Publications / 1993 Proceedings of the 10th ISARC, Houston, USA

Self-Supported Segment Assembly Robot for the Shield Tunneling Method

Keizo Kazama, Hisateru Ueda, Akihiro Higashide, Yoshimitsu Kumao
Pages 535-542 (1993 Proceedings of the 10th ISARC, Houston, USA, ISBN 9780444815231, ISSN 2413-5844)
Abstract:

The self supported segment assembly robot, [O-SERO]*, has been developed through several fundamental equipments and a series of assembly tests in the factory, then applied to a real project. 70 no.s of segment ring (inside diameter: 6.0 meters) where assembled in the tunnel. The assembly process is full automatically done by this robot instead of skilled workers. One of distinctive features is that the self supported robot is independent from a shielded machine. While usual assembly equipments are supported from shield machines. The robot is supported from the inside of a primary lining. (assembled segment rings) and its attitude follows the attitude of a primary lining. The paper intended to present 1) the features of the self supported segment assembly robot and its control systems 2) the structure and the mechanism of the robot 3) the results of the assembly tests and application to the real project.

(*O-SERO: Obayashi-Segment Erection RObot)

Keywords: No keywords