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Automatic Segment Assembly Robot for Shield Tunneling Machine
Author(s) -
Tanaka Yasuo
Publication year - 1995
Publication title -
computer‐aided civil and infrastructure engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.773
H-Index - 82
eISSN - 1467-8667
pISSN - 1093-9687
DOI - 10.1111/j.1467-8667.1995.tb00295.x
Subject(s) - automation , robot , servo , shield , computer science , precast concrete , hazardous waste , engineering , simulation , engineering drawing , mechanical engineering , artificial intelligence , structural engineering , geology , petrology , waste management
Tunnels are formed with the aid of precast reinforced‐concrete segments. Erecting and positioning such segments using conventional erectors is tough and hazardous work. Labor‐saving automation has long been awaited. Our development of an automatic segment assembly robot that manipulates approximately 5‐ton weight segments to form a 9.5‐m‐diameter ring should help the situation. The robot has already found use in a 600‐m‐long tunnel construction site in Tokyo. High‐precision assembly is achieved thanks to a light‐section method that applies laser‐slit lighting and to digital servo technology. The benefit of automation tied in with a manual‐remote hybrid control system reduces assembly time.