盾构隧道管片模具自动清理及脱模剂喷涂设备的研制

Development of Segment Mould Automatic Cleaning and Release Agent Spraying Equipmentin Shield Tunnel

传统盾构隧道管片生产过程中模具的清理与脱模剂喷涂过程均依靠人工作业实现,由于人员作业水平参差不齐,使得作业的一致性始终不能有效的控制,作业质量也无法保证。设计并制作了一种管片模具自动清理及脱模剂喷涂设备,整体设备由第七轴传动系统带动工业机器人沿生产线方向移动,由工业机器人运动完成作业区域的运动覆盖,经快速转换装置连接末端执行机构完成对应清理或者喷涂作业,而快速转换装置可以实现两种作业系统之间的切换。实践表明采用本设备能够显著提升作业水平与生产效率。

In the traditional shield tunnel segment production process,the mold cleaning and release agent spraying process are realized by manual operation.Due to the uneven operation level of personnel,the consistency of operation cannot be effectively controlled and the operation quality cannot be guaranteed.In this research,a segment mold automatic cleaning and release agent spraying equipment was designed and manufactured.The whole equipment was driven by the seventh shaft transmission system to move the industrial robot along the production line,the motion coverage of the operation area was completed by the movement of the industrial robot,and the corresponding cleaning or spraying operation was completed by connecting the end actuator through the fast conversion device.And the fast conversion device can switch between the two operating systems.The application shows that this equipment can significantly improve the operation level and production efficiency.