A grabbing mechanism and a segment erector

Abstract

The application discloses a grabbing mechanism and a segment assembling machine, which comprise a yoke arm connected with a locking oil cylinder, a grabbing plate connected below the yoke arm, a guide assembly penetrating through the grabbing plate, and a grabbing head arranged at one end of a locking oil cylinder extension rod of the locking oil cylinder and used for being clamped with a grabbing interface, wherein the grabbing head is synchronously extended and retracted and synchronously rotated when the locking oil cylinder extension rod is extended and retracted. The grabbing head is driven by the extension and retraction of the locking oil cylinder, can be rotated while being synchronously extended and retracted with the locking oil cylinder, can be directly supported in the grabbing interface and directly blocked with the grabbing interface, the whole grabbing and unloading process does not need workers to participate, manual frequent disassembly and assembly of lifting screws are avoided, construction efficiency is improved, and manual labor intensity is reduced, and the grabbing mechanism can realize clamping of grabbed objects without other oil cylinder adjustment, thereby laying a foundation for the intellectualization of segment assembling.

Description

Technical Field

[0001] This invention relates to the technical field of segment gripping, and in particular to a gripping mechanism and a segment assembly machine. Background Technology

[0002] Shield tunneling is widely used in underground tunnel construction. During underground excavation, the cutterhead excavates the soil at the front of the shield, relying on the shell and lining segments to support the newly excavated tunnel surface and prevent tunnel collapse. Conversely, the lining segments provide support for the shield's forward movement. Therefore, segment assembly is an essential step in shield tunneling. Timely segment assembly reduces ground disturbance and minimizes surface settlement. Thus, segment assembly should be performed promptly.

[0003] As a specialized component for assembling tunnel segments during shield tunnel construction, segment assemblies can be categorized into mechanical gripping and vacuum gripping types based on the form of their segment gripping mechanism. Generally, vacuum gripping segment assemblies are easier to automate. However, as mentioned in the literature "Research and Application of Vacuum Gripper Segment Assemblies, Rong Jin" in the Journal of Vacuum Science and Technology, vacuum gripping segment assemblies are typically used for gripping and assembling shield tunnel segments longer than 7m, while mechanical gripping lifting devices are usually used for assembling segments of smaller shield tunnels shorter than 7m.

[0004] During the segment assembly process, the mechanical gripping segment assembler requires manual intervention to pre-screw the lifting bolts into the threaded holes of the segments. The lifting bolts engage with the specially designed U-shaped slots in the segment assembler to achieve the gripping and installation of the segments. After the segments are fixed, the bolts need to be manually unscrewed.

[0005] Because the assembled tunnel segments are generally divided into multiple pieces and the assembly area is too large, on-site workers must climb up and down to remove the lifting bolts on the segments. Therefore, using the lifting bolt method is inefficient, risky, and prone to safety accidents, and has become a bottleneck restricting the automation and intelligence of tunnel segment assembly operations.

[0006] For example, Chinese invention patent application CN115182758A, published on October 14, 2022, discloses a segment assembly system and method that uses lifting bolts for segment assembly. These lifting bolts need to be pre-screwed into the segments, and after assembly, the lifting bolts must be removed. Another example is Chinese invention patent application CN102305089A, published on September 21, 2012, which discloses a lifting beam device for a tunnel segment assembly machine. This device requires pre-screwing the lifting bolts into the threaded holes of the segments, then using a ball-joint hydraulic cylinder to hold the bolts in place. The ball-joint hydraulic cylinder then lifts the segments by lifting the bolts. Both of these technical solutions require manual handling of the segment bolts on the gripping device, resulting in low automation, low efficiency, and safety hazards associated with manual operation.

[0007] Chinese invention patent application CN 114837705 A, published on August 2, 2022, discloses a segment assembly machine gripping device, including a gripping beam with a rotating shaft rotatably mounted in the middle of the gripping beam. It also includes a first drive mechanism for driving the rotating shaft to rotate and a pressure plate located below the gripping beam. A second drive mechanism for driving the pressure plate to move up and down is connected between the pressure plate and the gripping beam. The rotating shaft includes a rotating rod that passes through the pressure plate. The lower end of the rotating rod is provided with a gripping head that passes through an insertion port on the segment, extends into the gripping cavity of the segment, and rotates. The gripping head is located below the pressure plate and has an upward-facing stop surface that cooperates with the upper cavity wall of the gripping cavity. The pressure plate has a downward-facing pressing surface that cooperates with the stop surface to clamp the segment.

[0008] When using the technical solution disclosed in the invention patent application, the lifting head can only rotate via a stepper motor and cannot synchronously extend or retract. The stopping surface of the lifting head cannot actively engage with the upper wall of the gripping cavity, requiring multiple adjustments to the second drive mechanism—namely, adjusting the first, second, and third hydraulic cylinders—to achieve passive engagement of the lifting head with the upper wall of the gripping cavity. In other words, the above technical solution requires first adjusting the position of the pressure plate using the first, second, and third hydraulic cylinders. After the lifting head is inserted into the gripping cavity of the segment and engages with the upper wall of the gripping cavity, the gripping beam needs to be raised a certain distance to bring the stopping surface of the lifting head into contact with and engage with the upper wall of the gripping cavity. Simultaneously, the pressure plates of the pressure plate are pressed down by adjusting the first, second, and third hydraulic cylinders, causing the lifting head and the upper wall of the gripping cavity to be passively engaged.

[0009] Therefore, when using existing technology to grab and assemble tunnel segments, not only are there many grabbing actions and complex procedures, but multiple mechanisms also need to cooperate with each other. The structural setup and operation steps are too redundant. In addition, the tunnel segments are large in size and heavy in weight, so the grabbing accuracy and grabbing efficiency need to be further improved.

[0010] Content of this invention

[0011] To address the shortcomings in the aforementioned background technology, this invention proposes a gripping mechanism and a segment assembly machine, which solves the technical problems of low gripping accuracy and low efficiency in existing segment gripping mechanisms.

[0012] The technical solution of this application is as follows:

[0013] A gripping mechanism includes a yoke arm connected to a locking cylinder, a gripping plate connected below the yoke arm, and a guide assembly passing through the gripping plate. A gripping head is provided at one end of the locking cylinder extension rod passing through the guide assembly for engaging with a gripping interface. When the locking cylinder extension rod extends or retracts, the gripping head extends, retracts, and rotates synchronously. This technical solution drives the gripping head by extending and retracting the locking cylinder. The gripping head can rotate while simultaneously extending and retracting with the locking cylinder, thus directly clamping the gripping interface and engaging directly with it. This eliminates the need for manual intervention during the entire gripping and unloading process, avoiding frequent manual disassembly and assembly of lifting bolts, improving construction efficiency, and reducing labor intensity. Furthermore, it achieves clamping of the gripped object without the need for other cylinder adjustments, laying the foundation for intelligent segment assembly. In addition, the gripping mechanism in this technical solution is highly adaptable; it can be installed on traditional segment assembly machines without significant modifications, requiring only a change in the structure of the lower end of the locking cylinder.

[0014] Furthermore, the guide assembly includes a cylindrical body connected to the yoke arm. A circumferentially arranged guide groove is provided on the outer wall of the cylindrical body. The locking cylinder extension rod is inserted into the cylindrical body, and a slider that slides in cooperation with the guide groove is connected to the locking cylinder extension rod. Based on the above technical solution, this technical solution provides a preferred number and position of the guide assembly. That is, while the cylindrical body slides in cooperation with the locking cylinder extension rod, the slider on the locking cylinder extension rod, forced by the guide groove, drives the locking cylinder extension rod to rotate, thereby causing the grabbing head to rotate synchronously while extending and retracting. One driving action achieves two execution actions.

[0015] Furthermore, the guide groove is arranged end-to-end around the circumference of the cylindrical body, or the guide groove is a segment along the circumference of the cylindrical body. Based on the above technical solution, this technical solution provides a preferred embodiment of the guide groove, that is, the guide groove can be either a closed annulus or a non-closed groove structure. When the guide groove is a closed annulus, the upper and lower ends of the cylindrical body are separated or in a relatively weak state, requiring other structures to connect the upper and lower ends of the cylindrical body. The advantage is that it can realize the omnidirectional rotation of the slider, that is, the gripping head can realize omnidirectional rotation, the processing and manufacturing are simple, the control is simple, and there is no need to consider the rotation distance and extension distance of the slider in advance. When the guide groove is a non-closed groove structure, the structure between the upper and lower ends of the cylindrical body is stable, requiring other structures to connect the upper and lower ends of the cylindrical body. The advantage is that the structure is simple and reliable, but it cannot realize the omnidirectional rotation of the slider.

[0016] Furthermore, the guide assembly includes an upper cylinder connected to the yoke arm, with a lower guide surface at the lower end of the upper cylinder. A lower cylinder is connected to the upper cylinder, and an upper guide surface, consistent with and spaced apart from the lower guide surface, is provided at the upper end of the lower cylinder. The locking cylinder extension rod interlocks with the upper and lower cylinders, and is connected to a slider located between the lower and upper guide surfaces. Based on the above technical solution, this technical solution provides a preferred embodiment of the cylindrical body, namely, constructing the guide groove using a split upper and lower cylinder.

[0017] Furthermore, the slider is connected to the locking cylinder extension rod via a fixing sleeve, and at least two sliders are provided on the fixing sleeve. Based on the above technical solution, this technical solution provides a preferred embodiment of the slider, which can reduce the overall size and facilitate precise and reliable guidance.

[0018] Furthermore, the upper cylinder is connected to the yoke arm via an upper flange, and the lower cylinder is connected to a lower flange opposite to the upper flange. The grabbing plate is located between the upper and lower flanges, and the grabbing plate has a central hole through which the upper and / or lower cylinders pass. The upper flange and the lower flange are connected by a connecting structure. Based on the above technical solution, this technical solution provides a preferred embodiment of the upper and lower cylinders, namely, that they are connected by an upper flange and a lower flange.

[0019] Furthermore, the connecting structure includes a plurality of connecting posts arranged around the central hole, with each end of the connecting post connected to the upper flange and the lower flange, respectively. The grabbing plate has guide holes that mate with the connecting posts. Based on the above technical solution, this technical solution provides a preferred embodiment for connecting the upper and lower flanges, namely, using connecting posts. This not only results in a simple and reliable structure but also allows for interlocking with the grabbing plate without occupying excessive area of ​​the grabbing plate, indirectly ensuring the structural strength of the grabbing plate. Of course, besides using connecting posts as the connecting structure, connecting plates, connecting blocks, and other structures can also be used.

[0020] Furthermore, the guide holes are distributed at equal angles around the central hole, and the distance between each guide hole and the central hole is the same. Based on the above technical solution, this technical solution provides a preferred embodiment of the connecting columns, which makes the entire mechanism more reliable through equal angle and equal spacing. Of course, the connecting columns can also be distributed non-equally angled or non-equally spaced.

[0021] Furthermore, both the locking cylinder and the guide assembly are hinged to the yoke arm, meaning that the guide assembly can be adjusted synchronously with the locking cylinder. When the locking cylinder changes angle relative to the yoke arm, the guide assembly can also change angle synchronously.

[0022] Furthermore, the locking cylinder is housed within the cavity of the yoke arm via a spherical bearing, with the cylinder extension rod extending out of the cavity. The guide assembly is connected to the spherical bearing. Based on the above technical solution, this solution provides the locking cylinder with multiple degrees of freedom, allowing it to deflect relative to the yoke arm, thereby enabling fine-tuning of the gripping assembly position and ensuring the reliability of the segment gripping process. Additionally, when the gripping head needs to rotate, this can also be achieved via a pipe section bearing, allowing the entire locking cylinder to rotate relative to the yoke arm.

[0023] Furthermore, the gripping head is a non-rotating structure. Based on the above technical solution, this technical solution provides a preferred embodiment of the gripping head. The cross-section of the gripping head can be elliptical, triangular, or non-regular polygonal, such as rectangular or trapezoidal. In practical applications, other structural forms are possible. The core requirement is that after being inserted into the gripping interface and rotated at a certain angle, it can support the inner upper surface of the segment interface, i.e., it is a non-rotating body.

[0024] Furthermore, a segment tilting attitude adjustment cylinder is hinged between the yoke arm and the grabbing plate, and the segment tilting attitude adjustment cylinder is inclined perpendicular to the length direction of the yoke arm. Based on the above technical solution, the segment tilting attitude adjustment cylinder in this technical solution can cooperate with the locking cylinder to ensure the relative position of the grabbing head, grabbing plate, and the grabbed segment, thereby finely adjusting the attitude of the grabbed segment in the tilting direction. When the segment tilting attitude adjustment cylinder extends or retracts, it changes the attitude of the grabbing head, thereby adjusting the attitude of the segment.

[0025] Furthermore, two segment tilting attitude adjustment cylinders are provided, with the two cylinders respectively located on the front and rear sides of the yoke arm. Based on the above technical solution, this technical solution uses two segment tilting attitude adjustment cylinders, which can be considered a preferred embodiment. Not only can the two cylinders cooperate with each other on the front and rear sides of the yoke arm, but both cylinders can also cooperate with the locking cylinder, making fine-tuning of the segment's attitude more convenient and reliable.

[0026] Furthermore, a segment rotation attitude adjustment cylinder is hinged between the yoke arm and the grabbing plate, and the segment rotation attitude adjustment cylinder is arranged along the length direction of the yoke arm. Based on the above technical solution, the segment rotation attitude adjustment cylinder in this technical solution can cooperate with the locking cylinder to ensure the relative position of the grabbing head, grabbing plate, and the grabbed segment, thereby finely adjusting the attitude of the grabbed segment in the rotation direction. When the segment rotation attitude adjustment cylinder extends or retracts, it will drive the attitude of the grabbing plate, thereby adjusting the attitude of the segment.

[0027] Furthermore, two segment rotation attitude adjustment cylinders are provided, symmetrically arranged about the locking cylinder. Based on the above technical solution, this solution uses two segment rotation attitude adjustment cylinders, which can be considered a preferred embodiment. Not only can the two cylinders cooperate with each other on the left and right sides of the yoke arm, but both cylinders can also cooperate with the locking cylinder, making fine-tuning of the segment's attitude more convenient and reliable.

[0028] Furthermore, the gripping plate has several pads on the side facing the tunnel segment, with the lower end face of each pad forming an arc shape. When the gripping head enters the gripping interface, the gripping plate engages with the inner arc surface of the tunnel segment through the pads. Based on the above technical solution, this technical solution achieves the engagement between the gripping plate and the inner arc surface of the tunnel segment through the pads, which not only reduces the size of the gripping plate but also provides more support points with the inner arc surface of the tunnel segment, resulting in more uniform force distribution.

[0029] Furthermore, the pad is an elastic pad, which can conveniently and reliably clamp the tunnel segment. Based on the above technical solution, this technical solution uses the pad to achieve the contact between the lifting plate and the inner arc surface of the tunnel segment, which not only reduces the size of the lifting plate but also provides more support points on the inner arc surface of the tunnel segment, resulting in more even force distribution. A limit block is provided on the upper end face of the lifting plate, and a support seat that cooperates with the limit block is provided on the lower end face of the yoke arm.

[0030] Alternatively, the gripping plate can be equipped with several hydraulic cylinders on the side facing the segment. After the gripper assembly grips the segment, the gripping plate engages with the inner arc surface of the segment via the hydraulic cylinders. Based on the above technical solutions, this technical solution achieves the engagement between the gripping plate and the inner arc surface of the segment using hydraulic cylinders. Besides reducing the size of the gripping plate, providing more support points on the inner arc surface of the segment, and resulting in more uniform force distribution, this solution can also work in conjunction with the segment rotation posture adjustment cylinder, the segment tilt posture adjustment cylinder, and the locking cylinder to achieve more precise, convenient, and reliable adjustment of the segment's posture.

[0031] A segment assembly machine includes a rotary frame that is axially movable, the rotary frame being connected to a radial moving mechanism, and two linear telescopic devices of the radial moving mechanism being respectively hinged to the two ends of the yoke arm described in any of the above-mentioned gripping mechanisms.

[0032] This technical solution drives the lifting head through the extension and retraction of a locking cylinder. The lifting head rotates synchronously with the extension and retraction of the locking cylinder, directly clamping and engaging with the gripping interface. This eliminates the need for manual intervention during the entire gripping and unloading process, avoiding frequent manual disassembly and reassembly of lifting bolts, thus improving construction efficiency and reducing labor intensity. Furthermore, it achieves clamping of the gripped object without the need for adjustments to other cylinders, laying the foundation for intelligent segment assembly. In addition, the gripping mechanism in this solution is highly adaptable; it can be installed on traditional segment assembly machines without significant modifications, requiring only a change to the structure at the lower end of the locking cylinder. The segment or other gripped object is equipped with a snap-fit ​​groove structure as the gripping interface, avoiding frequent manual disassembly and reassembly of lifting bolts, improving construction efficiency and reducing labor intensity. In a preferred embodiment, the gripping head of the gripping mechanism is a non-rotating structure, such as a cuboid, which has a certain redundancy during insertion. After rotating a certain angle, the long side is used to clamp the segment. Therefore, the requirements for the precision of the segment interface and the motion precision of the segment assembly machine are reduced, and the processing and manufacturing costs are reduced. Attached Figure Description

[0033] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is an application state diagram of the segment assembly machine in this invention;

[0035] Figure 2 This is a diagram showing the application state of the gripping mechanism in the invention.

[0036] Figure 3 for Figure 2 A sectional view;

[0037] Figure 4 for Figure 2 Rear view;

[0038] Figure 5 for Figure 2 A partial sectional view;

[0039] Figure 6 for Figure 2 Enlarged view of the central guide component;

[0040] Figure 7 This is a cross-sectional view of the gripping mechanism gripping the tunnel segment;

[0041] Figure 8 This is a perspective view of the tunnel segment;

[0042] Figure 9 for Figure 8 A frontal sectional view;

[0043] Figure 10 for Figure 8 Side view sectional view;

[0044] Figure 11 for Figure 8 Top view;

[0045] Explanation of icon numbers:

[0046] 1-Assembled tunnel segment; 2-Segment assembly machine; 3-Segment to be assembled; 4-Segment interface; 5-Stop groove

[0047] 201-Yoke arm; 202-Limit block; 203-Grab plate; 204-Pad plate; 205-Locking cylinder; 206-Locking cylinder extension rod; 207-Upper flange; 208-Connecting column; 209-Lower flange; 210-Grab head; 211-Joint bearing; 215-Segment rotation posture adjustment cylinder; 216-Segment tilt posture adjustment cylinder; 217-Slider; 218-Fixing sleeve. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] A grasping mechanism, such as Figure 2 and Figure 3 As shown, the device includes a yoke arm 201 connected to a locking cylinder 205. A gripping plate 203 and a guide assembly passing through the gripping plate 203 are connected below the yoke arm 201. A gripping head 210 for engaging with the gripping interface is provided at one end of the locking cylinder extension rod 206 of the locking cylinder 205 that passes through the guide assembly. When the locking cylinder extension rod 206 extends or retracts, the gripping head 210 extends, retracts, and rotates synchronously.

[0050] This technical solution drives the lifting head 210 by extending and retracting the locking cylinder. The lifting head 210 can rotate while synchronously extending and retracting with the locking cylinder 205, thus directly clamping the gripping interface and directly blocking it. Not only does the entire gripping and unloading process require no worker intervention, avoiding frequent manual disassembly and assembly of lifting bolts, improving construction efficiency and reducing labor intensity, but it also achieves clamping of the gripped object without the need for other cylinder adjustments, laying the foundation for intelligent segment assembly. In addition, the gripping mechanism in this technical solution has strong adaptability; it can be installed on traditional segment assembly machines without much modification, only requiring replacement of the structure at the lower end of the locking cylinder.

[0051] Based on the above embodiments, as a preferred embodiment, such as... Figure 5 and Figure 6 As shown, the guide assembly includes a cylindrical body connected to the yoke arm 201. A circumferentially arranged guide groove is provided on the outer wall of the cylindrical body. The locking cylinder extension rod 206 is inserted and engaged with the cylindrical body. The locking cylinder extension rod 206 is connected to a slider 217 that is slidably engaged with the guide groove.

[0052] Based on the above technical solution, this technical solution provides a preferred number and position of the guide component. That is, while the cylindrical body slides in cooperation with the locking cylinder extension rod 206, the slider 217 on the locking cylinder extension rod 206 is forced by the guide groove to drive the locking cylinder extension rod 206 to rotate, thereby causing the grabbing head 210 to rotate synchronously while extending and retracting. One driving action realizes two execution actions.

[0053] Based on the above embodiments, as a preferred embodiment, the guide groove is arranged end to end around the circumferential direction of the cylindrical body, or the guide groove is set as a segment along the circumferential direction of the cylindrical body.

[0054] Based on the above technical solutions, this technical solution provides a preferred implementation of the guide groove, which can be either a closed annular structure or a non-closed groove structure. When the guide groove is a closed annular structure, the upper and lower ends of the cylindrical body are separated or structurally weak, requiring other structures to connect the upper and lower ends of the cylindrical body. The advantage is that it enables omnidirectional rotation of the slider 217, that is, the gripping head 210 can achieve omnidirectional rotation. It is simple to manufacture and control, and there is no need to consider the rotational and extension distances of the slider 217 in advance. When the guide groove is a non-closed groove structure, the structure between the upper and lower ends of the cylindrical body is stable, requiring other structures to connect the upper and lower ends of the cylindrical body. The advantage is that the structure is simple and reliable, but it cannot achieve omnidirectional rotation of the slider 217.

[0055] Based on the above embodiments, as a preferred embodiment, the guide assembly includes an upper cylinder connected to the yoke arm 201. The lower end of the upper cylinder has a lower guide surface. The upper cylinder is connected to a lower cylinder. The upper end of the lower cylinder has an upper guide surface that is consistent with and spaced apart from the lower guide surface. The locking cylinder extension rod 206 interlocks with the upper and lower cylinders, and the locking cylinder extension rod 206 is connected to a slider 217 located between the lower and upper guide surfaces. Based on the above technical solution, this technical solution provides a preferred embodiment of the cylindrical body, namely, constructing the guide groove through a split upper and lower cylinder.

[0056] Based on the above embodiments, as a preferred embodiment, such as... Figure 5 and Figure 6 As shown, the slider 217 is connected to the locking cylinder extension rod 206 via a fixing sleeve 218, and at least two sliders 217 are provided on the fixing sleeve 218. Based on the above technical solution, this technical solution provides a preferred embodiment of the slider 217, which can reduce the overall size and facilitate precise and reliable guidance.

[0057] Based on the above embodiments, as a preferred embodiment, the upper cylinder is connected to the yoke arm 201 via an upper flange 207, and the lower cylinder is connected to a lower flange 209 opposite to the upper flange 207. The grabbing plate 203 is located between the upper flange 207 and the lower flange 209, and the grabbing plate 203 has a central hole through which the upper cylinder and / or lower cylinder pass. The upper flange 207 and the lower flange 209 are connected by a connecting structure. Based on the above technical solution, this technical solution provides a preferred embodiment of the upper and lower cylinders, namely, that they are connected via the upper flange 207 and the lower flange 209.

[0058] Based on the above embodiments, as a preferred embodiment, the connecting structure includes a plurality of connecting posts 208 arranged around the central hole. The two ends of each connecting post 208 are connected to the upper flange 207 and the lower flange 209, respectively. The grabbing plate 203 has guide holes that fit with the connecting posts 208 with a clearance. Based on the above technical solution, this technical solution provides a preferred embodiment for connecting the upper flange 207 and the lower flange 209, namely, connecting them with connecting posts 208. This not only has a simple and reliable structure but also allows for interlocking with the grabbing plate 203 without occupying too much area of ​​the grabbing plate 203, indirectly ensuring the structural strength of the grabbing plate 203. Of course, besides using connecting posts 208 as the connecting structure, connecting plates, connecting blocks, and other structures can also be used.

[0059] Based on the above embodiments, as a preferred embodiment, the guide holes are distributed at equal angles around the central hole, and the distance between each guide hole and the central hole is the same. Based on the above technical solution, this technical solution provides a preferred embodiment of the connecting posts 208, which makes the entire mechanism more reliable through equal angle and equal spacing. Of course, the connecting posts 208 can also be distributed non-equally angled or non-equally spaced.

[0060] Based on the above embodiments, as a preferred embodiment, the locking cylinder 205 and the guide assembly are both hinged to the yoke arm 201, that is, the guide assembly can be adjusted synchronously with the locking cylinder 205. When the locking cylinder 205 changes angle relative to the yoke arm 201, the guide assembly can also change angle synchronously.

[0061] Based on the above embodiments, as a preferred embodiment, the locking cylinder 205 is disposed within the cavity of the yoke arm 201 via a spherical bearing 211, the locking cylinder extension rod 206 extends out of the cavity of the yoke arm 201, and the guide assembly is connected to the spherical bearing 211. Based on the above technical solution, this technical solution provides multiple degrees of freedom for the locking cylinder 205, enabling the locking cylinder to deflect relative to the yoke arm 201, thereby achieving fine-tuning of the position of the gripping assembly and fully ensuring the reliability of the segment gripping process. Furthermore, when the gripping head 210 needs to rotate, this can also be achieved through the pipe section bearing 211, meaning the entire locking cylinder 205 rotates relative to the yoke arm 201.

[0062] Based on the above embodiments, as a preferred embodiment, the gripping head 210 is a non-rotating structure. Based on the above technical solutions, this technical solution provides a preferred embodiment of the gripping head 210. The cross-section of the gripping head 210 can be elliptical, triangular, or a non-regular polygon, such as a rectangle or trapezoid. In practical applications, other structural forms are possible. The core requirement is that after being inserted into the gripping interface and rotated at a certain angle, it can support the inner upper surface of the segment interface, i.e., it is a non-rotating body.

[0063] Based on the above embodiments, as a preferred embodiment, a segment tilting attitude adjustment cylinder is hinged between the yoke arm and the grabbing plate, and the segment tilting attitude adjustment cylinder is inclined perpendicular to the length direction of the yoke arm. Based on the above technical solution, the segment tilting attitude adjustment cylinder in this technical solution can cooperate with the locking cylinder to ensure the relative position of the grabbing head, grabbing plate, and the segment or other grasped object, thereby finely adjusting the attitude of the segment or other grasped object in the tilt direction. When the segment tilting attitude adjustment cylinder extends or retracts, it changes the attitude of the grabbing head, thereby adjusting the attitude of the segment.

[0064] Based on the above embodiments, as a preferred embodiment, two segment tilt attitude adjustment cylinders are provided, with the two cylinders respectively located on the front and rear sides of the yoke arm. Building upon the above technical solution, this solution provides two segment tilt attitude adjustment cylinders, which can be considered a preferred embodiment. Not only can the two cylinders cooperate with each other on the front and rear sides of the yoke arm, but both cylinders can also cooperate with the locking cylinder, making fine-tuning of the segment's attitude more convenient and reliable.

[0065] Based on the above embodiments, as a preferred embodiment, a segment rotation attitude adjustment cylinder is hinged between the yoke arm and the grabbing plate, and the segment rotation attitude adjustment cylinder is arranged along the length direction of the yoke arm. Based on the above technical solution, the segment rotation attitude adjustment cylinder in this technical solution can cooperate with the locking cylinder to ensure the relative position of the grabbing head, grabbing plate, and the grabbed segment, thereby finely adjusting the attitude of the grabbed segment in the rotation direction. When the segment rotation attitude adjustment cylinder extends or retracts, it drives the attitude of the grabbing plate, thereby adjusting the attitude of the segment.

[0066] Based on the above embodiments, as a preferred embodiment, two segment rotation attitude adjustment cylinders are provided, symmetrically arranged about the locking cylinder. This technical solution, by providing two segment rotation attitude adjustment cylinders, can be considered a preferred embodiment. Not only can the two cylinders cooperate with each other on the left and right sides of the yoke arm, but both cylinders can also cooperate with the locking cylinder, making fine-tuning of the segment's attitude more convenient and reliable.

[0067] Based on the above embodiments, as a preferred embodiment, the gripping plate 203 is provided with a plurality of pads 204 on the side facing the tube segment. The lower end face of each pad 204 forms an arc-shaped surface. When the gripping head 210 enters the gripping interface, the gripping plate 203 engages with the inner arc surface of the tube segment through the pads 204. Based on the above technical solution, this technical solution achieves the engagement between the gripping plate and the inner arc surface of the tube segment through the pads, which not only reduces the size of the gripping plate but also provides more support points with the inner arc surface of the tube segment, resulting in more uniform force distribution.

[0068] Based on the above embodiments, as a preferred embodiment, the pad is an elastic pad, which can conveniently and reliably clamp the pipe segment. Based on the above technical solution, this technical solution uses a pad to achieve the contact between the lifting plate and the inner arc surface of the pipe segment, which not only reduces the size of the lifting plate but also provides more support points with the inner arc surface of the pipe segment, resulting in more uniform force distribution. A limit block 202 is provided on the upper end face of the lifting plate 203, and a support seat that cooperates with the limit block 202 is provided on the lower end face of the yoke arm 201.

[0069] Alternatively, the gripping plate can be equipped with several hydraulic cylinders on the side facing the segment. After the gripper assembly grips the segment, the gripping plate engages with the inner arc surface of the segment via the hydraulic cylinders. Based on the above technical solutions, this technical solution achieves the engagement between the gripping plate and the inner arc surface of the segment using hydraulic cylinders. Besides reducing the size of the gripping plate, providing more support points on the inner arc surface of the segment, and resulting in more uniform force distribution, this solution can also work in conjunction with the segment rotation posture adjustment cylinder, the segment tilt posture adjustment cylinder, and the locking cylinder to achieve more precise, convenient, and reliable adjustment of the segment's posture.

[0070] A segment assembly machine includes a rotary frame that is axially movable, the rotary frame being connected to a radial moving mechanism, and two linear telescopic devices of the radial moving mechanism being respectively hinged to the two ends of the yoke arm described in any of the above-mentioned gripping mechanisms.

[0071] One objective of this invention is to provide a method for gripping, fixing, and assembling tunnel segments without the need for manual loading and unloading of lifting bolts.

[0072] Initially, the locking cylinder is extended. Then, the radial lifting mechanism of the segment assembly machine lowers the cylinder, inserting the grab head at the bottom of the machine into the segment interface until the pad contacts the segment. Next, the radial lifting mechanism stops, and the locking cylinder retracts, causing the grab head to rise while rotating along the groove. After rising a certain distance, the grab head presses against the inner upper surface of the segment, clamping it onto the grabbing mechanism of the assembly machine. Then, by controlling the segment assembly machine's attitude adjustment cylinder, fine-tuning of the attitude of the segment lifting mechanism and the segments fixed to it is achieved.

[0073] Once the segment is picked up, assembled, and fixed to the already assembled segment, the locking cylinder extends, the lifting head rotates along the groove to release the segment, and then the radial cylinder is controlled to retract, so that the end lifting mechanism of the segment assembly machine can exit the segment and prepare for the picking and assembly of the next segment.

[0074] Specifically, the local structure of the segment assembly machine is as follows: Figure 1 As shown in the figure. 1 represents an assembled tunnel segment; 2 represents the gripping mechanism; and 3 represents a tunnel segment to be assembled. This technical solution only improves the end gripping mechanism of the tunnel segment assembly machine. The radial movement, circumferential rotation, and axial movement of the tunnel segment assembly machine remain unchanged, and therefore will not be elaborated upon here.

[0075] The segment gripping mechanism is shown in the figure below, including a yoke arm 201, a limiting block 202, a gripping plate 203; a pad 204, a locking cylinder 205, a locking cylinder extension rod 206, an upper flange 207, a connecting column 208, a lower flange 209; a gripping head 210, a joint bearing 211, a segment rotation posture adjustment cylinder 215, a segment tilt posture adjustment cylinder 216, and a slider 217.

[0076] Posture adjustment principle: such as Figure 2 and Figure 4 As shown, the locking cylinder 205 inside the yoke arm 201 is mounted in the middle cavity of the yoke arm 201 via a spherical bearing 211. Due to the characteristics of the spherical bearing, it has three degrees of rotational freedom, giving the lifting plate 203 and the tube segment connected to it three degrees of freedom as well. Both the lifting plate 203 and the yoke arm 201 have two cylinder hinge lugs, connecting the lifting plate 203 to the yoke arm 201 via two cylinders. Furthermore, the lifting plate has two limit blocks 202, and the yoke arm 201 has two inclined support seats that cooperate with the limit blocks 202. This structure allows for adjustment of the posture of the lifting plate 203 and the tube segment fixed to it.

[0077] The principle of the grasping mechanism: such as Figure 5 and Figure 6 As shown, the upper flange 207 of the guide assembly is fixed to the spherical bearing 211 and can rotate together with the spherical bearing 211. The end effector gripping mechanism, as shown in the figure below, includes a locking cylinder extension rod 206; the upper flange 207 of the guide assembly; connecting posts 208; the lower flange 209 of the guide assembly; and the gripping head 210. The lower flange 209 of the guide assembly is connected to the upper flange 207 of the guide assembly via four connecting posts 208. Furthermore, after the lower flange 209 and the upper flange 207 of the guide assembly are connected via the connecting posts 208, the resulting guide groove can accommodate the movement of the gripping head 210 within it. The extension and retraction of the locking cylinder 205 drives the locking cylinder extension rod 206 and the gripping head 210 to rotate and move up and down.

[0078] like Figure 7 As shown, this is the posture in which the gripping mechanism fixes the segment onto the gripping plate 203. The gripping head 210 is inserted into the segment interface 4, the locking cylinder 205 retracts, driving the gripping head 210 to rise and rotate, and finally, the segment is fixed onto the gripping plate 203.

[0079] like Figures 8-11 As shown, this is a segment adapted to the gripping mechanism. This segment changes the traditional bolt hole interface form, with a segment interface 4 opened on the inner arc surface. The upper port of the segment interface 4 is smaller than the internal size, for the insertion and rotation of the gripping head 210.

[0080] In addition, the depth of the groove at the segment interface can be reduced by using the radial linear telescopic device of the linkage segment assembly machine and the telescopic movement of the locking cylinder 205.

[0081] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0082] The above content shows and describes the basic principles, main features, and beneficial effects of the present invention. The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A gripping mechanism, characterized in that: It includes a yoke arm connected to a locking cylinder, a grab plate connected below the yoke arm, a guide assembly passing through the grab plate, and a grab head for engaging with the grab interface at one end of the locking cylinder extension rod passing through the guide assembly. When the locking cylinder extension rod extends and retracts, the grab head extends, retracts, and rotates synchronously. The guide assembly includes an upper cylinder connected to the yoke arm, a lower guide surface at the lower end of the upper cylinder, a lower cylinder connected to the upper cylinder, an upper guide surface at the upper end of the lower cylinder that is consistent with and spaced apart from the lower guide surface, a locking cylinder extension rod that interlocks with the upper and lower cylinders, and a slider located between the lower guide surface and the upper guide surface connected to the locking cylinder extension rod. The grab-and-lift structure is a non-rotating body. Several hydraulic cylinders are installed on the side of the grabbing plate facing the tunnel segment. When the grabbing head enters the grabbing interface, the grabbing plate is engaged with the inner arc surface of the tunnel segment through the hydraulic cylinders.

2. The gripping mechanism according to claim 1, characterized in that: The guide assembly includes a cylindrical body connected to the yoke arm. A circumferentially arranged guide groove is provided on the outer wall of the cylindrical body. The locking cylinder extension rod is inserted into the cylindrical body and is connected to a slider that slides in cooperation with the guide groove.

3. The gripping mechanism according to claim 2, characterized in that: The guide groove is arranged end to end around the circumferential direction of the cylindrical body, or the guide groove is set as a segment along the circumferential direction of the cylindrical body.

4. The gripping mechanism according to any one of claims 1-3, characterized in that: The slider is connected to the extension rod of the locking cylinder via a fixed sleeve, and at least two sliders are provided on the fixed sleeve.

5. The gripping mechanism according to claim 4, characterized in that: The upper cylinder is connected to the yoke arm via an upper flange, and the lower cylinder is connected to a lower flange opposite to the upper flange. The grab plate is located between the upper flange and the lower flange, and the grab plate has a central hole through which the upper cylinder and / or the lower cylinder pass. The upper flange and the lower flange are connected by a connecting structure.

6. The gripping mechanism according to claim 5, characterized in that: The connection structure includes a plurality of connecting posts arranged around the central hole. The two ends of the connecting posts are respectively connected to the upper flange and the lower flange. The grab plate is provided with guide holes that fit with the connecting posts with a clearance.

7. The gripping mechanism according to claim 6, characterized in that: The guide holes are distributed at equal angles around the central hole, and the distance between each guide hole and the central hole is the same.

8. The gripping mechanism according to any one of claims 1-3 and 5-7, characterized in that: Both the locking cylinder and the guide assembly are hinged to the yoke arm.

9. The gripping mechanism according to claim 8, characterized in that: The locking cylinder is mounted in the cavity of the yoke arm via a spherical bearing, the extension rod of the locking cylinder extends out of the cavity of the yoke arm, and the guide assembly is connected to the spherical bearing.

10. The gripping mechanism according to claim 9, characterized in that: A segment tilting attitude adjustment cylinder is hinged between the yoke arm and the lifting plate. The segment tilting attitude adjustment cylinder is tilted vertically to the length direction of the yoke arm.

11. The gripping mechanism according to any one of claims 1-3, 5-7, and 9-10, characterized in that: A segment rotation attitude adjustment cylinder is hinged between the yoke arm and the lifting plate, and the segment rotation attitude adjustment cylinder is set along the length direction of the yoke arm.

12. The gripping mechanism according to claim 11, characterized in that: The gripping plate has several pads on the side facing the tube segment. The lower end face of each pad forms an arc shape. When the gripping head enters the gripping interface, the gripping plate is engaged with the inner arc surface of the tube segment through the pads.

13. The gripping mechanism according to claim 12, characterized in that: The pad is an elastic pad, the upper end face of the grabbing plate is provided with a limit block, and the lower end face of the yoke arm is provided with a support seat that cooperates with the limit block.

14. A segment assembly machine, comprising a rotary frame arranged for axial movement, the rotary frame being connected to a radial movement mechanism, characterized in that: The two linear telescopic devices of the radial moving mechanism are respectively hinged to the two ends of the yoke arm in any one of claims 1-13.

Images