A construction method for simultaneous assembly of multiple segments in conventional tunnel construction

Abstract

A kind of conventional tunnel construction multi-pipe piece simultaneous assembling construction method, specifically includes the following steps: (one), in the shield tail of shield machine installation a double slide rail four-pipe piece assembling machine;(two), pipe piece A1, A2, A3, B1, B2, K are sent to specified position according to assembling order;(three), assemble pipe piece A1, A2;(four), assemble pipe piece A3, B1;(five), assemble pipe piece B2;(six), assemble pipe piece K, to complete the assembly of one ring pipe piece;(seven), after double slide rail four-pipe piece assembling machine is moved to specified position, repeat step (two)~(six) to complete the assembly of next ring pipe piece;(eight), double slide rail four-pipe piece assembling machine whole advances with shield machine the distance of two ring pipe pieces, repeat step (two)~(seven) to complete the splicing of two ring pipe pieces again.The present application can simultaneously left and right side staggered according to assembling order assemble multiple pipe pieces, pipe piece assembling efficiency has been greatly improved, saves a lot of assembling time and manpower.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and more specifically, to a construction method for simultaneous assembly of multiple tunnel segments in conventional tunnel construction. Background Technology

[0002] The segment assembly machine is an important component of tunnel boring machine (TBM). During construction, as the TBM excavates and removes slag, it continuously advances forward. The segment assembly machine then assembles the pre-prepared lining segments onto the inner wall of the excavated tunnel. Therefore, the speed at which the segment assembly machine identifies, grips, and assembles the segments directly affects the quality and speed of the entire tunnel construction.

[0003] Currently, most segment assembly machines, both domestically and internationally, can only clamp and assemble individual segments, resulting in slow assembly speeds. Furthermore, their control systems are mostly single-function systems with low levels of intelligence. Therefore, there is still room for improvement in assembly efficiency and intelligent assembly capabilities.

[0004] Patent application number "202011070434.0" and patent title "An Ultra-Large Cross-Section Irregular Tunnel Segment Assembly Machine" discloses an ultra-large cross-section tunnel segment assembly structure suitable for irregular tunnels, which can meet the requirement of efficient assembly of multiple tunnel segments at the same time. However, due to the special nature of the structure, it can only be applied to irregular tunnels. At present, most shield tunneling construction in my country still adopts circular tunnel construction. Therefore, it is urgent to study an intelligent tunnel segment assembly mechanism suitable for the simultaneous assembly of multiple tunnel segments in conventional tunnel construction to improve assembly efficiency and save a lot of assembly time and manpower. Summary of the Invention

[0005] The purpose of this invention is to provide a construction method for simultaneous assembly of multiple tunnel segments in conventional tunnel construction. This invention can simultaneously assemble multiple tunnel segments on both the left and right sides in an alternating order, which greatly improves the efficiency of segment assembly and saves a lot of assembly time and manpower.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A construction method for simultaneous assembly of multiple tunnel segments in conventional tunnel construction includes the following steps:

[0008] (I) A double-slide rail four-section segment assembly machine is installed at the tail of the tunnel boring machine. The double-slide rail four-section segment assembly machine includes two translation beams and a circular disc. The two translation beams are horizontally fixed to the tail of the tunnel boring machine, spaced apart from each other and along the front-to-back direction. Reinforcing beams are fixedly connected between the front and rear ends of the two translation beams. The centerline of the circular disc is horizontally set along the front-to-back direction. The circular disc is fitted around the two translation beams and is slidably connected to the two translation beams. Each translation beam has a [missing information - likely a design feature or feature]. A propulsion cylinder is located on the rear side of the annular disc and is used to drive the annular disc to move back and forth. A rotary mechanism is installed on the rear side of the annular disc. A left double gripping device is set on the left side of the rotary mechanism. A rotating mechanism is installed on the front side of the annular disc. A right double gripping device is set on the right side of the rotating mechanism. A control box is set on the front reinforcing beam. A control system is set in the control box. The control system is connected to the propulsion cylinder, rotary mechanism, rotating mechanism, left double gripping device and right double gripping device respectively.

[0009] (ii) Transport the segments A1, A2, A3, B1, B2, and K to be assembled to the designated location in the assembly sequence;

[0010] (III) The control system controls the right-side double gripping device to clamp the segments A1 and A2, and controls the rotation mechanism and the right-side double gripping device to achieve accurate assembly of segments A1 and A2;

[0011] (iv) The control system controls the left double gripping device to clamp the segments A3 and B1, and controls the rotation mechanism and the left double gripping device to achieve accurate assembly of segments A3 and B1;

[0012] (v) The control system controls the right double gripping device to clamp the tube segment B2, and controls the rotation mechanism and the right double gripping device to achieve accurate assembly of the tube segment B2;

[0013] (vi) The control system controls the left double gripping device to clamp the segment K, and controls the rotation mechanism and the left double gripping device to accurately assemble the segment K, thereby completing the assembly of one ring of segments.

[0014] (vii) The control system controls the rotating mechanism, slewing mechanism, right double gripping device and left double gripping device to return to the initial position, and controls the two propulsion cylinders to push the annular disc forward to the designated position. Then, repeat steps (ii) to (vi) to complete the assembly of the next ring segment.

[0015] (viii) After the next ring of segments is assembled, the control system controls the rotating mechanism, slewing mechanism, right double gripping device, left double gripping device and two propulsion cylinders to return to the initial position. The double slide rail four-piece segment assembly machine advances with the shield machine for the distance of two rings of segments. Repeat steps (ii) to (vii) to complete the splicing of the two rings of segments. By repeating this operation, the segment assembly can be completed during the entire tunnel excavation process.

[0016] Both the left and right sides of the left and right translation beams have racetrack-shaped guide grooves along the front-to-back direction. Long sliders are fixedly installed at the middle left and right sides of the inner circumference of the annular disc. The left slider is fitted with a locking mechanism and slides within the left racetrack-shaped guide groove, and the right slider is fitted with a locking mechanism and slides within the right racetrack-shaped guide groove. Both propulsion cylinders are horizontally positioned along the front-to-back direction, with their piston rods extending forward. The rear end of the left propulsion cylinder is hinged to the rear side of the upper surface of the left translation beam, and the front end of the piston rod is hinged to the left side of the inner circumference of the annular disc and located above the left long slider. The rear end of the right propulsion cylinder is hinged to the rear side of the upper surface of the right translation beam, and the front end of the piston rod is hinged to the right side of the inner circumference of the annular disc and located above the right long slider. A concentric annular protruding track is integrally formed in the middle of the front annular surface of the annular disc.

[0017] The rotary mechanism includes a rotary table and a first hydraulic motor. The rotary table is a ring-shaped slider structure, with the rotary table and the ring disc body co-centered. The outer diameter of the rotary table is larger than the outer diameter of the ring disc body, and the inner diameter of the rotary table is larger than the inner diameter of the ring disc body but smaller than the diameter of the ring-shaped raised track. The front side of the rotary table is rotatably mounted on the rear side of the ring disc body. A first internal gear ring is integrally formed on the front edge of the inner circumference of the rotary table. The first hydraulic motor is horizontally fixedly mounted on the upper left side of the inner circumference of the ring disc body in the front-rear direction. The power shaft of the first hydraulic motor is located on the rear side. A first external gear that meshes and drives the first internal gear ring is fixedly mounted on the rear end of the power shaft of the first hydraulic motor. A first angle encoder is provided on the first hydraulic motor. The first hydraulic motor drives the rotary table to rotate through the meshing of the first external gear and the first internal gear ring. Two radially symmetrical limit blocks are integrally formed on the front edge of the inner circumference of the rotary table. The control system is connected to the first hydraulic motor and the first angle encoder respectively.

[0018] The rotating mechanism includes a rotating disk and a second hydraulic motor. The rotating disk is a semi-circular annular slider structure that is open at both ends and open at the top. The center of the rotating disk coincides with the center of the annular disk body. The outer diameter of the rotating disk is smaller than the outer diameter of the annular disk body but larger than the diameter of the annular raised track. The inner diameter of the rotating disk is larger than the inner diameter of the annular disk body but smaller than the diameter of the annular raised track. The rear side of the rotating disk has a semi-circular groove that matches and slides onto the annular raised track. The rotating disk is slidably connected to the annular raised track and thus rotates around the center of the annular disk body. It is mounted on the front side of the annular disk body. The inner circumference of the rotating disk is integrally formed with a second internal gear ring. The second hydraulic motor is horizontally fixedly installed in the lower right part of the inner circumference of the annular disk body along the front-rear direction. The power shaft of the second hydraulic motor is located on the front side. A second external gear that meshes and drives the second internal gear ring is fixedly installed at the front end of the power shaft of the second hydraulic motor. A second angle encoder is provided on the second hydraulic motor. The second hydraulic motor drives the rotating disk to rotate through the meshing of the second external gear and the second internal gear ring. The control system is connected to the signal of the second hydraulic motor and the second angle encoder respectively.

[0019] The left-side dual-grip device includes a first square guide beam, a first square tubular slider, a first hydraulic cylinder, a first swing cylinder, a first rotary cylinder, and two first robotic arms. The first square guide beam is horizontally arranged along the front-rear direction and is located on the left side of the rotary table. A vertical connecting plate is fixedly connected to the left side of the outer circumference of the rotary table, and the vertical connecting plate is perpendicular to the center line of the rotary table. The rear end face of the first square guide beam is fixedly connected to the front side of the vertical connecting plate, and the right side of the rear end of the first square guide beam is fixedly connected to the left side of the outer circumference of the rotary table. The first square guide beam has four rail grooves. The first square tubular slider slides on the first square guide beam. The four inner walls of the first square tubular slider have matching protrusions that slide and engage in the four rail grooves. The first hydraulic cylinder... The hydraulic cylinder is horizontally positioned above the first square guide beam and between the vertical connecting plate and the first square tubular slider. The piston rod of the first hydraulic cylinder extends forward, and the rear end of the cylinder body is hinged to the upper front side of the vertical connecting plate. The front end of the piston rod is hinged to the middle rear side of the upper surface of the first square tubular slider and is equipped with a first displacement sensor. The first swing cylinder and the first rotary cylinder are both vertically positioned and located directly below the first square tubular slider from top to bottom. A first hinge seat is fixedly mounted on the upper surface of the first swing cylinder. A first C-shaped lug, open on the lower right side of the first square tubular slider, is integrally formed. The upper part of the first hinge seat rotates via the shaft of the first servo motor. The first servo motor shaft drives the first swing cylinder to swing left and right, connected to the bottom of the first square tube slider. The top of the first rotary cylinder is rotatably connected to the bottom of the first swing cylinder. A third hydraulic motor is fixedly installed eccentrically inside the first swing cylinder. The third hydraulic motor is vertically positioned, and its power shaft passes downward through the bottom plate of the first swing cylinder and the top plate of the first rotary cylinder, extending into the first rotary cylinder. A third internal gear ring is fixedly installed concentrically inside the first rotary cylinder. The lower end of the power shaft of the third hydraulic motor extends into the third internal gear ring and is fixedly installed with a third external gear that meshes and drives with the third internal gear ring. Two fourth hydraulic motors are fixedly installed inside the first rotary cylinder, symmetrically positioned about the front and rear of the third internal gear ring. The motor is vertically positioned. Two first rotating cylinders are rotatably mounted at the bottom of the first rotating cylinder. The centerline of the first rotating cylinder is vertically aligned. The two first rotating cylinders correspond one-to-one with the two fourth hydraulic motors. The power shaft of the front fourth hydraulic motor passes downward through the bottom plate of the first rotating cylinder and the top plate of the front first rotating cylinder and extends into the front first rotating cylinder. The power shaft of the rear fourth hydraulic motor passes downward through the bottom plate of the first rotating cylinder and the top plate of the rear first rotating cylinder and extends into the rear first rotating cylinder. A fourth internal gear ring is fixedly installed concentrically inside each of the two first rotating cylinders. The lower ends of the power shafts of the two fourth hydraulic motors extend into the corresponding fourth internal gear rings and are fixedly installed with fourth external gears that mesh and transmit power with the corresponding fourth internal gear rings.The two first robotic arms have identical structures and are symmetrically mounted at the bottom of the two first rotating cylinders. A first gripping mechanism is installed at the lower end of each of the two first robotic arms.

[0020] The first robotic arm on the front side includes a first forearm and a first upper arm. The upper end of the first forearm is rotatably connected to the bottom of the first rotating cylinder on the front side via a second servo motor shaft, and the lower end of the first forearm is rotatably connected to the upper end of the first upper arm via a third servo motor shaft.

[0021] The first gripping mechanism on the front side includes a first vision sensor, a first clamping plate, a first rotating cylinder, a first tilting cylinder, a seventh hydraulic motor, and a first lifting bolt. The rear side of the first vision sensor is rotatably connected to the lower end of the first boom via a fourth servo motor shaft. The first clamping plate is horizontally positioned below the first vision sensor, and its vertical projection size is larger than that of the first vision sensor. The top center of the first clamping plate is hinged to the bottom of the first vision sensor via a ball joint. The first rotating cylinder is tilted to the left of the first vision sensor and located to the left of the first clamping plate, with the front higher than the rear. Above the part, the two ends of the first rotating cylinder are respectively hinged to the left side of the rear side of the first vision sensing device and the left side of the middle of the upper surface of the first clamping plate. The first tilting cylinder is tilted with the left side lower and the right side higher. The two ends of the first tilting cylinder are respectively hinged to the middle of the upper side of the left side of the first vision sensing device and the middle of the left edge of the first clamping plate. The seventh hydraulic motor is vertically fixedly installed at the bottom center of the first clamping plate. The lower end of the power shaft of the seventh hydraulic motor is coaxially fixedly connected to the first lifting bolt. The first clamping plate is provided with a first weighing sensor. The first vision sensing device is provided with a first camera, a first laser radar sensor and a first IMU.

[0022] The control system is connected to the first hydraulic cylinder, the first displacement sensor, the first servo motor shaft, the third hydraulic motor, the fourth hydraulic motor, the second servo motor shaft, the third servo motor shaft, the fourth servo motor shaft, the first rotating cylinder, the first tilting cylinder, the seventh hydraulic motor, the first weighing sensor, the first camera, the first lidar sensor, and the first IMU signal.

[0023] The right-side dual-grip device includes a second square guide beam, a second square tubular slider, a second hydraulic cylinder, a second swing cylinder, a second rotary cylinder, and two second robotic arms. The second square guide beam is horizontally arranged along the front-back direction and is located on the front right side of the rotating disk. The rear end face of the second square guide beam is fixedly connected to the front right side of the rotating disk. The front end of the second square guide beam is aligned with the front end of the first square guide beam. The second square guide beam has four rail grooves. The second square tubular slider slides on the second square guide beam. The inner walls of the four sides of the second square tubular slider have matching protrusions that slide and engage in the four rail grooves. The second hydraulic cylinder is horizontally arranged above the second square guide beam and between the rotating disk and the second square tubular slider. The piston rod of the second hydraulic cylinder extends forward, and the rear end of the cylinder body is hinged to the upper right side of the front side of the rotating disk. The front end of the piston rod of the second hydraulic cylinder is hinged to the middle of the rear side of the upper surface of the second square tubular slider and a second displacement sensor is installed thereon. The second swing cylinder and the second rotary cylinder are both vertically arranged and positioned directly below the second square tubular slider from top to bottom. A second hinge seat is fixedly installed on the upper surface of the second swing cylinder. A second C-shaped lug, open on the lower right side of the second square tubular slider, is integrally formed. The upper part of the second hinge seat is rotatably connected to the two lug plates of the second C-shaped lug via the fifth servo motor shaft. The fifth servo motor shaft drives the second swing cylinder to swing left and right. The bottom of the second square tube-shaped slider and the top of the second rotary cylinder are rotatably connected to the bottom of the second swing cylinder. A fifth hydraulic motor is fixedly installed eccentrically inside the second swing cylinder. The fifth hydraulic motor is vertically positioned, and its power shaft passes downwards through the bottom plate of the second swing cylinder and the top plate of the second rotary cylinder, extending into the second rotary cylinder. A fifth internal gear ring is fixedly installed concentrically inside the second rotary cylinder. The lower end of the power shaft of the fifth hydraulic motor extends into the fifth internal gear ring and is fixedly installed with a fifth external gear meshing and transmitting with it. Two sixth hydraulic motors, symmetrically positioned about the front and rear of the fifth internal gear ring, are fixedly installed inside the second rotary cylinder. The sixth hydraulic motors are vertically positioned. Two second rotating cylinders are rotatably installed at the bottom of the second rotary cylinder. The centerline is vertically set, and the two second rotating cylinders correspond one-to-one with the two sixth hydraulic motors. The power shaft of the front sixth hydraulic motor passes downward through the bottom plate and the top plate of the front second rotating cylinder and extends into the front second rotating cylinder. The power shaft of the rear sixth hydraulic motor passes downward through the bottom plate and the top plate of the rear second rotating cylinder and extends into the rear second rotating cylinder. A sixth internal gear ring is fixedly installed concentrically inside each of the two second rotating cylinders. The lower ends of the power shafts of the two sixth hydraulic motors extend into the corresponding sixth internal gear rings and are fixedly installed with sixth external gears that mesh and drive with the corresponding sixth internal gear rings. The two second robotic arms have the same structure and are symmetrically installed at the bottom of the two second rotating cylinders.Each of the two secondary robotic arms is equipped with a secondary gripping mechanism at its lower end;

[0024] The second robotic arm on the front side includes a second forearm and a second upper arm. The upper end of the second forearm is rotatably connected to the bottom of the second rotating cylinder on the front side via a sixth servo motor shaft, and the lower end of the second forearm is rotatably connected to the upper end of the second upper arm via a seventh servo motor shaft.

[0025] The second gripping mechanism on the front side includes a second vision sensor, a second clamping plate, a second rotating cylinder, a second tilting cylinder, an eighth hydraulic motor, and a second lifting bolt. The rear side of the second vision sensor is rotatably connected to the lower end of the second arm via the shaft of the eighth servo motor. The second clamping plate is horizontally positioned below the second vision sensor, and its vertical projection size is larger than that of the second vision sensor. The top center of the second clamping plate is hinged to the bottom of the second vision sensor via a ball joint. The second rotating cylinder is tilted to the right side of the second vision sensor and located on the right side of the second clamping plate, with the front higher than the rear. Above the part, the two ends of the second rotating cylinder are respectively hinged to the right side of the rear side of the second vision sensing device and the right side of the middle of the upper surface of the second clamping plate. The second tilting cylinder is tilted with the left side higher than the right side. The two ends of the second tilting cylinder are respectively hinged to the middle of the upper side of the right side of the second vision sensing device and the middle of the right side edge of the second clamping plate. The eighth hydraulic motor is vertically fixedly installed at the bottom center of the second clamping plate. The lower end of the power shaft of the eighth hydraulic motor is coaxially fixedly connected to the second lifting bolt. The second clamping plate is equipped with a second weighing sensor. The second vision sensing device is equipped with a second camera, a second lidar sensor and a second IMU.

[0026] The control system is connected to the second hydraulic cylinder, the second displacement sensor, the fifth servo motor shaft, the fifth hydraulic motor, the sixth hydraulic motor, the sixth servo motor shaft, the seventh servo motor shaft, the eighth servo motor shaft, the second rotating cylinder, the second tilting cylinder, the eighth hydraulic motor, the second weighing sensor, the second camera, the second lidar sensor, and the second IMU signal.

[0027] Step (III) is as follows: First, the control system controls the second vision sensing devices at the lower ends of the two second robotic arms of the right-side dual-grip device to operate, enabling the two second vision sensing devices to identify the positions of segments A1 and A2 respectively through their internal second cameras, second lidar sensors, and second IMUs, and determine the positions of the center bolt holes of segments A1 and A2. Initially, segments A1 and A2 are spaced apart front and back, and segments A3 and B1 are positioned along the left and right directions in their length direction. The center lines of segments A3 and B1 in their width direction correspond vertically to the center line of the annular disk. Then, the control system controls the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, and the sixth and seventh servo motor shafts on the two second robotic arms to move respectively, through... The second displacement sensor acquires the forward and backward displacement of the second square tube-shaped slider, causing the two second clamping plates to move accordingly above segments A1 and A2 until the two second lifting bolts are directly above the center bolt holes of segments A1 and A2, respectively. Then, the control system controls the two eighth hydraulic motors to rotate, simultaneously causing the two second robotic arms to push the two second clamping plates downward. The two eighth hydraulic motors drive the corresponding second lifting bolts to rotate, automatically screwing the two second lifting bolts into the center bolt holes of segments A1 and A2, thereby achieving the clamping of segments A1 and A2. The two second weighing sensors transmit the gravity change signal after clamping to the control system. The control system then recognizes that segments A1 and A2 have been clamped and controls the two... The eighth hydraulic motor stops, and then the fifth hydraulic motor drives the second rotating drum to rotate 90°, so that segments A1 and A2 are rotated to a state of left-right symmetry about the vertical projection of the center line of the annular disk. Segments A1 and A2 are spaced apart left and right, and their length direction is along the front-back direction. Then, the two sixth hydraulic motors drive the two second rotating drums to rotate 90° respectively, so that segments A1 and A2 rotate 90° respectively. Then, segments A1 and A2 are spaced apart left and right, and their length direction is along the left-right direction. Then, the control system controls the movement of the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, and the sixth and seventh servo motor shafts on the two second robotic arms, so that the rotating disk rotates counterclockwise on the front side of the annular disk. The process involves rotating tunnel segments A1 and A2 around the tunnel's centerline. Simultaneously, a second square tubular slider drives two second robotic arms to slide back and forth. The extension of these robotic arms causes segments A1 and A2 to translate radially along the tunnel. After rotation, sliding, and radial translation, segments A1 and A2 are roughly adjusted to their designed assembly position on the tunnel wall. Then, the movement of the eighth servo motor shaft, the second rotating cylinder, and the second tilting cylinder on the two second gripping mechanisms is controlled. This causes the two second clamping plates to drive segments A1 and A2 in pitch, rotation, and tilting motions, respectively. This fine-tunes the posture of segments A1 and A2 to their precise position, fixing them to the tunnel wall and completing the assembly of segments A1 and A2. Finally, the two eighth hydraulic motors are reversed.The two second lifting bolts are unscrewed from the center bolt holes of segments A1 and A2, respectively. Finally, the control system controls the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, the second hydraulic motor, the two sixth hydraulic motors, the sixth and seventh servo motor shafts on the two second robotic arms, the eighth servo motor shaft on the two second gripping mechanisms, the second rotating cylinder, and the second tilting cylinder to reset, so that the right-side double gripping device returns to its initial position.

[0028] Step (IV) is as follows: When the control system detects that the right-side dual-grip device has completed the gripping of segments A1 and A2 and moved them to the assembly position, the control system controls the first vision sensing devices at the lower ends of the two first robotic arms of the left-side dual-grip device to work. The two first vision sensing devices use their internal first cameras, first lidar sensors, and first IMUs to identify the positions of segments A3 and B1 respectively, and determine the positions of the center bolt holes of segments A3 and B1. Initially, segments A3 and B1 are spaced apart front to back, with their length direction along the left-right direction. The center lines of the width direction of segments A3 and B1 correspond vertically to the center line of the annular disk. Then, the control system controls the first hydraulic motor, the first hydraulic cylinder, and the first servo motor... The machine shaft and the second and third servo motor shafts on the two first robotic arms move respectively. The first displacement sensor acquires the forward and backward displacement of the first square tube-shaped slider, causing the two first clamping plates to move above segments A3 and B1 respectively, until the two first lifting bolts are directly above the center bolt holes of segments A3 and B1. Then, the control system controls the two seventh hydraulic motors to rotate, simultaneously causing the two first robotic arms to push the two first clamping plates downwards. The two seventh hydraulic motors drive the corresponding first lifting bolts to rotate, automatically screwing the two first lifting bolts into the center bolt holes of segments A3 and B1, thus achieving the clamping of segments A3 and B1. The two first weighing sensors transmit the gravity change information after clamping. When the signal is transmitted to the control system, the control system recognizes that segments A3 and B1 have been successfully gripped and stops the two seventh hydraulic motors. Then, it controls the third hydraulic motor to drive the first rotating drum to rotate 90°, so that segments A3 and B1 are symmetrical about the vertical projection of the center line of the annular disk. Segments A3 and B1 are spaced apart horizontally, and their length direction is along the front-to-back direction. Next, it controls the two fourth hydraulic motors to drive the two first rotating drums to rotate 90° respectively, so that segments A3 and B1 each rotate 90°. Segments A3 and B1 are then spaced apart horizontally, and their length direction is along the left-to-right direction. Finally, the control system controls the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, and the second servo motors on the two first robotic arms. The movement of the motor shaft and the third servo motor shaft causes the turntable to rotate clockwise behind the annular disc, making segments A3 and B1 rotate around the tunnel centerline. Simultaneously, the first square tube slider drives the two first robotic arms to slide back and forth. The two first robotic arms extend and move segments A3 and B1 radially along the tunnel, allowing segments A3 and B1 to be roughly adjusted to their designed assembly position on the tunnel wall after rotation, sliding, and radial translation. Then, the movement of the fourth servo motor shaft, the first rotating cylinder, and the first tilting cylinder on the two first gripping mechanisms is controlled, causing the two first clamping plates to drive segments A3 and B1 to pitch, rotate, and tilt, respectively. This fine-tunes the posture of segments A3 and B1 to the accurate position, fixing segments A3 and B1 to the tunnel wall.After assembling segments A3 and B1, the two seventh hydraulic motors are reversed to unscrew the two first lifting bolts from the center bolt holes of segments A3 and B1 respectively. Finally, the control system controls the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, the third hydraulic motor, the two fourth hydraulic motors, the second and third servo motor shafts on the two first robotic arms, the fourth servo motor shafts on the two first gripping mechanisms, the first rotating cylinder, and the first tilting cylinder to return to their initial positions.

[0029] Step (5) specifically involves: When the control system detects that the left dual-grip device has completed gripping segments A3 and B1 and moved them to the assembly position, the control system controls the second vision sensor at the lower end of the second robotic arm on the rear side of the right dual-grip device to operate. This second vision sensor uses its internal second camera, second lidar sensor, and second IMU to identify the position of segment B2 and determine the position of the center bolt hole of segment B2. Initially, the length direction of segment B2 is set along the left-right direction, and the center line of the width direction of segment B2 corresponds vertically to the center line of the annular disk. Then, the control system controls the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, and the sixth servo motor shaft on the rear second robotic arm. The seventh servo motor shaft moves, and the second displacement sensor acquires the forward and backward displacement of the second square tube-shaped slider, causing the second clamping plate on the rear side to move above the tube segment B2 until the second lifting bolt on the rear side is exactly above the center bolt hole of the tube segment B2. Then, the control system controls the eighth hydraulic motor on the rear side to rotate, and at the same time, the second robotic arm on the rear side pushes the corresponding second clamping plate downward. The eighth hydraulic motor on the rear side drives the second lifting bolt on the rear side to rotate and automatically screw the second lifting bolt into the center bolt hole of the tube segment B2, thereby realizing the clamping of the tube segment B2. The second weighing sensor on the second clamping plate on the rear side transmits the gravity change signal after clamping to the control system, and the control system recognizes that the clamping of the tube segment has been completed. After B2 is controlled, the eighth hydraulic motor on the rear side stops, and then the fifth hydraulic motor drives the second rotating drum to rotate 90°, so that the length direction of the tube segment B2 is aligned in the front-to-back direction, and the center line of the tube segment B2 in the length direction corresponds vertically to the center line of the annular disk. Then, the corresponding sixth hydraulic motor drives the corresponding second rotating drum to rotate 90°, so that the tube segment B2 rotates 90°, thus aligning the length direction of the tube segment B2 in the left-to-right direction. Then, the control system controls the movement of the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, and the corresponding sixth and seventh servo motor shafts on the second robotic arm, causing the rotating disk to rotate counterclockwise on the front side of the annular disk, so that the tube segment B2 revolves around the tunnel center. The line rotates, and simultaneously the second square tube-shaped slider drives the two second robotic arms to slide back and forth. The corresponding second robotic arms extend, causing segment B2 to translate radially along the tunnel. After rotation, sliding, and radial translation, segment B2 is roughly adjusted to the designed assembly position on the tunnel wall. Then, the eighth servo motor shaft, the second rotating cylinder, and the second tilting cylinder on the corresponding second gripping mechanism are controlled to move, causing the corresponding second clamping plate to move segment B2 in pitch, rotation, and tilt, thereby fine-tuning the attitude of segment B2 to the accurate position and fixing segment B2 to the tunnel wall, completing the assembly of segment B2. Then, the corresponding eighth hydraulic motor is controlled to reverse, unscrewing the corresponding second lifting bolt from the center bolt hole of segment B2. Finally...The control system controls the reset movements of the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, the second hydraulic motor, the two sixth hydraulic motors, the sixth and seventh servo motor shafts on the two second robotic arms, the eighth servo motor shaft on the two second gripping mechanisms, the second rotating cylinder, and the second tilting cylinder, so that the right-side dual gripping device returns to its initial position.

[0030] Step (six) is as follows: When the control system detects that the right-side dual-grip device has completed gripping segment B2 and moved it to the assembly position, the control system controls the first vision sensor at the lower end of the first robotic arm on the rear side of the left-side dual-grip device to operate. This first vision sensor uses its internal first camera, first lidar sensor, and first IMU to identify the position of segment K and determine the position of the center bolt hole of segment K. Initially, the length direction of segment K is set along the left-right direction, and the center line of the width direction of segment K corresponds vertically to the center line of the annular disk. Then, the control system controls the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, and the second and third servo motor shafts on the rear first robotic arm. The servo motor shafts move separately, and the first displacement sensor acquires the forward and backward displacement of the first square tube-shaped slider, causing the first clamping plate on the rear side to move above the tube segment K until the first lifting bolt on the rear side is exactly above the center bolt hole of the tube segment K. Then, the control system controls the seventh hydraulic motor on the rear side to rotate, and at the same time, the first robotic arm on the rear side pushes the corresponding first clamping plate downward. The seventh hydraulic motor on the rear side drives the first lifting bolt on the rear side to rotate and automatically screw the first lifting bolt into the center bolt hole of the tube segment K, thereby realizing the clamping of the tube segment K. The first weighing sensor on the first clamping plate on the rear side transmits the gravity change signal after clamping to the control system, and the control system recognizes that the clamping of the tube segment K has been completed. After segment K is stopped, the seventh hydraulic motor on the rear side is controlled to stop. Then, the third hydraulic motor is controlled to drive the first rotating drum to rotate 90°, so that segment K is rotated so that its length direction is aligned with the front-to-back direction, and the center line of segment K in the length direction is vertically aligned with the center line of the annular disk. Next, the corresponding fourth hydraulic motor is controlled to drive the corresponding first rotating drum to rotate 90°, so that segment K rotates 90°, thus aligning its length direction with the left-to-right direction. Then, the control system controls the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, and the corresponding second and third servo motor shafts on the first robotic arm to move, causing the rotating disk to rotate clockwise behind the annular disk, so that segment K orbits the tunnel. As the centerline rotates, the first square tube slider drives the two first robotic arms to slide back and forth. The corresponding first robotic arms extend, causing segment K to translate radially along the tunnel. After rotation, sliding, and radial translation, segment K is roughly adjusted to its designed assembly position on the tunnel wall. Then, the fourth servo motor shaft, the first rotating cylinder, and the first tilting cylinder on the corresponding first gripping mechanism are controlled to move, causing the corresponding first clamping plate to move segment K in pitch, rotation, and tilt, thereby fine-tuning the attitude of segment K to the accurate position and fixing segment K to the tunnel wall, completing the assembly of segment K. Then, the corresponding seventh hydraulic motor is controlled to reverse, unscrewing the corresponding first lifting bolt from the center bolt hole of segment K. Finally...The control system controls the reset movements of the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, the third hydraulic motor, two fourth hydraulic motors, the second and third servo motor shafts on the two first robotic arms, the fourth servo motor shafts on the two first gripping mechanisms, the first rotating cylinder, and the first tilting cylinder, causing the left double gripping device to return to its initial position, thereby completing the assembly of one ring of tunnel segments.

[0031] This invention enables the simultaneous, alternating assembly of multiple segments on both the left and right sides in a specific order, greatly improving segment assembly efficiency and saving significant assembly time and manpower. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the double-slide rail four-section segment assembly machine of the present invention.

[0033] Figure 2 This is an assembly diagram of the annular disk, the rotary mechanism, and the rotating mechanism of the present invention.

[0034] Figure 3 This is an isometric view of the rotary mechanism and the left-side double gripping device of the present invention.

[0035] Figure 4 This is an isometric view of the rotating mechanism and the right-side double gripping device of the present invention.

[0036] Figure 5 This is an assembly diagram of the first swing cylinder, the first rotary cylinder, the two first robotic arms, and the two first gripping mechanisms in the left-side dual gripping device of the present invention.

[0037] Figure 6 This is an assembly diagram of the second swing cylinder, the second rotary cylinder, the two second robotic arms, and the two second gripping mechanisms in the right-side dual gripping device of the present invention.

[0038] Figure 7 This is a schematic diagram showing the posture changes of segments A1, A2, A3, B1, B2, and K during the assembly process of the present invention. Detailed Implementation

[0039] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0040] like Figure 1-7 As shown, a conventional tunnel construction method for simultaneous assembly of multiple tunnel segments includes the following steps:

[0041] (I) A double-slide rail four-section segment assembly machine is installed at the tail of the tunnel boring machine. The double-slide rail four-section segment assembly machine includes two translation beams 1 and a circular disc 2. The two translation beams 1 are horizontally fixed to the tail of the tunnel boring machine with left and right intervals and along the front and back directions. Reinforcing beams 3 are fixedly connected between the front and rear ends of the two translation beams 1. The center line of the circular disc 2 is set horizontally along the front and back directions. The circular disc 2 is sleeved on the outside of the two translation beams 1 and is slidably connected to the two translation beams 1. Each translation beam 1 has a [missing information - likely a design feature]. There is a propulsion cylinder 4 located on the rear side of the annular disk 2 and used to drive the annular disk 2 to move back and forth. A rotary mechanism is installed on the rear side of the annular disk 2. A left double gripping device is set on the left side of the rotary mechanism. A rotating mechanism is installed on the front side of the annular disk 2. A right double gripping device is set on the right side of the rotating mechanism. A control box 5 is set on the front reinforcing beam 3. A control system is set inside the control box 5. The control system is connected to the propulsion cylinder 4, the rotary mechanism, the rotating mechanism, the left double gripping device and the right double gripping device respectively.

[0042] (ii) Transport the segments A1, A2, A3, B1, B2, and K to be assembled to the designated location in the assembly sequence;

[0043] (III) The control system controls the right-side double gripping device to clamp the segments A1 and A2, and controls the rotation mechanism and the right-side double gripping device to achieve accurate assembly of segments A1 and A2;

[0044] (iv) The control system controls the left double gripping device to clamp the segments A3 and B1, and controls the rotation mechanism and the left double gripping device to achieve accurate assembly of segments A3 and B1;

[0045] (v) The control system controls the right double gripping device to clamp the tube segment B2, and controls the rotation mechanism and the right double gripping device to achieve accurate assembly of the tube segment B2;

[0046] (vi) The control system controls the left double gripping device to clamp the segment K, and controls the rotation mechanism and the left double gripping device to accurately assemble the segment K, thereby completing the assembly of one ring of segments.

[0047] (vii) The control system controls the rotating mechanism, the slewing mechanism, the right double gripping device and the left double gripping device to return to the initial position, and controls the two propulsion cylinders 4 to push the annular disc 2 forward to the designated position. Then, repeat steps (ii) to (vi) to complete the assembly of the next ring segment.

[0048] (viii) After the next ring of segments is assembled, the control system controls the rotating mechanism, slewing mechanism, right double gripping device, left double gripping device and two propulsion cylinders 4 to return to the initial position. The double slide rail four-piece segment assembly machine moves forward with the shield machine for the distance of two rings of segments. Repeat steps (ii) to (vii) to complete the splicing of the two rings of segments. By repeating this operation, the segment assembly can be completed during the entire tunnel excavation process.

[0049] Both the left and right sides of the left and right translation beams 1 have racetrack-shaped guide grooves 6 formed along the front-to-back direction. Long sliders 7 are fixedly installed at the middle left and right sides of the inner circumference of the annular disc 2. The left long slider 7 is fitted and slidably mounted in the left racetrack-shaped guide groove 6, and the right long slider 7 is fitted and slidably mounted in the right racetrack-shaped guide groove 6. Both propulsion cylinders 4 are horizontally arranged along the front-to-back direction, with the piston rods of the propulsion cylinders 4 extending forward. The cylinder body of the left propulsion cylinder 4... The piston rod of the left-side propulsion cylinder 4 is hinged to the rear side of the upper surface of the left-side translation beam 1. The piston rod of the left-side propulsion cylinder 4 is hinged to the left side of the inner circumference of the annular disc 2 and is located above the left-side long slider 7. The rear end of the cylinder body of the right-side propulsion cylinder 4 is hinged to the rear side of the upper surface of the right-side translation beam 1. The piston rod of the right-side propulsion cylinder 4 is hinged to the right side of the inner circumference of the annular disc 2 and is located above the right-side long slider 7. The annular disc 2 has an integrally formed concentric annular protruding track 8 in the middle of the front annular surface.

[0050] The rotary mechanism includes a rotary disk 9 and a first hydraulic motor 10. The rotary disk 9 is a ring-shaped slider structure, and is co-centered with the ring disk body 2. The outer diameter of the rotary disk 9 is larger than the outer diameter of the ring disk body 2, and the inner diameter of the rotary disk 9 is larger than the inner diameter of the ring disk body 2 but smaller than the diameter of the ring-shaped raised track 8. The rotary disk 9 is co-centered and rotatably mounted on the rear side of the ring disk body 2. A first internal gear ring 11 is integrally formed on the front edge of the inner circumference of the rotary disk 9. The first hydraulic motor 10 is horizontally fixedly mounted on the upper left side of the inner circumference of the ring disk body 2 in the front-rear direction. The power of the first hydraulic motor 10 is... The shaft is located on the rear side. The rear end of the power shaft of the first hydraulic motor 10 is fixedly mounted with a first external gear 12 that meshes and drives the first internal gear ring 11. The first hydraulic motor 10 is equipped with a first angle encoder 13. The first hydraulic motor 10 drives the rotary table 9 to rotate through the meshing of the first external gear 12 and the first internal gear ring 11. The inner circumference of the rotary table 9 has two radially symmetrical limit blocks 52 integrally formed on the front edge (so that the rotation angle of the rotary table 9 is within the range of 0-180°). The control system is connected to the first hydraulic motor 10 and the first angle encoder 13 respectively.

[0051] The rotating mechanism includes a rotating disk 14 and a second hydraulic motor 15. The rotating disk 14 is a semi-circular annular slider structure that is open at both ends and open at the top. The center of the rotating disk 14 coincides with the center of the annular disk body 2. The outer diameter of the rotating disk 14 is smaller than the outer diameter of the annular disk body 2 but larger than the diameter of the annular raised track 8. The inner diameter of the rotating disk 14 is larger than the inner diameter of the annular disk body 2 but smaller than the diameter of the annular raised track 8. A semi-circular groove is provided on the rear side of the rotating disk 14 to slide and engage with the annular raised track 8. The rotating disk 14 is slidably connected to the annular raised track 8 and thus rotates around the center of the annular disk body 2. It is installed on the front side of the annular disk body 2. The inner circumference of the disc 14 is integrally formed with a second internal gear ring 16. The second hydraulic motor 15 is horizontally fixedly installed in the lower right part of the inner circumference of the disc 2 along the front-rear direction. The power shaft of the second hydraulic motor 15 is located on the front side. The front end of the power shaft of the second hydraulic motor 15 is fixedly installed with a second external gear 17 that meshes and drives the second internal gear ring 16. A second angle encoder 18 is provided on the second hydraulic motor 15. The second hydraulic motor 15 drives the rotating disc 14 to rotate through the meshing of the second external gear 17 and the second internal gear ring 16. The control system is connected to the second hydraulic motor 15 and the second angle encoder 18 respectively.

[0052] The left-side dual-grip device includes a first square guide beam 19, a first square tube slider 20, a first hydraulic cylinder 21, a first swing cylinder 22, a first rotary cylinder 23, and two first robotic arms. The first square guide beam 19 is horizontally arranged along the front-back direction and is located on the left side of the rotary table 9. A vertical connecting plate 24 is fixedly connected to the left side of the outer circumference of the rotary table 9. The vertical connecting plate 24 is perpendicular to the center line of the rotary table 9. The rear end face of the first square guide beam 19 is fixedly connected to the front side of the vertical connecting plate 24. The right side of the rear end of the first square guide beam 19 is fixedly connected to the left side of the outer circumference of the rotary table 9. The first square guide beam 19 is provided with four rail grooves. The first square tube slider 20 slides on the first square guide beam. On beam 19, the inner walls of the four sides of the first square tube slider 20 are provided with protrusions that are matched and slidably engaged in the four-rail grooves. The first hydraulic cylinder 21 is horizontally arranged above the first square guide rail beam 19 in the front-back direction and is located between the vertical connecting plate 24 and the first square tube slider 20. The piston rod of the first hydraulic cylinder 21 extends forward, and the rear end of the cylinder body of the first hydraulic cylinder 21 is hinged to the upper side of the front side of the vertical connecting plate 24. The front end of the piston rod of the first hydraulic cylinder 21 is hinged to the middle of the rear side of the upper surface of the first square tube slider 20 and is provided with a first displacement sensor. The first swing cylinder 22 and the first rotary cylinder 23 are both vertically arranged and are arranged from top to bottom directly below the first square tube slider 20. A first hinge seat 25 is fixedly installed on the upper surface of the moving cylinder 22. A first C-shaped ear seat 26, which is open on the lower right side, is integrally formed on the lower surface of the first square tube slider 20. The upper part of the first hinge seat 25 is rotatably connected to the two ear plates of the first C-shaped ear seat 26 through the first servo motor shaft. The first servo motor shaft drives the first swing cylinder 22 to swing left and right and is connected to the bottom of the first square tube slider 20. The top of the first rotary cylinder 23 is rotatably connected to the bottom of the first swing cylinder 22. A third hydraulic motor is fixedly installed at the eccentric part inside the first swing cylinder 22. The third hydraulic motor is vertically arranged. The power shaft of the third hydraulic motor passes downward through the bottom plate of the first swing cylinder 22 and the top plate of the first rotary cylinder 23 and extends into the first rotary cylinder 22. Inside cylinder 23, a third internal gear ring is fixedly installed concentrically within the first rotating cylinder 23. The lower end of the power shaft of the third hydraulic motor extends into the third internal gear ring and is fixedly installed with a third external gear that meshes and drives with the third internal gear ring. Two fourth hydraulic motors, symmetrically positioned about the front and rear of the third internal gear ring, are fixedly installed inside the first rotating cylinder 23. The fourth hydraulic motors are vertically oriented. Two first rotating cylinders 27 are rotatably mounted at the bottom of the first rotating cylinder 23. The center lines of the first rotating cylinders 27 are vertically oriented, and the two first rotating cylinders 27 correspond one-to-one with the two fourth hydraulic motors. The power shaft of the front fourth hydraulic motor passes downward through the bottom plate of the first rotating cylinder 23 and the top plate of the front first rotating cylinder 27 and extends into the front first rotating cylinder 27.The power shaft of the fourth hydraulic motor on the rear side passes downward through the bottom plate of the first rotating drum 23 and the top plate of the first rotating drum 27 on the rear side, and extends into the first rotating drum 27 on the rear side. A fourth internal gear ring is fixedly installed concentrically inside both first rotating drums 27. The lower ends of the power shafts of the two fourth hydraulic motors respectively extend into the corresponding fourth internal gear rings and are fixedly installed with fourth external gears that mesh and transmit power with the corresponding fourth internal gear rings. The two first robotic arms have the same structure and are symmetrically installed at the bottom of the two first rotating drums 27. A first gripping mechanism is installed at the lower end of each of the two first robotic arms.

[0053] The first robotic arm on the front side includes a first forearm 28 and a first upper arm 29. The upper end of the first forearm 28 is rotatably connected to the bottom of the first rotating cylinder 27 on the front side through a second servo motor shaft, and the lower end of the first forearm 28 is rotatably connected to the upper end of the first upper arm 29 through a third servo motor shaft.

[0054] The first gripping mechanism on the front side includes a first vision sensor 30, a first clamping plate 31, a first rotating cylinder 32, a first tilting cylinder 33, a seventh hydraulic motor, and a first lifting bolt 34. The rear side of the first vision sensor 30 is rotatably connected to the lower end of the first upper arm 29 via a fourth servo motor shaft. The first clamping plate 31 is horizontally positioned below the first vision sensor 30, and the vertical projection size of the first clamping plate 31 is larger than the vertical projection size of the first vision sensor 30. The top center of the first clamping plate 31 is hinged to the bottom of the first vision sensor 30 via a ball joint. The first rotating cylinder 32 is tilted to the left of the first vision sensor 30 and located on the first clamping plate 34. On the upper left side of 1, the two ends of the first rotating cylinder 32 are respectively hinged to the left side of the rear side of the first visual sensing device 30 and the left side of the middle of the upper surface of the first clamping plate 31. The first tilting cylinder 33 is tilted with the left side lower and the right side higher. The two ends of the first tilting cylinder 33 are respectively hinged to the middle of the upper side of the left side of the first visual sensing device 30 and the middle of the left side edge of the first clamping plate 31. The seventh hydraulic motor is vertically fixedly installed at the bottom center of the first clamping plate 31. The lower end of the power shaft of the seventh hydraulic motor is coaxially fixedly connected to the first lifting bolt 34. The first clamping plate 31 is provided with a first weighing sensor 35. The first visual sensing device 30 is provided with a first camera, a first laser radar sensor and a first IMU.

[0055] The control system is connected to the first hydraulic cylinder 21, the first displacement sensor, the first servo motor shaft, the third hydraulic motor, the fourth hydraulic motor, the second servo motor shaft, the third servo motor shaft, the fourth servo motor shaft, the first rotating cylinder 32, the first tilting cylinder 33, the seventh hydraulic motor, the first weighing sensor 35, the first camera, the first lidar sensor, and the first IMU signal.

[0056] The right-side dual-grip device includes a second square guide beam 36, a second square tubular slider 37, a second hydraulic cylinder 38, a second swing cylinder 39, a second rotary cylinder 40, and two second robotic arms. The second square guide beam 36 is horizontally arranged along the front-back direction and is located on the front right side of the rotating disk 14. The rear end face of the second square guide beam 36 is fixedly connected to the front right side of the rotating disk 14. The front end of the second square guide beam 36 is aligned with the front end of the first square guide beam 19. The second square guide beam 36 is provided with four rail grooves. The second square tubular slider 37 slides on the second square guide beam 36. The inner walls of the four sides of the second square tubular slider 37 are provided with matching protrusions that slide and engage in the four rail grooves. The second hydraulic cylinder 38 moves along the front... The rearward direction is horizontally positioned above the second square guide beam 36 and between the rotating disk 14 and the second square tubular slider 37. The piston rod of the second hydraulic cylinder 38 extends forward, and the rear end of the cylinder body of the second hydraulic cylinder 38 is hinged to the upper right side of the front side of the rotating disk 14. The front end of the piston rod of the second hydraulic cylinder 38 is hinged to the middle of the rear side of the upper surface of the second square tubular slider 37 and is equipped with a second displacement sensor. The second swing cylinder 39 and the second rotary cylinder 40 are both vertically positioned and are positioned directly below the second square tubular slider 37 from top to bottom. The upper surface of the second swing cylinder 39 is fixedly equipped with a second hinge seat 41. The lower right side of the second square tubular slider 37 is integrally formed with openings on the lower, left, and right sides. The upper part of the second C-shaped ear seat 42 and the second hinge seat 41 are rotatably connected to the two ear plates of the second C-shaped ear seat 42 via the fifth servo motor shaft. The fifth servo motor shaft drives the second swing cylinder 39 to swing left and right and is connected to the bottom of the second square tube slider 37. The top of the second rotary cylinder 40 is rotatably connected to the bottom of the second swing cylinder 39. A fifth hydraulic motor is fixedly installed eccentrically inside the second swing cylinder 39. The fifth hydraulic motor is vertically arranged. The power shaft of the fifth hydraulic motor passes downward through the bottom plate of the second swing cylinder 39 and the top plate of the second rotary cylinder 40 and extends into the second rotary cylinder 40. A fifth internal gear ring is fixedly installed concentrically inside the second rotary cylinder 40. The lower end of the power shaft of the fifth hydraulic motor extends into the fifth internal gear ring and is fixedly installed with a... The fifth external gear is meshed with the fifth internal gear ring. Two sixth hydraulic motors, symmetrically positioned about the front and rear of the fifth internal gear ring, are fixedly installed inside the second rotating drum 40. These sixth hydraulic motors are vertically oriented. Two second rotating drums 43 are rotatably mounted at the bottom of the second rotating drum 40, with their center lines vertically aligned. Each of the two second rotating drums 43 corresponds vertically to one of the two sixth hydraulic motors. The power shaft of the front sixth hydraulic motor passes downwards through the bottom plate of the second rotating drum 40 and the top plate of the front second rotating drum 43, extending into the front second rotating drum 43. Similarly, the power shaft of the rear sixth hydraulic motor passes downwards through the bottom plate of the second rotating drum 40 and the top plate of the rear second rotating drum 43, extending into the rear second rotating drum 43.Both second rotating cylinders 43 have a sixth internal gear ring fixedly installed concentrically inside them. The lower ends of the power shafts of the two sixth hydraulic motors extend into the corresponding sixth internal gear rings and are fixedly installed with sixth external gears that mesh and transmit power with the corresponding sixth internal gear rings. The two second robotic arms have the same structure and are symmetrically installed at the bottom of the two second rotating cylinders 43. A second gripping mechanism is installed at the lower end of each of the two second robotic arms.

[0057] The second robotic arm on the front side includes a second forearm 44 and a second upper arm 45. The upper end of the second forearm 44 is rotatably connected to the bottom of the second rotating cylinder 43 on the front side via a sixth servo motor shaft, and the lower end of the second forearm 44 is rotatably connected to the upper end of the second upper arm 45 via a seventh servo motor shaft.

[0058] The second gripping mechanism on the front side includes a second vision sensor 46, a second clamping plate 47, a second rotating cylinder 48, a second tilting cylinder 49, an eighth hydraulic motor, and a second lifting bolt 50. The rear side of the second vision sensor 46 is rotatably connected to the lower end of the second arm 45 via the shaft of the eighth servo motor. The second clamping plate 47 is horizontally positioned below the second vision sensor 46, and the vertical projection size of the second clamping plate 47 is larger than that of the second vision sensor 46. The top center of the second clamping plate 47 is hinged to the bottom of the second vision sensor 46 via a ball joint. The second rotating cylinder 48 is tilted at a higher front and lower rear, positioned to the right of the second vision sensor 46 and located on the second clamping plate 48. Above the right side of 7, the two ends of the second rotating cylinder 48 are respectively hinged to the right side of the rear side of the second vision sensing device 46 and the right side of the middle of the upper surface of the second clamping plate 47. The second tilting cylinder 49 is tilted with the left side higher than the right side. The two ends of the second tilting cylinder 49 are respectively hinged to the middle of the upper side of the right side of the second vision sensing device 46 and the middle of the right side edge of the second clamping plate 47. The eighth hydraulic motor is vertically fixedly installed at the bottom center of the second clamping plate 47. The lower end of the power shaft of the eighth hydraulic motor is coaxially fixedly connected to the second lifting bolt 50. The second clamping plate 47 is provided with a second weighing sensor 51. The second vision sensing device 46 is provided with a second camera, a second laser radar sensor and a second IMU.

[0059] The control system is connected to the second hydraulic cylinder 38, the second displacement sensor, the fifth servo motor shaft, the fifth hydraulic motor, the sixth hydraulic motor, the sixth servo motor shaft, the seventh servo motor shaft, the eighth servo motor shaft, the second rotating cylinder 48, the second tilting cylinder 49, the eighth hydraulic motor, the second weighing sensor 51, the second camera, the second lidar sensor, and the second IMU signal.

[0060] Step (III) is as follows: First, the control system controls the second vision sensing devices 46 at the lower ends of the two second robotic arms of the right-side dual-grip device to work, so that the two second vision sensing devices 46 identify the positions of segments A1 and A2 respectively through their internal second cameras, second lidar sensors and second IMUs, and determine the positions of the center bolt holes of segments A1 and A2. Initially, segments A1 and A2 are set back and forth with a gap, and the length direction of segments A3 and B1 is set along the left and right direction. The center lines of the width direction of segments A3 and B1 are directly aligned with the center line of the annular disk 2. Then, the control system controls the second hydraulic motor 15, the second hydraulic cylinder 38, the fifth servo motor shaft, and the sixth and seventh servo motor shafts on the two second robotic arms. The motor shafts move separately, and the second displacement sensor acquires the forward and backward displacement of the second square tube-shaped slider 37, causing the two second clamping plates 47 to move above the tube segments A1 and A2 respectively, until the two second lifting bolts 50 are directly above the center bolt holes of tube segments A1 and A2 respectively. Then, the control system controls the two eighth hydraulic motors to rotate, and simultaneously causes the two second robotic arms to push the two second clamping plates 47 downward. The two eighth hydraulic motors drive the corresponding second lifting bolts 50 to rotate, and automatically screw the two second lifting bolts 50 into the center bolt holes of tube segments A1 and A2 respectively, thereby achieving the clamping of tube segments A1 and A2. The two second weighing sensors 51 transmit the gravity change signal after clamping to the control system. After the control system detects that segments A1 and A2 have been successfully gripped, it stops the two eighth hydraulic motors. Then, it controls the fifth hydraulic motor to drive the second rotating drum 40 to rotate 90°, so that segments A1 and A2 are symmetrical about the vertical projection of the center line of the annular disk 2. Segments A1 and A2 are spaced apart horizontally, and their lengths are aligned along the front-to-back direction. Next, it controls the two sixth hydraulic motors to drive the two second rotating drums 43 to rotate 90°, so that segments A1 and A2 each rotate 90°. Segments A1 and A2 are then spaced apart horizontally, and their lengths are aligned along the left-to-right direction. Finally, the control system controls the second hydraulic motor 15, the second hydraulic cylinder 38, the fifth servo motor shaft, and the first hydraulic cylinders on the two second robotic arms. The movement of the sixth and seventh servo motor axes causes the rotating disk 14 to rotate counterclockwise on the front side of the annular disk 2, causing segments A1 and A2 to rotate around the tunnel centerline. Simultaneously, the second square tubular slider 37 drives the two second robotic arms to slide back and forth. The two second robotic arms extend and drive segments A1 and A2 to translate radially along the tunnel. After rotation, back-and-forth sliding, and radial translation, segments A1 and A2 are roughly adjusted to the designed assembly position on the inner wall of the tunnel. Then, the movement of the eighth servo motor axis, the second rotating cylinder 48, and the second tilting cylinder 49 on the two second gripping mechanisms is controlled, causing the two second clamping plates 47 to drive segments A1 and A2 to pitch, rotate, and tilt, respectively, thereby fine-tuning the attitude of segments A1 and A2 to the accurate position.Segments A1 and A2 are fixed to the tunnel wall, completing their assembly. Then, the two eighth hydraulic motors are reversed to unscrew the two second lifting bolts 50 from the center bolt holes of segments A1 and A2, respectively. Finally, the control system controls the second hydraulic motor 15, the second hydraulic cylinder 38, the fifth servo motor shaft, the fifth hydraulic motor, the two sixth hydraulic motors, the sixth and seventh servo motor shafts on the two second robotic arms, the eighth servo motor shafts on the two second gripping mechanisms, the second rotating cylinder 48, and the second tilting cylinder 49 to reset, returning the right-side double gripping device to its initial position.

[0061] Step (four) is as follows: When the control system detects that the right-side dual-grip device has completed the gripping of segments A1 and A2 and moved them to the assembly position, the control system controls the first vision sensing devices 30 at the lower ends of the two first robotic arms of the left-side dual-grip device to work. The two first vision sensing devices 30 use their internal first cameras, first laser radar sensors, and first IMUs to identify the positions of segments A3 and B1 respectively, and determine the positions of the center bolt holes of segments A3 and B1. Initially, segments A3 and B1 are spaced apart front and back, and the length direction of segments A3 and B1 is set along the left and right direction. The center lines of the width direction of segments A3 and B1 correspond vertically to the center line of the annular disk 2. Then, the control system controls the first hydraulic motor 10 and the first hydraulic cylinder. 21. The first servo motor shaft and the second and third servo motor shafts on the two first robotic arms move respectively, acquiring the forward and backward displacement of the first square tube slider 20 through the first displacement sensor. This causes the two first clamping plates 31 to move above the tube segments A3 and B1 respectively, until the two first lifting bolts 34 are directly above the center bolt holes of the tube segments A3 and B1. Then, the control system controls the two seventh hydraulic motors to rotate, simultaneously causing the two first robotic arms to push the two first clamping plates 31 downward. The two seventh hydraulic motors drive the corresponding first lifting bolts 34 to rotate, automatically screwing the two first lifting bolts 34 into the center bolt holes of the tube segments A3 and B1, thereby achieving the clamping of the tube segments A3 and B1. Two first weighing sensors 35 transmit gravity change signals after clamping to the control system. Once the control system recognizes that segments A3 and B1 have been clamped, it stops the two seventh hydraulic motors. Then, it controls the third hydraulic motor to drive the first rotating drum 23 to rotate 90°, so that segments A3 and B1 are symmetrical about the vertical projection of the center line of the annular disk 2. Segments A3 and B1 are spaced apart horizontally, and their length direction is along the front-to-back direction. Next, it controls the two fourth hydraulic motors to drive the two first rotating drums 27 to rotate 90° respectively, so that segments A3 and B1 each rotate 90°. Segments A3 and B1 are then spaced apart horizontally, and their length direction is along the left-to-right direction. Finally, the control system controls the first hydraulic motor 10, the first... The hydraulic cylinder 21, the first servo motor shaft, and the second and third servo motor shafts on the two first robotic arms move, causing the rotary table 9 to rotate clockwise behind the annular disc 2, making the tunnel segments A3 and B1 rotate around the tunnel centerline. Simultaneously, the first square tube slider 20 drives the two first robotic arms to slide back and forth. The extension of the two first robotic arms causes the tunnel segments A3 and B1 to translate radially along the tunnel. After rotation, back-and-forth sliding, and radial translation, the tunnel segments A3 and B1 are roughly adjusted to their designed assembly position on the tunnel wall. Then, the fourth servo motor shaft, the first rotating cylinder 32, and the first tilting cylinder 33 on the two first gripping mechanisms are controlled to move, causing the two first clamping plates 31 to respectively drive the tunnel segments A3 and B1 to pitch, rotate, and tilt.This fine-tunes the posture of segments A3 and B1 to their accurate positions, fixing them to the tunnel wall and completing their assembly. Then, the two seventh hydraulic motors are reversed to unscrew the two first lifting bolts 34 from the center bolt holes of segments A3 and B1 respectively. Finally, the control system controls the first hydraulic motor 10, the first hydraulic cylinder 21, the first servo motor shaft, the third hydraulic motor, the two fourth hydraulic motors, the second and third servo motor shafts on the two first robotic arms, the fourth servo motor shafts on the two first gripping mechanisms, the first rotating cylinder 32, and the first tilting cylinder 33 to reset, returning the left double gripping device to its initial position.

[0062] Step (5) is as follows: When the control system detects that the left dual gripping device has completed the gripping of segments A3 and B1 and moved them to the assembly position, the control system controls the second vision sensor 46 at the lower end of the second robotic arm on the rear side of the right dual gripping device to work. The second vision sensor 46 uses its internal second camera, second lidar sensor, and second IMU to identify the position of segment B2 and determine the position of the center bolt hole of segment B2. Initially, the length direction of segment B2 is set along the left and right direction, and the center line of the width direction of segment B2 is directly aligned with the center line of the annular disk 2. Then, the control system controls the second hydraulic motor 15, the second hydraulic cylinder 38, the fifth servo motor shaft, and the sixth servo motor on the rear second robotic arm. The motor shaft and the seventh servo motor shaft move respectively, and the front-to-back displacement of the second square tube slider 37 is obtained through the second displacement sensor. This moves the second clamping plate 47 on the rear side above the tube segment B2 until the second lifting bolt 50 on the rear side is exactly above the center bolt hole of the tube segment B2. Then, the control system controls the eighth hydraulic motor on the rear side to rotate, and at the same time, the second robotic arm on the rear side pushes the corresponding second clamping plate 47 downward. The eighth hydraulic motor on the rear side drives the second lifting bolt 50 on the rear side to rotate and automatically screw the second lifting bolt 50 into the center bolt hole of the tube segment B2, thereby realizing the clamping of the tube segment B2. The second weighing sensor 51 on the second clamping plate 47 on the rear side transmits the gravity change signal after clamping to the control system. Once the control system detects that segment B2 has been successfully gripped, it stops the eighth hydraulic motor on the rear side. Then, it controls the fifth hydraulic motor to drive the second rotating drum 40 to rotate 90°, causing segment B2 to rotate so that its length direction is aligned with the front-to-back direction, and its centerline in the length direction corresponds vertically to the centerline of the annular disk 2. Next, it controls the corresponding sixth hydraulic motor to drive the corresponding second rotating drum 43 to rotate 90°, causing segment B2 to rotate 90°, thus aligning its length direction with the left-to-right direction. Finally, the control system controls the second hydraulic motor 15, the second hydraulic cylinder 38, the fifth servo motor shaft, and the corresponding sixth and seventh servo motor shafts on the second robotic arm to move, causing the rotating disk 14 to rotate in the circular... The front side of the ring disc 2 rotates counterclockwise, causing segment B2 to rotate around the tunnel centerline. Simultaneously, the second square tubular slider 37 drives the two second robotic arms to slide back and forth. The corresponding second robotic arms extend and drive segment B2 to translate radially along the tunnel. After rotation, back-and-forth sliding, and radial translation, segment B2 is roughly adjusted to the designed assembly position on the tunnel inner wall. Then, the eighth servo motor shaft, the second rotating hydraulic cylinder 48, and the second tilting hydraulic cylinder 49 on the corresponding second gripping mechanism are controlled to move, causing the corresponding second clamping plate 47 to drive segment B2 to pitch, rotate, and tilt, thereby fine-tuning the attitude of segment B2 to the accurate position and fixing segment B2 to the tunnel inner wall, completing the assembly of segment B2. Then, the corresponding eighth hydraulic motor is controlled to reverse.The corresponding second lifting bolt 50 is unscrewed from the center bolt hole of segment B2. Finally, the control system controls the second hydraulic motor 15, the second hydraulic cylinder 38, the fifth servo motor shaft, the fifth hydraulic motor, the two sixth hydraulic motors, the sixth and seventh servo motor shafts on the two second robotic arms, the eighth servo motor shaft on the two second gripping mechanisms, the second rotating cylinder 48, and the second tilting cylinder 49 to reset, so that the right-side double gripping device returns to its initial position.

[0063] Step (six) is as follows: When the control system detects that the right dual-grip device has completed the gripping of segment B2 and moved it to the assembly position, the control system controls the first vision sensor 30 at the lower end of the first robotic arm on the rear side of the left dual-grip device to work, so that the first vision sensor 30 identifies the position of segment K through its internal first camera, first laser radar sensor and first IMU, and determines the position of the center bolt hole of segment K. Initially, the length direction of segment K is set along the left and right direction and the center line of the width direction of segment K is directly aligned with the center line of the annular disk 2. Then, the control system controls the first hydraulic motor 10, the first hydraulic cylinder 21, the first servo motor shaft, and the second servo motor shaft and the third servo motor shaft on the rear first robotic arm. The motor shafts move separately, and the first displacement sensor obtains the forward and backward displacement of the first square tube-shaped slider 20, causing the first clamping plate 31 on the rear side to move above the tube segment K until the first lifting bolt 34 on the rear side is exactly above the center bolt hole of the tube segment K. Then, the control system controls the seventh hydraulic motor on the rear side to rotate, and at the same time, the first robotic arm on the rear side pushes the corresponding first clamping plate 31 downward. The seventh hydraulic motor on the rear side drives the first lifting bolt 34 on the rear side to rotate and automatically screw the first lifting bolt 34 into the center bolt hole of the tube segment K, thereby realizing the clamping of the tube segment K. The first weighing sensor 35 on the first clamping plate 31 on the rear side transmits the gravity change signal after clamping to the control system, and the control system recognizes that the clamping has been completed. After the segment K is picked up, the seventh hydraulic motor on the rear side is stopped. Then, the third hydraulic motor drives the first rotary drum 23 to rotate 90°, so that the segment K is rotated so that its length direction is aligned with the front-to-back direction, and the center line of the segment K in the length direction is vertically aligned with the center line of the annular disk 2. After that, the corresponding fourth hydraulic motor drives the corresponding first rotary drum 27 to rotate 90°, so that the segment K rotates 90°, thus aligning its length direction with the left-to-right direction. Then, the control system controls the first hydraulic motor 10, the first hydraulic cylinder 21, the first servo motor shaft, and the corresponding second and third servo motor shafts on the first robotic arm to move, so that the rotary disk 9 rotates clockwise on the rear side of the annular disk 2, causing the segment K to orbit the tunnel. The centerline rotates, and simultaneously, the first square tube slider 20 drives the two first robotic arms to slide back and forth. The corresponding first robotic arms extend, causing the tunnel segment K to translate radially along the tunnel. After rotation, sliding back and forth, and radial translation, the tunnel segment K is roughly adjusted to the designed assembly position on the tunnel wall. Then, the fourth servo motor shaft, the first rotating cylinder 32, and the first tilting cylinder 33 on the corresponding first gripping mechanism are controlled to move, causing the corresponding first clamping plate 31 to drive the tunnel segment K to pitch, rotate, and tilt, thereby fine-tuning the attitude of the tunnel segment K to the accurate position and fixing the tunnel segment K to the tunnel wall, completing the assembly of the tunnel segment K. Then, the corresponding seventh hydraulic motor is controlled to reverse, unscrewing the corresponding first lifting bolt 34 from the center bolt hole of the tunnel segment K. Finally...The control system controls the first hydraulic motor 10, the first hydraulic cylinder 21, the first servo motor shaft, the third hydraulic motor, two fourth hydraulic motors, the second and third servo motor shafts on the two first robotic arms, the fourth servo motor shafts on the two first gripping mechanisms, the first rotating cylinder 32, and the first tilting cylinder 33 to reset, causing the left double gripping device to return to its initial position, thereby completing the assembly of one ring of tunnel segments.

[0064] The control system of this invention adopts an inner and outer loop control system controlled by an adaptive sliding membrane controller, and combines SLAM intelligent optimization algorithm to automatically identify, clamp and assemble tunnel segments.

[0065] The control system, first displacement sensor, first servo motor shaft, third hydraulic motor, third internal gear ring, third external gear, fourth hydraulic motor, fourth internal gear ring, fourth external gear, second servo motor shaft, third servo motor shaft, seventh hydraulic motor, fourth servo motor shaft, first camera, first lidar sensor, first IMU, second displacement sensor, fifth servo motor shaft, fifth hydraulic motor, fifth internal gear ring, fifth external gear, sixth hydraulic motor, sixth internal gear ring, sixth external gear, sixth servo motor shaft, seventh servo motor shaft, eighth hydraulic motor, eighth servo motor shaft, second camera, second lidar sensor, and second IMU are not shown in the figure.

[0066] The control system, the first angle encoder 13, the second angle encoder 18, the first displacement sensor, the first servo motor shaft, the second servo motor shaft, the third servo motor shaft, the fourth servo motor shaft, the first weighing sensor 35, the first camera, the first lidar sensor, the first IMU, the second displacement sensor, the fifth servo motor shaft, the sixth servo motor shaft, the seventh servo motor shaft, the eighth servo motor shaft, the second camera, the second lidar sensor, and the second IMU are all existing conventional technologies, and their specific structures and working principles will not be described in detail.

[0067] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for simultaneous assembly of segments in conventional tunnel construction, characterized in that: Specifically comprising the following steps: (I) A double-rail four-splice segment assembling machine is installed on the shield tail of the shield tunneling machine, the double-rail four-splice segment assembling machine comprises two translation beams and a circular disc body, the two translation beams are horizontally fixedly connected to the shield tail of the shield tunneling machine in a front-rear direction with a left-right interval, a reinforcing beam is fixedly connected between the front end and the rear end of each translation beam, the center line of the circular disc body is horizontally arranged in the front-rear direction, the circular disc body is sleeved on the outside of the two translation beams and is in sliding connection with the two translation beams, a push oil cylinder for driving the circular disc body to move forward and backward is arranged on the upper part of each translation beam and located at the rear side of the circular disc body, a rotating mechanism is installed at the rear side of the circular disc body, a left double grabbing device is arranged at the left side of the rotating mechanism, a rotating mechanism is installed at the front side of the circular disc body, a right double grabbing device is arranged at the right side of the rotating mechanism, a control box is arranged on the reinforcing beam at the front side, and a control system is arranged in the control box and is in signal connection with the push oil cylinder, the rotating mechanism, the rotating mechanism, the left double grabbing device and the right double grabbing device; (II) The segments A1, A2, A3, B1, B2 and K to be assembled are transported to the specified positions in the assembly sequence; (III) The control system controls the right double grabbing device to clamp the segments A1 and A2, controls the rotating mechanism and the right double grabbing device to act to accurately assemble the segments A1 and A2; (IV) The control system controls the left double grabbing device to clamp the segments A3 and B1, controls the rotating mechanism and the left double grabbing device to act to accurately assemble the segments A3 and B1; (V) The control system controls the right double grabbing device to clamp the segment B2, controls the rotating mechanism and the right double grabbing device to act to accurately assemble the segment B2; (VI) The control system controls the left double grabbing device to clamp the segment K, controls the rotating mechanism and the left double grabbing device to act to accurately assemble the segment K, so that the assembly of one ring of segments is completed; (VII) The control system controls the rotating mechanism, the rotating mechanism, the right double grabbing device and the left double grabbing device to return to the initial positions, controls the two push oil cylinders to push the circular disc body to move forward to the specified position, and then repeats steps (II)-(VI) to complete the assembly of the next ring of segments; (VIII) After the assembly of the next ring of segments is completed, the control system controls the rotating mechanism, the rotating mechanism, the right double grabbing device, the left double grabbing device and the two push oil cylinders to return to the initial positions, the double-rail four-splice segment assembling machine as a whole advances with the shield tunneling machine by a distance of two rings of segments, and then steps (II)-(VII) are repeated to complete the splicing of two rings of segments, and the operation is repeated to complete the assembly of the segments in the entire tunneling process.

2. The method for simultaneous assembling of segments of a conventional tunnel construction according to claim 1, characterized in that: The left side surface of the left translation beam and the right side surface of the right translation beam are both provided with runway-shaped guide grooves in the front-rear direction, the inner circumferential left middle part and the inner circumferential right middle part of the circular ring disc body are both fixedly provided with long strip sliders, the left long strip slider is matched and slidably connected in the left runway-shaped guide groove, the right long strip slider is matched and slidably connected in the right runway-shaped guide groove, the two propelling oil cylinders are both horizontally arranged in the front-rear direction, the piston rod of the propelling oil cylinder protrudes forward, the rear end of the cylinder body of the left propelling oil cylinder is hingedly connected to the upper surface of the left side of the translation beam, the front end of the piston rod of the left propelling oil cylinder is hingedly connected to the left side of the inner circumferential part of the circular ring disc body and is located above the left long strip slider, the rear end of the cylinder body of the right propelling oil cylinder is hingedly connected to the upper surface of the right side of the translation beam, the front end of the piston rod of the right propelling oil cylinder is hingedly connected to the right side of the inner circumferential part of the circular ring disc body and is located above the right long strip slider, and the front side of the circular ring surface of the circular ring disc body is integrally formed with a concentric ring-shaped raised track.

3. The method for simultaneous assembling of segments of a conventional tunnel construction according to claim 2, characterized in that: The rotating mechanism comprises a rotating disc and a second hydraulic motor, the rotating disc is a semicircular ring-shaped slider structure which is permeable in the front-rear direction and has an open top side, the center of the rotating disc coincides with the center of the circular ring disc body, the outer diameter of the rotating disc is smaller than the outer diameter of the circular ring disc body and larger than the diameter of the ring-shaped raised track, the inner diameter of the rotating disc is larger than the inner diameter of the circular ring disc body and smaller than the diameter of the ring-shaped raised track, the front side of the rotating disc is provided with a semicircular ring-shaped clamping groove which is matched with the ring-shaped raised track for sliding clamping, the rotating disc is slidably connected on the ring-shaped raised track and is rotatably arranged on the front side of the circular ring disc body around the center of the circular ring disc body, the rear side of the inner circumferential part of the rotating disc is integrally formed with a second inner gear ring, the second hydraulic motor is horizontally fixedly arranged on the right middle lower part of the inner circumferential part of the circular ring disc body in the front-rear direction, the power shaft of the second hydraulic motor is located at the front side, the front end of the power shaft of the second hydraulic motor is fixedly provided with a second outer gear wheel which is in meshing transmission connection with the second inner gear ring, the second hydraulic motor is provided with a second angle encoder, the second hydraulic motor drives the rotating disc to rotate through the meshing transmission of the second outer gear wheel and the second inner gear ring, and the control system is in signal connection with the second hydraulic motor and the second angle encoder respectively.

4. The method for simultaneous assembling of segments of a conventional tunnel construction according to claim 3, characterized in that: The rotating mechanism comprises a rotating disc and a second hydraulic motor, the rotating disc is a semi-circular ring-shaped slider structure which is permeable in the front-rear direction and has an open upper side, the center of the rotating disc coincides with the center of the circular ring disc body; the outer diameter of the rotating disc is smaller than the outer diameter of the circular ring disc body, and larger than the diameter of the ring-shaped raised track; the inner diameter of the rotating disc is larger than the inner diameter of the circular ring disc body, and smaller than the diameter of the ring-shaped raised track; the rear side surface of the rotating disc is provided with a semi-circular ring-shaped clamping groove matched with the ring-shaped raised track for sliding clamping; the rotating disc is slidably connected on the ring-shaped raised track, and is rotatably arranged on the front side of the circular ring disc body around the center thereof; the rear side of the inner circumferential part of the rotating disc is integrally formed with the second inner gear ring; the second hydraulic motor is horizontally fixedly arranged on the right middle lower part of the inner circum-ferential part of the circular ring disc body in the front-rear direction; the power shaft of the second hydraulic motor is located at the front side; the front end of the power shaft of the second hydraulic motor is fixedly provided with the second outer gear wheel which is in meshing transmission connection with the second inner gear ring; the second hydraulic motor is provided with the second angle encoder; the second hydraulic motor drives the rotating disc to rotate through the meshing transmission of the second outer and inner gear wheels; and the control system is in signal connection with the second hydraulic motor and the second angle encoder respectively.

5. The method for simultaneous assembling of segments of a conventional tunnel construction according to claim 4, characterized in that: The left double grabbing device comprises a first square guide rail beam, a first square pipe type slider, a first hydraulic oil cylinder, a first swing cylinder, a first rotary cylinder and two first mechanical arms. The first square guide rail beam is horizontally arranged along the front-back direction and is arranged on the left side of the rotary disc. The outer circumferential left side of the rotary disc is fixedly connected with a vertical connecting plate which is perpendicular to the center line of the rotary disc. The rear end surface of the first square guide rail beam is fixedly connected to the front side of the vertical connecting plate. The rear end right side of the first square guide rail beam is fixedly connected with the outer circumferential left side of the rotary disc. The first square guide rail beam is provided with a four-track sliding groove. The first square pipe type slider is slidably sleeved on the first square guide rail beam. The four side inner walls of the first square pipe type slider are provided with protrusions which are slidably and clippably matched in the four-track sliding groove. The first hydraulic oil cylinder is horizontally arranged above the first square guide rail beam and between the vertical connecting plate and the first square pipe type slider. The piston rod of the first hydraulic oil cylinder extends forward. The rear end of the cylinder body of the first hydraulic oil cylinder is hingedly connected to the upper side of the front side of the vertical connecting plate. The front end of the piston rod of the first hydraulic oil cylinder is hingedly connected to the rear middle part of the upper surface of the first square pipe type slider and is provided with a first displacement sensor. The first swing cylinder and the first rotary cylinder are vertically arranged. The first swing cylinder and the first rotary cylinder are arranged vertically below the first square pipe type slider from top to bottom. The upper surface of the first swing cylinder is fixedly provided with a first hinge seat. The lower surface right side of the first square pipe type slider is integrally formed with a first C-shaped ear seat which is open on the lower side, the left side and the right side. The upper side of the first hinge seat is rotatably connected to the two ear plates of the first C-shaped ear seat through a first servo motor shaft. The first servo motor shaft drives the first swing cylinder to swing left and right and is connected to the bottom of the first square pipe type slider. The top of the first rotary cylinder is rotatably connected to the bottom of the first swing cylinder. A third hydraulic motor is fixedly installed at the eccentric position in the interior of the first swing cylinder. The third hydraulic motor is vertically arranged. The power shaft of the third hydraulic motor penetrates through the bottom plate of the first swing cylinder and the top plate of the first rotary cylinder downward and extends into the first rotary cylinder. A third inner ring gear is fixedly installed in the first rotary cylinder. The lower end of the power shaft of the third hydraulic motor extends into the third inner ring gear and is fixedly installed with a third outer gear which is in meshing transmission connection with the third inner ring gear. Two fourth hydraulic motors which are front-back symmetrical about the third inner ring gear are fixedly installed in the interior of the first rotary cylinder. The fourth hydraulic motor is vertically arranged. Two first rotary cylinders are rotatably installed at the bottom of the first rotary cylinder. The center line of the first rotary cylinder is vertically arranged. The two first rotary cylinders correspond to the two fourth hydraulic motors one by one in a top-bottom manner. The power shaft of the front fourth hydraulic motor penetrates through the bottom plate of the first rotary cylinder and the top plate of the front first rotary cylinder downward and extends into the front first rotary cylinder. The power shaft of the rear fourth hydraulic motor penetrates through the bottom plate of the first rotary cylinder and the top plate ofTwo first mechanical arms are symmetrically installed at the bottom of the two first rotary cylinders, and the lower ends of the two first mechanical arms are respectively provided with a first grabbing mechanism. The first mechanical arm of the front side comprises a first small arm and a first large arm, the upper end of the first small arm is rotationally connected to the bottom of the first rotating cylinder of the front side through a second servo motor shaft, and the lower end of the first small arm is rotationally connected to the upper end of the first large arm through a third servo motor shaft; The first grabbing mechanism of the front side comprises a first visual sensing device, a first clamping plate, a first rotating oil cylinder, a first tilting oil cylinder, a seventh hydraulic motor and a first lifting bolt, the rear side of the first visual sensing device is rotationally connected to the lower end of the first large arm through a fourth servo motor shaft, the first clamping plate is horizontally arranged below the first visual sensing device, the vertical projection size of the first clamping plate is greater than that of the first visual sensing device, the top center of the first clamping plate is hingedly connected to the bottom of the first visual sensing device through a spherical hinge, the first rotating oil cylinder is arranged obliquely from high front to low back on the left side of the first visual sensing device and above the left side of the first clamping plate, and the two ends of the first rotating oil cylinder are respectively hingedly connected to the left side of the rear side of the first visual sensing device and the left side of the upper surface of the first clamping plate, the first tilting oil cylinder is arranged obliquely from low left to high right, the two ends of the first tilting oil cylinder are respectively hingedly connected to the upper middle part of the left side of the first visual sensing device and the middle part of the left side edge of the first clamping plate, the seventh hydraulic motor is vertically fixedly installed at the bottom center of the first clamping plate, the lower end of the power shaft of the seventh hydraulic motor is coaxially fixedly connected to the first lifting bolt, the first clamping plate is provided with a first weighing sensor, and the first visual sensing device is internally provided with a first camera, a first laser radar sensor and a first IMU; The control system is signal-connected with the first hydraulic oil cylinder, the first displacement sensor, the first servo motor shaft, the third hydraulic motor, the fourth hydraulic motor, the second servo motor shaft, the third servo motor shaft, the fourth servo motor shaft, the first rotating oil cylinder, the first tilting oil cylinder, the seventh hydraulic motor, the first weighing sensor, the first camera, the first laser radar sensor and the first IMU.

6. The method for simultaneous assembling of segments of a conventional tunnel construction multi-segment tunnel according to claim 5, characterized in that: The right double grabbing device comprises a second square guide rail beam, a second square pipe type slider, a second hydraulic oil cylinder, a second swing cylinder, a second rotary cylinder and two second mechanical arms. The second square guide rail beam is horizontally arranged along the front-back direction. The second square guide rail beam is arranged at the front right side of the rotating disc. The rear end surface of the second square guide rail beam is fixedly connected to the front side right side of the rotating disc. The front end of the second square guide rail beam is aligned with the front end of the first square guide rail beam. The second square guide rail beam is provided with a four-track sliding groove. The second square pipe type slider is slidingly sleeved on the second square guide rail beam. The four side inner walls of the second square pipe type slider are provided with protrusions which are slidingly and clippably matched in the four-track sliding groove. The second hydraulic oil cylinder is horizontally arranged above the second square guide rail beam and between the rotating disc and the second square pipe type slider along the front-back direction. The piston rod of the second hydraulic oil cylinder is forwardly protruding. The rear end of the cylinder body of the second hydraulic oil cylinder is hingedly connected to the upper right side of the front side of the rotating disc. The front end of the piston rod of the second hydraulic oil cylinder is hingedly connected to the upper surface rear side middle part of the second square pipe type slider and is provided with a second displacement sensor. The second swing cylinder and the second rotary cylinder are vertically arranged. The second swing cylinder and the second rotary cylinder are arranged vertically below the second square pipe type slider from top to bottom. The upper surface of the second swing cylinder is fixedly provided with a second hinge seat. The lower surface right side of the second square pipe type slider is integrally formed with a second C-shaped ear seat which is open at the lower side, the left side and the right side. The upper side of the second hinge seat is rotatably connected to the two ear plates of the second C-shaped ear seat through the shaft of the fifth servo motor. The fifth servo motor shaft drives the second swing cylinder to swing left and right and is connected to the bottom of the second square pipe type slider. The top of the second rotary cylinder is rotatably connected to the bottom of the second swing cylinder. Fifth hydraulic motor is fixedly installed at the eccentric position of the inside of the second swing cylinder. The fifth hydraulic motor is vertically arranged. The power shaft of the fifth hydraulic motor penetrates through the bottom plate of the second swing cylinder and the top plate of the second rotary cylinder downward and extends into the second rotary cylinder. A fifth inner ring gear is fixedly and concentrically installed in the second rotary cylinder. The lower end of the power shaft of the fifth hydraulic motor extends into the fifth inner ring gear and is fixedly installed with a fifth outer gear which is in meshing transmission connection with the fifth inner ring gear. Two sixth hydraulic motors which are front-back symmetrical about the fifth inner ring gear are fixedly installed in the inside of the second rotary cylinder. The sixth hydraulic motor is vertically arranged. Two second rotary cylinders are rotatably installed at the bottom of the second rotary cylinder. The center line of the second rotary cylinder is vertically arranged. The two second rotary cylinders are one-to-one corresponding to the two sixth hydraulic motors in up-down direction. The power shaft of the front sixth hydraulic motor penetrates through the bottom plate of the second rotary cylinder and the top plate of the front second rotary cylinder downward and extends into the front second rotary cylinder. The power shaft of the rear sixth hydraulic motor penetrates through the bottom plate of the second rotary cylinder and the top plate ofThe lower end of each of the two second mechanical arms is provided with a second grabbing mechanism. The second mechanical arm of the front side comprises a second small arm and a second large arm, the upper end of the second small arm is rotationally connected to the bottom of the second rotating cylinder of the front side through a sixth servo motor shaft, and the lower end of the second small arm is rotationally connected to the upper end of the second large arm through a seventh servo motor shaft; The second grabbing mechanism of the front side comprises a second visual sensing device, a second clamping plate, a second rotating oil cylinder, a second tilting oil cylinder, an eighth hydraulic motor and a second lifting bolt, the rear side surface of the second visual sensing device is rotationally connected to the lower end of the second large arm through an eighth servo motor shaft, the second clamping plate is horizontally arranged below the second visual sensing device, the vertical projection size of the second clamping plate is greater than that of the second visual sensing device, the top center of the second clamping plate is hingedly connected to the bottom of the second visual sensing device through a spherical hinge, the second rotating oil cylinder is obliquely arranged on the right side of the second visual sensing device and above the right side of the second clamping plate, both ends of the second rotating oil cylinder are respectively hingedly connected to the right side surface of the rear side of the second visual sensing device and the right side of the upper surface of the second clamping plate, the second tilting oil cylinder is obliquely arranged with the left side higher than the right side, both ends of the second tilting oil cylinder are respectively hingedly connected to the upper side of the right side surface of the second visual sensing device and the middle part of the right side edge of the second clamping plate, the eighth hydraulic motor is vertically fixedly installed at the bottom center of the second clamping plate, the power shaft of the eighth hydraulic motor is coaxially fixedly connected to the second lifting bolt, the second clamping plate is provided with a second weighing sensor, and the second visual sensing device is internally provided with a second camera, a second laser radar sensor and a second IMU; The control system is respectively connected with the second hydraulic oil cylinder, the second displacement sensor, the fifth servo motor shaft, the fifth hydraulic motor, the sixth hydraulic motor, the sixth servo motor shaft, the seventh servo motor shaft, the eighth servo motor shaft, the second rotating oil cylinder, the second tilting oil cylinder, the eighth hydraulic motor, the second weighing sensor, the second camera, the second laser radar sensor and the second IMU.

7. The method for simultaneous assembling of segments of a conventional tunnel construction multi-segment tunnel according to claim 6, characterized in that: Step (three) is specifically: first, the control system controls the second vision sensor device at the lower end of the two second mechanical arms of the right double grabbing device to work, so that the two second vision sensor devices recognize the positions of the pipe segments A1 and A2 through the second camera, the second laser radar sensor and the second IMU in the second camera, the second laser radar sensor and the second IMU respectively, and determine the center bolt hole positions of the pipe segments A1 and A2, initially, the pipe segments A1 and A2 are arranged at intervals in the front and back direction, and the length direction of the pipe segments A3 and B1 is arranged along the left and right direction, the center line of the width direction of the pipe segments A3 and B1 corresponds to the center line of the circular disc body vertically, then the control system controls the second hydraulic motor, the second hydraulic oil cylinder, the fifth servo motor shaft, and the sixth servo motor shaft and the seventh servo motor shaft on the two second mechanical arms to move respectively, and the front and back displacement of the second square tube type slide is obtained through the second displacement sensor, so that the two second clamping plates are correspondingly moved to above the pipe segments A1 and A2 respectively and until the two second lifting bolts are located directly above the center bolt holes of the pipe segments A1 and A2 respectively, then the control system controls the two eighth hydraulic motors to rotate, and at the same time, the two second mechanical arms push the two second clamping plates to move downward, the two eighth hydraulic motors drive the corresponding second lifting bolts to rotate respectively and automatically screw the two second lifting bolts into the center bolt holes of the pipe segments A1 and A2 respectively, so as to realize the clamping of the pipe segments A1 and A2, and the two second weighing sensors transmit the gravity change signal after clamping to the control system, then the control system recognizes that the pipe segments A1 and A2 have been clamped and controls the two eighth hydraulic motors to stop, then the fifth hydraulic motor drives the second rotary cylinder to rotate 90°, so that the pipe segments A1 and A2 are rotated to a state of left-right symmetry about the vertical projection of the center line of the circular disc body, the pipe segments A1 and A2 are arranged at intervals in the left and right direction, and the length direction of the pipe segments A1 and A2 is arranged along the front and back direction, then the two sixth hydraulic motors drive the two second rotary cylinders to rotate 90° respectively, so that the pipe segments A1 and A2 rotate 90° respectively, then the pipe segments A1 and A2 are arranged at intervals in the left and right direction and the length direction of the pipe segments A1 and A2 is arranged along the left and right direction, then the control system controls the second hydraulic motor, the second hydraulic oil cylinder, the fifth servo motor shaft, and the sixth servo motor shaft and the seventh servo motor shaft on the two second mechanical arms to move, so that the rotating disc rotates counterclockwise on the front side of the circular disc body, and the pipe segments A1 and A2 rotate around the tunnel center line, at the same time, the second square tube type slide drives the two second mechanical arms to slide forward and backward, and the two second mechanical arms stretch to drive the pipe segments A1 and A2 to translate along the radial direction of the tunnel, so that the pipe segments A1 and A2 are coarsely adjusted to the designed approximate assembly position on the inner wall of the tunnel after rotation, forward and backward sliding and radial translation, then the eighth servo motor shaft, the second rotary oil cylinder and the second tilting oil cylinder on the two second grabbing mechanisms are controlled to move, so that the two second clamping plates drive the pipe segments A1 and A2 to perform pitching, rotating and tilting movements respectively, so as to finely adjust the attitude of the pipe segments A1 and A2 to the accurate position, fix the pipe segments A1 and A2 on the inner wall of the tunnel, complete the assembly of the pipe segments A1 and A2, then the two eighth hydraulic motors are controlled to reverse,The two second hoisting bolts are respectively screwed out from the center bolt holes of the segment A1 and A2. Finally, the control system controls the second hydraulic motor, the second hydraulic oil cylinder, the fifth servo motor shaft, the fifth hydraulic motor, the two sixth hydraulic motors, the sixth servo motor shaft and the seventh servo motor shaft on the two second mechanical arms, and the eighth servo motor shaft, the second rotating oil cylinder and the second tilting oil cylinder on the two second grabbing mechanisms to reset the movement, so that the right double grabbing device returns to the initial position.

8. The method for simultaneous assembling of conventional tunnel construction segments according to claim 7, characterized in that: Step (four) is specifically: when the control system identifies that the right double grabbing device has completed the grabbing of the pipe segments A1 and A2 and has moved to the waiting assembly position, the control system controls the first visual sensor devices at the lower ends of the two first mechanical arms of the left double grabbing device to work, so that the two first visual sensor devices respectively identify the positions of the pipe segments A3 and B1 through the first cameras, first laser radar sensors and first IMUs inside them, and determine the positions of the center bolt holes of the pipe segments A3 and B1. Initially, the pipe segments A3 and B1 are arranged at intervals in the front-rear direction and the length directions of the pipe segments A3 and B1 are arranged along the left-right direction. The center lines of the width directions of the pipe segments A3 and B1 correspond to the center line of the circular disc body in the up-down direction. Then the control system controls the first hydraulic motor, the first hydraulic oil cylinder, the first servo motor shaft, and the second and third servo motor shafts on the two first mechanical arms to move respectively, and obtains the front-rear displacement of the first square tube type slide through the first displacement sensor, so that the two first clamping plates are respectively moved to above the pipe segments A3 and B1 and until the two first lifting bolts are respectively located directly above the center bolt holes of the pipe segments A3 and B1. Then the control system controls the two seventh hydraulic motors to rotate, and simultaneously controls the two first mechanical arms to push the two first clamping plates to move downward. The two seventh hydraulic motors respectively drive the corresponding first lifting bolts to rotate and automatically screw the two first lifting bolts into the center bolt holes of the pipe segments A3 and B1, thereby realizing the clamping of the pipe segments A3 and B1. The two first weighing sensors transmit the gravity change signals after clamping to the control system, and then the control system controls the two seventh hydraulic motors to stop after recognizing that the pipe segments A3 and B1 have been clamped. Then the control system controls the third hydraulic motor to drive the first rotating cylinder to rotate by 90°, so that the pipe segments A3 and B1 are rotated to a state of left-right symmetry about the vertical projection of the center line of the circular disc body. The pipe segments A3 and B1 are arranged at intervals in the left-right direction and the length directions of the pipe segments A3 and B1 are arranged along the front-rear direction. Subsequently, the control system controls the two fourth hydraulic motors to respectively drive the two first rotating cylinders to rotate by 90°, so that the pipe segments A3 and B1 are respectively rotated by 90°. Then the pipe segments A3 and B1 are arranged at intervals in the left-right direction and the length direction of the pipe segments A3 and B1 is along the left-right direction. Then the control system controls the first hydraulic motor, the first hydraulic oil cylinder, theAfter the assembling of the segments A3 and B1 is completed, the two seventh hydraulic motors are controlled to reverse, the two first hoisting bolts are respectively rotated out of the central bolt holes of the segments A3 and B1, and finally, the system controls the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, the third hydraulic motor, the two fourth hydraulic motors, the second servo motor shaft and the third servo motor shaft of the two first mechanical arms, and the fourth servo motor shaft, the first rotating cylinder and the first tilting cylinder of the two first grabbing mechanisms to reset, so that the left double grabbing device returns to the initial position.

9. The method for simultaneous assembling of segments of a conventional tunnel construction multi-segment tunnel according to claim 8, characterized in that: Step (five) is specifically: when the control system identifies that the left double grabbing device has completed the grabbing of the pipe pieces A3 and B1 and moved to the waiting assembly position, the control system controls the second visual sensor at the lower end of the second mechanical arm at the rear of the right double grabbing device to work, so that the second visual sensor identifies the position of the pipe piece B2 through the second camera, the second laser radar sensor and the second IMU inside it, and determines the position of the center bolt hole of the pipe piece B2. Initially, the length direction of the pipe piece B2 is arranged along the left-right direction, and the width direction center line of the pipe piece B2 is vertically corresponding to the center line of the circular disc body. Then the control system controls the second hydraulic motor, the second hydraulic oil cylinder, the fifth servo motor shaft, and the sixth servo motor shaft and the seventh servo motor shaft on the second mechanical arm at the rear to move respectively, and obtains the forward and backward displacement of the second square tube type slide through the second displacement sensor, so that the second clamping plate at the rear moves to the upper side of the pipe piece B2 and moves until the second lifting bolt at the rear is just located vertically above the center bolt hole of the pipe piece B2. Then the control system controls the eighth hydraulic motor at the rear to rotate, and at the same time makes the second mechanical arm at the rear push the corresponding second clamping plate to move downward. The eighth hydraulic motor at the rear drives the second lifting bolt at the rear to rotate and automatically screws the second lifting bolt into the center bolt hole of the pipe piece B2, so as to realize the clamping of the pipe piece B2. The second weighing sensor on the second clamping plate at the rear transmits the gravity change signal after clamping to the control system, and then the control system identifies that the clamping of the pipe piece B2 has been completed, and controls the eighth hydraulic motor at the rear to stop. Then the fifth hydraulic motor is controlled to drive the second rotating cylinder to rotate by 90°, so that the pipe piece B2 is rotated to the length direction of the pipe piece B2 arranged along the forward and backward direction, and the length direction center line of the pipe piece B2 is vertically corresponding to the center line of the circular disc body. After that, the corresponding sixth hydraulic motor is controlled to drive the corresponding second rotating cylinder to rotate by 90°, so that the pipe piece B2 is rotated by 90°, so that the length direction of the pipe piece B2 is arranged along the left-right direction. Then the control system controls the second hydraulic motor, the second hydraulic oil cylinder, the fifth motor shaft, and the sixth servo motor shaft and the seventh servo motor shaft on the second mechanical arms to move, so that the rotating disc rotates counterclockwise on the front side of the circular disc body, and the pipe piece B2 rotates around the tunnel center line. At the same time, the second square tube type slide drives the two second mechanical arms to slide forward and backward, and the corresponding second mechanical arms stretch to drive the pipe piece B2 to translate along the radial direction of the tunnel, so that the pipe piece B2 is coarsely adjusted to the designed approximate assembly position on the inner wall of the tunnel after rotation, forward and backward sliding and radial translation. Then the eighth servo motor shaft, the second rotating oil cylinder and the second tilting oil cylinder on the corresponding second grabbing mechanism are controlled to move, so that the corresponding second clamping plate drives the pipe piece B2 to pitch, rotate and tilt, so as to finely adjust the attitude of the pipe piece B2 to the accurate position, fix the pipe piece B2 on the inner wall of the tunnel, complete the assembly of the pipe piece B2, and then control the corresponding eighth hydraulic motor to reverse, so as to rotate the second lifting bolt out of the center bolt hole of the pipe piece B2. Finally,The control system controls the second hydraulic motor, the second hydraulic cylinder, the fifth servo motor shaft, the fifth hydraulic motor, the two sixth hydraulic motors, the sixth servo motor shaft and the seventh servo motor shaft on the two second mechanical arms, and the eighth servo motor shaft, the second rotating cylinder and the second tilting cylinder to reset the movement, so that the right double grabbing device returns to the initial position.

10. The method for simultaneous assembling of segments of a conventional tunnel construction multi-pipe according to claim 9, characterized in that: Step (six) is specifically: when the control system identifies that the right double grabbing device has completed the grabbing of the segment B2 and moved to the waiting assembly position, the control system controls the first visual sensor at the lower end of the rear first mechanical arm of the left double grabbing device to work, so that the first visual sensor identifies the position of the segment K through the first camera, the first laser radar sensor and the first IMU inside it, and determines the position of the center bolt hole of the segment K. Initially, the length direction of the segment K is arranged along the left-right direction, and the width direction center line of the segment K is vertically corresponding to the center line of the circular disc body. Then the control system controls the first hydraulic motor, the first hydraulic oil cylinder, the first servo motor shaft, and the second and third servo motor shafts on the rear first mechanical arm to move respectively, and obtains the forward and backward displacement of the first square tube type slide through the first displacement sensor, so that the rear first clamping plate moves to the upper side of the segment K and moves until the rear first lifting bolt is just located vertically above the center bolt hole of the segment K. Then the control system controls the rear seventh hydraulic motor to rotate, and at the same time makes the rear first mechanical arm push the corresponding first clamping plate to move downward. The rear seventh hydraulic motor drives the rear first lifting bolt to rotate and automatically screws the first lifting bolt into the center bolt hole of the segment K, so as to realize the clamping of the segment K. The first weighing sensor on the rear first clamping plate transmits the weight change signal after clamping to the control system, so that the control system identifies that the segment K has been clamped and controls the rear seventh hydraulic motor to stop. Then the control system controls the third hydraulic motor to drive the first rotary cylinder to rotate 90°, so that the segment K is rotated to the length direction along the forward and backward direction, and the length direction center line of the segment K is vertically corresponding to the center line of the circular disc body. Then the control system controls the corresponding fourth hydraulic motor to drive the corresponding first rotary cylinder to rotate 90°, so that the segment K is rotated 90°, so that the length direction of the segment K is arranged along the left-right direction. Then the control system controls the first hydraulic motor, the first hydraulic oil cylinder, the first servomotor shaft, and the second and third servo motor shafts on the corresponding first mechanical arm to move, so that the rotary disc rotates clockwise at the rear side of the circular disc body, and the segment K rotates around the tunnel center line. At the same time, the first square tube type slide drives the two first mechanical arms to slide forward and backward, and the corresponding first mechanical arm stretches to drive the segment K to translate along the radial direction of the tunnel, so that the segment K is coarsely adjusted to the designed assembly position on the inner wall of the tunnel after rotation, forward and backward sliding and radial translation. Then the control system controls the fourth servo motor shaft, the first rotary oil cylinder and the first inclination oil cylinder on the corresponding first grabbing mechanism to move, so that the corresponding first clamping plate drives the segment K to pitch, rotate and tilt, so as to finely adjust the attitude of the segment K to the accurate position, fix the segment K on the inner wall of the tunnel, complete the assembly of the segment K, and then control the corresponding seventh hydraulic motor to reverse, so that the corresponding first lifting bolt is rotated out of the center bolt hole of the segment K. Finally,The control system controls the first hydraulic motor, the first hydraulic cylinder, the first servo motor shaft, the third hydraulic motor, the two fourth hydraulic motors, the second servo motor shaft and the third servo motor shaft of the two first mechanical arms, and the fourth servo motor shaft, the first rotating cylinder and the first tilting cylinder reset movement of the two first grabbing mechanisms, so that the left double grabbing device returns to the initial position, thereby completing the assembly of one ring piece.

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