Shield body block and steel pipe sheet splicing equipment and splicing method

Abstract

The invention relates to shield block and steel pipe piece assembling equipment and assembling method.The shield block and steel pipe piece assembling equipment is installed on the back face of a cutterhead and comprises a hinged oil cylinder, a rotating arm, a grabbing head and a rotating oil cylinder; one end of the hinged oil cylinder is hinged to the middle area of the cutter head, the other end of the hinged oil cylinder is hinged to the middle of the rotating arm, one end of the rotating arm is hinged to the edge area of the cutter head, the other end of the rotating arm is hinged to the grabbing head, a rotating oil cylinder is further installed on the rotating arm, and the tail end of a piston rod of the rotating oil cylinder is hinged to the grabbing head. The hinged oil cylinder can drive the rotating arm to rotate around the hinged point of the rotating arm and the cutter head, the rotating oil cylinder can drive the grabbing head to rotate around the hinged point of the grabbing head and the rotating arm, and the grabbing head is used for grabbing and assembling supporting pipe pieces or shield body blocks. Due to the adoption of the structure, the shield body partitioning and steel pipe sheet assembling equipment is small in boundary dimension after being folded and retracted, can be protected at the retracting position of the back of a cutter head panel, and is prevented from being abraded by muck.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel expansion shield, and in particular to a shield body segment and steel pipe segment assembling device and an assembling method. Background Art

[0002] Tunnel expansion shield technology is based on the original shield machine, through specific design and technical means to achieve the expansion of tunnel diameter. Its basic principle is to use the tunneling function of the shield machine to gradually expand the diameter of the tunnel during the tunneling process, and then assemble steel pipe segments and shield blocks.

[0003] Chinese patent document CN106677790A discloses a double folding arm segment assembly machine for a three-ring cross-section tunnel shield machine, comprising a support frame, the support frame is vertically arranged in the three-ring cross-section tunnel shield machine; a slewing support, the slewing support is horizontally installed on the support frame; a slewing drive, the slewing drive includes a front slewing drive and a rear slewing drive, the front slewing drive and the rear slewing drive are installed on the slewing support, and the rear slewing drive is close to the support frame; a folding arm segment assembly machine, one side of the front slewing drive and one side of the rear slewing drive are respectively connected to a folding arm segment assembly machine. The defects and shortcomings of the double folding arm segment assembly machine are that the double folding arm segment assembly machine is too large and cannot be completely retracted to the back of the cutter head panel, so when it is used in the tunnel expansion shield construction process, it will collide with the surrounding debris and be damaged. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a shield body block and steel pipe segment assembly equipment and assembly method, which solves the technical problem that the existing pipe segment assembly machine is too large and cannot meet the requirements of assembling heavy-loaded expanded-diameter shield body blocks in the narrow space of the soil bin.

[0006] (II) Technical solution

[0007] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, an embodiment of the present invention provides a shield body segmentation and steel pipe segment assembly device, which is installed on the back of a cutter head and is characterized in that it includes an articulated cylinder, a rotating arm, a grab head and a rotating cylinder;

[0009] One end of the articulated oil cylinder is articulated with the middle area of ​​the cutter disc, the other end of the articulated oil cylinder is articulated with the middle of the rotating arm, one end of the rotating arm is articulated with the edge area of ​​the cutter disc, the other end of the rotating arm is articulated with the grabbing head, the rotating oil cylinder is installed on the rotating arm and the end of its piston rod is articulated with the grabbing head;

[0010] The piston rods of the articulated cylinder and the rotating cylinder retract, which can drive the rotating arm and the grabbing head to fold and retract to the stowed position on the back of the cutter disc; the piston rods of the articulated cylinder and the rotating cylinder extend, which can drive the rotating arm and the grabbing head to unfold and extend to the grabbing position or assembly position outside the cutter disc: in the grabbing position, the grabbing head can grab the supporting pipe segment or the shield body block, and in the assembly position, the grabbing head can release the supporting pipe segment or the shield body block.

[0011] Optionally, the swivel arm comprises an articulated arm, a telescopic arm and a telescopic cylinder;

[0012] The articulated arm is a cylindrical structure, one end of which is a closed end and the other end is an open end. The edge area of ​​the cutter disc is hinged to the closed end of the articulated arm, and the articulated cylinder is hinged to the middle part of the articulated arm. The telescopic arm and the telescopic cylinder are installed inside the articulated arm. One end of the telescopic cylinder is connected to the articulated arm, and the other end of the telescopic cylinder is connected to the telescopic arm to drive the telescopic arm to extend from the open end of the articulated arm to drive the grabbing head to approach the grabbing position or the assembly position, or drive the telescopic arm to retract into the articulated arm to drive the grabbing head away from the grabbing position or the assembly position.

[0013] Optionally, the grab head includes a housing, a sliding frame, an axially movable cylinder and a buckle head;

[0014] A sliding frame is installed inside the shell along the axial sliding of the cutter disc, and a buckle head for grabbing the supporting pipe segment and the shield body block is installed on the sliding frame. An axially movable cylinder is arranged inside the shell along the axial direction of the cutter disc, and the axially movable cylinder can drive the sliding frame and the buckle head to move toward the direction approaching the cutter disc so that the buckle head carrying the shield body block moves to the assembly position of the shield body block, or moves in the direction away from the cutter disc to move away from the assembly position of the shield body block.

[0015] Optionally, the grab head further comprises a plurality of buckle bolts cooperating with the buckle;

[0016] A plurality of threaded holes are provided on the supporting segments and the shield body blocks, and the buckle bolts are screwed into the threaded holes one by one. A plurality of U-shaped notches are provided on the buckles, and the buckle bolts can enter the U-shaped notches and the bolt heads of the buckle bolts are engaged with the U-shaped notches.

[0017] Optionally, the opening of the U-shaped notch faces the side away from the blade disc, and an anti-drop component is slidably provided on the buckle head corresponding to the opening of the U-shaped notch to selectively open or close the opening of the U-shaped notch.

[0018] Optionally, support cylinders are provided on the front and rear sides of the buckle head, and the piston rod of the support cylinder is extended to abut against the outer surface of the support segment or the shield block, thereby supporting the support segment or the shield block; the piston rod of the support cylinder is retracted to break away from the contact with the outer surface of the support segment or the shield block, thereby releasing the movement restriction on the support segment or the shield block.

[0019] Optionally, two triangular connecting plates 1 are provided at one end of the telescopic arm close to the grabbing head, and two triangular connecting plates 2 are provided on the side of the shell facing the telescopic arm, and the sharp corner areas of the two triangular connecting plates 1 are hinged to the sharp corner areas of the two triangular connecting plates 2.

[0020] In a second aspect, an embodiment of the present invention provides an assembly method based on the above-mentioned shield body segmentation and steel pipe segment assembly equipment, including a steel pipe segment assembly method, wherein the steel pipe segment assembly method includes the following steps:

[0021] S101, the cutter head carrying the shield body blocks and steel pipe segment assembly equipment rotates to the grabbing area;

[0022] S102, the piston rod of the articulated oil cylinder extends to drive the rotating arm to rotate around the hinge point between the rotating oil cylinder and the cutter disc, the piston rod of the rotating oil cylinder extends to drive the grabbing head to rotate around the hinge point between the rotating oil cylinder and the rotating arm to adjust the posture of the grabbing head, so that the grabbing head moves to the grabbing position, and then the grabbing head grabs the supporting pipe segment;

[0023] S103, the piston rod of the articulated oil cylinder retracts, driving the rotating arm to rotate in the opposite direction around the hinge point between the rotating arm and the cutter disc, and the rotating oil cylinder retracts, driving the grabbing head to rotate in the opposite direction around the hinge point between the rotating arm and the cutter disc, so that the rotating arm and the grabbing head are retracted to the stowed position on the back of the cutter disc;

[0024] S104, the cutter head carries the shield body blocks and steel segment assembly equipment and the supporting segments and rotates to the assembly area;

[0025] S105, first, the piston rod of the articulated oil cylinder extends, driving the rotating arm to rotate around the hinge point between the rotating oil cylinder and the cutter disc, and the piston rod of the rotating oil cylinder extends, driving the grabbing head to rotate around the hinge point between the rotating oil cylinder and the rotating arm, so that the grabbing head and the supporting pipe segment extend to the assembly position outside the cutter disc; secondly, assembling the supporting pipe segment at the assembly position; finally, the grabbing head releases the supporting pipe segment;

[0026] S106, the piston rods of the articulated cylinder and the rotating cylinder retract, driving the rotating arm and the grabbing head to fold and retract to the stowed position on the back of the cutter disc, and continue to execute steps S101 to S105 until the assembly of all supporting segments is completed.

[0027] Optionally, a shield body block assembly method is also included, and the shield body block assembly method includes the following steps:

[0028] S201, the cutter head carrying the shield body blocks and steel pipe segment assembly equipment rotates to the grabbing area;

[0029] S202, the piston rod of the articulated oil cylinder extends to drive the rotating arm to rotate around the hinge point between the rotating oil cylinder and the cutter disc, the piston rod of the rotating oil cylinder extends to drive the grabbing head to rotate around the hinge point between the rotating oil cylinder and the rotating arm to adjust the posture of the grabbing head, so that the grabbing head moves to the grabbing position, and then the grabbing head grabs the shield body blocks;

[0030] S203, the piston rod of the articulated oil cylinder retracts, driving the rotating arm to rotate in the opposite direction around the hinge point between the rotating oil cylinder and the cutter disc, and the piston rod of the rotating oil cylinder retracts, driving the grabbing head to rotate in the opposite direction around the hinge point between the rotating oil cylinder and the rotating arm, so that the rotating arm and the grabbing head are retracted to the stowed position on the back of the cutter disc;

[0031] S204, the cutter head carries the shield body blocks and the steel pipe segment assembly equipment and the shield body blocks and rotates to the assembly area;

[0032] S205, first, the piston rod of the articulated oil cylinder extends to drive the rotating arm to rotate around the hinge point between the rotating oil cylinder and the cutter disc, and the piston rod of the rotating oil cylinder extends to drive the grabbing head to rotate around the hinge point between the rotating oil cylinder and the rotating arm, so that the grabbing head and the shield body block extend to the assembly position outside the cutter disc; secondly, the shield body block is assembled at the assembly position; finally, the grabbing head releases the shield body block;

[0033] S206, the piston rods of the articulated cylinder and the rotating cylinder retract, driving the rotating arm and the grabbing head to fold and retract to the stowed position on the back of the cutter disc, and continue to execute steps S201 to S205 until the assembly of all shield blocks is completed.

[0034] (III) Beneficial effects

[0035] The beneficial effects of the present invention are as follows: the shield body segmentation and steel pipe segment assembly equipment of the present invention is installed on the back of the cutter disc, and is characterized in that it includes an articulated cylinder, a rotating arm, a grabbing head and a rotating cylinder; one end of the articulated cylinder is articulated to the middle area of ​​the cutter disc, the other end of the articulated cylinder is articulated to the middle of the rotating arm, one end of the rotating arm is articulated to the edge area of ​​the cutter disc, the other end of the rotating arm is articulated to the grabbing head, the rotating cylinder is installed on the rotating arm and the end of its piston rod is articulated to the grabbing head; the piston rods of the articulated cylinder and the rotating cylinder are retracted to drive the rotating arm and the grabbing head to fold and retract to the stowed position on the back of the cutter disc; the piston rods of the articulated cylinder and the rotating cylinder are extended to drive the rotating arm and the grabbing head to expand and expand Open and extend to the grabbing position or assembly position outside the cutter disc: at the grabbing position, the grabbing head can grab the supporting pipe segment or the shield body block, and at the assembly position, the grabbing head can release the supporting pipe segment or the shield body block. Compared with the prior art, firstly, the articulated cylinder, the rotating arm and the grabbing head can be folded up and completely retracted to the stowed position on the back of the cutter disc, which significantly reduces the overall size of the equipment and can prevent the shield body blocks and the steel pipe segment assembly equipment from being worn by the slag in the narrow space of the soil bin; secondly, the shield body blocks and the steel pipe segment assembly equipment of the present invention can be retracted to the back of the cutter disc panel, so there is no need for frequent disassembly, which significantly improves the efficiency of the expansion shield construction.

[0036] The grabbing head of the shield body segment and steel pipe segment assembly equipment of the present invention includes a shell, a sliding frame, an axially movable cylinder, a buckle and a buckle bolt. It can realize the grabbing and assembly of the supporting pipe segments and the expanded diameter shield body segments through the cooperation of the buckle and the buckle bolt. Therefore, it does not need to be additionally configured with a lifting equipment, which saves the overall manufacturing cost of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a rear view schematic diagram of Example 1 of the shield body segment and steel pipe segment assembly equipment of the present invention, which shows that the shield body segment and steel pipe segment assembly equipment includes an articulated cylinder, a rotating arm, a grab head and a rotating cylinder.

[0038] Figure 2 for Figure 1 A cross-sectional schematic diagram of the rotating arm and the grabbing head grabbing the shield body blocks;

[0039] Figure 3 for Figure 2 An enlarged schematic diagram of the rotating arm and the grabbing head at A;

[0040] Figure 4 It is a rear view schematic diagram of the embodiment 1 of the shield body segmentation and steel pipe segment assembly equipment of the present invention when the protective cover is provided;

[0041] Figure 5 for Figure 1Schematic diagram of the shield body segmentation and the rear view of the steel segment assembly equipment grabbing the supporting segment;

[0042] Figure 6 for Figure 1 The rear view diagram of the shield body blocks and the steel segment assembly equipment assembling the supporting segments;

[0043] Figure 7 for Figure 1 Schematic diagram of the shield body blocks and the rear view of the steel pipe segment assembly equipment grabbing the shield body blocks;

[0044] Figure 8 for Figure 1 Schematic diagram of the rear view of the shield body blocks and steel pipe segment assembly equipment assembling the shield body blocks.

[0045] [Description of Reference Numerals]

[0046] 1: Cutterhead; 2: Supporting segments; 3: Shield blocks;

[0047] 4: Articulated cylinder; 5: Rotating arm; 6: Grabbing head; 7: Rotating cylinder;

[0048] 8: articulated arm; 9: telescopic arm; 10: telescopic cylinder;

[0049] 11: triangular connecting plate 1; 12: triangular connecting plate 2; 13: protective cover;

[0050] 14: housing; 15: sliding frame; 16: axial moving cylinder; 17: buckle; 18: buckle bolt; 19: anti-drop component; 20: supporting cylinder. DETAILED DESCRIPTION

[0051] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below with reference to the accompanying drawings and through specific embodiments. Figure 1 The orientation is used as a reference.

[0052] Embodiment 1:

[0053] Reference Figures 1 to 8 This embodiment provides a shield body segmentation and steel pipe segment assembly device, which is installed on the back of the cutter head 1 and includes an articulated cylinder 4, a rotating arm 5, a grab head 6 and a rotating cylinder 7.

[0054] One end of the articulated oil cylinder 4 is articulated with the middle area of ​​the cutter disc 1, the other end of the articulated oil cylinder 4 is articulated with the middle of the rotating arm 5, one end of the rotating arm 5 is articulated with the edge area of ​​the cutter disc 1, the other end of the rotating arm 5 is articulated with the grab head 6, and a rotating oil cylinder 7 is installed on the rotating arm 5 and the end of its piston rod is articulated with the grab head 6;

[0055] The piston rods of the articulated cylinder 4 and the rotating cylinder 7 retract, which can drive the rotating arm 5 and the grabbing head 6 to fold and retract to the stowed position on the back of the cutter disc 1; the piston rods of the articulated cylinder 4 and the rotating cylinder 7 extend, which can drive the rotating arm 5 and the grabbing head 6 to unfold and extend to the grabbing position or assembly position outside the cutter disc 1: in the grabbing position, the grabbing head 6 can grab the supporting segment 2 or the shield body block 3, and in the assembly position, the grabbing head 6 can release the supporting segment 2 or the shield body block 3. It should be noted that the retraction of the rotating arm 5 and the grabbing head 6 to the stowed position on the back of the cutter disc 1 means that the rotating arm 5 and the grabbing head 6 are completely retracted within the circumference of the cutter disc 1, so that when the cutter disc 1 rotates, the slag in the narrow space of the soil bin will not wear the rotating arm 5 and the grabbing head 6.

[0056] The shield body block and steel pipe segment assembly equipment of this embodiment adopts the above-mentioned structure. When in working state, it can stop rotating the cutter disc 1 as the cutter disc 1 rotates to the vicinity of the assembly or grabbing area, and grab and assemble the supporting pipe segment 2 and the shield body block 3 through the cooperation of the articulated cylinder 4, the rotating arm 5, the grabbing head 6 and the rotating cylinder 7; in standby state, its small external dimensions after folding and retracting can be protected in the stowed position on the back of the cutter disc panel to avoid being worn by the debris in the narrow space of the soil bin.

[0057] See also Figure 2 The rotating arm 5 of this embodiment includes an articulated arm 8, a telescopic arm 9 and a telescopic oil cylinder 10. The articulated arm 8 is a cylindrical structure, one end of which is a closed end and the other end is an open end; the edge area of ​​the cutter head 1 is hinged to the closed end of the articulated arm 8, the articulated oil cylinder 4 is hinged to the middle part of the articulated arm 8, the telescopic arm 9 and the telescopic oil cylinder 10 are installed inside the articulated arm 8, one end of the telescopic oil cylinder 10 is connected to the articulated arm 8, and the other end of the telescopic oil cylinder 10 is connected to the telescopic arm 9, so as to drive the telescopic arm 9 to extend from the open end of the articulated arm 8 to drive the grabbing head 6 to approach the grabbing position or the assembly position, or drive the telescopic arm 9 to retract into the articulated arm 8 to drive the grabbing head 6 away from the grabbing position or the assembly position.

[0058] The purpose of providing the articulated arm 8, the telescopic arm 9 and the telescopic oil cylinder 10 in this embodiment is to increase the stroke of the grabbing head 6 so as to improve the grabbing range and the assembling range of the grabbing head 6. In addition, it should be noted that the outer diameter of the telescopic arm 9 and the telescopic oil cylinder 10 is smaller than the inner diameter of the articulated arm 8.

[0059] Reference Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 The grabbing head 6 of this embodiment includes a shell 14, a sliding frame 15, an axial moving cylinder 16 and a buckle head 17.

[0060] The sliding frame 15 is installed inside the shell 14 along the axial sliding of the cutter disc 1. The buckle head 17 for grabbing the supporting pipe segment 2 and the shield body block 3 is installed on the sliding frame 15. The axial moving cylinder 16 is arranged inside the shell 14 along the axial direction of the cutter disc 1. The axial moving cylinder 16 can drive the sliding frame 15 and the buckle head 17 to move in the direction close to the cutter disc 1, so that the buckle head 17 carrying the shield body block 3 moves to the assembly position of the shield body block 3, or moves in the direction away from the cutter disc 1 to move away from the assembly position of the shield body block 3. The purpose of arranging the sliding frame 15 and the axial moving cylinder 16 in this embodiment is to provide axial displacement for the grabbing head 6 and the shield body block 3, so as to facilitate the assembly of the shield body block 3 along the circumferential direction of the cutter disc 1.

[0061] Furthermore, the telescopic arm 9 of this embodiment is provided with two triangular connecting plates 11 at one end close to the grabbing head 6, and the housing 14 is provided with two triangular connecting plates 2 12 at one side facing the telescopic arm 9, and the sharp corner areas of the two triangular connecting plates 1 11 are hinged with the sharp corner areas of the two triangular connecting plates 2 12. The telescopic arm 9 of this embodiment and the housing 14 are hinged by the triangular connecting plates 1 11 and 12, thereby increasing the rotational freedom of the grabbing head 6.

[0062] In this embodiment, the grab head 6 further includes a plurality of buckle bolts 18 that cooperate with the buckle 17. A plurality of threaded holes are provided on the support segment 2 and the shield body block 3, and the buckle bolts 18 are screwed in correspondence with the threaded holes one by one. The buckle 17 is provided with a plurality of U-shaped notches, and the buckle bolts 18 can enter the U-shaped notches, and the bolt heads of the buckle bolts 18 are engaged with the U-shaped notches.

[0063] Furthermore, the opening of the U-shaped notch faces the side away from the cutter disc 1, and the buckle head 17 is slidably provided with an anti-drop component 19 at the opening of the U-shaped notch, which is used to selectively open or close the opening of the U-shaped notch. Specifically, the anti-drop component 19 is a plate-shaped component. When the buckle head bolt 18 enters the U-shaped notch, the anti-drop component 19 moves downward to block the opening of the U-shaped notch, thereby preventing the buckle head bolt 18 from falling. When the supporting pipe segment 2 or the shield body block 3 is released, the anti-drop component 19 moves upward to open the opening of the U-shaped notch, and the buckle head bolt 18 is detached from the opening of the U-shaped notch.

[0064] Furthermore, the front and rear sides of the buckle head 17 are both provided with supporting cylinders 20, and the piston rod of the supporting cylinder 20 is extended to abut against the outer surface of the supporting segment 2 or the shield body block 3, thereby supporting the supporting segment 2 and the shield body block 3; the piston rod of the supporting cylinder 20 is retracted to break away from the contact with the outer surface of the supporting segment 2 or the shield body block 3, thereby releasing the restriction on the movement of the supporting segment 2 and the shield body block 3. Specifically, after the bolt head of the buckle head bolt 18 is clamped with the U-shaped notch on the buckle head 17, the supporting segment 2 and the shield body block 3 can still rock back and forth. In order to improve the stability and safety of the grabbing head 6, the supporting cylinders 20 are provided on the front and rear sides of the buckle head 17, and the piston rod of the supporting cylinder 20 can be extended to abut against the outer surface of the supporting segment 2 and the shield body block 3, thereby preventing them from rocking back and forth. When the grabbing head 6 moves the supporting segment 2 and the shield body block 3 to the assembly position, the piston rod of the supporting oil cylinder 20 retracts to release the movement restriction on the supporting segment 2 and the shield body block 3.

[0065] In this embodiment, a plurality of protective covers 13 are hinged on the back of the cutter disc 1 in the installation area of ​​the shield body block and steel pipe segment assembly equipment to protect the shield body block and steel pipe segment assembly equipment from contacting with the slag. It should be noted that when the shield body block and steel pipe segment assembly equipment are in the working state, the plurality of protective covers 13 are parallel to the back of the cutter disc 1 and are in the avoidance position; when the shield body block and steel pipe segment assembly equipment are in the standby state, the plurality of protective covers 13 rotate to the protective position perpendicular to the back of the cutter disc 1.

[0066] Embodiment 2:

[0067] See also Figure 5 and Figure 6 This embodiment provides an assembly method based on the shield body segmentation and steel pipe segment assembly equipment, including a steel pipe segment assembly method, the steel pipe segment assembly method comprising the following steps:

[0068] S101, the cutter head 1 carries the shield body blocks and the steel pipe segment assembly equipment and rotates to the grabbing area;

[0069] S102, the piston rod of the articulated oil cylinder 4 extends, driving the rotating arm 5 to rotate around the hinge point between the oil cylinder 7 and the cutter head 1, and the piston rod of the rotating oil cylinder 7 extends, driving the grab head 6 to rotate around the hinge point between the oil cylinder 7 and the rotating arm 5, so as to adjust the posture of the grab head 6, so that the grab head 6 moves to the grab position, and then the grab head 6 grabs the supporting segment 2. Specifically, the buckle bolt 18 on the supporting segment 2 enters the U-shaped notch on the grab head 6, so that the bolt head of the buckle bolt 18 is engaged with the U-shaped notch, and then the anti-drop component 19 extends to block the opening of the U-shaped notch, and finally the piston rod end of the supporting oil cylinder 20 extends and abuts against the outer surface of the supporting segment 2 to support the supporting segment 2 and prevent it from shaking back and forth.

[0070] S103, the piston rod of the articulated oil cylinder 4 retracts, driving the rotating arm 5 to rotate in the opposite direction around the hinge point between the rotating oil cylinder 7 and the cutter disc 1, and the piston rod of the rotating oil cylinder 7 retracts, driving the grab head 6 to rotate in the opposite direction around the hinge point between the rotating arm 5 and the cutter disc 1, so that the rotating arm 5 and the grab head 6 are retracted to the stowed position on the back of the cutter disc 1;

[0071] S104, the cutter head 1 carries the shield body blocks and the steel pipe segment assembly equipment and the support pipe segment 2 and rotates to the assembly area;

[0072] S105, first, the piston rod of the articulated oil cylinder 4 extends, driving the rotating arm 5 to rotate around the hinge point between the oil cylinder 7 and the cutter head 1, and the piston rod of the rotating oil cylinder 7 extends, driving the grab head 6 to rotate around the hinge point between the oil cylinder 7 and the rotating arm 5, so that the grab head 6 and the supporting pipe segment 2 extend to the assembly position outside the cutter head 1; secondly, the supporting pipe segment 2 is assembled at the assembly position; finally, the grab head 6 releases the supporting pipe segment 2. Specifically, the piston rod of the supporting oil cylinder 20 retracts first, disengages from the outer surface of the supporting pipe segment 2, releases the restriction on the supporting pipe segment 2, and then the anti-drop component 19 returns to the inside of the buckle head 17, thereby opening the opening of the U-shaped notch, and finally the buckle head bolt 18 on the supporting pipe segment 2 moves relative to the U-shaped notch and disengages from the U-shaped notch, and the supporting pipe segment 2 is released after completion.

[0073] S106, the piston rods of the articulated cylinder 4 and the rotating cylinder 7 retract, driving the rotating arm 5 and the grabbing head 6 to fold and retract to the stowed position on the back of the cutter head 1, and continue to execute steps S101 to S105 until the assembly of all supporting segments 2 is completed.

[0074] It should be noted that, in the above steps S101 to S106 , the rotating arm 5 can be extended or retracted to increase the stroke of the grasping head 6 and expand the range of grasping and assembling the supporting pipe segment 2 .

[0075] See also Figure 7 and Figure 8 The assembly method also includes a shield body block assembly method, and the shield body block assembly method includes the following steps:

[0076] S201, the cutter head 1 carries the shield body blocks and the steel pipe segment assembly equipment and rotates to the grabbing area;

[0077] S202, the piston rod of the articulated oil cylinder 4 extends, driving the rotating arm 5 to rotate around the hinge point between the oil cylinder 7 and the cutter head 1, and the piston rod of the rotating oil cylinder 7 extends, driving the grab head 6 to rotate around the hinge point between the oil cylinder 7 and the rotating arm 5, so as to adjust the posture of the grab head 6, so that the grab head 6 moves to the grab position, and then the grab head 6 grabs the shield body block 3. Specifically, the buckle bolt 18 on the shield body block 3 enters the U-shaped notch on the grab head 6, so that the bolt head of the buckle bolt 18 is engaged with the U-shaped notch, and then the anti-drop component 19 extends to block the opening of the U-shaped notch, and finally the piston rod end of the supporting oil cylinder 20 extends and abuts against the outer surface of the shield body block 3 to support the shield body block 3 and prevent it from shaking back and forth.

[0078] S203, the piston rod of the articulated oil cylinder 4 retracts, driving the rotating arm 5 to rotate in the opposite direction around the hinge point between the rotating oil cylinder 7 and the cutter disc 1, and the piston rod of the rotating oil cylinder 7 retracts, driving the grab head 6 to rotate in the opposite direction around the hinge point between the rotating arm 5 and the cutter disc 1, so that the rotating arm 5 and the grab head 6 are retracted to the stowed position on the back of the cutter disc 1;

[0079] S204, the cutter head 1 carries the shield body blocks and the steel pipe segment assembly equipment and the shield body blocks 3 and rotates to the assembly area;

[0080] S205. First, the piston rod of the articulated cylinder 4 extends out to drive the rotating arm 5 to rotate around the hinge point between it and the cutter disc 1. The piston rod of the rotating cylinder 7 extends out to drive the grabbing head 6 to rotate around the hinge point between it and the rotating arm 5, so that the grabbing head 6 and the shield body block 3 extend to the assembly position outside the cutter disc 1; secondly, the shield body block 3 is assembled at the assembly position; finally, the grabbing head 6 releases the shield body block 3. Specifically, in step S205, it also includes: the axial movement cylinder 16 can drive the sliding frame 15 and the buckle head 17 to move in the direction close to the cutter disc 1, so that the buckle head 17 carrying the shield body block 3 moves to the assembly position of the shield body block 3; the piston rod of the supporting cylinder 20 retracts and disengages from the outer surface of the shield body block 3, releasing the restriction on the shield body block 3, and then the anti-drop component 19 returns to the inside of the buckle head 17, thereby opening the opening of the U-shaped notch, and finally the buckle head bolt 18 on the shield body block 3 moves relative to the U-shaped notch, disengages from the U-shaped notch, and completes the release of the shield body block 3; the axial movement cylinder 16 drives the sliding frame 15 and the buckle head 17 to move in the direction away from the cutter disc 1, so as to be away from the assembly position of the shield body block 3.

[0081] S206, the piston rods of the articulated cylinder 4 and the rotating cylinder 7 retract, driving the rotating arm 5 and the grabbing head 6 to fold and retract to the stowed position on the back of the cutter head 1, and continue to execute steps S201 to S205 until the assembly of all shield body blocks 3 is completed.

[0082] It should be noted that, in the above steps S201 to S206 , the rotating arm 5 can be extended or retracted to increase the stroke of the grasping head 6 and expand the range of grasping and assembling the shield body blocks 3 .

[0083] The rest of the same points as in Example 1 will not be repeated here.

[0084] In the description of the present invention, it should be understood that 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 technical features indicated. 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.

[0085] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In the present invention, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0087] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0088] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A shield body block and steel pipe segment assembly device, installed on the back of the cutter head, characterized in that: It comprises an articulated oil cylinder (4), a rotating arm (5), a grabbing head (6) and a rotating oil cylinder (7); One end of the articulated oil cylinder (4) is articulated to the middle area of ​​the cutter disc (1), the other end of the articulated oil cylinder (4) is articulated to the middle of the rotating arm (5), one end of the rotating arm (5) is articulated to the edge area of ​​the cutter disc (1), the other end of the rotating arm (5) is articulated to the grabbing head (6), and the rotating oil cylinder (7) is mounted on the rotating arm (5) and the end of its piston rod is articulated to the grabbing head (6); The piston rods of the articulated oil cylinder (4) and the rotating oil cylinder (7) are retracted, which can drive the rotating arm (5) and the grabbing head (6) to fold and retract to the stowed position on the back of the cutter disc (1); the piston rods of the articulated oil cylinder (4) and the rotating oil cylinder (7) are extended, which can drive the rotating arm (5) and the grabbing head (6) to unfold and extend to the grabbing position or the assembly position outside the cutter disc (1): in the grabbing position, the grabbing head (6) can grab the supporting pipe segment (2) or the shield body block (3); in the assembly position, the grabbing head (6) can release the supporting pipe segment (2) or the shield body block (3).

2. The shield body segmentation and steel pipe segment assembly equipment according to claim 1, characterized in that: The rotating arm (5) comprises an articulated arm (8), a telescopic arm (9) and a telescopic oil cylinder (10); The articulated arm (8) is a cylindrical structure, one end of which is a closed end and the other end is an open end. The edge area of ​​the cutter disc (1) is hinged to the closed end of the articulated arm (8), the articulated cylinder (4) is hinged to the middle part of the articulated arm (8), and a telescopic arm (9) and a telescopic cylinder (10) are installed inside the articulated arm (8). One end of the telescopic cylinder (10) is connected to the articulated arm (8), and the other end of the telescopic cylinder (10) is connected to the telescopic arm (9) to drive the telescopic arm (9) to extend from the open end of the articulated arm (8) to drive the grabbing head (6) to approach the grabbing position or the assembly position, or drive the telescopic arm (9) to retract into the articulated arm (8) to drive the grabbing head (6) away from the grabbing position or the assembly position.

3. The shield body segmentation and steel pipe segment assembly equipment according to claim 2, characterized in that: The grabbing head (6) comprises a housing (14), a sliding frame (15), an axially movable oil cylinder (16) and a buckle head (17); A sliding frame (15) is installed inside the shell (14) in an axially sliding manner along the cutter disc (1). A buckle (17) for grabbing the supporting pipe segment (2) and the shield body block (3) is installed on the sliding frame (15). An axially movable cylinder (16) is arranged inside the shell (14) in an axial direction along the cutter disc (1). The axially movable cylinder (16) can drive the sliding frame (15) and the buckle (17) to move in a direction approaching the cutter disc (1) so that the buckle (17) carrying the shield body block (3) moves to an assembly position of the shield body block (3), or moves in a direction away from the cutter disc (1) so as to be away from the assembly position of the shield body block (3).

4. The shield body segmentation and steel pipe segment assembly equipment according to claim 3, characterized in that: The grab head (6) also includes a plurality of buckle bolts (18) that cooperate with the buckle (17); A plurality of threaded holes are provided on the supporting pipe segment (2) and the shield body block (3), and the buckle bolts (18) are screwed into the threaded holes one by one. The buckle head (17) is provided with a plurality of U-shaped notches, and the buckle bolts (18) can enter the U-shaped notches, and the bolt heads of the buckle bolts (18) are engaged with the U-shaped notches.

5. The shield body segmentation and steel pipe segment assembly equipment according to claim 4, characterized in that: The opening of the U-shaped notch faces the side away from the blade disc (1), and the buckle head (17) is slidably provided with an anti-drop component (19) corresponding to the opening of the U-shaped notch, so as to selectively open or close the opening of the U-shaped notch.

6. The shield body segmentation and steel pipe segment assembly equipment according to claim 4, characterized in that: A supporting oil cylinder (20) is provided on the front side and the rear side of the buckle head (17); the piston rod of the supporting oil cylinder (20) extends out and abuts against the outer surface of the supporting pipe segment (2) or the shield body block (3), thereby supporting the supporting pipe segment (2) or the shield body block (3); the piston rod of the supporting oil cylinder (20) retracts and breaks away from the contact with the outer surface of the supporting pipe segment (2) or the shield body block (3), thereby releasing the movement restriction on the supporting pipe segment (2) or the shield body block (3).

7. The shield body segmentation and steel pipe segment assembly equipment according to claim 3, characterized in that: Two triangular connecting plates (11) are provided at one end of the telescopic arm (9) close to the grabbing head (6), and two triangular connecting plates (12) are provided at one side of the shell (14) facing the telescopic arm (9), and the sharp corner areas of the two triangular connecting plates (11) are hinged to the sharp corner areas of the two triangular connecting plates (12).

8. An assembly method of the shield body segment and steel pipe segment assembly equipment according to any one of claims 1 to 7, characterized in that: The invention comprises a steel pipe segment assembly method, wherein the steel pipe segment assembly method comprises the following steps: S101, the cutter head (1) carries the shield body blocks and the steel pipe segment assembly equipment and rotates to the grabbing area; S102, the piston rod of the articulated oil cylinder (4) extends to drive the rotating arm (5) to rotate around the hinge point between the rotating oil cylinder (7) and the cutter head (1), and the piston rod of the rotating oil cylinder (7) extends to drive the grabbing head (6) to rotate around the hinge point between the rotating oil cylinder (7) and the rotating arm (5), so as to adjust the posture of the grabbing head (6) so that the grabbing head (6) moves to the grabbing position, and then the grabbing head (6) grabs the supporting pipe segment (2); S103, the piston rod of the articulated oil cylinder (4) retracts, driving the rotating arm (5) to rotate in the opposite direction around the hinge point between the rotating arm (5) and the cutter disc (1), and the rotating oil cylinder (7) retracts, driving the grabbing head (6) to rotate in the opposite direction around the hinge point between the rotating arm (5) and the cutter disc (1), so that the rotating arm (5) and the grabbing head (6) are retracted to the stowed position on the back of the cutter disc (1); S104, the cutter head (1) carries the shield body blocks and the steel pipe segment assembly equipment and the supporting pipe segment (2) and rotates to the assembly area; S105, first, the piston rod of the articulated oil cylinder (4) extends to drive the rotating arm (5) to rotate around the hinge point between it and the cutter disc (1), and the piston rod of the rotating oil cylinder (7) extends to drive the grabbing head (6) to rotate around the hinge point between it and the rotating arm (5), so that the grabbing head (6) and the supporting pipe segment (2) extend to the assembly position outside the cutter disc (1); secondly, the supporting pipe segment (2) is assembled at the assembly position; finally, the grabbing head (6) releases the supporting pipe segment (2); S106, the piston rods of the articulated cylinder (4) and the rotating cylinder (7) retract, driving the rotating arm (5) and the grabbing head (6) to fold and retract to the stowed position on the back of the cutter head (1), and continue to execute steps S101 to S105 until the assembly of all supporting segments (2) is completed.

9. The method for assembling shield body blocks and steel pipe segment assembly equipment according to claim 8, characterized in that: The invention also includes a shield body block assembly method, which includes the following steps: S201, the cutter head (1) carries the shield body blocks and the steel pipe segment assembly equipment and rotates to the grabbing area; S202, the piston rod of the articulated oil cylinder (4) extends to drive the rotating arm (5) to rotate around the hinge point between the rotating oil cylinder (7) and the rotating arm (5), so as to adjust the posture of the grabbing head (6) and move the grabbing head (6) to the grabbing position, and then the grabbing head (6) grabs the shield body block (3); S203, the piston rod of the articulated oil cylinder (4) retracts, driving the rotating arm (5) to rotate in the opposite direction around the hinge point between it and the cutter disc (1); the piston rod of the rotating oil cylinder (7) retracts, driving the grabbing head (6) to rotate in the opposite direction around the hinge point between it and the rotating arm (5), so that the rotating arm (5) and the grabbing head (6) are retracted to the stowed position on the back of the cutter disc (1); S204, the cutter head (1) carries the shield body segments and the steel pipe segment assembly equipment and the shield body segments (3) and rotates to the assembly area; S205, first, the piston rod of the articulated oil cylinder (4) extends to drive the rotating arm (5) to rotate around the hinge point between it and the cutter disc (1), and the piston rod of the rotating oil cylinder (7) extends to drive the grabbing head (6) to rotate around the hinge point between it and the rotating arm (5), so that the grabbing head (6) and the shield body block (3) extend to the assembly position outside the cutter disc (1); secondly, the shield body block (3) is assembled at the assembly position; finally, the grabbing head (6) releases the shield body block (3); S206, the piston rods of the articulated cylinder (4) and the rotating cylinder (7) retract, driving the rotating arm (5) and the grabbing head (6) to fold and retract to the stowed position on the back of the cutter disc (1), and continue to execute steps S201 to S205 until the assembly of all shield body blocks (3) is completed.

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