Development of Robot System for Automatic Assembling of Bolted Segments

In order to shorten the time taken to com- plete shield tunnel excavation work, reduce labor costs and to improve safety, an automatic assembly robot system for the segments used has been developed. It was developed in the three years from 1982 until 1984. An experimental assembly system for concrete segments (outer diameter:.3.55m) has been thoroughly tested to confirm that these segments can be fed and assembled automatically (Fig. 1, 2). This report outlines the robot which will be put into practical use in the near future. The robot senses the position of already assem- bled segments by means of position sensors, controls the position and the attitude of the segment to be assembled to allow bolt hole positioning, and completes the automatic assembly of a se;nent by automatically tighten- ing bolts. The six segments which make up one ring can be automatically assembled in about 25 minutes.