阅读说明：本技术 一种盾构施工管片安装机及其操作方法 (Shield construction segment mounting machine and operation method thereof ) 是由 刘长斌 薛旋 梁猛 高侗 周幸彪 张昶 康建国 于 2021-09-07 设计创作，主要内容包括：本发明公开了一种盾构施工管片安装机及其操作方法,包括第一伺服电机,第一伺服电机通过第一伺服电机支撑板安装在Y形钢架夹角处,Y形钢架右侧架体上通过设有纵向对称的纵向导轨槽和贯穿顶部的横向导轨槽来安装平移机构,平移机构外侧圆周面上安装有旋转机构,旋转机构前后两侧面上对称安装有伸缩机构,伸缩机构所包含的进油口连接外部液压油控制系统,伸缩机构底部固定链接有角度调节机构,角度调节机构能够将管片沿隧道弯曲线角度调节范围为-10～10度,角度调节机构底部固定连接有夹持部件,通过本发明实现了结构简单、节省空间,同时通过角度调节机构精确对管片进行定位,确保了管片安装的准确、高精度和稳定性。(The invention discloses a shield construction segment mounting machine and an operation method thereof, and the shield construction segment mounting machine comprises a first servo motor, wherein the first servo motor is mounted at the included angle of a Y-shaped steel frame through a first servo motor support plate, a translation mechanism is mounted on a right frame body of the Y-shaped steel frame through a longitudinal guide rail groove and a transverse guide rail groove penetrating through the top, a rotating mechanism is mounted on the circumferential surface of the outer side of the translation mechanism, telescopic mechanisms are symmetrically mounted on the front side surface and the rear side surface of the rotating mechanism, oil inlets contained in the telescopic mechanisms are connected with an external hydraulic oil control system, the bottom of the telescopic mechanisms is fixedly linked with an angle adjusting mechanism, the angle adjusting mechanism can adjust the angle of segments along a tunnel bending line within the range of-10 degrees, and the bottom of the angle adjusting mechanism is fixedly connected with a clamping part, the accuracy, high accuracy and stability of the installation of the duct piece are ensured.)

1. The utility model provides a shield constructs construction section of jurisdiction mounting plate, includes first servo motor (5), its characterized in that: first servo motor (5) are installed in Y shape steelframe (1) contained angle department through first servo motor backup pad (4), install translation mechanism through longitudinal guide groove (2) that are equipped with longitudinal symmetry and transverse guide groove (3) that run through the top on the support body of Y shape steelframe (1) right side, install rotary mechanism on the periphery in the translation mechanism outside, telescopic machanism is installed to the symmetry on the face of rotary mechanism front and back both sides, outside hydraulic oil control system is connected in oil inlet (21) that telescopic machanism contained, telescopic machanism bottom fixed link has angle adjusting mechanism, angle adjusting mechanism can be-10 ~ 10 degrees along tunnel bend line angle control range with the section of jurisdiction, angle adjusting mechanism bottom fixedly connected with clamping part (30).

2. A shield construction segment mounting machine according to claim 1, characterized in that the translation mechanism comprises the first servo motor (5), a threaded thrust rod (6), a transverse moving disk (6) and a moving thrust block (10).

3. The shield construction segment mounting machine according to claim 2, wherein the output end of the first servo motor (5) is fixedly connected with the left end of the screw propelling rod (6), the screw thread pushing rod (6) is arranged in the transverse guide rail groove (3) arranged on the frame body on the right side of the Y-shaped steel frame (1) in a penetrating way, the movable pushing block (10) is arranged in the transverse guide rail groove (3), and the screw thread pushing rod (6) is arranged on a screw thread hole (1001) arranged on the movable pushing block (10) in a penetrating way, the top of the movable pushing block (10) is fixedly connected with the top surface of a through mounting clamping groove (11) arranged at the center of the transverse moving disc (6), meanwhile, the transverse moving plate (6) is provided with a through mounting clamping groove (11) in the middle and is mounted on the frame body on the right side of the Y-shaped steel frame (1).

4. The shield construction segment installing machine according to claim 3, wherein straight teeth (8) are uniformly arranged on the circumferential surface of the outer side of the transverse moving plate (6), limiting seal plates (9) are symmetrically arranged at the left end and the right end, and the rotating mechanism is arranged on the outer side between the limiting seal plates (9).

5. The shield construction segment mounting machine according to claim 4, wherein the rotating mechanism comprises a rotating disk (12), a spur gear (16) and 2 second servo motors (17) which are symmetrically arranged.

6. The shield constructs construction section of jurisdiction mounting plate of claim 5, characterized in that, rotary disk (12) middle part transversely runs through and is equipped with through hole (13), is located the through hole (13) outside open in rotary disk (12) has annular tooth alveolus (14), and is located annular tooth alveolus (14) outside rotary disk (12) are installed be equipped with about straight-teeth tooth (8) both ends and about between side limit shrouding (9) on lateral shifting dish (6), be located both ends intercommunication is established around annular tooth alveolus (14) the inside cylindrical groove (15) of rotary disk (12), install spur gear (16) in cylindrical groove (15), spur gear (16) right side middle part is connected and is run through on the output of second servo motor (17) of rotary disk (12) lateral wall, second servo motor (17) are installed and are located second servo motor installation on rotary disk (12) a side face A box (18).

7. The shield construction segment installing machine according to claim 6, wherein a counterweight (19) is installed on the top of the rotating disc (12), the telescopic mechanisms are symmetrically installed on the front side surface and the rear side surface of the rotating disc (12), and each telescopic mechanism comprises a hydraulic rod (20), a hydraulic rod fixing block (22) and a hydraulic telescopic rod (23).

8. The shield construction segment mounting machine according to claim 7, wherein the hydraulic rod (20) is arranged through up-down symmetry and is provided with hydraulic rod fixing blocks (22) which are arranged on the front and back surfaces of the rotating disc (12), the hydraulic telescopic rods (23) are arranged at the bottom of the hydraulic rod (20), oil inlets (21) are arranged at the top of the hydraulic rod (20), the oil inlets (21) are connected with an external hydraulic oil control system, and the front and the back of the hydraulic telescopic rods (23) are fixedly connected with angle adjusting mechanisms.

9. The shield construction segment mounting machine according to claim 8, wherein the angle adjusting mechanism comprises a fine adjustment box (24), a third servo motor (27), a fixed rotating shaft (28) and a fixed block (29), the front end and the rear end of the top of the fine adjustment box (24) are fixedly connected to the bottom of the hydraulic telescopic rod (23), a groove (25) is formed in the fine adjustment box (24), the front end of the groove (25) is located in the fine adjustment box (24) and is provided with the third servo motor (27), the output end of the third servo motor (27) is fixedly connected to one end of the fixed rotating shaft (28), the other end of the fixed rotating shaft (28) is mounted on one side wall of the fine adjustment box (24), the middle of the fixed rotating shaft (28) is symmetrically and fixedly connected with 2 fixed blocks (29), and the bottom of 2 fixed blocks (29) is fixedly connected with a clamping component (30), 2 fixed block (29) bottom is through being located in rectangle through hole (26) that fine tuning box (24) bottom symmetry was equipped with, just rectangle through hole (26) longitudinal width with the fixed block is the same, and horizontal width is greater than fixed block (29) width makes fixed block (29) are followed fixed pivot (28) rotation angle interval is located-10 ~ 10 degrees.

10. An operation method of a shield construction segment installing machine is characterized by comprising the following steps:

s1, starting the first servo motor (5), and driving the threaded pushing rod (6) to rotate by controlling the first servo motor (5), so as to push the transverse moving disc (7) to the upper part of the duct piece;

s2, controlling an external hydraulic oil control system to supply oil, and compressing the hydraulic telescopic rod (23) to move downwards, so that the clamping part (30) can clamp the duct piece to be installed;

s3, controlling oil discharge of the system by controlling external hydraulic oil, compressing the hydraulic telescopic rod (23) to move upwards, clamping the pipe piece by the clamping part (30), and repeating S1 reverse operation to enable the pipe piece to be located in a longitudinal interval needing to be installed;

s4, if the segment is installed laterally or on the top, controlling 2 second servo motors (17) to rotate simultaneously and driving the clamping part (30) at the bottom to rotate through a telescopic mechanism, and finally controlling the segment to do circular motion;

s5, after the installation position is determined, controlling an external hydraulic oil control system to supply oil, and compressing the hydraulic telescopic rod (23) to extend out, so that the duct piece is placed in a positioning interval in a large scale;

s6, controlling the third servo motor (27) to rotate so as to control 2 fixing blocks (29) to rotate, adjusting the attaching degree or the mounting angle between the duct piece and the duct piece which is mounted in front by rotating, and repeating S5 to finally realize high-precision positioning and mounting of the duct piece.

Technical Field

The invention relates to the technical field of shield tunneling machines, in particular to a shield construction segment installing machine and an operation method thereof.

Background

In the shield construction process, along with the excavation, propulsion and mucking of a shield machine, the tunnel after excavation needs to be permanently supported by reinforced concrete segments prefabricated outside the tunnel, and the segment erector has the function of accurately placing the segments at proper positions and safely and quickly assembling the segments into a determined form.

The existing segment erector comprises a segment clamping part, a lifting mechanism, a translation mechanism and a rotation mechanism, wherein the translation mechanism and the rotation mechanism are generally respectively two groups of non-overlapping disks on the horizontal plane and are fixedly arranged on a parallel steel frame; when the tunnel is bent, the pipe piece clamping components are controlled through the translation mechanisms to adjust the pipe piece fitting degree and the pipe piece corner precision to be lower, the pipe pieces cannot be effectively and accurately installed, the pipe piece installation deviation is caused, and the tunnel curvature radius is influenced.

Based on the problems, the invention provides a shield construction segment mounting machine and an operation method thereof.

Disclosure of Invention

Aiming at the problems in the technical background, the invention aims to provide a shield construction segment mounting machine and an operation method thereof, which solve the problems of complicated structure, large occupied space and low segment mounting precision of the conventional segment mounting machine in the background technology.

In order to achieve the above purpose, the invention adopts the technical scheme that:

the utility model provides a shield constructs quick-witted section of jurisdiction automatic installation machine, includes first servo motor, first servo motor installs in Y shape steelframe contained angle department through first servo motor backup pad, install translation mechanism through the longitudinal guide groove that is equipped with longitudinal symmetry and the transverse guide groove that runs through the top on the support body of Y shape steelframe right side, install rotary mechanism on the periphery in the translation mechanism outside, telescopic machanism is installed to the symmetry on the face of rotary mechanism front and back both sides, outside hydraulic oil control system is connected to the oil inlet that telescopic machanism contains, telescopic machanism bottom fixed link has angle adjusting mechanism, angle adjusting mechanism can be-10 ~ 10 degrees with the section of jurisdiction along tunnel bend line angle control range, angle adjusting mechanism bottom fixedly connected with hold assembly.

Further, the translation mechanism comprises the first servo motor, a threaded push rod, a transverse moving disk and a moving push block.

Still further, first servo motor output fixed connection the left side end of screw thread propulsion pole, just the screw thread propulsion pole runs through to be installed be equipped with on the Y shape steelframe right side support body the transverse guide inslot, it installs to remove the propulsion piece the transverse guide inslot, just the screw thread propulsion pole runs through to be installed on the screw hole that is equipped with on the removal propulsion piece, the top fixed connection that removes the propulsion piece is in the top surface that runs through installation slot that the center of transverse movement dish was equipped with, simultaneously the transverse movement dish is equipped with through installation slot through the middle part and installs on the support body of Y shape steelframe right side.

Furthermore, straight teeth are uniformly arranged on the circumferential surface of the outer side of the transverse moving disc, limiting sealing plates are symmetrically arranged at the left end and the right end of the transverse moving disc, and the rotating mechanism is arranged on the outer side between the limiting sealing plates.

Further, the rotating mechanism comprises a rotating disk, a straight gear and 2 second servo motors which are symmetrically arranged.

Further, the rotary disk middle part transversely runs through and is equipped with the through hole, is located the through hole outside open in the rotary disk has annular tooth alveolus, and is located the annular tooth alveolus outside the rotary disk is installed be equipped with about the straight-tooth both ends with control between the side limit sealing board on the lateral shifting dish, be located both ends intercommunication is established around the annular tooth alveolus the inside cylindrical groove of rotary disk, the cylindrical inslot installs the straight-teeth gear, straight-teeth gear right side mid-connection runs through on the second servo motor's of rotary disk lateral wall output.

Furthermore, a balance weight is installed at the top of the rotating disc, the telescopic mechanisms are symmetrically installed on the front side face and the rear side face of the rotating disc, and each telescopic mechanism comprises a hydraulic rod, a hydraulic rod fixing block and a hydraulic telescopic rod.

Furthermore, the hydraulic stem is equipped with through the longitudinal symmetry the hydraulic stem fixed block is installed on the rotary disk front and back, the hydraulic stem bottom is equipped with hydraulic telescoping rod, the hydraulic stem top is equipped with the oil inlet, outside hydraulic oil control system is connected to the oil inlet, two around, hydraulic telescoping rod bottom fixedly connected with angle adjusting mechanism.

Furthermore, the angle adjusting mechanism comprises a fine adjustment box body, a third servo motor, a fixed rotating shaft and a fixed block, the front end and the rear end of the top of the fine adjustment box body are fixedly connected to the bottom of the hydraulic telescopic rod, a groove is formed in the fine adjustment box body, the front end of the groove is located in the fine adjustment box body and is provided with the third servo motor, the output end of the third servo motor is fixedly connected with one end of the fixed rotating shaft, the other end of the fixed rotating shaft is arranged on one side wall of the fine adjustment box body, the middle of the fixed rotating shaft is symmetrically and fixedly connected with 2 fixed blocks, the bottoms of the fixed blocks are fixedly connected with clamping parts, the bottom ends of the 2 fixed blocks are symmetrically provided with rectangular through holes through the bottom of the fine adjustment box body, the longitudinal width of the rectangular through holes is the same as that of the fixed blocks, the transverse width of the rectangular through holes is larger than the width of the fixed blocks, and the fixed blocks are located in the rotation angle interval of the fixed rotating shaft 10 to 10 DEG

An operation method of a shield construction segment mounting machine comprises the following steps:

s1, starting the first servo motor (5), and driving the threaded pushing rod (6) to rotate by controlling the first servo motor (5), so as to push the transverse moving disc (7) to the upper part of the duct piece;

s2, controlling an external hydraulic oil control system to supply oil, and compressing the hydraulic telescopic rod (23) to move downwards, so that the clamping part (30) can clamp the duct piece to be installed;

s3, controlling oil discharge of the system by controlling external hydraulic oil, compressing the hydraulic telescopic rod (23) to move upwards, clamping the pipe piece by the clamping part (30), and repeating S1 reverse operation to enable the pipe piece to be located in a longitudinal interval needing to be installed;

s4, if the segment is installed laterally or on the top, controlling 2 second servo motors (17) to rotate simultaneously and driving the clamping part (30) at the bottom to rotate through a telescopic mechanism, and finally controlling the segment to do circular motion;

s5, after the installation position is determined, controlling an external hydraulic oil control system to supply oil, and compressing the hydraulic telescopic rod (23) to extend out, so that the duct piece is placed in a positioning interval in a large scale;

s6, controlling the third servo motor (27) to rotate so as to control 2 fixing blocks (29) to rotate, adjusting the attaching degree or the mounting angle between the duct piece and the duct piece which is mounted in front by rotating, and repeating S5 to finally realize high-precision positioning and mounting of the duct piece.

Compared with the prior art, the invention has the following advantages:

(1) the invention replaces the prior parallel steel frame with a Y-shaped steel frame, and longitudinally arranges symmetrical longitudinal guide rail grooves and a transverse guide rail groove which penetrates through the top on the frame body at the right side end of the Y-shaped steel frame to arrange a transverse moving disc, a thread pushing rod and a moving pushing block arranged on the thread pushing rod are arranged in the transverse guide rail groove, the top of the moving pushing block protrudes out of the transverse guide rail groove and is connected on the transverse moving disc, thereby realizing the effect of controlling the transverse moving disc to move by controlling the thread pushing rod to rotate, simultaneously, straight teeth are arranged on the outer circumference of the transverse moving disc, a rotating disc is arranged on the outer side of the straight teeth, straight gears are symmetrically arranged on the front and back of the inner side of the middle part of the rotating disc, the straight gears are meshed with the straight teeth on the circumference of the transverse moving disc, the rotating disc is controlled to rotate by controlling 2 second servo motors, and hydraulic rods are arranged at two sides of the rotating disc, the bottom fixed mounting of the hydraulic telescoping rod of hydraulic stem bottom is on the fine-tuning box, through the indentation of outside hydraulic oil control system control hydraulic telescoping rod and stretch out to finally realize control clamping part level and radial movement, through above structure, realize that the structure is simplified, easy operation has saved occuping of space, provides great manual work face, ensures the stability of system simultaneously.

(2) According to the invention, the fine adjustment box body is arranged at the bottom of the hydraulic telescopic rod contained in the telescopic mechanism, the third servo motor is arranged in the fine adjustment box body, the output end of the third servo motor is fixedly connected onto the fixed rotating shaft, the fixed rotating shaft is symmetrically connected with the fixed blocks at the front side and the rear side of the middle part of the fine adjustment box body, the bottom end of each fixed block is connected onto the top surface of the clamping part through the rectangular through hole at the bottom of the fine adjustment box body, the longitudinal width of the rectangular through hole is the same as that of the fixed block, the transverse width of the rectangular through hole is larger than that of the fixed block, the fixed block is positioned at-10 degrees along the rotating angle interval of the fixed rotating shaft, the forward and backward rotation of the duct piece along the direction of the tunnel bending line is controlled through the structure, the duct piece is accurately positioned, the accuracy, the high precision and the stability of the mounting of the duct piece are ensured, and the tunnel construction quality is further improved.

Drawings

FIG. 1 is a first perspective view provided in accordance with an embodiment of the present invention;

FIG. 2 is a second perspective view provided in accordance with an embodiment of the present invention;

FIG. 3 is a perspective view of a Y-frame and translation mechanism provided in accordance with an embodiment of the present invention;

FIG. 4 is a partially cut-away perspective view of a Y-shaped steel frame and a translation mechanism provided in an embodiment of the present invention;

fig. 5 is a perspective view of a rotating mechanism, a telescoping mechanism and an angle adjusting mechanism provided in the embodiment of the present invention;

fig. 6 is a partial perspective view of an angle adjustment mechanism provided in an embodiment of the present invention.

In the figure: 1. a Y-shaped steel frame; 2. a longitudinal guide rail groove; 3. a transverse guide rail groove; 4. a first servo motor support plate; 5. a first servo motor; 6. a threaded push rod; 7. a laterally moving tray; 8. straight teeth; 9. a limit closing plate; 10. moving the propelling block; 1001. a threaded hole; 11. the clamping groove is installed in a penetrating mode; 12. rotating the disc; 13. a through hole; 14. an annular tooth socket; 15. a cylindrical groove; 16. a spur gear; 17. a second servo motor; 18. a second servo motor mounting box; 19. a balancing weight; 20. a hydraulic lever; 21. an oil inlet; 22. a hydraulic rod fixing block; 23. a hydraulic telescopic rod; 24. finely adjusting the box body; 25. a groove; 26. a rectangular through hole; 27. a third servo motor; 28. fixing the rotating shaft; 29. a fixed block; 30. and a clamping member.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

Example one

As shown in figures 1-6, an automatic mounting machine for shield machine segments comprises a first servo motor 5, wherein the first servo motor 5 is mounted at the included angle of a Y-shaped steel frame 1 through a first servo motor support plate 4, a translation mechanism is mounted on a right frame body of the Y-shaped steel frame 1 through a longitudinal guide rail groove 2 and a transverse guide rail groove 3 which penetrate through the top and are longitudinally symmetrical, the longitudinal guide rail groove 2 and the transverse guide rail groove 3 do not penetrate through the right end of the Y-shaped steel frame to achieve the purpose of limiting, a rotating mechanism is mounted on the circumferential surface of the outer side of the translation mechanism, the translation mechanism and the rotating mechanism are mounted on the same interface to achieve high utilization rate of space, space is provided for the human working face, telescopic mechanisms are symmetrically mounted on the front side surface and the rear side surface of the rotating mechanism, an oil inlet 21 contained in each telescopic mechanism is connected with an external hydraulic oil control system, and an angle adjusting mechanism is fixedly connected to the bottom of each telescopic mechanism, the angle adjusting mechanism can adjust the angle of the duct piece along the tunnel bending line within-10 degrees, and the bottom of the angle adjusting mechanism is fixedly connected with a clamping part 30.

As shown in fig. 1, 3 and 4, the translation mechanism comprises a first servo motor 5, a threaded push rod 6, a transverse moving disk 6 and a moving push block 10, the first servo motor 5 is installed at the included angle of the Y-shaped steel frame, the connected threaded push rod 6 penetrates through the included angle of the Y-shaped steel frame and is installed in the transverse guide rail groove 3, and the right side end is installed on the right side wall of the Y-shaped steel frame.

As shown in fig. 3 and 4, the output end of the first servo motor 5 is fixedly connected with the left end of the threaded propelling rod 6, and the screw thread propulsion pole 6 is arranged in the transverse guide rail groove 3 arranged on the frame body at the right side of the Y-shaped steel frame 1 in a penetrating way, the mobile propulsion block 10 is arranged in the transverse guide rail groove 3, the screw thread pushing rod 6 is arranged on a screw thread hole 1001 arranged on the movable pushing block 10 in a penetrating way, the top of the movable pushing block 10 is fixedly connected with the top surface of a through mounting clamping groove 11 arranged at the center of the transverse moving disk 6, meanwhile, the transverse moving plate 6 is arranged on the right frame body of the Y-shaped steel frame 1 through a through mounting clamping groove 11 arranged in the middle part, the first servo motor 5 controls the screw thread pushing rod 6 to rotate, the movable pushing block 10 is pushed to move left and right, and the transverse guide rail groove 3 is a C-shaped groove, the pushing block 10 cannot slide out of the top of the transverse guide rail groove 3, and the stability of the system is ensured.

As shown in fig. 3 and 4, straight teeth 8 are uniformly arranged on the outer circumferential surface of the transverse moving disk 6, the left and right ends of the transverse moving disk are symmetrically provided with limit seal plates 9, a rotating mechanism is arranged on the outer side between the limit seal plates 9, a certain distance is reserved between the left and right ends of the straight teeth 8 and the left and right limit seal plates 9, and the limit seal plates 9 are fixed on the transverse moving disk 7 through bolts.

As shown in fig. 5, the rotating mechanism comprises a rotating disk 12, a spur gear 16 and 2 second servo motors 17 symmetrically installed, the rotating disk 12 can be designed to have different sizes according to applicable scenes, and when the tunnel is a small tunnel, a steel frame type rotating disk can be arranged at the same time to reduce the weight and increase the structural stability.

As shown in fig. 1 and 5, a through hole 13 is transversely arranged in the middle of a rotating disc 12 in a penetrating mode, an annular tooth socket 14 is arranged in the rotating disc 12 located on the outer side of the through hole 13, the rotating disc 12 located on the outer side of the annular tooth socket 14 is installed on a transverse moving disc 6 which is provided with a straight tooth 8, the left end and the right end of the transverse moving disc and a left side limiting sealing plate 9, the rotating disc is firmly installed on the transverse moving disc 7 by the installation method, the front end and the rear end of the annular tooth socket 14 are communicated with a cylindrical groove 15 which is formed in the rotating disc 12, a straight gear 16 is installed in the cylindrical groove 15, the middle of the right side of the straight gear 16 is connected to the output end of a second servo motor 17 penetrating through the side wall of the rotating disc 12, and the second servo motor 17 is installed in a second servo motor installation box 18 located on one side face of the rotating disc 12.

As shown in fig. 5, a counterweight 19 is installed on the top of the rotating disc 12, telescopic mechanisms are symmetrically installed on the front side surface and the rear side surface of the rotating disc 12, each telescopic mechanism comprises a hydraulic rod 20, a hydraulic rod fixing block 22 and a hydraulic telescopic rod 23, the upper weight and the lower weight of the rotating disc 12 are balanced through the counterweight 19, and the situation that a servo motor is blocked when the rotating disc is installed laterally is prevented.

As shown in fig. 1, 2 and 5, the hydraulic rod 20 is installed on the front and rear surfaces of the rotating disk 12 through hydraulic rod fixing blocks 22 which are symmetrically arranged up and down, a hydraulic telescopic rod 23 is arranged at the bottom of the hydraulic rod 20, an oil inlet 21 is arranged at the top of the hydraulic rod 20, the oil inlet 21 is connected with an external hydraulic oil control system, and the bottoms of the front and rear hydraulic telescopic rods 23 are fixedly connected with an angle adjusting mechanism.

As shown in fig. 6, the angle adjusting mechanism comprises a fine adjustment box 24, a third servo motor 27, a fixed rotating shaft 28 and a fixed block 29, the front end and the rear end of the top of the fine adjustment box 24 are fixedly connected to the bottom of the hydraulic telescopic rod 23, a groove 25 is arranged in the fine adjustment box 24, the front end of the groove 25 is positioned in the fine adjustment box 24 and is provided with the third servo motor 27, the output end of the third servo motor 27 is fixedly connected to one end of the fixed rotating shaft 28, the other end of the fixed rotating shaft 28 is arranged on one side wall of the fine adjustment box 24, the middle of the fixed rotating shaft 28 is symmetrically and fixedly connected with 2 fixed blocks 29, the bottom of the 2 fixed blocks 29 is fixedly connected with a clamping component 30, the bottom ends of the 2 fixed blocks 29 pass through rectangular through holes 26 symmetrically arranged at the bottom of the fine adjustment box 24, the longitudinal width of the rectangular through holes 26 is the same as that of the fixed blocks, the transverse width is larger than that of the fixed blocks 29 and the fixed blocks 29 are positioned at-10 degrees along the interval of the fixed rotating shaft 28, the two sides of the fine adjustment box body 24 are provided with mounting box covers which are mounted through bolts, the shaft surface of the fixed rotating shaft 28 is provided with a fixed block 29 in a welding mode, the bottom of the fixed block 29 is fixedly connected with a clamping part 30, the fixed rotating shaft 28 is driven to rotate through a third servo motor 27, the fixed block 29 is driven to rotate, and the clamping part 30 is controlled to rotate left and right at a rotating angle ranging from-10 degrees to 10 degrees.

As shown in fig. 1-6, the operation method of the shield segment mounting machine comprises the following steps:

s1, starting the first servo motor 5, and driving the threaded pushing rod 6 to rotate by controlling the first servo motor 5, so as to push the transverse moving disc 7 to be above the segment;

s2, controlling an external hydraulic oil control system to supply oil, compressing the hydraulic telescopic rod 23 to move downwards, and accordingly clamping the segment to be installed by the clamping part 30;

s3, controlling oil discharge of the system by controlling external hydraulic oil, compressing the hydraulic telescopic rod 23 to move upwards, clamping the pipe piece by the clamping part 30, and repeating S1 reverse operation to enable the pipe piece to be in a longitudinal interval needing to be installed;

s4, if the segment is installed laterally or on the top, controlling 2 second servo motors 17 to rotate simultaneously and driving the clamping part 30 at the bottom to rotate through a telescopic mechanism, and finally controlling the segment to do circular motion;

s5, after the installation position is determined, controlling an external hydraulic oil control system to supply oil, and compressing the hydraulic telescopic rod 23 to extend out, so that the duct piece is roughly placed in a positioning interval;

s6, controlling the third servo motor 27 to rotate so as to control the 2 fixing blocks 29 to rotate, adjusting the attaching degree or the mounting angle between the duct piece and the duct piece which is mounted in front by rotating, and repeating S5 to finally realize high-precision positioning and mounting of the duct piece.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.