一种新型盾构机管片自动拼装机器人的设计

The Design of TMD＇s intelligent segment patching Robert

随着城市交通的不断发展，城市地铁作为重要而有效的交通手段将继续得到巨大的发展。盾构掘进机是一种隧道掘进的专用工程机械，现代盾构掘进机集机、电、液、传感、信息技术于一体，具有开挖切削土体、输送渣土、拼装隧道衬砌等功能，广泛用于地铁隧道、污水排放隧道、引水、供水隧道等隧道工程。盾构工程的作业大致分为开挖、推进和管片拼装作业。其中，管片拼装作业大部分由熟练技术人员手工作业，基于FPGA为核心的管片拼装控制器，其体积小巧，控制灵活，价格低廉，探索了一种新型智能管片自动拼装机器人的设计方法。

With the continuous development of the city trsffic,Underground railway will continue to get more developing as a important and efficient traffic means. TMD is a kind of special engine machine for tunnel advance. Mordern TMD integrate machinery ,electricity ,hydraulic ,sensors and information technology,h has many functions such as cutting soil ,conveying earth dregs ,putting tunnel segments together ect . It widely used in tunnel engineering such as underground railway tunnel,waste water discharging tunnel and water feeding tunnel ect , TMD engineering includes cutting, advancing and segment patching. Most segment patching tasks need skilled technician to complete by hand. This article puts forwords a new design method of intelligent segment patching Robert.