Segment longitudinal joint member mounting device, tunneling machine, and segment longitudinal joint member mounting method

Abstract

This invention discloses a segment longitudinal joint component installation device, a tunneling machine, and a segment longitudinal joint component installation method, solving the technical problems of poor positioning accuracy and high safety risks in the manual installation of segment longitudinal joint components in the prior art. The segment longitudinal joint component installation device includes a multi-degree-of-freedom manipulator, which is equipped with a propulsion mechanism for gripping and pushing the segment longitudinal joint component; the tunneling machine includes the segment longitudinal joint component installation device; and the segment longitudinal joint component installation method uses the segment longitudinal joint component installation device. Compared with the prior art, the technical solution disclosed in this invention solves the problems of poor positioning accuracy and high safety risks in the manual installation of segment longitudinal joint components. Furthermore, by installing a manipulator inside the shield, segment longitudinal joint components can be installed while segments are being assembled, improving work efficiency.

Description

Technical Field

[0001] This invention relates to the field of tunnel lining technology, and in particular to a tunnel segment longitudinal joint component installation device, a tunneling machine, and a tunnel segment longitudinal joint component installation method. Background Technology

[0002] Segment lining is a crucial step in tunnel boring machine (TBM) construction. Currently, most longitudinal joints of the segments are bolted, requiring manual installation and tightening of bolts, which is labor-intensive, inefficient, and impacts construction progress. The installation of segment connection structures and components has become a significant factor restricting the realization of rapid segment assembly and automated construction.

[0003] In recent years, with technological advancements, research on novel segment connection structures has emerged. For example, application number 202210380907.X describes a multi-point connection structure for longitudinal joints of shield tunnel segments without handholes. This structure includes a first shield segment, a second shield segment, a first C-shaped component, a second C-shaped component, and a connecting assembly for connecting the first and second shield segments. The first and second shield segments are connected circumferentially along the tunnel. The first C-shaped component is embedded within the first shield segment, and the second C-shaped component is embedded within the second shield segment. The first C-shaped component has a first connecting groove extending longitudinally along the tunnel, and the second C-shaped component has a second connecting groove extending longitudinally along the tunnel. The connecting assembly extends longitudinally along the tunnel, with one end of the connecting assembly extending into the first connecting groove and the other end extending into the second connecting groove.

[0004] While the aforementioned technical solutions can achieve boltless connection of longitudinal joints in tunnel segments, their components are complex and installation is difficult. Often, after all segments are assembled, installation and jacking are carried out manually using scaffolding. This results in poor positioning accuracy, high safety risks, and low installation efficiency, and is currently not mature enough for tunnel segment lining. Therefore, it is necessary to design a method, device, and tunnel boring machine for installing longitudinal joint components in tunnel segments.

[0005] It should be noted that the above technical information is intended only to enhance the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any way implying that the above technical information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] To address the shortcomings in the aforementioned background technology, this invention proposes a segment longitudinal joint component installation device, a tunneling machine, and a segment longitudinal joint component installation method, which solves the technical problems of poor positioning accuracy and high safety risks in the manual installation of segment longitudinal joint components in the prior art.

[0007] The technical solution of this application is as follows:

[0008] A segment longitudinal joint component installation device includes a multi-degree-of-freedom manipulator, wherein the multi-degree-of-freedom manipulator is equipped with a propulsion mechanism for clamping and pushing the segment longitudinal joint component.

[0009] Preferably, the propulsion mechanism is sequentially connected to a pitching mechanism, a lifting mechanism, a second slewing mechanism, and a first slewing mechanism.

[0010] Preferably, the first rotary mechanism includes a first fixed member and a first rotating member that are connected by transmission, and the second rotary mechanism includes a second fixed member and a second rotating member that are connected by rotation, wherein the first rotating member is connected to the second fixed member.

[0011] Preferably, the pitching mechanism and the lifting mechanism are integrated linkage mechanisms. The integrated linkage mechanism includes a first linear drive member and a rod hinged between the second rotating member and the propulsion mechanism. The second linear drive member is hinged between the rod and the propulsion mechanism.

[0012] Preferably, one end of the first linear drive member and one end of the rod are respectively hinged to the two sides of the second rotating member, and the other end of the first linear drive member and the other end of the rod are both hinged to the same side of the propulsion mechanism.

[0013] Preferably, the propulsion mechanism includes a base connected to a pitching mechanism and / or a lifting mechanism. The base is slidably connected to the propulsion beam via a third linear drive member. An electric lead screw and a first clamp located at the end are provided on the propulsion beam. The electric lead screw is connected to a second clamp that is axially corresponding to the first clamp and slides along the propulsion beam.

[0014] Preferably, the second clamp includes a fourth linear drive member and / or a fifth linear drive member disposed opposite to each other, and the telescopic ends of the fourth linear drive member and / or the fifth linear drive member are respectively vertically connected to guide rods that are opposite to each other and face the first clamp.

[0015] Preferably, the lifting mechanism includes an inner core and an outer kit that are plugged into each other, and an eighth linear drive is provided between the inner core and the outer kit. The second rotation mechanism includes a joint bearing provided between the outer kit and the propulsion mechanism, and a ninth linear drive is laterally hinged between the outer kit and the propulsion mechanism. The pitching mechanism includes a tenth linear drive that is longitudinally hinged between the outer kit and the propulsion mechanism.

[0016] Preferably, the propulsion mechanism includes a housing connected to the pitching mechanism, the housing having a through channel, and a row of rolling shafts for pushing the longitudinal seam components of the tube segments being arranged in the channel, the rolling shafts being rotated by a first rotary drive component.

[0017] Preferably, the first fixing member is a track, and a toothed belt formed by a plurality of guide wheels is provided on the outer circumferential surface of the track. The first rotating member includes a wheel set that rolls with the inner and outer circumferential surfaces of the track respectively, and a second rotary drive member that meshes with the toothed belt.

[0018] Preferably, the first fixing member includes a third rotary drive member and a support roller, and the first rotating member includes a large gear ring that meshes with the third rotary drive member and rolls with the support roller.

[0019] A tunneling machine includes a shield body and a propulsion cylinder and a segment assembly machine connected to the shield body, wherein the shield body is connected to the segment longitudinal joint component installation device described in any of the above claims.

[0020] A method for installing longitudinal joint components of tunnel segments, wherein the tunnel segments are provided with grooves for installing the longitudinal joint components, and the longitudinal joint components of tunnel segments are installed using any of the aforementioned longitudinal joint component installation devices or the tunneling machine, including installation mode one: the tunnel segment assembly and the longitudinal joint component installation are carried out simultaneously; installation mode two: the longitudinal joint components of tunnel segments are installed after the tunnel segment assembly is completed; and installation mode three: after the tunnel segment assembly is completed, the longitudinal joint components of tunnel segments are installed by first advancing the tunnel segment with a hydraulic cylinder.

[0021] Compared with the prior art, the technical solution disclosed in this invention solves the problems of poor positioning accuracy and high safety risks in the manual installation of longitudinal joint components of tunnel segments. At the same time, by setting up a robotic arm in the shield body, the longitudinal joint components of tunnel segments can be installed while the segments are being assembled, thus improving work efficiency. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a partial structural schematic diagram of one embodiment of the tunneling machine in this invention;

[0024] Figure 2 This is a schematic diagram of the connection between adjacent segments and the longitudinal joint component of the segments in this invention;

[0025] Figure 3 for Figure 1 Left view of the installation device for the longitudinal joint component of the middle segment;

[0026] Figure 4 This is a partial cross-sectional view of the first fastener in this invention;

[0027] Figure 5 This is a partially enlarged view of one embodiment of the first rotary mechanism in this invention;

[0028] Figure 6 This is a schematic diagram of one embodiment of the multi-degree-of-freedom manipulator in this invention;

[0029] Figure 7 for Figure 6 Enlarged view of the propulsion mechanism;

[0030] Figure 8 for Figure 7 Top view;

[0031] Figure 9 for Figure 6 Right view of the first fixture in the middle;

[0032] Figure 10 for Figure 6 Right view of the second fixture;

[0033] Figure 11 This is a process diagram of an installation method for the longitudinal joint component of the tunnel segment in this invention;

[0034] Figure 12 This is a partial structural schematic diagram of one embodiment of the tunneling machine in this invention;

[0035] Figure 13 for Figure 12 Left view of the installation device for the longitudinal joint component of the middle segment;

[0036] Figure 14 for Figure 13 Enlarged schematic diagram of the center support roller;

[0037] Figure 15 for Figure 13 A partially enlarged view of the first fixing component;

[0038] Figure 16 for Figure 13 A cross-sectional structural schematic diagram of one embodiment of a multi-degree-of-freedom manipulator;

[0039] Figure 17 for Figure 16 The right view.

[0040] Explanation of icon numbers:

[0041] Shield body 1, support propulsion cylinder 2, segment assembly machine 3, tunnel segment 5, groove 5-0, segment longitudinal joint component 6;

[0042] First robotic arm 4:

[0043] Track 4-1, guide wheel 4-11;

[0044] First roller group 4-21, second roller group 4-22, third roller group 4-23, first motor 4-24, pinion 4-25;

[0045] Rotary mechanism 4-3;

[0046] First base 4-41, lifting boom 4-42, second base 4-43, hydraulic cylinder one 4-44, hydraulic cylinder two 4-45;

[0047] Propulsion beam 4-501, first slider 4-502, second slider 4-503, third slider 4-504, cylinder seat 1 4-505, cylinder seat 2 4-506, cylinder 3 4-507, second motor 4-508, first coupling 4-509, lead screw 4-510, first bearing 4-511, second bearing 4-512;

[0048] First clamp 4-513, small oil cylinder one 4-513-1, small oil cylinder two 4-513-2;

[0049] Second clamp 4-514, small oil cylinder three 4-514-1, small oil cylinder four 4-514-2, nut 4-514-3;

[0050] Second robotic arm 7:

[0051] Slewing frame 7-1, large gear ring 7-11;

[0052] Support roller 7-2, rolling wheel 7-21, third base 7-22, pin 7-23;

[0053] Drive unit 7-3, third motor 7-31, pinion 7-32, first mounting base 7-33;

[0054] Telescopic swing mechanism 7-4, frame 7-401, telescopic inner cylinder 7-402, telescopic outer cylinder 7-403, first cylinder seat 7-404, second cylinder seat 7-405, third cylinder seat 7-406, fourth cylinder seat 7-407, first cylinder 7-408, spherical bearing 7-409, cover plate 7-410, bolt 7-411;

[0055] Second propulsion mechanism 7-5, fifth cylinder seat 7-501, sixth cylinder seat 7-502, second cylinder 7-503, third cylinder 7-504, rolling shaft 7-505, first bearing 7-506, second bearing 7-507, second coupling 7-508, fourth motor 7-509, second mounting base 7-510. Detailed Implementation

[0056] 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 core concept of the present invention and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0058] It should be noted that, in the description of this application, unless otherwise stated, "several" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "axial," "radial," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0059] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0060] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0061] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0062] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0063] A segment longitudinal joint component installation device, such as Figure 1 , Figure 3 , Figure 12 and Figure 13 As shown, the device includes a multi-degree-of-freedom (DOF) manipulator, which is equipped with a propulsion mechanism for gripping and pushing the longitudinal seam component 6 of the tunnel segment. Preferably, the multi-degree-of-freedom manipulator includes five degrees of freedom: rotation along the tunnel axis, rotation relative to the tunnel radial axis, extension / retraction relative to the tunnel radial direction, pitch relative to the tunnel radial surface, and extension / retraction along the propulsion direction of the propulsion mechanism. The movement of each degree of freedom is achieved through an automatic drive mechanism, without limiting the connection sequence and method between the motion mechanisms controlling each degree of freedom. In addition to the above-mentioned implementation with five degrees of freedom, the multi-degree-of-freedom manipulator can also be implemented with fewer or more degrees of freedom.

[0064] Based on the above-described embodiments, in a preferred embodiment of the segment longitudinal joint component installation device, the propulsion mechanism is sequentially connected to a pitching mechanism, a lifting mechanism, a second slewing mechanism, and a first slewing mechanism. In this embodiment, the propulsion mechanism, pitching mechanism, lifting mechanism, second slewing mechanism, and first slewing mechanism respectively realize the degrees of freedom described in the above embodiments. The first slewing mechanism can realize the degree of freedom of rotation along the tunnel axis, the second slewing mechanism can realize the degree of freedom of rotation relative to the tunnel radial axis, the lifting mechanism can realize the degree of freedom of extension and retraction relative to the tunnel radial direction, the pitching mechanism can realize the degree of freedom of pitch relative to the tunnel radial surface, and the propulsion mechanism can realize the degree of freedom of extension and retraction along the propulsion direction.

[0065] Meanwhile, this embodiment provides the connection relationship of the mechanisms that realize each degree of freedom, namely, the first slewing mechanism, the second slewing mechanism, the lifting mechanism, the pitching mechanism, and the propulsion mechanism are connected in sequence. The first slewing mechanism can drive the second slewing mechanism, the lifting mechanism, the pitching mechanism, and the propulsion mechanism to rotate synchronously along the tunnel axis. The second slewing mechanism can drive the lifting mechanism, the pitching mechanism, and the propulsion mechanism to rotate synchronously relative to the tunnel radial axis. The lifting mechanism can drive the pitching mechanism and the propulsion mechanism to extend and retract synchronously relative to the tunnel radial direction. The pitching mechanism can drive the propulsion mechanism to pitch relative to the tunnel radial surface.

[0066] Based on the above embodiments, as a preferred embodiment of the segment longitudinal seam component installation device, the first rotary mechanism includes a first fixed member and a first rotating member that are connected by transmission, and the second rotary mechanism includes a second fixed member and a second rotating member that are connected by rotation, wherein the first rotating member is connected to the second fixed member.

[0067] In this embodiment, the first fixing member, the first rotating member, the second fixing member, and the second rotating member all have various structural forms. For example, the first fixing member can be a large gear ring, and the first rotating member can be a pinion moving seat meshing with the large gear ring. The pinion moving seat has its own driving component, which drives the pinion to move along the large gear ring. Alternatively, the first fixing member can be a chain-type fixing frame or a belt-type fixing frame, and the first rotating member can be a moving component connected to a transmission belt or transmission chain. Or, the first fixing member can be a rotary driving component with a pinion, and the first rotating member can be a large gear ring driven by the pinion of the rotary driving component. Similarly, the second fixing member and the second rotating member can also have the same or similar implementation as the above-described embodiments. Of course, other structural forms can also be adopted.

[0068] In addition, when the first rotating member rotates relative to the first fixed member and when the second rotating member rotates relative to the second fixed member, it is preferable to provide a corresponding limiting structure between the two components of the rotating pair so that they can only rotate relative to each other and no other relative movements occur.

[0069] Based on the above embodiments, as a preferred embodiment of the segment longitudinal seam component installation device, the pitching mechanism and the lifting mechanism are integrated linkage mechanisms. The integrated linkage mechanism includes a first linear drive member and a rod hinged between the second rotating member and the propulsion mechanism, and the second linear drive member is hinged between the rod and the propulsion mechanism.

[0070] This embodiment, by using an integrated linkage mechanism, not only simplifies the structure and reduces the overall weight and space occupied by the device, but also allows for pitch motion to be achieved by controlling the extension and retraction of both the first and second linear drive components. When the first and second linear drive components extend and retract synchronously, lifting motion is achieved. Of course, besides using the integrated linkage mechanism for both pitch and lifting, a split structure design can be used to independently achieve lifting and pitch motions. Other linkage mechanism designs can also be used to simultaneously achieve pitch and lifting motions.

[0071] Based on the above embodiments, as a preferred embodiment of the segment longitudinal seam component installation device, one end of the first linear drive member and one end of the rod member are respectively hinged to both sides of the second rotating member, and the other end of the first linear drive member and the other end of the rod member are both hinged to the same side of the propulsion mechanism.

[0072] Based on the above-described embodiments, a preferred embodiment of the segment longitudinal joint component installation device is as follows: Figures 7 to 10 As shown, the propulsion mechanism includes a base connected to a pitching mechanism and / or a lifting mechanism. The base is slidably connected to the propulsion beam 4-501 via a third linear drive member. The propulsion beam 4-501 is provided with an electric lead screw and a first clamp 4-513 located at the end. The electric lead screw is connected to a second clamp 4-514 that corresponds axially to the first clamp 4-513 and slides along the propulsion beam 4-501.

[0073] In this embodiment, when the third linear drive unit is extended or retracted, the push beam 4-501 can move linearly relative to the base. When the electric lead screw is rotated, the second clamp 4-514 can move linearly along the push beam 4-501, thereby changing the distance between it and the first clamp 4-513. The linear movement of the second clamp 4-514 along the push beam 4-501, in conjunction with the clamping and releasing of the first clamp 4-513 and the second clamp 4-514, enables the pushing of the longitudinal seam component 6 of the tunnel segment.

[0074] Based on the above embodiments, as a preferred embodiment of the segment longitudinal seam component installation device, the second clamp 4-514 includes a fourth linear drive member and / or a fifth linear drive member arranged opposite to each other, and the telescopic ends of the fourth linear drive member and / or the telescopic ends of the fifth linear drive member are respectively vertically connected to guide rods that are opposite to each other and face the first clamp 4-513.

[0075] The second clamp 4-514 clamps and releases the longitudinal seam component 6 of the tunnel segment by extending and retracting the linear drive member. Similarly, the first clamp 4-513 also clamps and releases the longitudinal seam component 6 of the tunnel segment by extending and retracting the linear drive member. The second clamp 4-514 includes a sixth linear drive member and / or a seventh linear drive member arranged opposite to each other. That is, both the first clamp 4-513 and the second clamp 4-514 can use one linear drive member or two linear drive members.

[0076] Based on the above-described embodiments, a preferred embodiment of the segment longitudinal joint component installation device is as follows: Figure 16 and Figure 17 As shown, the lifting mechanism includes an inner core and an outer kit that are plugged into each other, and an eighth linear drive is provided between the inner core and the outer kit. The second rotation mechanism includes a joint bearing 7-409 provided between the outer kit and the propulsion mechanism, and a ninth linear drive is laterally hinged between the outer kit and the propulsion mechanism. The pitching mechanism includes a tenth linear drive that is longitudinally hinged between the outer kit and the propulsion mechanism.

[0077] In this embodiment, controlling the extension and retraction of the eighth linear drive component drives the inner core component and the outer sleeve to move axially relative to each other, thereby achieving lifting and lowering motion; controlling the extension and retraction of the ninth linear drive component drives the pushing mechanism to rotate relative to the outer sleeve; controlling the tenth linear drive component drives the pushing mechanism to pitch relative to the outer sleeve. The positions of the outer sleeve and the inner core component can be interchanged; that is, when the inner core component acts as a fixed component, the outer sleeve acts as an actuating component, and when the inner core component acts as an actuating component, the outer sleeve acts as a fixed component. Correspondingly, the structure is adaptively adjusted to match the ninth and tenth linear drive components.

[0078] Based on the above-described embodiments, in a preferred embodiment of the segment longitudinal seam component installation device, the pushing mechanism includes a housing connected to a pitching mechanism. A through channel is provided on the housing, and a row of rolling shafts 7-505 for pushing the segment longitudinal seam component 6 is arranged within the channel. The rolling shafts 7-505 rotate via a first rotary drive component. When the first rotary drive component drives the rolling shafts 7-505 to rotate, the segment longitudinal seam component 6 can be pushed out of the channel under the action of friction. Conversely, when picking up the segment longitudinal seam component 6, the rolling shafts 7-505 can reverse to draw the segment longitudinal seam component 6 into the channel.

[0079] Based on the above-described embodiments, a preferred embodiment of the segment longitudinal joint component installation device is as follows: Figure 4 and Figure 5As shown, the first fixing member is a track 4-1, and a toothed belt formed by a plurality of guide wheels 4-11 is provided on the outer circumferential surface of the track 4-1. The first rotating member includes a wheel set that rolls with the inner and outer circumferential surfaces of the track 4-1 respectively, and a second rotary drive member that meshes with the toothed belt.

[0080] Based on the above-described embodiments, a preferred embodiment of the segment longitudinal joint component installation device is as follows: Figures 13 to 15 As shown, the first fixing member includes a third rotary drive member and a support roller 7-2, and the first rotating member includes a large gear ring 7-11 that meshes with the third rotary drive member and rolls with the support roller 7-2.

[0081] A tunneling machine, such as Figure 1 and Figure 12 As shown, it includes a shield body 1 and a propulsion cylinder 2 and a segment assembly machine 3 connected to the shield body 1. The shield body 1 is connected to the segment longitudinal joint component installation device described in any of the above embodiments.

[0082] As a preferred embodiment of the tunneling machine, such as Figures 1 to 10 As shown, it specifically includes the following structure:

[0083] Shield body 1: supports propulsion cylinder 2, segment assembly machine 3, and first robotic arm 4.

[0084] Propulsion cylinder 2: It is installed inside the shield body 1, with one end connected to the shield body 1 and the other end extending out to contact the tunnel segment 5, providing the reaction force for the tunnel boring machine to excavate.

[0085] Segment assembly machine 3: Set and fixed inside the shield body 1, it realizes the installation and positioning of tunnel segments 5 through rotation, translation, extension, pitching and swinging.

[0086] First robotic arm 4: Set and fixed inside the shield body 1, it achieves the positioning of the longitudinal joint component 6 of the tunnel segment by rotating along the tunnel axis, translating along the tunnel axis, lifting along the tunnel radial surface, pitching along the tunnel radial surface, and rotating along the tunnel radial axis. The longitudinal joint component 6 of the tunnel segment is installed by the sequential action of the propulsion beam, the first clamp and the second clamp.

[0087] Tunnel segment 5: includes several segment blocks 5-i (i=1~n), on which grooves 5-0 are provided for installing segment longitudinal joint components 6, the grooves 5-0 extending along the longitudinal joint of the segment.

[0088] The segment longitudinal joint component 6 comprises several constituent units, which are installed in the groove 5-0 on the tunnel segment 5. The cross-sectional shape matches the groove 5-0 and is polygonal or circular, and the length direction extends along the longitudinal joint of the segment.

[0089] The first robotic arm 4 includes a track 4-1, on which there are several guide wheels 4-11. The guide wheels 4-11 can rotate around their axis. The several guide wheels 4-11 are evenly distributed around the track 4-1 and can mesh with the pinion 4-25 to support the rotating parts and enable them to rotate around the tunnel axis.

[0090] The rotating component includes a first roller group 4-21, a second roller group 4-22, a third roller group 4-23, a first motor 4-24, and a pinion 4-25, and is equipped with a rotary mechanism 4-3. The first roller group 4-21 contacts the upper surface of the track 4-1 and can move relative to it; the second roller group 4-22 contacts the lower surface of the track 4-1 and can move relative to it; the third roller group 4-23 contacts the side of the track and can move relative to it; the output end of the first motor 4-24 is connected to the pinion 4-25; and the first roller group 4-21, the second roller group 4-22, the third roller group 4-23, and the first motor 4-24 are all fixed to the rotating component.

[0091] The slewing mechanism 4-3 includes an inner ring and an outer ring, which can rotate relative to each other. The inner ring is connected to the lifting mechanism, and the outer ring is connected to the rotating component.

[0092] The lifting mechanism, mounted on the slewing mechanism, includes a first base 4-41, a lifting arm 4-42, a second base 4-43, a hydraulic cylinder 1 4-44, and a hydraulic cylinder 2 4-45. The first base 4-41 has two hinge structures at its left and right ends. The lifting arm 4-42 has three hinge structures at its left and right ends and between its two ends. The second base 4-43 has two hinge structures at its left and right ends. The left end of the first base 4-41 is hinged to the left end of the lifting arm 4-42, and the right end of the lifting arm 4-42 is hinged to the second base 4-43.

[0093] Meanwhile, a hydraulic cylinder 4-44 is installed between the first base 4-41 and the second base 4-43, and a hydraulic cylinder 4-45 is installed between the lifting arm 4-42 and the base 4-42. One end of the hydraulic cylinder 4-44 is mounted on the hinge structure of the first base 4-41, and the other end is mounted on the hinge structure between the right end of the lifting arm 4-42 and the second base 4-43. One end of the hydraulic cylinder 4-45 is mounted on the hinge structure in the middle of the two ends of the lifting arm, and the other end is mounted on the hinge structure at the left end of the second base 4-43. When the hydraulic cylinders 4-44 and 4-45 extend and retract, the distance between the hinge points can be increased or decreased, realizing the lifting and lowering of the lifting mechanism, and can also drive the second base 4-43 to pitch in the thrust direction.

[0094] The first propulsion mechanism includes a propulsion beam 4-501, a first slider 4-502, a second slider 4-503, a third slider 4-504, a first cylinder seat 4-505, a second cylinder seat 4-506, a third cylinder 4-507, a second motor 4-508, a first coupling 4-509, a lead screw 4-510, a first bearing 4-511, a second bearing 4-512, a first clamp 4-513, and a second clamp 4-514.

[0095] The propulsion beam 4-501 includes four tracks: top, bottom, left, and right. The first slider 4-502, the second slider 4-503, and the lower left and lower right tracks form a sliding pair, as do the third slider 4-504 and the upper left and upper right tracks. The first slider 4-502, the second slider 4-503, and the second base 4-43 are fixedly connected. A second cylinder seat 4-506 is mounted on the second slider 4-503, and a first cylinder seat 4-505 is mounted on the propulsion beam. One end of a third cylinder 4-507 is connected to the first cylinder seat 4-505, and the other end is connected to the second cylinder seat 4-506. The propulsion beam 4-501 is equipped with a second motor 4-508, a first coupling 4-509, a lead screw 4-510, a first bearing 4-511, and a second bearing 4-512. The first bearing 4-511 and the second bearing 4-512 are fixed inside the propulsion beam. The lead screw 4-510 passes through and connects the first bearing 4-511 and the second bearing 4-512. The output end of the second motor 4-508 is connected to one end of the first coupling 4-509. The first coupling 4-509 is connected to the lead screw 4-510.

[0096] The first clamp 4-513 includes two small hydraulic cylinders, 4-513-1 and 4-513-2, with their center lines coinciding and their cylinder rods extending in opposite directions. When the cylinder rods retract, the distance between the two cylinder rods is L1. The second clamp 4-514 includes two small hydraulic cylinders, 4-514-1 and 4-514-2, and a nut 4-514-3. The center lines of the two cylinders coincide, and their cylinder rods extend in opposite directions, with the cylinder rod ends extending along the pushing direction. When the cylinders extend, the distance formed by the extended ends of the two cylinder rods is L2, where L1 > L2. The nut 4-514-3 is installed below the second clamp 4-514 and forms a kinematic pair with the lead screw 4-510.

[0097] The five degrees of freedom of the first robotic arm 4 are implemented as follows:

[0098] Rotation along the tunnel axis: The first roller group 4-21 and the second roller group 4-22 of the rotating part are in contact with the upper and lower end faces of the track 4-1 and can move relative to each other. The first motor 4-24 drives the pinion 4-25 to rotate and mesh with several guide wheels 4-11 on the track 4-1, which drives the rotating part to rotate along the tunnel axis.

[0099] Lifting along the radial surface of the tunnel: When the lifting mechanism cylinders 4-44 and 4-45 extend and retract, the distance between the hinge points can be increased or decreased, thereby realizing the lifting and lowering of the lifting mechanism.

[0100] Pitching along the radial plane of the tunnel: When the lifting mechanism cylinders 4-44 and 4-45 operate individually or simultaneously, they can drive the second base 4-43 to pitch along the radial plane of the tunnel.

[0101] Rotation along the radial axis of the tunnel: Rotation mechanism 4-3 includes an inner ring and an outer ring, which can rotate relative to each other to achieve rotation along the radial axis of the tunnel.

[0102] Telescopic movement along the propulsion direction of the propulsion mechanism: The second clamp 4-514 moves linearly along the propulsion beam 4-501, and in conjunction with the clamping and releasing of the first clamp 4-513 and the second clamp 4-514, the longitudinal seam component 6 of the tunnel segment can be pushed.

[0103] As another preferred embodiment of the tunneling machine, such as Figures 12 to 16 As shown, it specifically includes the following structure:

[0104] Shield body 1, supporting propulsion cylinder 2, segment assembly machine 3, second robotic arm 7;

[0105] The propulsion cylinder 2 is installed inside the shield body 1. One end is connected to the shield body 1, and the other end extends out to contact the tunnel segment 5, providing the reaction force for the tunnel boring machine to excavate.

[0106] Segment assembly machine 3: Set and fixed inside the shield body 1, it realizes the installation and positioning of tunnel segments 5 through rotation, translation, extension, pitching and swinging.

[0107] The second robotic arm 7 is set up and fixed inside the shield body 1. It achieves the positioning of the longitudinal joint component 6 of the tunnel segment by rotating along the tunnel axis, translating along the tunnel axis, lifting along the tunnel radial surface, pitching along the tunnel radial surface, and rotating along the tunnel radial axis. It also achieves the installation of the longitudinal joint component 6 of the tunnel segment by rotating and rubbing the rolling shaft 7-505.

[0108] The tunnel segment 5 includes several segment blocks 5-i (i=1~n), on which grooves 5-0 are provided for installing the longitudinal joint member 6 of the segment. The grooves 5-0 extend along the longitudinal joint of the segment.

[0109] The segment longitudinal joint component 6 comprises several constituent units, which are installed in the groove 5-0 on the tunnel segment 5. The cross-sectional shape matches the groove 5-0 and is polygonal or circular, and the length direction extends along the longitudinal joint of the segment. Figure 10 Robotic arms, assembly machines, and tunnel boring machines.

[0110] The second robotic arm 7 includes: a rotary frame 7-1, including a large gear ring 7-11, the large gear ring 7-11 being fixed to the end face of the rotary frame 7-1; and a support wheel 7-2, including a rolling wheel 7-21, a third base 7-22, and a pin 7-23.

[0111] The third base 7-22 is fixed on the shield body 1. The rolling wheel 7-21 is connected to the third base 7-22 through the pin 7-23. The rolling wheel 7-21 can rotate around the axis of the pin 7-23. Several support wheels 7-2 are evenly distributed in the circumferential direction of the rotating frame 7-1. The rolling wheel 7-21 is tangent to the outer circle of the rotating frame 7-1 and can roll.

[0112] The drive device 7-3 includes a third motor 7-31, a pinion 7-32, and a first mounting base 7-33. The third motor 7-31 is fixed to the first mounting base 7-33 and connected to the pinion 7-32. The first mounting base 7-33 is fixed to the shield body 1. The pinion 7-32 meshes with the large gear ring 7-11.

[0113] The telescopic swing mechanism 7-4, which is connected to the rotary frame 7-1, includes a frame 7-401, a telescopic inner cylinder 7-402, a telescopic outer cylinder 7-403, a first cylinder seat 7-404, a second cylinder seat 7-405, a third cylinder seat 7-406, a fourth cylinder seat 7-407, a first cylinder 7-408, a spherical bearing 7-409, a cover plate 7-410, and bolts 7-411.

[0114] A telescopic inner cylinder 7-402 and a first cylinder seat 7-404 are fixed on the frame 7-401. The telescopic inner cylinder 7-402 is located inside the telescopic outer cylinder 7-403 and can move along the axis of the telescopic inner cylinder 7-402 and the telescopic outer cylinder 7-403. A second cylinder seat 7-405, a third cylinder seat 7-406, and a fourth cylinder seat 7-407 are fixed on the telescopic outer cylinder 7-403. A first cylinder 7-408 is connected to the first cylinder seat 7-404 and the second cylinder seat 7-405. This combination can have several cylinders. A cover plate 7-410 is provided at the lower part of the telescopic outer cylinder 7-403. A spherical bearing 7-409 is fixed inside the telescopic outer cylinder 7-403 by the cover plate 7-410 and bolts 7-411. The outer ring of the spherical bearing is connected to the telescopic outer cylinder 7-403, and the inner ring is connected to the second propulsion mechanism 7-5.

[0115] The second propulsion mechanism 7-5 is located below the telescopic swing mechanism 7-4 and is connected to the inner ring of the spherical bearing. The second propulsion mechanism 7-5 includes a fifth cylinder seat 7-501, a sixth cylinder seat 7-502, a second cylinder 7-503, a third cylinder 7-504, a rolling shaft 7-505, a first bearing 7-506, a second bearing 7-507, a coupling 7-508, a fourth motor 7-509, and a second mounting base 7-510.

[0116] The fifth cylinder seat 7-501, the sixth cylinder seat 7-502, and the second mounting seat 7-510 are fixed on the second propulsion mechanism 7-5. The second cylinder 7-503 is connected between the third cylinder seat 7-406 and the fifth cylinder seat 7-501. The third cylinder 7-504 is connected between the sixth cylinder seat 7-502 and the fourth cylinder seat 7-407. The first bearing 7-506 and the second bearing 7-507 are fixed on the second propulsion mechanism 7-5. The rolling shaft 7-505 passes through and connects the first bearing 7-506 and the second bearing 7-507. The fourth motor 7-509 is fixed on the second mounting seat 7-510. The output end of the fourth motor 7-509 is connected to one end of the coupling 7-508. The coupling 7-508 and the rolling shaft 7-505 are connected to form several combinations of motor, coupling, rolling shaft, and bearing.

[0117] The five degrees of freedom of the second robotic arm 7 are implemented as follows:

[0118] Rotating along the tunnel axis: The third motor 7-31 in the drive device 7-3 drives the pinion 7-32 to rotate. The large gear ring 7-11 meshes with the pinion 7-32, and the rotating frame 7-1 rotates and rolls with the rolling wheel 7-21, thereby driving the telescopic swing mechanism 7-4 and the second propulsion mechanism 7-5 to rotate with the rotating frame 7-1.

[0119] Lifting along the radial surface of the tunnel: When the first cylinder 7-408 in the telescopic swing mechanism 7-4 extends and retracts, the distance between the telescopic inner cylinder 7-402 and the telescopic outer cylinder 7-403 can be increased or decreased, thereby realizing the lifting and lowering of the telescopic swing mechanism 7-4.

[0120] Pitching along the radial plane of the tunnel: When the second hydraulic cylinder 7-503 between the telescopic swing mechanism 7-4 and the second propulsion mechanism 7-5 extends and retracts, the second propulsion mechanism 7-5 can rotate around the center of the spherical bearing 7-409 to achieve pitching.

[0121] Rotation along the radial axis of the tunnel: When the third hydraulic cylinder 7-504 between the telescopic swing mechanism 7-4 and the second propulsion mechanism 7-5 extends and retracts, it can cause the second propulsion mechanism 7-5 to rotate around the center of the spherical bearing 7-409, thus achieving rotation.

[0122] Telescopic movement along the direction of propulsion: The fourth motor 7-509 of the second propulsion mechanism 7-5 drives the rolling shaft 7-505 to rotate through the coupling 7-508. The rolling shaft 7-505 is in contact with the longitudinal joint component 6 of the tunnel segment, and when the rolling shaft 7-505 rotates, the friction force drives the longitudinal joint component 6 of the tunnel segment to move along the tunnel axis.

[0123] A method for installing a longitudinal joint component of a tunnel segment is provided, wherein the tunnel segment 5 is provided with a groove 5-0 for installing the longitudinal joint component 6, and the longitudinal joint component 6 is installed using any of the aforementioned longitudinal joint component installation devices or the aforementioned tunneling machine. The method includes installation mode one: the assembly of the tunnel segment 5 and the installation of the longitudinal joint component 6 are carried out simultaneously; installation mode two: the longitudinal joint component 6 is installed after the assembly of the tunnel segment 5 is completed; and installation mode three: after the assembly of the tunnel segment 5 is completed, the longitudinal joint component 6 is installed by first advancing the tunnel segment using the hydraulic cylinder 2.

[0124] As a preferred embodiment of the installation method for longitudinal joint components of tunnel segments, such as Figure 11 As shown, it includes the following steps:

[0125] Step 1: After the tunnel boring machine completes its advance, the propulsion cylinder 2 of the corresponding area of ​​the first segment 5-1 is retracted. The segment assembly machine 3 is used to position the first segment 5-1. The propulsion cylinder 2 of the corresponding area is extended, and the first segment 5-1 is installed in place.

[0126] Step 2: The propulsion cylinder 2 of the corresponding area of ​​the second segment 5-2 is retracted, and the segment assembly machine 3 is used to complete the positioning of the second segment 5-2. The propulsion cylinder 2 of the corresponding area is extended, and the second segment 5-2 is installed in place.

[0127] Step 3: Install the longitudinal joint component 6 of the tunnel segment.

[0128] 3.1 The segment longitudinal seam component 6 is installed onto the first robot arm 4, and the segment longitudinal seam component 6 is clamped by the first clamp 4-513 and the second clamp 4-514;

[0129] 3.2 The first robotic arm 4 is positioned at the segment joint by rotating the rotating part, rotating the rotating mechanism 4-3, and lifting and tilting the lifting mechanism.

[0130] 3.3 The first propulsion mechanism cylinder retracts, pressing one end of the first propulsion mechanism tightly against the tunnel segment 5;

[0131] 3.4, the first clamp 4-513 is released, the second motor 4-508 rotates forward to drive the first coupling 4-509 and the lead screw 4-510 to rotate, and through the nut 4-514-3, it drives the second clamp 4-514 to feed along the track of the push beam 4-501, so as to realize the partial feeding of the longitudinal seam component 6 of the segment along the longitudinal seam direction;

[0132] 3.5, the first clamp 4-513 clamps the longitudinal seam component 6 of the tube segment, the second clamp 4-514 releases, the second motor 4-508 reverses to drive the first coupling 4-509 and the lead screw 4-510 to rotate, and through the transmission of the nut 4-514-3, drives the second clamp 4-514 to retract along the track of the push beam 4-501 until it is completely away from the longitudinal seam component 6 of the tube segment;

[0133] The first clamp 4-513 is released, the second clamp 4-514 clamps and feeds along the track again. First, the extended end of the second clamp 4-514 contacts the end face of the longitudinal joint component 6 of the tunnel segment, and then continues to feed until the extended end passes through the first clamp 4-513, contacts the tunnel segment 5 and enters the groove 5-0. At this time, the installation of the longitudinal joint component 6 of the tunnel segment is completed.

[0134] Step 4: The first robotic arm 4 moves to the standby position, ready to start the next cycle.

[0135] 4.1 First, the hydraulic cylinder of the first propulsion mechanism extends, and the propulsion mechanism retracts along the 4-501 track of the propulsion beam;

[0136] 4.2 The lifting mechanism cylinder retracts, and the lifting mechanism descends;

[0137] 4.3, the slewing mechanism rotates 4-3 times;

[0138] 4.4 The rotating part rotates, moving the first robotic arm 4 to the standby position;

[0139] Step 5: Install the next segment 5-i. The propulsion cylinder 2 for the corresponding area of ​​the i-th segment 5-i retracts, the segment assembly machine 3 completes the positioning of the i-th segment 5-i, the propulsion cylinder 2 for the corresponding area extends, and the i-th segment 5-i is installed in place;

[0140] Step 6: Repeat steps 3 to 6 until the last segment is installed in block 5-n.

[0141] Step 7: The propulsion cylinder 2 of the corresponding area of ​​the nth segment 5-n is retracted, the segment assembly machine 3 is used to complete the positioning of the nth segment 5-2, the propulsion cylinder 2 of the corresponding area is extended, and the nth segment 5-n is installed in place;

[0142] Step 8: Repeat steps 3 and 4 to complete the installation of the last two longitudinal joint components 6 for the tunnel segments. At this point, the installation of tunnel segments 5 and longitudinal joint components 6 is complete. The tunnel boring machine will then begin its next advance.

[0143] As mentioned earlier, steps 1, 2, 5, 6, and 7 are performed by the segment assembly machine 3, while steps 3, 4, and 8 are performed by the robotic arm. The segment assembly machine 3 and the first robotic arm 4 can perform the steps sequentially, but work simultaneously in time. That is, when the first robotic arm 4 is in step 3 or 4, the segment assembly machine 3 can perform step 5.

[0144] Another preferred embodiment of the method for installing longitudinal joint components of tunnel segments includes the following steps:

[0145] Step 1: After the tunnel boring machine completes its advance, the propulsion cylinder 2 of the corresponding area of ​​the first segment 5-1 is retracted. The segment assembly machine 3 is used to position the first segment 5-1. The propulsion cylinder 2 of the corresponding area is extended, and the first segment 5-1 is installed in place.

[0146] Step 2: The propulsion cylinder 2 of the corresponding area of ​​the second segment 5-2 is retracted, and the segment assembly machine 3 is used to complete the positioning of the second segment 5-2. The propulsion cylinder 2 of the corresponding area is extended, and the second segment 5-2 is installed in place.

[0147] Step 3: Repeat the segment installation process until all segments are installed;

[0148] Step 4: Install the longitudinal joint component 6 of the tunnel segment.

[0149] 4.1 The segment longitudinal seam component 6 is installed onto the first robot arm 4, and the segment longitudinal seam component 6 is clamped by the first clamp 4-513 and the second clamp 4-514;

[0150] 4.2 The first robotic arm 4 is positioned at the segment joint by rotating the rotating part, rotating the rotating mechanism 4-3, and lifting and tilting the lifting mechanism.

[0151] 4.3 The first propulsion mechanism cylinder retracts, pressing one end of the first propulsion mechanism tightly against the tunnel segment 5;

[0152] 4.4, the first clamp 4-513 is released, the second motor 4-508 rotates forward to drive the first coupling 4-509 and the lead screw 4-510 to rotate, and through the nut 4-514-3, it drives the second clamp 4-514 to feed along the track of the push beam 4-501, so as to realize the partial feeding of the segment longitudinal seam component 6 along the longitudinal seam direction;

[0153] 4.5, the first clamp 4-513 clamps the longitudinal seam component 6 of the tube segment, the second clamp 4-514 releases, the second motor 4-508 reverses to drive the first coupling 4-509 and the lead screw 4-510 to rotate, and through the transmission of the nut 4-514-3, drives the second clamp 4-514 to retract along the track of the push beam 4-501 until it is completely away from the longitudinal seam component 6 of the tube segment;

[0154] 4.6, the first clamp 4-513 is released, the second clamp 4-514 clamps and feeds along the track again. First, the extension end of the second clamp 4-514 contacts the end face of the longitudinal joint component 6 of the tunnel segment, and then continues to feed until the extension end passes through the first clamp 4-513, contacts the tunnel segment 5 and enters the groove 5-0. At this time, the installation of the longitudinal joint component 6 of the tunnel segment is completed.

[0155] Step 5: The first robotic arm 4 moves to the standby position, ready to start the next cycle.

[0156] 5.1 First, the first propulsion mechanism cylinder extends, and the propulsion mechanism retracts along the 4-501 track of the propulsion beam;

[0157] 5.2 The lifting mechanism cylinder retracts, and the lifting mechanism descends;

[0158] 5.3 Rotary Mechanism 4-3 Rotary;

[0159] 5.4 The rotating part rotates, moving the first robotic arm 4 to the standby position.

[0160] Step 6: Repeat steps 4 and 5 to complete the installation of n longitudinal joint components. At this point, the installation of tunnel segment 5 and the longitudinal joint components 6 is complete. Begin the next cycle.

[0161] Another preferred embodiment of the method for installing longitudinal joint components of tunnel segments includes the following steps:

[0162] Step 1: After the tunnel boring machine completes its advance, the propulsion cylinder 2 of the corresponding area of ​​the first segment 5-1 is retracted. The segment assembly machine 3 is used to position the first segment 5-1. The propulsion cylinder 2 of the corresponding area is extended, and the first segment 5-1 is installed in place.

[0163] Step 2: The propulsion cylinder 2 of the corresponding area of ​​the second segment 5-2 is retracted, and the segment assembly machine 3 is used to complete the positioning of the second segment 5-2. The propulsion cylinder 2 of the corresponding area is extended, and the second segment 5-2 is installed in place.

[0164] Step 3: Repeat the segment installation process until all segments are installed;

[0165] Step 4: The tunnel boring machine begins its next step, continuing until the step is completed.

[0166] Step 5: Install the longitudinal joint component 6 of the tunnel segment.

[0167] 5.1 The segment longitudinal seam component 6 is installed onto the first robot arm 4, and the segment longitudinal seam component 6 is clamped by the first clamp 4-513 and the second clamp 4-514;

[0168] 5.2 The first robotic arm 4 is positioned at the segment joint by rotating the rotating part, rotating the rotating mechanism 4-3, and lifting and tilting the lifting mechanism.

[0169] 5.3 The first propulsion mechanism cylinder retracts, pressing one end of the first propulsion mechanism tightly against the tunnel segment 5;

[0170] 5.4, ​​the first clamp 4-513 is released, the second motor 4-508 rotates forward to drive the first coupling 4-509 and the lead screw 4-510 to rotate, and through the nut 4-514-3, it drives the second clamp 4-514 to feed along the track of the push beam 4-501, so as to realize the partial feeding of the segment longitudinal seam component 6 along the longitudinal seam direction;

[0171] 5.5, the first clamp 4-513 clamps the longitudinal seam component 6 of the tube segment, the second clamp 4-514 releases, the second motor 4-508 reverses to drive the first coupling 4-509 and the lead screw 4-510 to rotate, and through the transmission of the nut 4-514-3, drives the second clamp 4-514 to retract along the track of the push beam 4-501 until it is completely away from the longitudinal seam component 6 of the tube segment;

[0172] 5.6, the first clamp 4-513 is released, the second clamp 4-514 clamps and feeds along the track again. First, the extension end of the second clamp 4-514 contacts the end face of the longitudinal joint component 6 of the tunnel segment, and then continues to feed until the extension end passes through the first clamp 4-513 and contacts the tunnel segment 5. At this time, the installation of the longitudinal joint component 6 of the tunnel segment is completed.

[0173] Step 6: The first robotic arm 4 moves to the standby position, ready to start the next cycle.

[0174] 6.1 First, the hydraulic cylinder of the first propulsion mechanism extends, and the propulsion mechanism retracts along the 4-501 track of the propulsion beam;

[0175] 6.2 The lifting mechanism cylinder retracts, and the lifting mechanism descends;

[0176] 6.3, slewing mechanism 4-3 turns;

[0177] 6.4 The rotating part rotates, moving the first robotic arm 4 to the standby position.

[0178] Step 7: Repeat steps 5 and 6 to complete the installation of n longitudinal joint components. At this point, the installation of tunnel segment 5 and the longitudinal joint components 6 is complete. Proceed to the next cycle.

[0179] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0180] 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 segmental longitudinal joint member installation apparatus characterized by: It includes a multi-degree-of-freedom manipulator, which is equipped with a propulsion mechanism for gripping and pushing the longitudinal seam component (6) of the tube segment; The propulsion mechanism is sequentially connected to a pitching mechanism, a lifting mechanism, a second slewing mechanism, and a first slewing mechanism; The lifting mechanism includes an inner core and an outer kit that are plugged into each other. An eighth linear drive is provided between the inner core and the outer kit. The second rotation mechanism includes a spherical bearing (7-409) provided between the outer kit and the propulsion mechanism. A ninth linear drive is laterally hinged between the outer kit and the propulsion mechanism. The pitching mechanism includes a tenth linear drive that is longitudinally hinged between the outer kit and the propulsion mechanism. The propulsion mechanism includes a housing connected to the pitching mechanism. A through channel is provided on the housing. A row of rolling shafts (7-505) for pushing the longitudinal seam components (6) of the tube segments is provided in the channel. The rolling shafts (7-505) are driven to rotate by a first rotary drive component.

2. A segmental longitudinal joint member installation apparatus according to claim 1, characterized by: The first rotary mechanism includes a first fixed member and a first rotating member that are connected by transmission, and the second rotary mechanism includes a second fixed member and a second rotating member that are connected by rotation, wherein the first rotating member is connected to the second fixed member.

3. The segmental longitudinal joint member installation apparatus according to claim 2, characterized by: The first fixing member is a track (4-1), and a toothed belt formed by a plurality of guide wheels (4-11) is provided on the outer circumferential surface of the track (4-1). The first rotating member includes a wheel set that rolls with the inner and outer circumferential surfaces of the track (4-1) respectively, and a second rotary drive member that meshes with the toothed belt.

4. The segmental longitudinal joint member installation apparatus according to claim 2, characterized by: The first fixed member includes a third rotary drive member and a support roller (7-2), and the first rotating member includes a large gear ring (7-11) that meshes with the third rotary drive member and rolls with the support roller (7-2).

5. A tunneling machine comprising a shield body (1) and a thrust cylinder (2) and a segment erector (3) connected to the shield body (1), characterized in that: The shield body (1) is connected to the segment longitudinal joint component installation device according to any one of claims 1-4.

6. A method of installing a segmental longitudinal joint member, characterized by: The segment (5) is provided with a groove (5-0) for installing the segment longitudinal joint component (6). The segment longitudinal joint component (6) is installed using the segment longitudinal joint component installation device as described in any one of claims 1-4 or the tunneling machine as described in claim 5. The installation modes include: Mode 1: The assembly construction of the segment (5) and the installation construction of the segment longitudinal joint component (6) are carried out simultaneously; Mode 2: The segment longitudinal joint component (6) is installed after the segment (5) is assembled; Mode 3: After the segment (5) is assembled, the segment longitudinal joint component (6) is installed by stepping through the propulsion cylinder (2).

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