Recently，The intelligent assembly robot for segment components jointly developed by China Railway Construction Heavy Industry and China Railway 14th Bureau has successfully passed the test verification.。The robot is equipped with the largest diameter independently developed in China.（16.64 meters）Shield machine“Jiang Hai Hao”Front end of erector，It is used for the longest highway underwater shield tunnel in the world.——Assembly of special segment components of Haitai Yangtze River Tunnel。

Intelligent assembling robot for segment component

It is understood that，The outer diameter of the segment of Haitai Yangtze River Tunnel is 16 meters.，Thickness 0.7 meters，Ring width 2 m，The contact surface of adjacent segments adopts the design scheme of special components of the Fourth Railway Institute.，And is use for improving that annular stiffness of the segment.，Reducing the convergence deformation of the segment，Enhance the ability to resist external environmental changes，Yes, in soft soil formation.、It is of great significance to support the super-large segments in the water-rich strata such as the Yangtze River levee and the deep channel in the middle of the river.。Set 10 special connecting member groups for each ring of duct pieces，Its smallest unit is made of nylon.，Length 1.55 meters，Sectional area approx. 4.35 square centimeters，One-sided installation clearance is only 1~2 mm，The flexible connecting member can not be assembled by the traditional segment assembly equipment，Therefore, it is necessary to develop a new type of assembly equipment.，Finished at an outer diameter of 16 meters、Thickness 0.10 ultra-small sections on the ring of 7 meters、Super small installation clearance、Installation of ultra-long flexible connecting components。

At the same time，Affected by the internal space layout of shield machine，The assembly of segment connection components shall be completed in a gap with a unilateral clearance of only 90 mm.，And the personnel cannot directly observe the state of the members during assembly.，The completion of the installation of this special connecting member is equivalent to a rapid threading of a needle in a dark environment，Control accuracy of new assembly equipment、High requirements for flexibility and stability。

Sketch map of Haitai Changjiang Tunnel

For the above functional requirements，R & D and design team brainstorm、Pioneering and innovative，Independent research and development of 6-Dof flexible segment component assembly robot and automatic assembly system。The system is based on machine vision、Motion control and other technologies，Can realize that automatic transportation of the duct piece component、Automatic recognition of pose、Automatic assembly full-process intelligent operation，The innovative design greatly shortens the assembly time of components.，And that assembly precision and efficiency of the component are improved.，And that labor intensity of personnel is reduce，The assembly requirements of the segment components in the limited space are realized。

The largest diameter shield machine independently developed in China“Jiang Hai Hao”

Successful research and development of the world's first intelligent assembly robot for segment components，It has accelerated the intelligent upgrading and innovative application of heavy equipment in big countries.，It is another embodiment of the intelligent technology and equipment provided by Railway Construction Heavy Industry for major national projects.，It will efficiently assist the segment assembly of Haitai Yangtze River Tunnel.，Enabling major construction projects to improve quality and efficiency。