A high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation

Abstract

The present invention discloses a high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation, comprising: a plurality of groups of slot holes provided on the cutter head disc of the front shield of the shield machine, a main bionic docking structure provided inside one of the cutter head discs, a first driving assembly for driving the main bionic docking structure to extend / retract; a secondary docking structure provided inside the cutter head disc on the front shield of another shield machine; a long-distance positioning assembly provided on the front shield of the shield machine. In the present invention, during the construction of a long-distance underwater tunnel, traditional measurement methods (such as laser positioning, GPS, etc.) may be affected by environmental interference or accuracy limitations, resulting in the gradual accumulation of positioning errors, ultimately affecting the tunneling direction and docking accuracy of the shield machine. The long-distance positioning assembly can overcome the limitations of traditional measurement methods such as GPS in the underwater environment, reduce the accumulation of measurement errors, and ensure that the shield machines at both ends of the tunnel can advance to the docking area with high precision.

Description

Technical Field

[0001] The invention discloses a high-precision docking mechanism for a shield machine used for long-distance underwater tunnel excavation, and belongs to the technical field of tunnel excavation. Background Art

[0002] Long-distance underwater tunnel excavation is complex and has variable geological conditions. It may have problems such as high pressure, high humidity, and strong corrosion, which places extremely high demands on the durability and stability of excavation equipment. Secondly, long-distance excavation requires precise navigation and positioning technology to ensure the accuracy of the tunnel route and the precision of docking. In addition, underwater construction also faces challenges such as communication difficulties and inconvenient equipment maintenance.

[0003] The shield machine needs to dig from both ends of the tunnel to the middle, and finally achieve precise docking in the docking area. If the docking accuracy is insufficient, it may cause discontinuity or misalignment of the tunnel structure, affecting the overall strength and safety of the tunnel. It is necessary to ensure that the excavation at both ends of the tunnel can be accurately docked. High-precision docking can reduce subsequent repair work, improve construction efficiency and quality, and avoid tunnel structure instability or construction delays caused by docking errors.

[0004] Because in long-distance tunnel construction, traditional measurement methods (such as laser positioning, GPS, etc.) may be affected by environmental interference or accuracy limitations, resulting in accumulated positioning errors. Signal attenuation and interference in the underwater environment will further reduce the measurement accuracy, causing the actual position of the shield machine to deviate from the theoretical design position. In addition, underwater tunnel construction usually requires facing a high-pressure water environment. The impact force of the water flow and the change in water pressure will affect the posture and stability of the shield machine. The disturbance of the water flow may cause the shield machine to deviate slightly during the excavation process, thereby affecting the docking accuracy, resulting in errors in the docking of the cutter head disc of the shield machine's front shield in the existing long-distance underwater tunnel excavation.

[0005] Therefore, the purpose of this study is to design a docking mechanism that can maintain the excavation route of the front shield of the shield machine and perform high-precision and accurate docking of the cutter head disc in the docking area during long-distance underwater tunnel excavation, so as to ensure the stability of the tunnel structure and the continuity of construction after docking. Summary of the invention

[0006] In view of the deficiencies in the prior art, the object of the present invention is to provide a high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation, so as to solve the problems of the prior art.

[0007] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0008] A high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation, comprising: a plurality of groups of slots arranged on a cutter head disc of a front shield of the shield machine, a main bionic docking structure arranged inside the cutter head disc, and a first driving component for driving the main bionic docking structure to extend / retract;

[0009] A secondary docking structure is arranged in the cutter head disc on the front shield of another shield machine; a remote positioning component is arranged on the front shield of the shield machine, and the two shield machines excavate from both ends of the tunnel to the middle docking area, and the excavation direction is adjusted by the remote positioning component;

[0010] A close-range positioning component is arranged on the cutter head disc, and the front shields of the two shield machines are excavated to the docking area, and the positions of the slots on the two cutter head discs are calibrated by the close-range positioning component;

[0011] The close-distance positioning component closes the open end of the slot hole and drives the close-distance positioning component to move;

[0012] A control module, wherein the control module is electrically connected to the first drive assembly, the second drive assembly, the long-distance positioning assembly, the short-distance positioning assembly, and the main bionic docking structure;

[0013] The control module is used to drive the close-range positioning component to move and open the slot;

[0014] The control module drives the main bionic docking structure to extend out of the slot and insert into the auxiliary docking structure for docking and fixing.

[0015] As a further improvement, the main bionic docking structure includes several groups of docking blocks, a flexible sleeve connecting two of the docking blocks, an extension piece embedded in the side of the docking block, and a third drive component that drives the extension piece to extend. The third drive component is electrically connected to the control module, and the control module drives the third drive component to control the extension piece to extend and cooperate with the secondary docking structure.

[0016] As a further improvement, the first drive component includes a drive strip passing through the plurality of docking blocks, and a winding motor installed inside the cutter head disk, the drive strip is wound around the output end of the winding motor, the winding motor is electrically connected to the control module, and the control module drives the winding motor to reel in / unroll the drive strip.

[0017] The driving strip is made of high-density polyethylene fiber bundle / carbon fiber filament, and is coated with a silicone layer on the outside.

[0018] As a further improvement, it also includes a wireless power supply module arranged inside the front shield of the shield machine and on the cutter head disk, and the wireless power supply module is electrically connected to the control module.

[0019] As a further improvement, the secondary docking structure includes a sleeve fixedly installed inside the other cutter head disk, and a docking groove is arranged in the sleeve corresponding to the position of the extension piece;

[0020] The main bionic docking structure is controlled by the driving bar to insert into the sleeve;

[0021] The third driving component controls the extension piece to extend and be inserted into the docking groove.

[0022] As a further improvement, the front shield of the shield machine includes a cylinder body arranged behind the cutter head disk, and the long-distance positioning component includes a fiber optic gyroscope module installed inside the cylinder body, and the tunneling route is corrected through the fiber optic gyroscope module.

[0023] As a further improvement, four groups of the slot holes are provided, two slot holes are provided in each group, and the second driving component is arranged between the two slot holes in the same group, and the two short-distance positioning components in the same group are controlled to move simultaneously by the second driving component to move away from blocking the slot hole area.

[0024] As a further improvement, the second positioning component includes a baffle rotatably installed on the second driving component and a magnetic induction positioning module arranged on the baffle. By slowly rotating the cutter head disk, the two magnetic induction positioning modules at the corresponding positions perform short-distance positioning to control the two corresponding slot holes to be in a coaxial state.

[0025] As a further improvement, a guide groove is arranged on the cutter head disk along the rotation direction of the baffle, and the baffle is driven by the second driving component to rotate and be embedded in the guide groove.

[0026] As a further improvement, the second driving component is a forward and reverse motor, the forward and reverse motor is arranged inside the cutter head disk, the baffle includes two shielding parts for shielding the slot holes and a connecting part connecting the two shielding parts, and the output end of the forward and reverse motor is inserted into the inner side surface of the connecting part.

[0027] The beneficial effects of the present invention are:

[0028] In the construction of long-distance underwater tunnels of the present invention, traditional measurement methods (such as laser positioning, GPS, etc.) may be affected by environmental interference or accuracy limitations, resulting in the gradual accumulation of positioning errors, and ultimately affecting the tunneling direction and docking accuracy of the shield machine.

[0029] By setting up long-distance positioning components, the two shield machines can excavate from both ends of the tunnel to the central docking area. The long-distance positioning components set on the front shield of the shield machine can monitor the position and posture of the shield machine in real time. Even in a complex underwater environment, the excavation direction can be adjusted to keep the shield machine moving along the predetermined route. The long-distance positioning components can overcome the limitations of traditional measurement methods such as GPS in underwater environments, reduce the accumulation of measurement errors, and ensure that the shield machines at both ends of the tunnel can advance to the docking area with high accuracy.

[0030] When the two shield machines approach the docking area, the close-range positioning components come into play to further calibrate the slot positions on the two cutter heads. Through the precise control module, the front shield of the shield machine can be fine-tuned to ensure that the two shield machines can be docked with very high precision. At the same time, the slot design can serve as a physical guide to ensure that the main bionic docking structure and the secondary docking structure can be accurately aligned to reduce the risk of misalignment.

[0031] In order to improve the stability of docking in high pressure and high humidity environments during underwater construction, the main bionic docking structure is designed. When in the docking area, it is driven by the first drive component to extend and accurately insert into the auxiliary docking structure to achieve mechanical connection. The main bionic docking structure is designed to provide additional support and impact resistance, so that the shield machine can maintain good posture control and structural stability when docking in complex underwater geological conditions, especially in high pressure water environments, and reduce the impact of water pressure changes and water flow disturbances.

[0032] Due to the complex underwater environment, the shield machine may experience slight deviations during the excavation process. The long-distance positioning component adopts a fiber optic gyroscope module, combined with odometer and inclinometer data, to achieve anti-interference positioning through fiber optic transmission. It has no signal dependence and is suitable for fully enclosed underground environments. The short-distance positioning component adopts a magnetic induction positioning module because magnetic induction technology has high accuracy in magnetic field detection and positioning, especially within short distances. Compared with traditional mechanical or optical positioning methods, magnetic induction positioning modules are not easily affected by the environment. The main bionic docking structure is driven by the driving bar through the connection of the docking block and the flexible sleeve, and the posture control of the mimic octopus foot is achieved. Its flexible connection can improve the fault tolerance of docking accuracy, thereby ensuring the stability of docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1It is a schematic diagram of the extended structure of the main bionic docking structure of a high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation in the present invention.

[0035] Figure 2 It is Figure 1 A partial enlarged schematic diagram of the main bionic docking structure.

[0036] Figure 3 It is a front view schematic diagram of the extended structure of the main bionic docking structure of a high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation in the present invention.

[0037] Figure 4 It is a schematic diagram of the closed state of a slot hole in the present invention.

[0038] Figure 5 It is a schematic diagram of the open state of a slot hole in the present invention.

[0039] Figure 6 It is a schematic diagram of the sectional structure of a docking block in the present invention.

[0040] Figure 7 It is a schematic diagram of the extended structure of an extension piece in the present invention.

[0041] Figure 8 It is a front view schematic diagram of the cutter head disk of the front shield of a shield machine for long-distance underwater tunnel excavation in the present invention.

[0042] Figure 9 It is Figure 8 A schematic diagram of the winding state of the main bionic docking structure with a partial enlargement of the sectional state at point A.

[0043] Figure 10 It is a front view schematic diagram of the cutter head disk of the front shield of another shield machine for long-distance underwater tunnel excavation in the present invention.

[0044] Figure 11 It is Figure 10 A schematic diagram of the installation state of the sleeve with a partial enlargement of the sectional state at point B.

[0045] Figure 12 It is a schematic diagram of the module control of a high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation.

[0046] Figure 13 It is a schematic diagram of the docking area of a high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation.

[0047] Description of the drawings: 1. Front shield of the shield machine; 11. Cylinder; 2. Cutter head disc; 21. Slot; 3. Main bionic docking structure; 31. First drive component; 311. Drive bar; 312. Winding motor; 32. Docking block; 33. Flexible sleeve; 34. Extension sheet; 35. Third drive component; 4. Secondary docking structure; 41. Sleeve; 42. Docking groove; 5. Fiber optic gyroscope module; 6. Close-range positioning component; 61. Second drive component; 7. Docking area; 8. Control module; 9. Wireless power supply module; 62. Baffle; 63. Magnetic induction positioning module; 64. Guide groove; 621. Shielding part; 622. Connecting part. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0049] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] Reference Figure 1-13 As shown, a high-precision docking mechanism of a shield machine for long-distance underwater tunnel excavation comprises:

[0051] A plurality of groups of slots 21 are arranged on the cutter head disc 2 of the front shield 1 of the shield machine, a main bionic docking structure 3 is arranged inside the cutter head disc 2, and a first driving component 31 that drives the main bionic docking structure 3 to extend / retract;

[0052] A secondary docking structure 4 is arranged in the cutter head disc 2 on the front shield 1 of another shield machine; a remote positioning component is arranged on the front shield 1 of the shield machine, and the two shield machines excavate from both ends of the tunnel to the middle docking area 7, and the excavation direction is adjusted by the remote positioning component;

[0053] A close-distance positioning component 6 is arranged on the cutter head disc 2, and the two front shields 1 of the shield machine are excavated to the docking area 7, and the positions of the slots 21 on the two cutter head discs 2 are calibrated by the close-distance positioning component 6;

[0054] The close-distance positioning component 6 closes the open end of the slot 21 and drives the close-distance positioning component 6 to move; a second driving component 61;

[0055] A control module 8, wherein the control module 8 is electrically connected to the first drive assembly 31, the second drive assembly 61, the long-distance positioning assembly, the short-distance positioning assembly 6, and the main bionic docking structure 3;

[0056] The control module 8 drives the close-range positioning component 6 to move and open the slot 21;

[0057] The control module 8 drives the main bionic docking structure 3 to extend out of the slot 21 and insert into the auxiliary docking structure 4 for docking and fixing.

[0058] In the construction of long-distance underwater tunnels, traditional measurement methods (such as laser positioning, GPS, etc.) may be affected by environmental interference or accuracy limitations, resulting in the gradual accumulation of positioning errors, which ultimately affects the excavation direction and docking accuracy of the shield machine.

[0059] By setting a long-distance positioning component, two shield machines excavate from both ends of the tunnel to the middle docking area 7, the excavation direction is adjusted by the long-distance positioning component, and a short-distance positioning component 6 is set on the front shields 1 of the two shield machines to excavate to the docking area 7. The position of the slots 21 on the two cutter discs 2 is calibrated by the short-distance positioning component 6, which effectively reduces the deviation of the excavation direction, improves the excavation accuracy, realizes high-precision positioning in the docking area 7, ensures the accurate alignment of the slots 21, and improves the docking accuracy.

[0060] In order to improve the stability of docking in high pressure and high humidity environments during underwater construction, the main bionic docking structure 3 is designed. When in the docking area 7, it is driven to extend by the first driving component 31 and accurately inserted into the auxiliary docking structure 4 to achieve mechanical connection.

[0061] The control module 8 ensures smooth excavation and docking by real-time monitoring and adjusting the operating status of the long-distance positioning component, the short-distance positioning component 6, the first drive component 31 and the second drive component 61. During the entire construction process, real-time communication with the ground control center is maintained to timely transmit excavation data and equipment status information.

[0062] During the use process, ensure that the main bionic docking structure 3 and the secondary docking structure 4 are installed inside the cutter head disk 2 of the front shield 1 of their respective shield machines. During tunneling, the position and attitude of the shield machine are monitored in real time through the long-distance positioning component, and the tunneling direction is adjusted. When approaching the docking area 7, the position of the cutter head disk 2 is calibrated through the short-distance positioning component 6 to ensure the accurate alignment of the slot holes 21.

[0063] When the shield machine tunnels to the docking area 7, the control module 8 drives the second driving component 61 to open the opening end of the slot hole 21. The control module 8 drives the first driving component 31 to extend the main bionic docking structure 3 to prepare for docking.

[0064] During docking, the control module 8 drives the third driving component 35 to extend the extension piece 34, which cooperates and fixes with the corresponding part of the secondary docking structure 4.

[0065] Confirm the connection state of the main bionic docking structure 3 and the secondary docking structure 4 to ensure the stability of docking.

[0066] By setting the long-distance positioning component, the short-distance positioning component 6, the main bionic docking structure 3 and the second driving component 61, this docking mechanism effectively solves the problems commonly encountered in the construction of long-distance underwater tunnels, such as the accumulation of positioning errors, the influence of high-pressure and high-humidity environments, and communication difficulties. The long-distance positioning component ensures the path accuracy of the shield machine during long-distance tunneling, and the short-distance positioning component 6 realizes high-precision positioning in the docking area 7 to ensure the accurate alignment of the slot holes 21.

[0067] Due to the complex underwater environment, the shield machine may experience slight offsets during tunneling. The main bionic docking structure 3, which includes several groups of docking blocks 32, a flexible sleeve 33, an extension piece 34 and a third driving component 35, can more flexibly adapt to these slight offsets to ensure high-precision docking. Therefore, the main bionic docking structure 3 includes several groups of docking blocks 32, a flexible sleeve 33 connecting the two docking blocks 32, an extension piece 34 embedded on the side of the docking block 32, and a third driving component 35 for driving the extension piece 34 to extend. The third driving component 35 is electrically connected to the control module 8, and the control module 8 drives the third driving component 35 to control the extension piece 34 to extend and cooperate with the secondary docking structure 4 for fixation.

[0068] The flexible sleeve 33 and the extension piece 34 can achieve fine adjustment to ensure the precise fit between the docking blocks 32, reducing the risk of misalignment and discontinuity. The flexible sleeve 33 and the extension piece 34 can adapt to the underwater environment with high pressure, high humidity and strong corrosion, improving the durability and stability of the docking structure, reducing subsequent repair work, and improving the construction efficiency and quality.

[0069] The first driving component 31 includes a driving strip 311 passing through a plurality of the docking blocks 32, and a winding motor 312 installed inside the cutter head disk 2. The driving strip 311 is wound around the output end of the winding motor 312. The winding motor 312 is electrically connected to the control module 8, and the control module 8 drives the winding motor 312 to wind / unwind the driving strip 311.

[0070] Wherein, the driving strip 311 is made of a high-density polyethylene fiber bundle / carbon fiber filament, and the outside is coated with a silica gel layer.

[0071] The winding motor 312 can provide a stable driving force to ensure the accurate extension and retraction of the main bionic docking structure 3. The driving strip 311 made of a high-density polyethylene fiber bundle or a carbon fiber filament, and the silica gel layer coating effectively prevent corrosion and extend the service life of the driving strip 311.

[0072] During tunneling, the control module 8 drives the winding motor 312 to wind the driving strip 311, so that the main bionic docking structure 3 retracts, ensuring the smooth operation of the shield machine during tunneling. The position and attitude of the shield machine are monitored in real time through the long-distance positioning component, and the tunneling direction is adjusted.

[0073] When in the docking area 7, the position of the cutter head disk 2 of the front shield 1 of the shield machine is calibrated through the short-distance positioning component 6 to ensure the accurate alignment of the slot holes 21. The control module 8 drives the winding motor 312 to unwind the driving strip 311, so that the main bionic docking structure 3 extends for docking.

[0074] During docking, the control module 8 controls the main bionic docking structure 3 to connect with the secondary docking structure 4.

[0075] Through the above design, the shield machine can be more accurately and stably docked during the construction of a long-distance underwater tunnel, effectively reducing the influence of environmental interference and equipment failures, and improving the construction efficiency and safety.

[0076] Since the cutter head disk 2 needs to maintain a rotating state during tunneling, in order to ensure the power supply to the control module 8 and related electrical components, a wireless power supply module 9 is further included, which is arranged inside the front shield 1 of the shield machine and on the cutter head disk 2. The wireless power supply module 9 is electrically connected to the control module 8.

[0077] To reduce the error and improve the stability during docking, a fixed sleeve 41 and a docking groove 42 are provided in the secondary docking structure 4, which can provide accurate positioning and fixing points for the extension piece 34. Specifically, the secondary docking structure 4 includes a sleeve 41 fixedly installed inside the other cutter head disk 2, and a docking groove 42 is provided in the sleeve 41 corresponding to the position of the extension piece 34. The main bionic docking structure 3 is controlled by the driving bar 311 to insert into the sleeve 41, and the third driving component 35 controls the extension piece 34 to extend and be inserted into the docking groove 42.

[0078] In addition, the sleeve 41 is set in an arc shape, so that the main bionic docking structure 3 forms an arc shape after insertion, strengthening the connection state.

[0079] The sleeve 41 is fixedly installed inside the cutter head disk 2 of the front shield 1 of another shield machine to ensure that the installation position of the sleeve 41 corresponds to the position of the slot 21 of the main bionic docking structure 3.

[0080] When the shield machine advances to the docking area 7, the control module 8 drives the second driving component 61 to open the opening end of the slot 21. The control module 8 drives the first driving component 31 (the winding motor 312) to unwind the driving bar 311, so that the main bionic docking structure 3 extends and inserts into the sleeve 41.

[0081] During docking, the control module 8 drives the third driving component 35 to make the extension piece 34 extend, ensuring that the extension piece 34 can be accurately inserted into the docking groove 42 inside the sleeve 41.

[0082] Among them, the structural design of the sleeve 41 and the docking groove 42 ensures the accurate insertion of the extension piece 34, improving the docking accuracy.

[0083] The third driving component 35 is an electric cylinder, which cooperates with the telescopic rod to push the extension piece 34 to extend.

[0084] The front shield 1 of the shield machine includes a cylinder body 11 arranged behind the cutter head disk 2. The main function of the cylinder body 11 is to accommodate and protect the long-distance positioning component, and at the same time provide a stable platform to ensure the accuracy and reliability of the fiber optic gyroscope module 5.

[0085] The shield machine can be monitored more comprehensively to achieve precise correction of the tunneling route.

[0086] In the shield machine docking project, the selection of the long-distance positioning component needs to comprehensively consider penetrability, accuracy, real-time performance, anti-interference ability, and adaptability to complex underground environments.

[0087] Therefore, the front shield 1 of the shield machine includes a cylinder body 11 arranged behind the cutter head disk 2. The long-distance positioning component includes a fiber optic gyroscope module 5 installed inside the cylinder body 11, and the tunneling route is corrected through the fiber optic gyroscope module 5.

[0088] The fiber optic gyroscope module 5 specifically adopts high-precision inertial navigation of the fiber optic gyroscope, combines the data of the odometer and the inclinometer, and realizes anti-interference positioning through fiber optic transmission. It is independent of signals and suitable for fully enclosed underground environments. It has low cumulative error (typical error < 0.01% of the mileage), is suitable for ultra-long tunnels (such as railways and water conservancy projects), is resistant to vibration and moisture, and can adapt to complex geology.

[0089] As a further improvement, four groups of slot holes 21 are provided, with two slot holes 21 in each group. The second driving component 61 is arranged between the two slot holes 21 in the same group, and the two short-distance positioning components 6 in the same group are simultaneously controlled by the second driving component 61 to move out of the area blocking the slot holes 21.

[0090] The second positioning component includes a baffle 62 rotatably mounted on the second driving component 61, and a magnetic induction positioning module 63 arranged on the baffle 62. By slowly rotating the cutter head disk 2, the two magnetic induction positioning modules 63 at the corresponding positions perform short-distance positioning to control the two corresponding slot holes 21 to be in a coaxial state.

[0091] Four groups of slot holes 21 are provided on the cutter head disk 2 of the front shield 1 of the shield machine, with two slot holes 21 in each group, for a total of eight slot holes 21. Such a layout can provide more docking points and improve the stability and reliability of docking.

[0092] The second driving component 61 is arranged between the two slot holes 21 in the same group. By driving the second driving component 61 through the control module 8, the two short-distance positioning components 6 in the same group can be simultaneously controlled to move to ensure an unobstructed state in the area of the slot holes 21.

[0093] A baffle 62 is mounted on the second driving component 61, and the baffle 62 can rotate to block or expose the area of the slot holes 21.

[0094] The baffle 62 is provided with a magnetic induction positioning module 63. By slowly rotating the cutter head disk 2, the two magnetic induction positioning modules 63 in the same group perform short-distance positioning, so as to ensure that the two corresponding slot holes 21 are in a coaxial state.

[0095] Among them, the magnetic induction positioning module 63 determines the position by detecting the change of the magnetic field. When the two magnetic induction positioning modules 63 are close to each other, their relative positions can be determined through the magnetic field interaction between them.

[0096] By rotating the cutter head disk 2, the two magnetic induction positioning modules 63 are close to each other and perform magnetic induction positioning, so as to ensure that the two slot holes 21 are in a coaxial state. The coaxial state means that the two slot holes 21 are on the same straight line, ensuring the precise docking of the main bionic docking structure 3 and the secondary docking structure 4.

[0097] Since the magnetic induction technology has high precision in magnetic field detection and positioning, especially within a short distance. Compared with traditional mechanical or optical positioning methods, the magnetic induction positioning module 63 is not easily affected by the environment and can maintain high precision in complex underwater environments.

[0098] The principle of magnetic field detection is based on Faraday's law of electromagnetic induction, that is, a conductor moving in a magnetic field can generate an induced electromotive force. By accurately measuring the induced electromotive force, the relative position of the magnetic induction positioning module 63 can be determined.

[0099] Coaxial alignment is a key step to ensure the precise docking of the slots 21. Through the close-range positioning of the magnetic induction positioning module 63, the rotation of the baffle 62 can be precisely controlled to ensure the coaxial state between the slots 21.

[0100] This method not only improves the alignment accuracy but also reduces the dependence on the mechanical structure and the risk of mechanical failures. The magnetic induction positioning module 63 can be precisely adjusted through software algorithms, improving the flexibility and reliability of the system.

[0101] The advantage of such a design is that through the close-range positioning of the magnetic induction positioning module 63, the precise alignment between the slots 21 can be ensured, reducing the docking error. The high-precision measurement and adjustment capabilities of the magnetic induction positioning module 63 make the docking operation more reliable and precise.

[0102] The magnetic induction positioning module 63 can maintain high precision in different underwater environments, unaffected by environmental factors such as water temperature, water pressure, and water flow. It improves the adaptability of the shield machine in complex underwater tunnel construction and ensures the safety and stability of the construction.

[0103] By slowly rotating the cutter head disk 2, the two magnetic induction positioning modules 63 in the same group are positioned closely to ensure that the two corresponding slots 21 are in a coaxial state. The control module 8 activates the second drive assembly 61 to rotate the baffle 62, exposing the area of the slots 21.

[0104] The control module 8 drives the main bionic docking structure 3 to cooperate and connect with the sleeve 41.

[0105] To guide the movement route of the baffle 62, a guide groove 64 is arranged on the cutter head disk 2 along the rotation direction of the baffle 62, and the baffle 62 is driven by the second drive assembly 61 to rotate and embed into the guide groove 64.

[0106] In this embodiment, the second driving component 61 is a forward and reverse motor, which is arranged inside the cutter head disk 2. The baffle 62 includes two shielding portions 621 that shield the slot holes 21 and a connecting portion 622 that connects the two shielding portions 621. The output end of the forward and reverse motor is inserted into the inner side surface of the connecting portion 622.

[0107] A guide groove 64 is provided on the cutter head disk 2 along the rotation direction of the baffle 62, which can guide the rotational movement of the baffle 62 to ensure that the baffle 62 can be accurately inserted into a predetermined position.

[0108] The baffle 62 includes two shielding portions 621 that shield the slot holes 21 and a connecting portion 622 that connects the two shielding portions 621. Guided by the guide groove 64, the shielding portions 621 can accurately shield the area of the slot holes 21. In the tunneling state, the baffle 62 can protect the main bionic connection structure inside the slot holes 21. At the same time, through the design of the guide groove 64, the baffle 62 can be completely embedded on the cutter head disk 2, so that during the tunneling process, the baffle 62 will not be subjected to excessive external forces and cause deviation to expose the slot holes 21.

[0109] It should be noted that the device structure and drawings of the present invention mainly describe the principle of the present invention. On the basis of this design principle, the settings of the power mechanism, power supply system, control system, etc. of the device are not fully described clearly. However, on the premise that those skilled in the art understand the principle of the above invention, the specific details of its power mechanism, power supply system and control system can be clearly known. The control mode of the application document is automatically controlled by a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art;

[0110] The standard parts used therein can all be purchased from the market, and can also be customized according to the description of the specification and drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art, and the components known to those skilled in the art, their structures and principles can all be known by those skilled in the art through technical manuals or through conventional experimental methods.

[0111] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation, characterized in that: include: A plurality of groups of slots (21) arranged on a cutter head disc (2) of a front shield (1) of a shield machine, a main bionic docking structure (3) arranged inside the cutter head disc (2), and a first drive component (31) that drives the main bionic docking structure (3) to extend / retract; A secondary docking structure (4) disposed in the cutter head disc (2) on the front shield (1) of another shield machine; A remote positioning component is arranged on the front shield (1) of the shield machine, and the two front shields (1) of the shield machine excavate from both ends of the tunnel to the middle docking area (7), and the excavation direction is adjusted by the remote positioning component; A close-range positioning component (6) is arranged on the cutter head disc (2); the two front shields (1) of the shield machine are excavated to the docking area (7); and the positions of the slots (21) on the two cutter head discs (2) are calibrated by the close-range positioning component (6); The close-range positioning component (6) closes the open end of the slot (21) and drives the close-range positioning component (6) to move; a second driving component (61); A control module (8), the control module (8) being electrically connected to the first drive assembly (31), the second drive assembly (61), the long-distance positioning assembly, the short-distance positioning assembly (6), and the main bionic docking structure (3); The control module (8) drives the close-range positioning component (6) to move, thereby opening the slot (21); The control module (8) drives the main bionic docking structure (3) to extend out of the slot (21) and to be inserted into the secondary docking structure (4) for docking and fixation; The main bionic docking structure (3) comprises a plurality of docking blocks (32), a flexible sleeve (33) connecting two of the docking blocks (32), an extension piece (34) embedded in the side of the docking block (32), and a third driving component (35) for driving the extension piece (34) to extend, wherein the third driving component (35) is electrically connected to a control module (8), and the control module (8) drives the third driving component (35) to control the extension piece (34) to extend and cooperate and fix with the auxiliary docking structure (4); The first driving component (31) comprises a driving strip (311) passing through the plurality of docking blocks (32), and a winding motor (312) installed inside the cutter head disc (2); the driving strip (311) is wound around the output end of the winding motor (312); the winding motor (312) is electrically connected to a control module (8); and the control module (8) drives the winding motor (312) to wind up / unwind the driving strip (311).

2. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 1, characterized in that: It also includes a wireless power supply module (9) arranged inside the front shield (1) of the shield machine and arranged on the cutter head disc (2), and the wireless power supply module (9) is electrically connected to the control module (8).

3. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 2, characterized in that: The auxiliary docking structure (4) comprises a sleeve (41) fixedly mounted inside the other cutter head disc (2), and a docking groove (42) is provided in the sleeve (41) at a position corresponding to the extension piece (34); Controlling the main bionic docking structure (3) to be inserted into the sleeve (41) via the driving bar (311); The third driving assembly (35) controls the extension piece (34) to extend and be inserted into the docking groove (42).

4. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 1, characterized in that: The front shield (1) of the shield machine comprises a cylinder (11) arranged behind the cutter head disc (2), and the long-distance positioning component comprises a fiber optic gyroscope module (5) installed inside the cylinder (11), and the excavation route is corrected by means of the fiber optic gyroscope module (5).

5. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 4, characterized in that: The slot holes (21) are provided in four groups, each group of the slot holes (21) being provided with two slot holes, and the second driving component (61) is provided between two slot holes (21) in the same group, and the two close-range positioning components (6) in the same group are simultaneously controlled by the second driving component (61) to move out of the area blocking the slot holes (21).

6. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 5, characterized in that: The close-range positioning component (6) comprises a baffle (62) rotatably mounted on the second drive component (61), and a magnetic induction positioning module (63) disposed on the baffle (62). By slowly rotating the cutter head disc (2), two magnetic induction positioning modules (63) at corresponding positions are closely positioned, thereby controlling the two corresponding slots (21) to be in a coaxial state.

7. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 6, characterized in that: A guide groove (64) is provided on the cutter head disc (2) along the rotation direction of the baffle (62), and the baffle (62) is driven by the second drive assembly (61) to rotate and embed into the guide groove (64).

8. The high-precision docking mechanism for a shield machine for long-distance underwater tunnel excavation according to claim 7, characterized in that: The second driving assembly (61) is a forward and reverse motor, which is arranged inside the cutter head disc (2); the blocking piece (62) comprises two blocking portions (621) for blocking the slotted hole (21) and a connecting portion (622) connecting the two blocking portions (621); and the output end of the forward and reverse motor is inserted into the inner side of the connecting portion (622).

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