Shield segment gripping device and shield segment erector

Abstract

The present application relates to a shield segment grabbing device and a shield segment assembling machine, the shield segment grabbing device comprising a base (94) and a segment connecting assembly (99) mounted on the base (94), the segment connecting assembly (99) comprising: a threaded connecting piece (996) configured to be rotatable relative to the base (94) to be screwed into a threaded hole on a shield segment, a connecting end of the threaded connecting piece (996) screwed into the threaded hole being configured to be freely swingable relative to any orientation of the circumference of the threaded connecting piece (996) relative to the base (94); and a connecting piece driving component (994) configured to drive the threaded connecting piece (996) to rotate relative to the base (94) to screw the threaded connecting piece (996) into the threaded hole of the segment.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine (TBM) equipment technology, and more specifically, to a TBM segment grabbing device and a TBM segment assembly machine. Background Technology

[0002] Segment assembly is a crucial step in tunnel construction. Currently, the gripping devices used in assembly machines are mainly divided into two types: vacuum suction cup type and mechanical type. Vacuum suction cup type has a complex structure, high cost, and low tolerance for error; if the vacuum level is insufficient, the segments may detach, causing serious consequences.

[0003] Traditional mechanical tunnel segment assemblers mostly rely on manual assistance for installation. Before grabbing each segment, lifting spikes need to be manually installed in the center hole of the segment. Then, an operator remotely controls the position of the grabbing head and inserts the lifting spikes into the assembler from the side. After assembly, the segments are then disassembled. This process is cumbersome, time-consuming, requires additional tooling, necessitates manual access, and carries low safety, significantly limiting the construction efficiency of the tunnel boring machine and increasing costs. Summary of the Invention

[0004] The present invention aims to provide a shield tunnel segment grabbing device and a shield tunnel segment assembly machine to improve the problems of high labor intensity and low efficiency caused by manual assistance in the installation of tunnel segments in the prior art.

[0005] According to one aspect of the present invention, a shield tunnel segment gripping device is provided. The shield tunnel segment gripping device includes a base and a segment connection assembly mounted on the base. The segment connection assembly includes:

[0006] A threaded connector is configured to rotatably screw into a threaded hole on a tunnel segment relative to the base; the connecting end of the threaded connector that screws into the threaded hole is configured to swing freely in any circumferential direction relative to the base; and

[0007] The connector drive component is configured to drive the threaded connector to rotate relative to the base.

[0008] In some embodiments, the threaded connector is configured to move relative to the base along the axial direction of the threaded connector to screw into or out of the threaded hole during rotation.

[0009] In some embodiments, the segment connection assembly includes:

[0010] First load-bearing component,

[0011] A second load-bearing member, connected to the first load-bearing member and configured to pivot relative to the load-bearing member about a first axis, the first axis being perpendicular to the axis of the threaded connection; and

[0012] A third bearing member is connected to the second bearing member to swing with the second bearing member relative to the first bearing member. The third bearing member is configured to rotate about a second axis relative to the second bearing member. The second axis is perpendicular to both the first axis and the axis of the threaded connection.

[0013] In some embodiments, the first support member includes a tubular member, and the second support member is sleeved inside the first support member. A first pin is provided on one of the outer peripheral surface of the second support member and the inner peripheral surface of the tubular member, and a first pin hole is provided on the other. The first pin is rotatably disposed in the first pin hole so that the second support member can swing about a first axis relative to the first support member.

[0014] In some embodiments, the second bearing member includes an annular member, and the third bearing member is sleeved inside the second bearing member. A second pin is provided on one of the outer peripheral surface of the third bearing member and the inner peripheral surface of the annular member, and a second pin hole is provided on the other. The second pin is rotatably disposed in the second pin hole so that the third bearing member can swing about the second axis relative to the second bearing member.

[0015] In some embodiments, the third bearing component includes a threaded sleeve, a threaded connector is threadedly engaged with the threaded sleeve, and a connector drive component is configured to drive the threaded connector to rotate relative to the threaded sleeve so that the threaded connector extends out of or retracts from the threaded sleeve.

[0016] In some embodiments, the threaded connector is provided with a mounting hole extending axially along the threaded connector, and the segment connection assembly further includes a rod-shaped member that is drively connected to the connector drive component and disposed in the mounting hole. The rod-shaped member is anti-rotationally engaged with the threaded connector to drive the threaded connector to rotate. The rod-shaped member extends axially along the threaded connector and is movable axially within the mounting hole along the threaded connector.

[0017] In some embodiments, the cross-section of the rod-shaped member is polygonal, and the cross-section of the mounting hole is consistent with the shape of the cross-section of the rod-shaped member.

[0018] In some embodiments,

[0019] The base is located at one axial end of the threaded connector of the segment connection assembly and is connected to the segment connection assembly.

[0020] The shield tunnel segment grabbing device also includes a lifting drive component, which is connected to the segment connection assembly and configured to drive the segment connection assembly to move axially relative to the base along the threaded connection assembly to lift the shield tunnel segment.

[0021] In some embodiments, the tunnel segment gripping device further includes a gripping plate, which includes a plate-like portion fixedly connected to the base and located at an end of the segment connection assembly axially away from the base along the threaded connection.

[0022] In some embodiments, the tunnel segment grabbing device further includes a limiting component installed at one end of the cylindrical portion near the plate-shaped portion to restrict the segment connecting assembly from moving outward from the cylindrical portion.

[0023] In some embodiments, the tunnel segment gripping device is configured to rotate about a horizontal axis of rotation, and the tunnel segment gripping device further includes an elastic member configured to hold the threaded connection in a direction perpendicular to and intersecting the horizontal axis of rotation.

[0024] According to another aspect of the present invention, a tunnel segment assembly machine is also provided, the tunnel segment assembly machine comprising:

[0025] The rotating component is configured to rotate about a horizontal axis of rotation;

[0026] The aforementioned shield tunnel segment gripping device is connected to a rotating component so that it rotates around a horizontal axis of rotation along with the rotating component.

[0027] In some embodiments, the tunnel segment assembly machine further includes:

[0028] Mounting bracket for mounting the tunnel segment grabbing device.

[0029] Mounting bracket drive component, mounted on rotating component and connected to mounting bracket, is configured to drive mounting bracket to move radially along rotating component.

[0030] In some embodiments,

[0031] The tunnel segment grabbing device is configured to pitch and swing relative to the mounting frame;

[0032] The tunnel segment grabbing device is configured to oscillate relative to the mounting frame about a swing axis extending radially along the rotating component.

[0033] By applying the technical solution of this application, the connecting member driving component can drive the threaded connecting member to rotate relative to the base, so as to screw the threaded connecting member into the threaded hole of the tube segment, thereby realizing the automation of connecting tube segments and improving the problems of high labor intensity and low construction efficiency of manual tube segment connection in the prior art.

[0034] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0036] Figure 1 A schematic diagram of the structure of a tunnel segment assembly machine according to an embodiment of the present invention is shown;

[0037] Figure 2 A three-dimensional structural schematic diagram of the shield segment grabbing device of the shield segment assembly machine according to an embodiment of the present invention is shown;

[0038] Figure 3 A schematic front view of the shield tunnel segment gripping device according to an embodiment of the present invention is shown;

[0039] Figure 4 It shows Figure 3 Schematic diagram of the cross-sectional structure at point AA;

[0040] Figure 5 A side view of the shield tunnel segment gripping device according to an embodiment of the present invention is shown.

[0041] Figure 6 It shows Figure 3 Schematic diagram of the cross-sectional structure at point BB;

[0042] Figure 7 A schematic diagram of the first state of the tunnel segment connection assembly of the shield tunnel segment grabbing device according to an embodiment of the present invention is shown;

[0043] Figure 8 A schematic diagram of the second state of the tunnel segment gripping device according to an embodiment of the present invention is shown.

[0044] Figure 9 This diagram shows a front view of the tunnel segment connection assembly of a shield tunnel segment gripping device according to an embodiment of the present invention.

[0045] Figure 10 It shows Figure 9 Schematic diagram of the cross-sectional structure at point C;

[0046] Figure 11 This diagram shows a front view of the tunnel segment connection assembly of a shield tunnel segment gripping device according to an embodiment of the present invention.

[0047] Figure 12 It shows Figure 9 Schematic diagram of the cross-sectional structure at point DD;

[0048] Figure 13 A schematic diagram of the base of the shield tunnel segment grabbing device according to an embodiment is shown. Detailed Implementation

[0049] 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0050] Figure 1 A schematic diagram of the shield tunnel segment assembly machine of this embodiment is shown, as follows: Figure 1 As shown, the shield tunnel segment assembly machine of this embodiment includes a rotating component 4 configured to rotate about a horizontal rotation axis and a shield tunnel segment gripping device 9 connected to the rotating component 4 to rotate with the rotating component 4 about a horizontal rotation axis.

[0051] The rotating component 4 rotates around a horizontal axis of rotation, which can rotate the shield segment grabbing device 9 to the predetermined installation position for installation, or rotate the shield segment grabbing device 9 to the position for grabbing shield segments.

[0052] During construction, the segments to be installed are a certain distance from their intended installation positions in the direction of tunnel extension. The shield segment assembly machine is configured to move along the main beam 1 of the shield machine. After the shield segment grabbing device 9 grabs the segment, it moves a certain distance along the main beam 1 and then the rotating component 4 rotates a certain angle to move the segment to the intended installation position.

[0053] The main beam 1 of the tunnel boring machine (TBM) is also equipped with guide rails for guiding the movement of the tunnel segment assembler. The tunnel segment assembler also includes a movable frame 2, which is movably mounted on the guide rails. A rotating component 4 is rotatably mounted on the movable frame 2 to move back and forth relative to the main beam 1 with the movable frame 2. An axial movement hydraulic cylinder 3 is configured to drive the tunnel segment assembler to move back and forth horizontally relative to the main beam 1.

[0054] The tunnel segment assembly machine also includes a drive mechanism that drives the rotating component 4 to rotate relative to the moving frame 2 about a horizontal axis of rotation. In some embodiments, the drive mechanism includes a gear ring mounted on the rotating component 4, a gear meshing with the gear ring, and a motor driving the gear. In some embodiments, the drive mechanism further includes a speed reducer connected between the motor and the gear.

[0055] In this embodiment, the tunnel segment assembly machine also includes a mounting frame 6 for supporting the tunnel segment gripping device 9 and a mounting frame drive component 5. The mounting frame drive component 5 is mounted on the rotating component 4 and connected to the mounting frame 6. The mounting frame drive component 5 is configured to drive the mounting frame 6 to move radially along the rotating component 4.

[0056] In some embodiments, the mounting bracket drive component 5 includes a hydraulic cylinder. The cylinder body of the hydraulic cylinder is mounted on the rotary component 4, and the piston rod of the hydraulic cylinder is connected to the mounting bracket 6. During the movement of the piston rod relative to the cylinder body, the mounting bracket 6 is driven to move radially along the rotary component 4.

[0057] The shield segment grabbing device 9 is configured to swing relative to the mounting frame 6 about a swing axis extending radially along the rotating component 4 to adjust the relative position of the shield segment grabbing device 9 with the segment to be grabbed or to adjust the relative angle or position of the grabbed segment with the tunnel wall.

[0058] The tunnel segment assembly machine also includes a first swing hydraulic cylinder 7 for driving the tunnel segment gripping device 9 to swing relative to the mounting frame 6 about a swing axis extending radially along the rotating component 4. One end of the first swing hydraulic cylinder 7 is hinged to the mounting frame 6, and the other end of the first swing hydraulic cylinder 7 is hinged to the tunnel segment gripping device 9. Figure 3 As shown, the shield tunnel segment grabbing device 9 includes a first connecting structure 92 connected to the first swing hydraulic cylinder 7.

[0059] The shield segment grabbing device 9 is configured to pitch and swing relative to the mounting frame 6, that is, the shield segment grabbing device 9 swings relative to the mounting frame 6 in a plane passing through the rotation axis of the rotating component 4, so as to adjust the relative position of the shield segment grabbing device 9 and the segment to be grabbed or adjust the relative angle or position of the grabbed segment and the tunnel wall.

[0060] When the shield segment grabbing device 9 is located above or below the rotating component 4, the shield segment grabbing device 9 swings relative to the mounting frame 6 in a plane passing through the rotation axis of the rotating component 4, that is, it is pitch swing.

[0061] The tunnel segment assembly machine also includes a second swing hydraulic cylinder 8 for driving the tunnel segment gripping device 9 to swing relative to the mounting frame 6 in a plane passing through the rotation axis of the rotating component 4. One end of the second swing hydraulic cylinder 8 is hinged to the mounting frame 6, and the other end is hinged to the tunnel segment gripping device 9. Figure 3 As shown, the shield tunnel segment grabbing device 9 includes a second connecting structure 91 connected to the second swing hydraulic cylinder 8.

[0062] During construction, the tunnel segments to be installed are placed behind the installation location. When the tunnel segment assembly machine needs to grab the tunnel segment to be installed, it first moves backward along the main beam 1 to the position of the tunnel segment to be installed. After the tunnel segment grabbing device 9 grabs the tunnel segment, the tunnel segment assembly machine moves forward along the main beam a predetermined distance. Then, the rotating component 4 rotates relative to the moving frame 2 around the horizontal rotation axis to move the tunnel segment to the predetermined installation position. Then, the angle of the tunnel segment can be adjusted by the first swing hydraulic cylinder 7 or the second swing hydraulic cylinder 8 so that the tunnel segment reaches the predetermined position and angle.

[0063] Combination Figures 2 to 6 As shown in Figure 13, the shield tunnel segment grabbing device 9 includes a base 94 and a segment connection assembly 99 mounted on the base 94. The segment connection assembly 99 includes a threaded connector 996 and a connector drive component 994.

[0064] The tunnel segment gripping device 9 includes a base 94 connected to a mounting frame 6 via a ball bearing 10, allowing the tunnel segment gripping device 9 to swing relative to the mounting frame 6. The outer ring 101 of the ball bearing 10 is mounted on the mounting frame 6, and the inner ring 102 of the ball bearing 10 is connected to the base 94.

[0065] The threaded connector 996 is rotatable relative to the base 94 to screw into a threaded hole on the tunnel segment. The threaded connector 996 is configured to swing freely in any circumferential direction relative to the base 94. The connector drive component 994 is configured to drive the threaded connector 996 to rotate relative to the base 94.

[0066] In this embodiment, the end of the threaded connector 996 furthest from the base 94 is a connecting end for screwing into the threaded hole of the tunnel segment. This connecting end is a free end, and the free end of the threaded connector 996 can swing freely in any circumferential direction. When the free end of the threaded connector 996 is screwed into the threaded hole of the tunnel segment, it can swing freely according to the position of the threaded hole to adapt to the direction of the threaded hole. The shield tunnel segment gripping device 9 does not need to actively adjust the positioning of the tunnel segment with excessive precision. The shield tunnel segment gripping device 9 of this embodiment has higher fault tolerance and better applicability, which is conducive to improving the efficiency of tunnel segment assembly and the safety of construction.

[0067] Combination Figures 9 to 12 As shown, the segment connection assembly 99 includes a first bearing component 991, a second bearing component 992, and a third bearing component 993.

[0068] The second support member 992 is connected to the first support member 991 and is configured to be oscillating about a first axis 997 relative to the first support member 991, the first axis 997 being perpendicular to the axis of the threaded connector 996.

[0069] The third bearing member 993 is connected to the second bearing member 992 to swing with the second bearing member 992 relative to the first bearing member 991. The third bearing member 993 is configured to rotate relative to the second bearing member 992 about a second axis 998, which is perpendicular to the axis of the first axis 997 and the axis of the threaded connector 996.

[0070] The threaded connector 996 swings about a first axis 997 relative to the first support member 991 with the second support member 992, and swings about a second axis relative to the second support member 992 with the third support member 993. This allows the connecting end of the threaded connector 996 to swing in any circumferential direction (angle), thus accommodating angular deviations of the threaded hole of the tube segment relative to the threaded connector 996. The axial direction of the threaded connector 996 is approximately aligned with the radial direction of the rotating member 4.

[0071] In some embodiments, the first support member 991 includes a tubular member, and the second support member 992 is sleeved inside the first support member 991. A first pin is provided on one of the outer peripheral surface of the second support member 992 and the inner peripheral surface of the tubular member, and a first pin hole is provided on the other. The first pin is rotatably disposed in the first pin hole so that the second support member 992 can swing about a first axis 997 relative to the first support member 991.

[0072] In some embodiments, the second support member 992 includes an annular member, and the third support member 993 is sleeved inside the second support member 992. A second pin is provided on one of the outer peripheral surface of the third support member 993 and the inner peripheral surface of the annular member, and a second pin hole is provided on the other. The second pin is rotatably disposed in the second pin hole so that the third support member 993 can swing about the second axis 998 relative to the second support member 992.

[0073] The shield segment gripping device is configured to rotate about a horizontal axis of rotation. The shield segment gripping device also includes an elastic member configured to hold the threaded connector 996 in a direction perpendicular to and intersecting the horizontal axis of rotation. That is, the elastic member is configured to hold the threaded connector 996 in the radial direction of the rotating member 4.

[0074] The elastic component includes a first torsion spring sleeved on the first pin, the first torsion spring being configured to hold the second bearing component 992 radially aligned with the rotating component 4. In some embodiments, there are two first torsion springs, the two first torsion springs pushing the second bearing component 992 in opposite directions, thereby holding the second bearing component 992 radially aligned with the rotating component 4.

[0075] The elastic component includes a second torsion spring sleeved on the second pin, the second torsion spring being configured to hold the third bearing component 993 radially aligned with the rotating component 4. In some embodiments, there are two second torsion springs, the two second torsion springs pushing the third bearing component 993 in opposite directions, thereby holding the third bearing component 993 radially aligned with the rotating component 4.

[0076] In some embodiments, the threaded connector 996 is configured to move axially relative to the base 94 along the threaded connector 996 to screw into or out of the threaded hole during rotation.

[0077] In some embodiments, the third bearing member 993 includes a threaded sleeve, a threaded connector 996 is threadedly engaged with the threaded sleeve, and a connector drive member 994 is configured to drive the threaded connector 996 to rotate relative to the threaded sleeve so that the threaded connector 996 extends out of or retracts from the threaded sleeve.

[0078] In some embodiments, the threaded connector 996 is provided with a mounting hole extending axially along the threaded connector 996, and the segment connection assembly 99 further includes a rod-shaped member 995 that is pulsatorically connected to the connector drive member 994 and disposed in the mounting hole. The rod-shaped member 995 engages with the threaded connector 996 to prevent rotation and drive the threaded connector 996 to rotate. The rod-shaped member 995 extends axially along the threaded connector 996 and is movable axially within the mounting hole along the threaded connector 996.

[0079] The rod-shaped component 995 is slidably disposed in the mounting hole extending axially along the threaded connector 996. As the rod-shaped component 995 rotates in the first direction under the drive of the connector drive component 994, the threaded connector 996 engages with the internal thread of the third bearing component 993 (sleeve). As the threaded connector 996 rotates in the first direction, it extends outward to the outside of the third bearing component 993 and screws into the threaded hole of the tube segment, thereby achieving the connection with the tube segment.

[0080] During the process of the threaded connector 996 moving in a second direction opposite to the first direction under the drive of the connector drive component 994, the threaded connector 996 retracts into the third bearing component 993 due to its engagement with the internal thread of the third bearing component 993 (sleeve). During this process, the threaded connector 996 can be screwed out from the threaded hole of the tube segment. Figure 7 A schematic diagram shows the threaded connector 996 retracting into the third bearing member 993. Figure 8 A schematic diagram of the structure of the threaded connector 996 after it extends from the third bearing member 993 is shown.

[0081] In some embodiments, the connector drive component 994 includes a motor; alternatively, the connector drive component 994 includes an electric motor.

[0082] The connector drive component 994 is located at the end of the threaded connector 996 furthest from the connection end. The shaft of the connector drive component 994 is directly connected to the rod-shaped component 995 to drive the rod-shaped component 995 to rotate, thereby driving the threaded connector 996 to rotate.

[0083] In some embodiments, the connector drive member 994 is fixedly connected to the third support member 993 to oscillate with the third support member 993 about a second axis 998 relative to the second support member 992 and about a first axis 997 relative to the first support member 991. The connector drive member 994 is configured to oscillate with the threaded connector 996.

[0084] In some embodiments, the cross-section of the rod-shaped member 995 is polygonal, and the cross-section of the mounting hole is consistent with the shape of the cross-section of the rod-shaped member 995, so that the rod-shaped member 995 and the threaded connector 996 are anti-rotationally engaged, thereby allowing the rod-shaped member 995 to drive the threaded connector 996 to rotate.

[0085] In some embodiments, the base 94 is disposed at one axial end of the threaded connector 996 of the segment connection assembly 99 and connected to the segment connection assembly 99; the shield segment gripping device further includes a lifting drive component 93, which is connected to the segment connection assembly 99 and configured to drive the segment connection assembly 99 to move relative to the base 94 along the axial direction of the threaded connector 996 to lift the shield segment.

[0086] In some embodiments, the tunnel segment grabbing device further includes a gripping plate 95, which includes a cylindrical portion 951 and a plate-shaped portion 952.

[0087] The cylindrical portion 951 is sleeved on the outside of the segment connecting assembly 99 and fixedly connected to the base 94. The segment connecting assembly 99 is slidably sleeved inside the cylindrical portion 951 so that the segment connecting assembly 99 can move relative to the base 94 along the axial direction of the threaded connector 996. The plate-shaped portion 952 is connected to the end of the cylindrical portion 951 away from the base 94 and is perpendicular to the cylindrical portion 951.

[0088] The base 94 is located at the end of the threaded connector 996 furthest from the connection end, and the lifting drive component 93 is connected to the first bearing component 991 via a lifting connector 98. The lifting drive component 93 is mounted on the base 94. The lifting drive component includes a fixed component fixedly connected to the base 94 and a moving component that moves relative to the fixed component. The moving component is connected to the first bearing component 991 to drive the segment connection assembly 99 to move axially along the threaded connector 996.

[0089] After the threaded connector 996 is screwed into the threaded hole on the tube segment, the lifting drive component 93 drives the tube segment to move toward the gripping plate 95 through the tube segment connection assembly 99, so that the tube segment is fixed against the gripping plate 95.

[0090] In this embodiment, both the base 94 and the fixing component of the lifting drive component 93 are connected to the inner ring 102 of the ball bearing 10. In some embodiments, the lifting drive component 93 includes a hydraulic cylinder. The cylinder body of the hydraulic cylinder is a fixed component, and the piston is a moving component connected to the segment connection assembly 99.

[0091] The cylinder of the lifting drive component 93 is bolted to the base 94. The cylinder of the lifting drive component 93 is fitted with the inner ring 102 of the ball bearing. The shaft of the lifting drive component 93 and the internal lifting connector 98 transmit lifting motion through threads. The lifting drive component 93 drives the segment connecting assembly 99 to make a slight lift relative to the gripping plate 95, thereby achieving the function of fastening the segment.

[0092] The base 94 is fitted with the inner ring of the ball bearing 10. One end of the base 94 is connected to the cylinder of the lifting drive component 93 by bolts, and the other end is connected to the cylindrical part 951 of the gripping plate 95 by bolts, so that the lifting drive component 93 and the gripping plate 95 are fixedly connected and move simultaneously through the inner ring of the ball bearing, thereby adjusting the overall posture of the shield tunnel segment gripping device 9, as shown in Figure 13.

[0093] The gripping plate 95 is connected to the inner ring 102 of the ball bearing 10 and the lifting drive component 93 via the base 94 to form an integral unit. The gripping plate 95 serves as a limiting frame for gripping the tube segment, and slots and holes are cut into it at corresponding positions as needed to install necessary components such as the binocular camera 96 ​​and the laser rangefinder 97.

[0094] The lifting connector 98 connects the moving part of the lifting drive component 93 to the first bearing component 991 of the segment connection assembly 99 to transmit lifting motion. A gap is left between the lifting connector 98 and the base 94.

[0095] The threaded connector 996 of the segment connection assembly 99 is used to connect the segments. The first bearing component 991, the second bearing component 992 and the third bearing component 993 form a cross joint similar to a universal joint to adapt to the orientation of the threaded hole. An elastic body such as a torsion spring is arranged on the joint so that the threaded connector 996 remains centered and facing downward when no external force is applied.

[0096] The first bearing component 991 is connected to the lifting connector 98. The first bearing component 991 restricts rotation and serves as a guide through the guide groove on the cylindrical part 951 of the gripping plate 95. The lifting motion is achieved by the lifting drive component 93. The first bearing component 991 has first pin holes on both sides. The second bearing component 992 has first pins on both sides. The first pins are rotatably disposed in the first pin holes. A first torsion spring is installed on the first pin to push the second bearing component 992 radially toward the rotating component 4.

[0097] The second bearing member 992 is hinged to the first bearing member 991. The second bearing member 992 has second pin holes on both sides in a direction perpendicular to the first pin hole. The third bearing member 993 is provided with a second pin. The second pin is rotatably disposed in the second pin hole. The second pin is equipped with a second torsion spring to push the third bearing member 993 radially toward the rotating member 4.

[0098] The third bearing component 993 is hinged to the second bearing component 992. The first bearing component 991, the second bearing component 992 and the third bearing component 993 form a universal joint. The end of the third bearing component 993 is equipped with a connecting drive component 994 (which can be a motor or hydraulic motor, and a speed reducer can be added if necessary).

[0099] The second supporting component 992 is fitted inside the first supporting component 991, and the third supporting component 993 is fitted inside the second supporting component 992. The diameter of the second supporting component 992 is smaller than the inner diameter of the first supporting component 991, and the diameter of the third supporting component 993 is smaller than the inner diameter of the second supporting component 992. The gaps between the first supporting component 991 and the second supporting component 992, and between the second and third supporting components, determine the swing amplitude of the threaded connector 996. The third supporting component 993 has a threaded hole that engages with the threaded connector 996 to convert the rotational power transmitted by the drive motor into lifting motion.

[0100] The body of the connector drive component 994 is fixedly connected to the third bearing component 993. A square-section long shaft (rod-shaped component 995) is installed on the rotating shaft of the connector drive component 994 to provide torque to the threaded connector 996, completing the extension, retraction and tightening work. A gap is left between the connector drive component 994 and the lifting connector 98 to provide space for fine adjustment of the threaded connector 996.

[0101] The rod-shaped component 995 transmits the torque of the connecting drive component 994 to the threaded connector 996. The cross-section of the rod-shaped component 995 can also be other polygonal shapes. The main purpose of the rod-shaped component 995 is to enable the threaded connector 996 to move up and down while transmitting torque.

[0102] The threaded connector 996 has an external thread, and the thread specification is consistent with the internal thread specification reserved on the tube segment to be assembled. The threaded connector 996 has a square mounting hole in the center. The mounting hole and the square rod-shaped component 995 cooperate to form a sliding pair. When the connector drive component 994 rotates, the rod-shaped component 995 provides torque, and at the same time, the threaded connector 996 moves up and down through the external thread.

[0103] In some embodiments, the tunnel segment gripping device further includes a limiting member 910 installed at one end of the cylindrical portion 951 near the plate portion 952 to restrict the movement of the segment connecting assembly 99 outward from the cylindrical portion 951. The limiting member 910 is connected to the gripping plate 95 by bolts, and has an internal hole, preferably an annular structure, to limit the sliding of the first bearing member 991 along the cylindrical portion 951 of the gripping plate 95.

[0104] The methods for assembling tunnel segments using an intelligent tunnel segment assembly machine include:

[0105] The absolute displacement q1 of the moving frame 2 moving to the position of the threaded hole of the tunnel segment is obtained by the displacement sensor used to detect the translational position of the moving frame 2. The corresponding distance between the moving frame 2 and the threaded hole of the tunnel segment in the axial direction (the extension direction of the tunnel, i.e. the front-back direction) is recorded as d1.

[0106] By detecting the rotation of the rotating component 4 around the horizontal axis using an angle encoder, the rotation amount q2 of the motor driving the rotating component 4 around the horizontal rotation axis is obtained. Then, based on the transmission ratio, the position of the threaded hole of the rotating component 4 corresponding to the threaded connector 996 reaching the center of the tube segment in the circumferential direction is calculated and recorded as d2.

[0107] For the displacement sensor of the mounting bracket drive component 5, the absolute extension amounts q3 and q4 of the hydraulic cylinder are obtained, and the radial position corresponding to the center hole of the segment is recorded as d3. The yoke's tilt angle is further obtained and recorded as φ4. For the displacement sensors of the first swing hydraulic cylinder 7 and the second swing hydraulic cylinder 8 on the side of the yoke, the extension amounts q5 and q6 of the two cylinders are obtained, indirectly obtaining the angle information of the grabbing head and recording it as φ5 and φ6. Based on the above description, the required movement of the end center hole is denoted as q. e =(d1,d2,d3,φ4,φ5,φ6) T The motion of each driving device is q a =(q1,q2,q3,q4,q5,q6) T .

[0108] The assembly machine identifies and positions the target tunnel segment to be assembled at the bottom of the tunnel. Using a binocular camera 96 ​​and a laser rangefinder 97 mounted on the gripping plate 95, it accurately locates the position the assembly machine needs to reach when connecting the threaded holes of the segment, corresponding to feature points on the segment. The machine calculates the feed amount of each motion module in real time and automatically controls the feed to the correct position, ensuring the gripping plate 95 is at the same angle as the segment, at which point the threaded connector 996 approaches the center hole of the segment.

[0109] The placement angle of the tube segment corresponds to three degrees of freedom in rotation, each individually controlled by the mounting bracket drive component 5, the first swing hydraulic cylinder 7, and the second swing hydraulic cylinder 8. The mounting bracket drive component 5 also acts on two quantities, d2 and d3. Let λ represent the operation matrix, and the overall operation formula configured in the controller can be simplified to: q a =λq e .

[0110] The connecting component drive unit 994 starts rotating forward. The torque transmitted through the rod-shaped component 995 causes the threaded connecting component 996 to slowly extend under the threaded connection with the third bearing component 993 until the torque received by the motor reaches the preset torque or number of revolutions (the number of revolutions can be calculated to determine the displacement of the extending or retracting of the suspension pin). At this point, the threaded connecting component 996 is securely connected to the segment. During the connection process, if there is a deviation in the relative angle, the second bearing component 992 and the third bearing component 993 will adaptively rotate a certain angle under the reaction force generated by the segment on the threaded connecting component 996, ensuring that the threaded connecting component 996 is aligned with the center hole of the segment.

[0111] The lifting drive component 93 starts in the forward direction, and through the guide groove between the first bearing component 991 and the gripping plate 95, the entire segment connecting assembly 99 is lifted upward, driving the segment upward and making contact with the gripping plate 95 to generate a fastening effect, preventing the segment from loosening and falling off during transportation.

[0112] The mounting bracket drive component 5, the first swing hydraulic cylinder 7, and the second swing hydraulic cylinder 8 are reset and retracted, so that the gripped segment returns to its upright position.

[0113] Based on the current position of the segment to be assembled, the motor that drives the rotary component 4, the axial movement hydraulic cylinder 3, and the mounting bracket drive component 5 are controlled to transport the segment to the installation position;

[0114] After inserting the inter-segment screws, the lifting drive component 93 reverses and starts to release the segment fasteners. The stress in the universal joint structure inside the segment connection component 99 is released, and the segment position is further adjusted. Under the combined limiting action of the assembly machine and the previous segment, the assembly of the current segment is completed.

[0115] The connector drive component 994 reverses, unscrewing the threaded connector 996 from the threaded hole of the tube segment, so that the next tube segment can be operated immediately.

[0116] The assembly machine is reset to the position before picking up the tunnel segment, and the above steps are repeated to assemble the subsequent tunnel segments.

[0117] The above are merely exemplary embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A shield tunnel segment gripping device, characterized in that, Includes a base (94) and a segment connection assembly (99) mounted on the base (94), the segment connection assembly (99) comprising: A threaded connector (996) is configured to rotatably screw into a threaded hole on a tunnel segment relative to the base (94), the threaded end of the connector (996) screwed into the threaded hole being configured to swing freely in any circumferential direction relative to the base (94); and The connector drive component (994) is configured to drive the threaded connector (996) to rotate relative to the base (94) to screw the threaded connector (996) into the threaded hole of the tube segment. The segment connection assembly (99) includes: First load-bearing component (991). A second support member (992) is connected to the first support member (991) and configured to pivot relative to the first support member (991) about a first axis (997), the first axis (997) being perpendicular to the axial direction of the threaded connector (996); and A third support member (993) is connected to the second support member (992) to swing with the second support member (992) relative to the first support member (991). The third support member (993) is configured to rotate relative to the second support member (992) about a second axis (998), which is perpendicular to both the first axis (997) and the axis of the threaded connector (996). The third bearing component (993) includes a threaded sleeve, the threaded connector (996) is threadedly engaged with the threaded sleeve, and the connector drive component (994) is configured to drive the threaded connector (996) to rotate relative to the threaded sleeve so that the threaded connector (996) extends or retracts from the threaded sleeve. The threaded connector (996) is provided with a mounting hole extending axially along the threaded connector (996). The segment connection assembly (99) further includes a rod-shaped member (995) that is connected to the connector drive component (994) and disposed in the mounting hole. The rod-shaped member (995) is anti-rotationally engaged with the threaded connector (996) to drive the threaded connector (996) to rotate. The rod-shaped member (995) extends axially along the threaded connector (996) and is movable axially along the threaded connector (996) within the mounting hole.

2. The shield tunnel segment gripping device according to claim 1, characterized in that, The threaded connector (996) is configured to move axially relative to the base (94) along the threaded connector (996) to screw into or out of the threaded hole during rotation.

3. The shield tunnel segment gripping device according to claim 1, characterized in that, The first supporting component (991) includes a tubular component, and the second supporting component (992) is sleeved inside the first supporting component (991). A first pin is provided on one of the outer peripheral surface of the second supporting component (992) and the inner peripheral surface of the tubular component, and a first pin hole is provided on the other. The first pin is rotatably disposed in the first pin hole so that the second supporting component (992) can swing relative to the first supporting component (991) around a first axis (997).

4. The shield tunnel segment gripping device according to claim 1, characterized in that, The second bearing member (992) includes an annular component, and the third bearing member (993) is sleeved inside the second bearing member (992). A second pin is provided on one of the outer peripheral surface of the third bearing member (993) and the inner peripheral surface of the annular component, and a second pin hole is provided on the other. The second pin is rotatably provided in the second pin hole so that the third bearing member (993) can swing relative to the second bearing member (992) around the second axis (998).

5. The shield tunnel segment gripping device according to claim 1, characterized in that, The cross-section of the rod-shaped component (995) is polygonal, and the cross-section of the mounting hole is consistent with the shape of the cross-section of the rod-shaped component (995).

6. The shield tunnel segment gripping device according to claim 1, characterized in that, The base (94) is disposed at one end of the segment connection assembly (99) along the axial direction of the threaded connector (996) and is connected to the segment connection assembly (99). The shield tunnel segment grabbing device further includes a lifting drive component (93), which is connected to the segment connection assembly (99) and configured to drive the segment connection assembly (99) to move axially relative to the base (94) along the threaded connector (996) to lift the shield tunnel segment.

7. The shield tunnel segment gripping device according to claim 6, characterized in that, It also includes a gripping plate (95), which includes a plate-shaped portion (952) and a cylindrical portion (951) located at one end of the segment connection assembly (99) along the axial direction of the threaded connector (996) away from the base (94) and fixedly connected to the base (94). The cylindrical portion (951) is sleeved outside the segment connection assembly (99) and fixedly connected to the base (94). The segment connection assembly (99) is slidably sleeved inside the cylindrical portion (951) so that the segment connection assembly (99) can move relative to the base (94) along the axial direction of the threaded connector (996).

8. The shield tunnel segment gripping device according to claim 7, characterized in that, It also includes a limiting member (910) installed at one end of the cylindrical portion (951) near the plate portion (952) to restrict the segment connection assembly (99) from moving out of the cylindrical portion (951).

9. The shield tunnel segment gripping device according to claim 1, characterized in that, The shield segment gripping device is configured to rotate about a horizontal axis of rotation, and the shield segment gripping device also includes an elastic component configured to hold the threaded connector (996) in a direction perpendicular to and intersecting the horizontal axis of rotation.

10. A shield tunnel segment assembly machine, characterized in that, include: The rotating component (4) is configured to rotate about a horizontal axis of rotation; The shield segment gripping device (9) according to any one of claims 1 to 9, wherein the shield segment gripping device (9) is connected to the rotating component (4) to rotate with the rotating component (4) about a horizontal rotation axis.

11. The shield tunnel segment assembly machine according to claim 10, characterized in that, Also includes: Mounting bracket (6) for mounting the tunnel segment grabbing device (9) thereon. Mounting bracket drive component (5) is mounted on the rotating component (4) and connected to the mounting bracket (6), the mounting bracket drive component (5) being configured to drive the mounting bracket (6) to move radially along the rotating component (4).

12. The shield tunnel segment assembly machine according to claim 11, characterized in that, The shield segment grabbing device (9) is configured to pitch and swing relative to the mounting frame (6); The shield segment grabbing device (9) is configured to swing relative to the mounting frame (6) about a swing axis extending radially along the rotating component (4).

Images