degrees, the rotation is 5 degrees, then, the third standard block is installed to the position of 13 points, after the installation is finished, the assembling machine installs the adjacent block at the position of 4 points, the assembling machine rotates anticlockwise by 95 degrees, the assembling machine rotates clockwise by 5 degrees, the assembling machine returns to the position of 4 points after rotating 90 degrees, so that the adjacent block is abutted against the standard blocks, when the adjacent blocks at the position of 16 points are assembled, the assembling machine rotates anticlockwise firstly, then rotates anticlockwise by 5 degrees, the assembling machine rotates anticlockwise to reach the position of 175 degrees, the splicing machine moves forward by a distance of X3/2, rotates anticlockwise by 135 degrees to reach a 2-point position, extends a red and blue cylinder of the splicing machine by a distance of Y2, enables the top sealing block to be placed in a wedge-shaped groove, moves the distance of X3/2 to return to an initial position, enables the top sealing block to be completely inserted into the wedge-shaped groove, finally a manipulator penetrates a bolt into a bolt hole of the top sealing block, a vacuum suction cup of a grabbing head of the splicing machine releases pressure, the red and blue cylinder retracts to a proper position, and the splicing machine rotates clockwise by 135 degrees to return to the initial position, namely the whole-ring segment splicing when the 2-point position is spliced is completed.

When the point position needing to be assembled is 15 points, namely the top sealing block is at the position of 15 points, the assembling procedure and the working principle are as follows:

the point positions of three standard blocks are respectively 4 points, 7 points and 10 points, two adjacent blocks are respectively 13 points and 1 point, the position of a top sealing block is 15 points, firstly, the assembling machine rotates anticlockwise for 22.5 degrees to 7 points to assemble a first standard block, after assembly is completed, the assembling machine rotates clockwise for 50 degrees and rotates 5 degrees, the assembling machine rotates to 45 degrees to 10 points to assemble a second standard block, after assembly is completed, the assembling machine rotates anticlockwise for 95 degrees and rotates 5 degrees, the assembling machine rotates to 90 degrees to 4 points to assemble a third standard block, then, the assembling machine rotates clockwise for 117.5 degrees and rotates 5 degrees, the assembling machine rotates to 112.5 degrees to reach the 13 points, so that the adjacent blocks and the standard blocks are abutted against the assembled first adjacent block, then, the assembling machine rotates anticlockwise for 162.5 degrees, then, the assembling machine rotates clockwise for 5 degrees and rotates to 157.5 degrees to reach the 1 point position, so that the adjacent blocks and the standard blocks are abutted against the second adjacent block, and finally, splicing the top sealing blocks, wherein the splicing machine firstly moves by the distance of X3/2, then rotates by 157.5 degrees clockwise to reach the 15-point position, then the red and blue cylinder of the splicing machine extends out by Y2 distance, so that the top sealing blocks are placed in the wedge-shaped groove, the splicing machine moves by X3/2 distance to return to the initial position, so that the top sealing blocks are completely inserted into the wedge-shaped groove, finally, a bolt is inserted into a bolt hole of the top sealing block by a manipulator, a vacuum suction disc of a grabbing head of the splicing machine releases pressure, the red and blue cylinder retracts to the right position, and the splicing machine rotates by 157.5 degrees anticlockwise to return to the initial position, namely, the whole ring of segment splicing when 15-point position splicing is completed.

Writing 16 point-position assembling programs and control instructions of the whole system into the system, before assembling the ring duct piece, firstly determining the assembled point position, namely the point position rotationally assembled on the control screen, and selecting the corresponding assembling program by the assembling machine according to the control instructions to complete the assembly of the duct piece at the specified point position.

The above embodiments only express specific embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, without departing from the technical idea of the present application, several changes and modifications can be made, which all belong to the protection scope of the present application.

Claims

1. The utility model provides a shield constructs automatic system of assembling of quick-witted section of jurisdiction which characterized in that: including PLC control system, video monitoring system and laser positioning system, PLC control system passes through signal receiver and receives laser emitter's among the laser positioning system light beam to through displacement sensor and erector signal connection, laser positioning system includes laser emitter, laser target, signal receiver and signal sensor, signal sensor passes through signal receiver and is connected with laser emitter.

2. The automatic assembling system for the shield tunneling machine duct pieces according to claim 1, characterized in that: the video monitoring system comprises an image acquisition end, an image processor, a signal transmitter and a monitoring display screen, wherein the image acquisition end is installed on a grabbing head at the lower part of the erector, and the image processor is connected with the image acquisition end and the monitoring display screen through the signal transmitter.

3. The automatic assembling system for the shield machine duct pieces according to claim 1, characterized in that: the system is assembled including the section of jurisdiction to the system, the section of jurisdiction is assembled the system and is included the erector, the upper portion of erector is equipped with the upper portion laser range finder that is used for detecting whether there is interference in the safe operation scope that the erector walking snatchs the section of jurisdiction, and the lower part of erector is equipped with and is used for detecting whether the section of jurisdiction is hoisted the lower part laser range finder on the station that can snatch.

4. The automatic assembling system for the shield machine duct pieces according to claim 1, characterized in that: the system comprises a bolted connection fixing system, which comprises a manipulator and a control assembly for controlling the manipulator.