Shield segment automatic assembly method and system

Abstract

The invention discloses a shield segment automatic assembly method and system. The shield segment automatic assembly method comprises the steps that according to obtained identification information and lining ring parameter information of each pipe piece to be installed to control an erector to grab corresponding pipe pieces to be installed according to assembly sequence; the identification information includes identifying location information and identifying model information; the erector is controlled to rotate and move the grabbed pipe pieces to be installed to an assembly area according tothe obtained results obtained by the lining ring parameter information and the identifying model information; corresponding assembly strategy is selected according to the identification model information; and image information around the assembly area is obtained, fine-tuning and assembly of the current pipe pieces to be installed is completed according to the image information, the identifying location information and the assembly strategy. According to the shield segment automatic assembly method and system, a splicing method depending on artificial experience is abandoned, not only is thelabor cost reduced, thereby improving the safety guarantee of operating personnel, but also man-made assembling errors can be eliminated, so that the stability of the assembly quality of the pipe pieces is enhanced, and the assembly efficiency of the pipe pieces is improved.

Description

technical field [0001] The invention relates to the technical field of segment assembly, in particular to a shield segment automatic assembling method and system. Background technique [0002] In recent years, with the development of my country's social economy, the number of urban tunnel projects has been increasing. However, due to the constraints of planning and building constraints, complex geological conditions, and dense underground pile foundation pipe networks, the requirements for construction technology have continued to increase. Segment assembly is an important sub-item in shield tunneling construction. It occupies a very special position in the shield tunneling construction process and plays a vital role in the entire project. The quality of segment assembly directly affects the stress condition of the shield tunnel and affects the quality of the entire project. Improper segment assembly is prone to misalignment, opening angle, and uneven ring surface, resultin...

AI Technical Summary

Problems solved by technology

Improper segment assembly is prone to misalignment, opening angle, and uneven ring surface, resulting in local stress concentration, which may lead to segment fragmentation, leakage, and even failure to assemble the lower ring segments

[0003] At present, although the shield segment assembly system has realized the mechanization of segment movement, due to the relatively backward development of sensor technology, dynamic control system and proportional control technology, the assembly work of the segment is still manual work, making the existing The artificial segment assembly work is not only affected by personal experience and technology, which makes the assembly of segments inconsistent and affects the overall segment assembly quality; moreover, the efficiency of segment assembly is low, and there are also potential safety hazards for on-site assembly personnel

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