11-04-2023 дата публикации
Номер: CN115949440A
Принадлежит:
The invention provides a shield tunneling machine duct piece assembling method, device and system and a storage medium, and relates to the technical field of tunnel construction. The method comprises the following steps: establishing a space model of assembled segments; according to the space model, calculating a target splicing position of the to-be-spliced duct piece; after it is detected that the to-be-assembled duct piece is hoisted in place, first point cloud information of the to-be-assembled duct piece is obtained; according to the first point cloud information, bolt position information of the segment to be assembled is determined; and according to the bolt position information of the to-be-assembled duct pieces, the erector is controlled to grab the to-be-assembled duct pieces, the to-be-assembled duct pieces are hoisted to the corresponding target assembling positions, and duct piece assembling is completed. According to the pipe piece grabbing and splicing device, on the premise ...
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