Equipment and methods for assembling shield sections and steel segments

Abstract

This invention relates to a shield body segmentation and steel segment assembly device and method. The device, mounted on the back of the cutterhead, includes a hinge cylinder, a rotating arm, a gripping head, and a rotary cylinder. One end of the hinge cylinder is hinged to the central region of the cutterhead, and the other end is hinged to the central region of the rotating arm. One end of the rotating arm is hinged to the edge region of the cutterhead, and the other end is hinged to the gripping head. A rotary cylinder is also mounted on the rotating arm, with its piston rod end hinged to the gripping head. The hinge cylinder drives the rotating arm to rotate around its hinge point with the cutterhead, and the rotary cylinder drives the gripping head to rotate around its hinge point with the rotating arm. The gripping head is used to grip and assemble support segments or shield body segments. Due to this structure, the shield body segmentation and steel segment assembly device has a small folded-back size, allowing it to be protected at the retracted position on the back of the cutterhead panel from abrasion by slag.

Description

Technical Field

[0001] This invention relates to the field of tunnel expansion shield technology, and in particular to a shield body segmentation and steel segment assembly equipment and method. Background Technology

[0002] Tunnel expansion shield tunneling technology is based on existing shield tunneling machines and uses specific design and technical means to increase the diameter of the tunnel. Its basic principle is to use the tunneling function of the shield machine to gradually increase the diameter of the tunnel during the tunneling process, and then assemble the steel segments and shield body into sections.

[0003] Chinese patent document CN106677790A discloses a double-folding-arm segment assembler for a three-ring cross-section tunnel boring machine (TBM), including a support frame vertically installed within the TBM; a slewing support horizontally mounted on the support frame; a slewing drive comprising a front slewing drive and a rear slewing drive mounted on the slewing support, with the rear slewing drive close to the support frame; and a folding-arm segment assembler connected to one side of the front slewing drive and the other side of the rear slewing drive. The drawback of this double-folding-arm segment assembler is that it is too large and cannot be fully retracted to the back of the cutterhead panel. Therefore, when used in tunnel widening shield construction, it is prone to collisions with surrounding excavated soil and can be damaged. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a shield body segmentation 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-duty expanded diameter shield body segments in the narrow space of the soil chamber.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0008] In a first aspect, embodiments of the present invention provide a shield body segmentation and steel pipe segment assembly device, which is installed on the back of the cutterhead, characterized in that it includes a hinged hydraulic cylinder, a rotating arm, a gripping head, and a rotating hydraulic cylinder.

[0009] One end of the articulated cylinder is hinged to the middle area of ​​the cutter head, the other end of the articulated 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 gripping head, and the rotating cylinder is mounted on the rotating arm with its piston rod end hinged to the gripping head.

[0010] The retraction of the piston rods of the articulated cylinder and the rotary cylinder can drive the rotary arm and the gripper head to fold and retract to the retracted position on the back of the cutterhead; the extension of the piston rods of the articulated cylinder and the rotary cylinder can drive the rotary arm and the gripper head to unfold and extend to the gripping position or assembly position outside the cutterhead: in the gripping position, the gripper head can grip the support segment or shield block; in the assembly position, the gripper head can release the support segment or shield block.

[0011] Optionally, the rotating arm includes a hinged arm, a telescopic arm, and a telescopic cylinder;

[0012] The articulated arm has a cylindrical structure with one closed end and the other open end. The edge area of ​​the cutter head is hinged to the closed end of the articulated arm. The articulated cylinder is hinged to the middle of the articulated arm. A telescopic arm and a 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. This is used to drive the telescopic arm to extend from the open end of the articulated arm, so as to move the gripper head closer to the gripping position or the assembly position, or to drive the telescopic arm to retract into the articulated arm, so as to move the gripper head away from the gripping position or the assembly position.

[0013] Optionally, the gripping head includes a housing, a sliding frame, an axial movement cylinder, and a buckle;

[0014] Inside the housing, a sliding frame is slidably mounted along the axial direction of the cutterhead. The sliding frame is equipped with a buckle for gripping and supporting segments and shield body blocks. Inside the housing, an axial movement cylinder is arranged along the axial direction of the cutterhead. The axial movement cylinder can drive the sliding frame and the buckle to move towards the cutterhead, so that the buckle carrying the shield body block moves to the assembly position of the shield body block, or move away from the cutterhead, so as to move away from the assembly position of the shield body block.

[0015] Optionally, the gripping head also includes multiple buckle bolts that mate with the buckle;

[0016] The support segments and shield body sections are provided with multiple threaded holes. The buckle bolts are screwed into the threaded holes one by one. The buckle head is provided with multiple U-shaped notches, which allow the buckle bolts to enter into the U-shaped notches and engage with the bolt heads of the buckle bolts.

[0017] Optionally, the opening of the U-shaped notch faces away from the cutter head, and the buckle is slidably provided with an anti-drop component at the opening of the U-shaped notch to selectively open or close the opening of the U-shaped notch.

[0018] Optionally, a support cylinder is provided on both the front and rear sides of the buckle. The piston rod of the support cylinder extends and abuts against the outer surface of the support segment or shield block, thereby supporting the support segment or shield block. The piston rod of the support cylinder retracts and disengages from the outer surface of the support segment or shield block, thereby releasing the movement restriction on the support segment or shield block.

[0019] Optionally, the telescopic arm is provided with two triangular connecting plates 1 at the end near the gripping head, and the housing is provided with two triangular connecting plates 2 on the side facing the telescopic arm. The pointed corner areas of the two triangular connecting plates 1 are hinged to the pointed corner areas of the two triangular connecting plates 2.

[0020] Secondly, embodiments of the present invention provide an assembly method based on the above-mentioned shield segmentation and steel segment assembly equipment, including a steel segment assembly method, the steel segment assembly method comprising the following steps:

[0021] S101, The cutterhead, carrying the shield body segmentation and steel pipe segment assembly equipment, rotates to the grabbing area;

[0022] S102, The piston rod of the articulated cylinder extends, driving the rotating arm to rotate around its hinge point with the cutter head. The piston rod of the rotating cylinder extends, driving the gripper head to rotate around its hinge point with the rotating arm, so as to adjust the posture of the gripper head, move the gripper head to the gripping position, and then the gripper head grips the support tube segment.

[0023] S103, the piston rod of the articulated cylinder retracts, driving the rotating arm to rotate in the opposite direction around its hinge point with the cutter head, and the rotating cylinder retracts, driving the gripper head to rotate in the opposite direction around its hinge point with the rotating arm, so that the rotating arm and the gripper head retract to the retracted position on the back of the cutter head.

[0024] S104. The cutterhead, carrying the shield body segmentation and steel pipe segment assembly equipment and supporting pipe segments, rotates to the assembly area.

[0025] S105. First, the piston rod of the articulated cylinder extends, driving the rotating arm to rotate around its hinge point with the cutter head. The piston rod of the rotating cylinder extends, driving the gripping head to rotate around its hinge point with the rotating arm, so that the gripping head and the support tube extend to the assembly position outside the cutter head. Second, the support tube is assembled at the assembly position. Finally, the gripping head releases the support tube.

[0026] S106, the piston rods of the articulated cylinder and the rotary cylinder retract, driving the rotary arm and the gripper head to fold and retract to the folded position on the back of the cutter head, and continue to execute steps S101 to S105 until the assembly of all support segments is completed.

[0027] Optionally, it also includes a method for assembling the shield body in sections, which includes the following steps:

[0028] S201, The cutterhead, carrying the shield body segmentation and steel pipe segment assembly equipment, rotates to the grabbing area;

[0029] S202, the piston rod of the articulated cylinder extends, driving the rotating arm to rotate around its hinge point with the cutter head, and the piston rod of the rotating cylinder extends, driving the gripping head to rotate around its hinge point with the rotating arm, so as to adjust the posture of the gripping head, so that the gripping head moves to the gripping position, and then the gripping head grips the shield body segment.

[0030] S203, the piston rod of the articulated cylinder retracts, driving the rotating arm to rotate in the opposite direction around its hinge point with the cutter head, and the piston rod of the rotating cylinder retracts, driving the gripper head to rotate in the opposite direction around its hinge point with the rotating arm, so that the rotating arm and the gripper head retract to the retracted position on the back of the cutter head.

[0031] S204. The cutterhead carries the shield body segment and steel pipe segment assembly equipment and the shield body segment rotates to the assembly area.

[0032] S205. First, the piston rod of the articulated cylinder extends, driving the rotating arm to rotate around its hinge point with the cutterhead. The piston rod of the rotating cylinder extends, driving the gripping head to rotate around its hinge point with the rotating arm, causing the gripping head and the shield body block to extend to the assembly position outside the cutterhead. Second, the shield body block is assembled at the assembly position. Finally, the gripping 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 gripping head to fold and retract to the folded position on the back of the cutterhead. Continue to execute steps S201 to S205 until the assembly of all shield body blocks is completed.

[0034] (III) Beneficial Effects

[0035] The beneficial effects of this invention are as follows: The shield segmentation and steel pipe segment assembly equipment of this invention, installed on the back of the cutterhead, is characterized by comprising a hinge cylinder, a rotating arm, a gripping head, and a rotating cylinder; one end of the hinge cylinder is hinged to the middle region of the cutterhead, the other end of the hinge cylinder is hinged to the middle of the rotating arm, one end of the rotating arm is hinged to the edge region of the cutterhead, the other end of the rotating arm is hinged to the gripping head, and the rotating cylinder is installed on the rotating arm with its piston rod end hinged to the gripping head; the retraction of the piston rods of the hinge cylinder and the rotating cylinder can drive the rotating arm and the gripping head to fold and retract to the folded position on the back of the cutterhead; the extension of the piston rods of the hinge cylinder and the rotating cylinder can drive the rotating arm and the gripping head to extend. The device opens and extends to a gripping or assembly position outside the cutterhead: in the gripping position, the gripping head can grip the supporting segments or shield blocks; in the assembly position, the gripping head can release the supporting segments or shield blocks. Compared with the prior art, firstly, the articulated cylinder, rotating arm, and gripping head can be folded up and completely retracted to the back of the cutterhead, which significantly reduces the overall size of the equipment and avoids the shield block and steel segment assembly equipment being worn by the slag in the narrow space of the soil chamber; secondly, the shield block and steel segment assembly equipment of the present invention can be retracted to the back of the cutterhead panel, thus eliminating the need for frequent disassembly, which significantly improves the efficiency of the expanded diameter shield tunneling construction.

[0036] The gripping head of the shield segmentation and steel pipe segment assembly equipment of the present invention includes a shell, a sliding frame, an axial movement cylinder, a buckle and buckle bolts. It can grip and assemble the support pipe segments and the expanded diameter shield segments through the cooperation of the buckle and buckle bolts. Therefore, it does not require additional hoisting equipment, which saves the overall manufacturing cost of the equipment. Attached Figure Description

[0037] Figure 1 This is a rear view schematic diagram of Embodiment 1 of the shield body segmentation and steel segment assembly equipment of the present invention, which shows that the shield body segmentation and steel segment assembly equipment includes an articulated hydraulic cylinder, a rotating arm, a gripping head, and a rotating hydraulic cylinder.

[0038] Figure 2 for Figure 1 A cross-sectional view of the rotating arm and gripping head gripping the shield body in sections.

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

[0040] Figure 4 This is a rear view of the shield body segmentation and steel pipe segment assembly equipment of the present invention when the protective cover is installed in Embodiment 1.

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

[0042] Figure 6 for Figure 1 A rear view diagram of the shield body segmentation and steel segment assembly equipment assembling support segments;

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

[0044] Figure 8 for Figure 1 A rear view diagram of the shield body segmentation and steel pipe segment assembly equipment during the assembly of the shield body segments.

[0045] [Explanation of Labels in the Attached Image]

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

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

[0048] 8: Articulated arm; 9: Telescopic arm; 10: Telescopic cylinder;

[0049] 11: Triangular connecting plate one; 12: Triangular connecting plate two; 13: Protective cover;

[0050] 14: Housing; 15: Sliding frame; 16: Axial movement cylinder; 17: Buckle; 18: Buckle bolt; 19: Anti-fall component; 20: Support cylinder. Detailed Implementation

[0051] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," "left," "right," "front," and "rear" are used interchangeably. Figure 1 The orientation is used as a reference.

[0052] Example 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 cutterhead 1 and includes a hinge cylinder 4, a rotating arm 5, a gripping head 6 and a rotating cylinder 7.

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

[0055] The retraction of the piston rods of the articulated cylinder 4 and the rotating cylinder 7 drives the rotating arm 5 and the gripping head 6 to fold and retract to the folded position on the back of the cutterhead 1. The extension of the piston rods of the articulated cylinder 4 and the rotating cylinder 7 drives the rotating arm 5 and the gripping head 6 to unfold and extend to the gripping or assembly position outside the cutterhead 1. In the gripping position, the gripping head 6 can grip the supporting segment 2 or the shield body segment 3; in the assembly position, the gripping head 6 can release the supporting segment 2 or the shield body segment 3. It should be noted that the retraction of the rotating arm 5 and the gripping head 6 to the folded position on the back of the cutterhead 1 means that the rotating arm 5 and the gripping head 6 are completely retracted within the circumference of the cutterhead 1. Therefore, when the cutterhead 1 rotates, the slag in the confined space of the soil chamber will not abrade the rotating arm 5 and the gripping head 6.

[0056] The shield body segmentation and steel pipe segment assembly equipment of this embodiment, due to the above-mentioned structure, can stop rotating the cutter head 1 when it rotates to the vicinity of the assembly or grabbing area during operation. It can grab and assemble the support pipe segments 2 and shield body segments 3 through the cooperation of the hinge cylinder 4, rotating arm 5, grabbing head 6 and rotating cylinder 7. In the standby state, its small size after folding and retracting can protect it in the retracted position on the back of the cutter head panel, avoiding wear from the slag in the narrow space of the soil chamber.

[0057] Please see Figure 2 In this embodiment, the rotating arm 5 includes a hinged arm 8, a telescopic arm 9, and a telescopic cylinder 10. The hinged arm 8 has a cylindrical structure with one end closed and the other end open. The edge area of ​​the cutter head 1 is hinged to the closed end of the hinged arm 8, and the hinged cylinder 4 is hinged to the middle of the hinged arm 8. The telescopic arm 9 and the telescopic cylinder 10 are installed inside the hinged arm 8. One end of the telescopic cylinder 10 is connected to the hinged arm 8, and the other end of the telescopic cylinder 10 is connected to the telescopic arm 9. The telescopic arm 9 is used to drive the telescopic arm 9 to extend from the open end of the hinged arm 8 to move the gripping head 6 closer to the gripping position or the assembly position, or to drive the telescopic arm 9 to retract into the hinged arm 8 to move the gripping head 6 away from the gripping position or the assembly position.

[0058] The purpose of including the articulated arm 8, telescopic arm 9, and telescopic cylinder 10 in this embodiment is to increase the stroke of the gripping head 6, thereby improving its gripping and assembly range. Furthermore, it should be noted that the outer diameters of the telescopic arm 9 and the telescopic cylinder 10 are smaller than the inner diameter of the articulated arm 8.

[0059] Reference Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 6 The gripping head 6 in this embodiment includes a housing 14, a sliding frame 15, an axial movement cylinder 16, and a buckle 17.

[0060] A sliding frame 15 is slidably mounted inside the housing 14 along the axial direction of the cutterhead 1. A clamp 17 for gripping and supporting the tube segments 2 and the shield body segments 3 is mounted on the sliding frame 15. An axial movement cylinder 16 is arranged inside the housing 14 along the axial direction of the cutterhead 1. The axial movement cylinder 16 can drive the sliding frame 15 and the clamp 17 to move towards the cutterhead 1, so that the clamp 17 carrying the shield body segments 3 moves to the assembly position of the shield body segments 3, or move away from the cutterhead 1, away from the assembly position of the shield body segments 3. The purpose of setting the sliding frame 15 and the axial movement cylinder 16 in this embodiment is to provide axial displacement for the gripping head 6 and the shield body segments 3, facilitating the circumferential assembly of the shield body segments 3 along the cutterhead 1.

[0061] Furthermore, in this embodiment, the telescopic arm 9 is provided with two triangular connecting plates 11 near the gripping head 6, and the housing 14 is provided with two triangular connecting plates 12 on the side facing the telescopic arm 9. The pointed corners of the two triangular connecting plates 11 are hinged to the pointed corners of the two triangular connecting plates 12. In this embodiment, the telescopic arm 9 and the housing 14 are hinged together by the triangular connecting plates 11 and 12, which increases the rotational freedom of the gripping head 6.

[0062] In this embodiment, the gripping head 6 also includes multiple buckle bolts 18 that cooperate with the buckle head 17. Multiple threaded holes are provided on the support tube segment 2 and the shield body segment 3. The buckle bolts 18 are screwed into the threaded holes one by one. Multiple U-shaped notches are provided on the buckle head 17. The buckle bolts 18 can enter into 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 away from the cutterhead 1, and the buckle 17 is slidably provided with an anti-fall component 19 corresponding to 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-fall component 19 is a plate-shaped component. When the buckle bolt 18 enters the U-shaped notch, the anti-fall component 19 moves downward to block the opening of the U-shaped notch, thereby preventing the buckle bolt 18 from falling off. When the support segment 2 or the shield block 3 is released, the anti-fall component 19 moves upward to open the opening of the U-shaped notch, and the buckle bolt 18 disengages from the opening of the U-shaped notch.

[0064] Furthermore, support cylinders 20 are provided on both the front and rear sides of the buckle 17. The piston rods of the support cylinders 20 extend and abut against the outer surface of the support segment 2 or the shield segment 3, thereby supporting the support segment 2 and the shield segment 3. When the piston rods of the support cylinders 20 retract, they disengage from the outer surface of the support segment 2 or the shield segment 3, thereby releasing the restriction on the movement of the support segment 2 and the shield segment 3. Specifically, even after the support segment 2 and the shield segment 3 are engaged with the U-shaped notch on the buckle 17 by the bolt head of the buckle bolt 18, they can still sway back and forth. To improve the stability and safety of the gripping head 6, support cylinders 20 are provided on the front and rear sides of the buckle 17. The piston rods of the support cylinders 20 can extend to abut against the outer surface of the support segment 2 and the shield segment 3, thereby preventing them from swaying back and forth. When the grabbing head 6 moves the support segment 2 and the shield block 3 to the assembly position, the piston rod of the support cylinder 20 retracts, releasing the movement restriction on the support segment 2 and the shield block 3.

[0065] In this embodiment, multiple protective covers 13 are hinged to the back of the cutterhead 1 in the installation area of ​​the shield segmentation and steel segment assembly equipment to protect the shield segmentation and steel segment assembly equipment and prevent it from contacting the excavated soil. It should be noted that when the shield segmentation and steel segment assembly equipment is in operation, the multiple protective covers 13 are parallel to the back of the cutterhead 1 and are in a clearance position; when the shield segmentation and steel segment assembly equipment is in standby mode, the multiple protective covers 13 are rotated to a protective position perpendicular to the back of the cutterhead 1.

[0066] Example 2:

[0067] See Figure 5 and Figure 6 This embodiment provides an assembly method based on the above-mentioned shield segmentation and steel segment assembly equipment, including a steel segment assembly method, which includes the following steps:

[0068] S101, the cutterhead 1, carrying the shield body segmentation and steel pipe segment assembly equipment, rotates to the grabbing area;

[0069] S102, the piston rod of the hinge cylinder 4 extends, driving the rotating arm 5 to rotate around its hinge point with the cutter head 1. The piston rod of the rotating cylinder 7 extends, driving the gripping head 6 to rotate around its hinge point with the rotating arm 5, thereby adjusting the posture of the gripping head 6 and moving it to the gripping position. Then, the gripping head 6 grips the support tube 2. Specifically, the buckle bolt 18 on the support tube 2 enters the U-shaped notch on the gripping head 6, so that the bolt head of the buckle bolt 18 is engaged with the U-shaped notch. Then, the anti-drop component 19 extends and blocks the opening of the U-shaped notch. Finally, the end of the piston rod of the support cylinder 20 extends and abuts against the outer surface of the support tube 2 to support the support tube 2 and prevent it from swaying back and forth.

[0070] S103, the piston rod of the articulated cylinder 4 retracts, driving the rotating arm 5 to rotate in the opposite direction around its hinge point with the cutter head 1, and the piston rod of the rotating cylinder 7 retracts, driving the gripping head 6 to rotate in the opposite direction around its hinge point with the rotating arm 5, so that the rotating arm 5 and the gripping head 6 retract to the retracted position on the back of the cutter head 1.

[0071] S104, the cutterhead 1, carrying the shield body segmentation and steel pipe segment assembly equipment and supporting pipe segment 2, rotates to the assembly area;

[0072] S105. First, the piston rod of the hinge cylinder 4 extends, driving the rotating arm 5 to rotate around its hinge point with the cutter head 1. The piston rod of the rotating cylinder 7 extends, driving the gripping head 6 to rotate around its hinge point with the rotating arm 5, causing the gripping head 6 and the support tube 2 to extend to the assembly position outside the cutter head 1. Second, the support tube 2 is assembled at the assembly position. Finally, the gripping head 6 releases the support tube 2. Specifically, the piston rod of the support cylinder 20 first retracts, disengaging from the outer surface of the support tube 2, releasing the restriction on the support tube 2. Then, the anti-drop component 19 returns to the inside of the buckle 17, thereby opening the opening of the U-shaped notch. Finally, the buckle bolt 18 on the support tube 2 moves relative to the U-shaped notch, disengaging from the U-shaped notch. After completion, the support tube 2 is released.

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

[0074] It should be noted that in the above steps S101 to S106, the rotating arm 5 can extend or retract to increase the stroke of the gripping head 6 and expand its gripping and assembly range of the support tube 2.

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

[0076] S201, the cutterhead 1, carrying the shield body segmentation and steel pipe segment assembly equipment, rotates to the grabbing area;

[0077] S202, the piston rod of the hinge cylinder 4 extends, driving the rotating arm 5 to rotate around its hinge point with the cutter head 1. The piston rod of the rotating cylinder 7 extends, driving the gripping head 6 to rotate around its hinge point with the rotating arm 5, thereby adjusting the posture of the gripping head 6 and moving it to the gripping position. Then, the gripping head 6 grips the shield block 3. Specifically, the buckle bolt 18 on the shield block 3 enters the U-shaped notch on the gripping head 6, so that the bolt head of the buckle bolt 18 engages with the U-shaped notch. Then, the anti-drop component 19 extends and blocks the opening of the U-shaped notch. Finally, the end of the piston rod of the support cylinder 20 extends and abuts against the outer surface of the shield block 3 to support the shield block 3 and prevent it from swaying back and forth.

[0078] S203, the piston rod of the articulated cylinder 4 retracts, driving the rotating arm 5 to rotate in the opposite direction around its hinge point with the cutter head 1, and the piston rod of the rotating cylinder 7 retracts, driving the gripping head 6 to rotate in the opposite direction around its hinge point with the rotating arm 5, so that the rotating arm 5 and the gripping head 6 retract to the retracted position on the back of the cutter head 1.

[0079] S204, the cutterhead 1, carrying the shield body segment and steel pipe segment assembly equipment and the shield body segment 3, rotates to the assembly area;

[0080] S205. First, the piston rod of the articulated cylinder 4 extends, driving the rotating arm 5 to rotate around its hinge point with the cutterhead 1. The piston rod of the rotating cylinder 7 extends, driving the gripping head 6 to rotate around its hinge point with the rotating arm 5, so that the gripping head 6 and the shield block 3 extend to the assembly position outside the cutterhead 1. Second, the shield block 3 is assembled at the assembly position. Finally, the gripping head 6 releases the shield block 3. Specifically, in step S205, the following steps are also included: the axial movement cylinder 16 can drive the sliding frame 15 and the buckle 17 to move towards the direction of approaching the cutterhead 1, so that the buckle 17 carrying the shield block 3 moves to the assembly position of the shield block 3; the piston rod of the support cylinder 20 retracts, disengages from the outer surface of the shield block 3, releases the restriction on the shield block 3, and then the anti-drop component 19 returns to the inside of the buckle 17, thereby opening the opening of the U-shaped notch; finally, the buckle bolt 18 on the shield block 3 moves relative to the U-shaped notch, disengages from the U-shaped notch, and completes the release of the shield block 3; the axial movement cylinder 16 drives the sliding frame 15 and the buckle 17 to move away from the cutterhead 1, away from the assembly position of the shield 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 gripping head 6 to fold and retract to the folded position on the back of the cutterhead 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 extend or retract to increase the stroke of the grabbing head 6 and expand its range for grabbing and assembling the shield body blocks 3.

[0083] The remaining parts that are the same as in Example 1 will not be repeated here.

[0084] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0085] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0086] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0087] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0088] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A shield body segmentation and steel pipe segment assembly device, installed on the back of the cutterhead, characterized in that, It includes an articulated hydraulic cylinder (4), a rotating arm (5), a gripping head (6), and a rotating hydraulic cylinder (7); One end of the articulated cylinder (4) is hinged to the middle area of ​​the cutter head (1), the other end of the articulated cylinder (4) is hinged to the middle of the rotating arm (5), one end of the rotating arm (5) is hinged to the edge area of ​​the cutter head (1), the other end of the rotating arm (5) is hinged to the gripping head (6), and the rotating cylinder (7) is mounted on the rotating arm (5) and its piston rod end is hinged to the gripping head (6). The piston rods of the articulated cylinder (4) and the rotary cylinder (7) retract, which can drive the rotary arm (5) and the gripping head (6) to fold and retract to the retracted position on the back of the cutterhead (1); the piston rods of the articulated cylinder (4) and the rotary cylinder (7) extend, which can drive the rotary arm (5) and the gripping head (6) to unfold and extend to the gripping position or assembly position outside the cutterhead (1): in the gripping position, the gripping head (6) can grip the support tube segment (2) or the shield body segment (3); in the assembly position, the gripping head (6) can release the support tube segment (2) or the shield body segment (3); The rotating arm (5) includes a hinged arm (8), a telescopic arm (9), and a telescopic cylinder (10); The articulated arm (8) is a cylindrical structure with one end closed and the other end open. The edge area of ​​the cutter head (1) is hinged to the closed end of the articulated arm (8). The articulated cylinder (4) is hinged to the middle of the articulated arm (8). The telescopic arm (9) and the 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). The telescopic arm (9) is used to drive the telescopic arm (9) to extend from the open end of the articulated arm (8) to drive the gripper head (6) to approach the gripping position or the assembly position, or to drive the telescopic arm (9) to retract into the articulated arm (8) to drive the gripper head (6) away from the gripping position or the assembly position.

2. The shield body segmentation and steel pipe segment assembly equipment as described in claim 1, characterized in that: The gripping head (6) includes a housing (14), a sliding frame (15), an axial movement cylinder (16), and a buckle (17); Inside the housing (14), a sliding frame (15) is slidably installed along the axial direction of the cutterhead (1). A buckle (17) for gripping the support tube segment (2) and the shield body segment (3) is installed on the sliding frame (15). An axial movement cylinder (16) is arranged inside the housing (14) along the axial direction of the cutterhead (1). The axial movement cylinder (16) can drive the sliding frame (15) and the buckle (17) to move towards the cutterhead (1) so that the buckle (17) carrying the shield body segment (3) moves to the assembly position of the shield body segment (3), or moves away from the cutterhead (1) so as to move away from the assembly position of the shield body segment (3).

3. The shield body segmentation and steel pipe segment assembly equipment as described in claim 2, characterized in that: The gripping head (6) also includes multiple buckle bolts (18) that mate with the buckle head (17); Multiple threaded holes are provided on the support tube segment (2) and the shield body segment (3). The buckle bolt (18) is screwed into the threaded hole one by one. Multiple U-shaped notches are provided on the buckle (17). The buckle bolt (18) can enter the U-shaped notch and make the bolt head of the buckle bolt (18) engage with the U-shaped notch.

4. The shield body segmentation and steel pipe segment assembly equipment as described in claim 3, characterized in that: The opening of the U-shaped notch faces away from the cutter head (1), and the buckle (17) is slidably provided with an anti-drop component (19) at the opening of the U-shaped notch, so as to selectively open or close the opening of the U-shaped notch.

5. The shield body segmentation and steel pipe segment assembly equipment as described in claim 3, characterized in that: The buckle (17) is equipped with a support cylinder (20) on both the front and rear sides. The piston rod of the support cylinder (20) extends out and abuts against the outer surface of the support tube (2) or the shield block (3), thereby supporting the support tube (2) and the shield block (3). The piston rod of the support cylinder (20) retracts and disengages from the outer surface of the support tube (2) or the shield block (3), thereby releasing the movement restriction on the support tube (2) and the shield block (3).

6. The shield body segmentation and steel pipe segment assembly equipment as described in claim 2, characterized in that: Two triangular connecting plates (11) are provided at one end of the telescopic arm (9) near the gripping head (6), and two triangular connecting plates (12) are provided on the side of the housing (14) facing the telescopic arm (9). The sharp corners of the two triangular connecting plates (11) are hinged to the sharp corners of the two triangular connecting plates (12).

7. An assembly method based on the shield body segmentation and steel pipe segment assembly equipment according to any one of claims 1-6, characterized in that: The method includes a steel segment assembly method, which comprises the following steps: S101, the cutterhead (1) carries the shield body segmentation and steel pipe segment assembly equipment and rotates to the grabbing area; S102, the piston rod of the articulated cylinder (4) extends and drives the rotating arm (5) to rotate around its hinge point with the cutter head (1). The piston rod of the rotating cylinder (7) extends and drives the gripping head (6) to rotate around its hinge point with the rotating arm (5) to adjust the posture of the gripping head (6) so that the gripping head (6) moves to the gripping position and then the gripping head (6) grips the support tube segment (2). S103, the piston rod of the articulated cylinder (4) retracts, driving the rotating arm (5) to rotate in the opposite direction around its hinge point with the cutter head (1), the rotating cylinder (7) retracts, driving the gripping head (6) to rotate in the opposite direction around its hinge point with the rotating arm (5), so that the rotating arm (5) and the gripping head (6) retract to the retracted position on the back of the cutter head (1). S104, the cutterhead (1) carries the shield body segmentation and 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 cylinder (4) extends, driving the rotating arm (5) to rotate around its hinge point with the cutter head (1). The piston rod of the rotating cylinder (7) extends, driving the gripping head (6) to rotate around its hinge point with the rotating arm (5), so that the gripping head (6) and the support tube (2) extend to the assembly position outside the cutter head (1). Second, the support tube (2) is assembled at the assembly position. Finally, the gripping head (6) releases the support tube (2). S106, the piston rods of the articulated cylinder (4) and the rotating cylinder (7) retract, driving the rotating arm (5) and the gripping head (6) to fold and retract to the folded position on the back of the cutter head (1), and continue to execute steps S101 to S105 until the assembly of all support segments (2) is completed.

8. The assembly method of the shield body segmentation and steel pipe segment assembly equipment as described in claim 7, characterized in that: It also includes a method for assembling the shield body in sections, which includes the following steps: S201, the cutterhead (1) carries the shield body segmentation and steel pipe segment assembly equipment and rotates to the grabbing area; S202, the piston rod of the articulated cylinder (4) extends and drives the rotating arm (5) to rotate around its hinge point with the cutter head (1). The piston rod of the rotating cylinder (7) extends and drives the gripping head (6) to rotate around its hinge point with the rotating arm (5) to adjust the posture of the gripping head (6) so that the gripping head (6) moves to the gripping position. Then the gripping head (6) grips the shield body block (3). S203, the piston rod of the articulated cylinder (4) retracts, driving the rotating arm (5) to rotate in the opposite direction around its hinge point with the cutter head (1), the piston rod of the rotating cylinder (7) retracts, driving the gripping head (6) to rotate in the opposite direction around its hinge point with the rotating arm (5), so that the rotating arm (5) and the gripping head (6) retract to the retracted position on the back of the cutter head (1). S204, the cutterhead (1) carries the shield body segment and steel pipe segment assembly equipment and the shield body segment (3) and rotates to the assembly area; S205. First, the piston rod of the articulated cylinder (4) extends, driving the rotating arm (5) to rotate around its hinge point with the cutterhead (1). The piston rod of the rotating cylinder (7) extends, driving the gripping head (6) to rotate around its hinge point with the rotating arm (5), so that the gripping head (6) and the shield block (3) extend to the assembly position outside the cutterhead (1). Second, the shield block (3) is assembled at the assembly position. Finally, the gripping head (6) releases the shield block (3). S206, the piston rods of the articulated cylinder (4) and the rotating cylinder (7) retract, driving the rotating arm (5) and the gripping head (6) to fold and retract to the folded position on the back of the cutterhead (1), and continue to execute steps S201 to S205 until the assembly of all shield body blocks (3) is completed.

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