Full-automatic assembling equipment for prefabricated box culvert components of shield tunnel

Abstract

The invention discloses shield tunnel prefabricated box culvert component full-automatic assembling equipment which comprises a lifting appliance mechanism and a positioning posture adjusting mechanism, the lifting appliance mechanism comprises a lifting appliance platform, a rotation driving mechanism and a C-shaped lifting hook, and the rotation driving mechanism is used for driving the C-shaped lifting hook to rotate around the vertical center line; the positioning and posture adjusting mechanism is arranged on the lifting appliance platform and comprises a rigid central upright post, a double-row thrust bearing, a bearing sleeve, a heavy-load cross universal joint and a heavy-load oil cylinder; the heavy-load cross universal joint is arranged on the lifting appliance platform, the upper end of the heavy-load cross universal joint is assembled and connected with the bearing sleeve, and the bearing sleeve is arranged outside the double-row thrust bearing above the bearing sleeve; the upper end of the rigid central upright post is connected with the hoisting driving mechanism, and the lower end of the rigid central upright post is sleeved in the thrust bearing; the upper ends of the heavy-load oil cylinders are hinged to the rigid sleeve, and the lower ends of the heavy-load oil cylinders are connected with the lifting appliance platform; and the multiple heavy-load oil cylinders are different according to the expansion and contraction amount. By using the equipment, full-process automatic operation is realized, the construction efficiency is high, the manual dependence is low, and the splicing precision is high.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel construction equipment, specifically relating to a fully automatic assembly equipment for prefabricated box culvert components in shield tunnels. Background Technology

[0002] In the field of shield tunnel construction, prefabrication and assembly of internal tunnel structures has become a key means to improve construction efficiency and project quality. With the deep penetration of intelligent construction technology into the engineering field, the intelligent and automated assembly of prefabricated components has become an inevitable trend in tunnel engineering development. Currently, the assembly process for box culvert components typically involves: lifting the box culvert components from transport vehicles using a specialized crane, transferring them to a designated assembly position, and then using a traveling assembly machine as described in inventions such as CN 202210432198.5 and CN 202211359831.9 to complete the component positioning and assembly. However, this method has significant shortcomings: the crane equipment used for lifting and transporting curved box culverts still relies entirely on manual operation and has not yet achieved automated operation; the crane equipment and the traveling assembly machine lack functional synergy, requiring manual coordination of processes, which makes it difficult to meet the current demands of tunnel engineering for improved construction efficiency and intelligence. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automated assembly equipment for prefabricated box culvert components in shield tunnels, which achieves fully automated operation, high construction efficiency, low reliance on manual labor, and high assembly accuracy.

[0004] This invention adopts the following technical solution: a fully automatic assembly equipment for prefabricated box culvert components in shield tunnels, comprising a lifting mechanism and a positioning and attitude adjustment mechanism, wherein: The lifting mechanism includes a lifting platform, a slewing drive mechanism, and a C-shaped hook. The slewing drive mechanism is used to drive the C-shaped hook to rotate around a vertical centerline; the C-shaped hook is used to lift and grab box culverts. The positioning and attitude adjustment mechanism is set on the lifting platform and includes a rigid central column, double-row thrust bearings, bearing sleeves, heavy-duty universal joints, and heavy-duty hydraulic cylinders. The heavy-duty universal joint is mounted on the lifting platform, with its upper end connected to the bearing sleeve, which is fitted over the double-row thrust bearing above it. The rigid central column is set vertically, with its upper end connected to the hoisting drive mechanism and its lower end fitted into the thrust bearing. Multiple heavy-duty hydraulic cylinders are arranged at intervals around the outside of the rigid central column, with the upper end hinged to the rigid sleeve and the lower end connected to the lifting platform. Multiple heavy-duty hydraulic cylinders, through differences in their extension and retraction, are used to drive the lifting platform to change its pitch and roll angles.

[0005] Furthermore, the hoisting drive mechanism includes a telescopic sleeve, which is vertically arranged with its upper end connected to the traveling mechanism and its lower end axially connected to the upper end of the rigid central column. The telescopic sleeve can reciprocate in the vertical direction to drive the hoisting mechanism to rise and fall.

[0006] Furthermore, the hoisting drive mechanism also includes multiple winches, which are divided into two groups and installed on the traveling mechanism at opposite side walls of the telescopic sleeve. The wire ropes of the winches are connected to the lower lifting platform to drive the lifting mechanism to rise and fall, and to change the telescopic length of the telescopic sleeve.

[0007] Furthermore, the slewing drive mechanism includes a drive motor and a slewing bearing (the outer ring is connected to 53). The slewing bearing is located below the lifting platform, and the drive motor is mounted on the lifting platform. Its shaft is connected to the slewing bearing, driving the slewing bearing to rotate.

[0008] Furthermore, each of the heavy-duty hydraulic cylinders is inclined, with the upper piston end hinged to the rigid sleeve via a heavy-duty Hooke hinge, and the lower end hinged to the lifting platform via a heavy-duty Hooke hinge. The multiple heavy-duty hydraulic cylinders change the pitch and roll angles of the lifting platform by varying their extension and retraction amounts.

[0009] Furthermore, the hoisting drive mechanism is installed on the traveling structure and moves forward, backward, left, and right under the drive of the traveling mechanism.

[0010] This invention also discloses an attitude adjustment method for a fully automated assembly equipment for prefabricated box culvert components in a shield tunnel, as described above. The method is as follows: The traveling structure drives the lifting platform to move forward, backward, left, and right. The winch winds the steel wire rope, which drives the lower lifting platform to rise or fall, thereby achieving Z-axis orientation adjustment. Posture fine-tuning: When adjusting the pitch angle, the length of one heavy-duty cylinder is fixed, and the piston rods of the other heavy-duty cylinders extend and retract by the same length respectively; when adjusting the roll angle, the extension and retraction directions of one heavy-duty cylinder are opposite to those of the other heavy-duty cylinders; during pitch and roll angle adjustments, the rigid central column, double-row thrust bearing, bearing sleeve, and heavy-duty universal joint restrict the translation of the lifting mechanism. The beneficial effects of this invention are: 1. It realizes fully automated operation of the assembly process of box culvert components in shield tunnels. 2. It achieves functional synergy between flexible lifting and rigid precision assembly of box culverts. 3. It ensures the stability of the box culvert transportation and assembly process, preventing swaying and shaking. 4. It achieves precise six-degree-of-freedom attitude adjustment during box culvert assembly. Attached Figure Description

[0011] Figure 1A schematic diagram of a fully automated assembly equipment for prefabricated box culvert components in a shield tunnel. Figure 2 This is a schematic diagram of the lifting device mechanism; Figure 3 This is a schematic diagram of the positioning and attitude adjustment mechanism; Figure 4 This is a schematic diagram of a rigid telescopic sleeve; Figure 5 This is a schematic diagram of a rigid telescopic sleeve; Figure 6 This is a schematic diagram of the rotary drive structure and the C-shaped hook; Figure 7 This is a schematic diagram of the traveling mechanism of the large trolley; Figure 8 A schematic diagram of the main beam and traveling wheels of the trolley; Figure 9 Schematic diagram of a large vehicle anti-collision mechanism; Figure 10 Schematic diagram of a trolley motor reducer; Figure 11 This is a schematic diagram of the trolley's traveling mechanism; Figure 12 Schematic diagram of heavy-duty slider linear guide installation; Among them: 1. Trolley traveling mechanism; 11. Trolley longitudinal beam; 12. Trolley traveling wheel; 12a. Wheel; 12b. Axle; 12c. Bushing; 12d. Wheel frame; 12e. Box-type connector; 12f. Lateral limiting wheel; 13. Gear motor mechanism; 13a. Motor; 13b. Gear reducer; 13c. Output shaft; 13d. Mounting bracket; 14. Trolley main beam; 15. Manual work platform; 16. Electrical cabinet mounting platform; 17. Trolley anti-collision mechanism; 17a. Connecting rod; 17b. Anti-collision block; 2. Trolley traveling mechanism; 21. Trolley longitudinal beam 22. Main beam of trolley; 23. Drive cylinder; 24. Heavy-duty slider linear guide structure; 24a. Slider; 24b. Guide rail; 3. Lifting drive mechanism; 31. Winch; 32. Rigid telescopic sleeve; 4. Positioning and attitude adjustment mechanism; 41. Rigid central column; 42. Thrust bearing; 43. Bearing sleeve; 44. Heavy-duty universal joint; 45. Heavy-duty cylinder; 46. Heavy-duty Hooke hinge; 5. Lifting device mechanism; 51. Lifting device platform; 52. Rotary drive structure; 52b. Rotary bearing; 53. C-type hook; 53a. Box culvert clamping cylinder. Detailed Implementation

[0012] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0013] This invention discloses a fully automated assembly equipment for prefabricated box culvert components in shield tunnels, such as... Figure 1 As shown, it includes a lifting mechanism 5 and a positioning and attitude adjustment mechanism 4, wherein: like Figure 2 As shown, the lifting mechanism 5 includes a lifting platform 51, a slewing drive mechanism 52, and a C-shaped hook 53. The slewing drive mechanism 52 is used to drive the C-shaped hook 53 to rotate around the vertical centerline. The C-shaped hook 53 is used to lift and grab the box culvert. The lifting platform 51 is a horizontally arranged rectangular plate with lifting lugs at its four corners as lifting points, corresponding to the positions of the four winches 31, and connected to the lifting wire ropes of the winches 31 at the corresponding positions. like Figure 3 As shown, the positioning and attitude adjustment mechanism 4 is installed on the lifting platform 51, including a rigid central column 41, a double-row thrust bearing 42, a bearing sleeve 43, a heavy-duty universal joint 44, and a heavy-duty hydraulic cylinder 45. The heavy-duty universal joint 44 is mounted on the lifting platform 51, and its upper end is assembled and connected to the bearing sleeve 43. The bearing sleeve 43 is fitted over the double-row thrust bearing 42 above. The rigid central column 41 is vertically set, with its upper end connected to the hoisting drive mechanism 3 and its lower end fitted into the thrust bearing 42. Multiple heavy-duty hydraulic cylinders 45 are arranged at intervals around the outside of the rigid central column 41, with the upper end hinged to the rigid sleeve 32 and the lower end connected to the lifting platform 51. Multiple heavy-duty hydraulic cylinders 45, through differences in their extension and retraction, are used to drive the spreader platform 51 to change its pitch and roll angles.

[0014] In the optimal embodiment, three heavy-duty hydraulic cylinders 45 are arranged at intervals around the outside of the rigid central column 41. Each heavy-duty hydraulic cylinder 45 is inclined, with its upper piston end hinged to the rigid sleeve 32 via a heavy-duty Hooke hinge 46, and its lower cylinder end hinged to the lifting platform 51 via a heavy-duty Hooke hinge 46. By controlling the difference in the extension and retraction of the three heavy-duty hydraulic cylinders 45, the lifting mechanism 5 can be driven to adjust the pitch and roll angles, thereby achieving precise positioning of the box culvert rotating around the X and Y axes of the spatial coordinate system. The direction of tunnel excavation is defined as the y-axis, the vertical direction as the z-axis, and the horizontal direction as the x-axis. Rotation around the x-axis is the roll angle, rotation around the y-axis is the pitch angle, and rotation around the z-axis is the yaw angle.

[0015] like Figure 4 As shown, the hoisting drive mechanism 3 includes a telescopic sleeve 32, which is vertically arranged. Its upper end is connected to the traveling mechanism, and its lower end is axially connected to the upper end of the rigid central column 41. The telescopic sleeve 32 can reciprocate in the vertical direction to drive the hoisting mechanism 5 to rise and fall.

[0016] The hoisting drive mechanism 3 also includes multiple winches 31, such as Figure 5As shown, multiple winches 31 are divided into two groups, set on the traveling mechanism, and located on opposite side walls of the telescopic sleeve 32. The wire ropes of the winches 31 are connected to the lower lifting platform 51 to drive the lifting mechanism 5 to rise and fall, and change the telescopic length of the telescopic sleeve 32.

[0017] In a specific embodiment, four winches 31 are generally configured, divided into two groups of two winches each. One group corresponds to a main beam 22 and is installed on the outside of the main beam 22. On the outside of a main beam 22, the two winches 31 are arranged horizontally and run back and forth. The winch wire ropes are connected to the four lifting points of the lower lifting device. The lifting and lowering control of the rectangular lifting device platform 51 is achieved by winding the wire ropes with the drum, thereby realizing the hoisting of precast components.

[0018] The telescopic sleeve 32 is vertically arranged and consists of a primary fixed sleeve and five telescopic sleeves. Each sleeve adopts a square design, with the width decreasing progressively. The fixed sleeve is vertically arranged, with its upper end passing through the inner space of the two main beams 22 and fixedly connected to the inner sidewalls of the two main beams 22. The rigid central column 41 is vertically arranged and coaxially installed with the sleeve 32. Its upper end is connected to the innermost telescopic sleeve, and its lower end is fitted onto the thrust bearing 42. The telescopic sleeve can reciprocate within the fixed sleeve along its axial direction. Adjacent sleeves are connected by a slide rail inside the outer sleeve, which runs vertically to allow the inner sleeve to slide. A blocking block is set at the opening inside each sleeve to hold the sleeve in place, as long as it meets the functional requirements of this invention. The specific component specifications are not limited.

[0019] This telescopic structure provides stable rigid constraints for the lifting device without interfering with the vertical lifting and lowering of the box culvert, thus effectively suppressing the swaying displacement of the wire rope during crane travel. When the lifting device is lowered, the winch 31 starts, driving the wire rope to unwind. The outermost fixed sleeve of the telescopic sleeve 32 remains stationary on the trolley main beam 22, while the inner telescopic sleeve extends vertically outward under its own weight and the weight of the positioning and adjustment mechanism 4 and the lifting device mechanism 5 installed below. When the lifting device rises, the winch 31 drives the wire rope to unwind, generating traction. The traction force is vertically upward, causing each level of sleeve to retract inward along the guide structure. During this process, the rigidity of the sleeve itself limits the swaying caused by the flexible lifting of the wire rope.

[0020] like Figure 6As shown, the slewing drive mechanism 52 includes a drive motor 52a and a slewing bearing 52b. The slewing bearing 52b is located below the lifting platform 51, and the drive motor 52a is mounted on the lifting platform 51. Its shaft is connected to the slewing bearing 52b, which is connected to a C-type crane 53 for lifting the box culvert to be assembled. The crane is equipped with a clamping cylinder 53a for clamping the box culvert. The drive motor 52a drives the slewing bearing 52b to rotate, achieving precise positioning of the box culvert's rotation and rotation around the Z-axis.

[0021] Each heavy-duty hydraulic cylinder 45 is inclined. The upper piston end is hinged to the rigid sleeve 32 through a heavy-duty Hooke hinge 46, and the lower end is hinged to the lifting platform 51 through a heavy-duty Hooke hinge 46. The multiple heavy-duty hydraulic cylinders 45 change the pitch angle and roll angle of the lifting platform 51 by the difference in the amount of extension and retraction.

[0022] The aforementioned hoisting drive mechanism 3 is mounted on the traveling structure and moves forward, backward, left, and right under the drive of the traveling mechanism. The traveling mechanism includes a trolley traveling mechanism 1 and a trolley traveling mechanism 2, such as... Figure 7 As shown, the trolley traveling mechanism 1 includes a trolley longitudinal beam 11, trolley traveling wheels 12, a reduction motor mechanism 13, a trolley main beam 14, a manual operation platform 15, an electrical cabinet installation platform 16, and a trolley anti-collision mechanism 17.

[0023] The main trolley longitudinal beams 11 consist of two beams, arranged alternately on the left and right, both longitudinally set and parallel to each other.

[0024] Two main beams 14 are arranged at an interval, one in front of the other, and supported on the corresponding longitudinal beams 11 at their left and right ends. Between the two main beams 14, and near the longitudinal beams 11, a manned work platform 15 is provided for supporting construction personnel to perform equipment maintenance. An electrical cabinet installation platform 16 is installed on the outer side of each main beam 14. The electrical cabinet installation platform 16 includes a horizontal support plate connected to the lower end of the main beam 14, and the other three sides of the horizontal support plate are enclosed by protective railings. The electrical cabinet installation platform 16 is used to support components such as the electrical cabinet and hydraulic pump of the assembled equipment.

[0025] There are four main trolley wheels 12, which are installed at the ends of the two main trolley longitudinal beams 11. Each main trolley wheel 12 includes a wheel 12a, and the wheel 12a and axle 12b are assembled together. The axle 12b passes through the bushing 12c axially. The bushing 12c is installed on the wheel frame 12d. The wheel frame 12d is an L-shaped plate. The two plates of the wheel frame 12d are respectively attached to the side wall and end wall of the main trolley beam 14 and installed on the main trolley longitudinal beam 11.

[0026] like Figure 9As shown, a large vehicle anti-collision mechanism 17 is connected to the end of each of the large vehicle longitudinal beams 11. The large vehicle anti-collision mechanism 17 includes a connecting rod 17a axially connected to the end of the large vehicle longitudinal beam 11, and an elastic anti-collision block 17b axially connected to the far end of the connecting rod 17a. The block extends beyond the front and rear frames of the large vehicle, which can prevent the large vehicle traveling mechanism 1 from colliding with other equipment on the tunnel boring machine trailer during movement.

[0027] A box-type connector 12e is installed, which includes a plate that is parallel to the side wall of the longitudinal beam 11 of the trolley.

[0028] Box-type connectors 12e are provided at the ends of the longitudinal beams 11 of each trolley. The box-type connector 12e is a plate that is sleeved and fixed on the connecting rod 17a, and the plate is parallel to the end face. Limiting wheels 12f are provided on the outer side of the plate. The limiting wheels 12f are tangent to the side of the rack and pinion track to ensure that the trolley does not deviate from the track when it is moving.

[0029] like Figure 10 As shown, the reduction motor mechanism 13 is mounted on the longitudinal beam 11 of the trolley and located inside the traveling wheel 12. It includes a motor 13a, a reducer 13b, an output shaft 13c, and a mounting bracket 13d. The mounting bracket 13d is a mounting plate that is mounted on the box-type connector 12e. The output shaft 13c is coaxially connected to the wheel axle 12b. The reducer 13b can increase the output torque of the motor 13a, driving the output shaft 13c to rotate the wheel 12a, thus enabling the trolley to travel on the track.

[0030] like Figure 11 and 12 As shown, the trolley traveling mechanism 2 includes longitudinal beams 21, main beams 22, drive cylinders 23, and heavy-duty slider linear guides 24. There are two longitudinal beams 21, spaced apart, located on the front and rear main beams 14 of the trolley, respectively. Heavy-duty slider linear guides 24 are installed on the lower wall of each longitudinal beam 21, and each longitudinal beam 21 is equipped with a cylinder 23. The direction of the linear guides 24 is consistent with the direction of the longitudinal beams 21. The heavy-duty slider linear guides 24 are mounted on the main beams 14 of the trolley, and the cylinders 23 drive the longitudinal beams 21 to travel along the heavy-duty slider linear guides 24 on the main beams 14 of the trolley. Two main beams 22 are mounted on the two longitudinal beams 21, arranged spaced apart to the left and right.

[0031] This invention also discloses an attitude adjustment method for a fully automated assembly equipment for prefabricated box culvert components in a shield tunnel, as described above. The method is as follows: The traveling structure drives the lifting platform 51 to move forward, backward, left, and right, thereby achieving position and posture adjustment in the X and Y axis directions; The winch 31 winds a steel wire rope, which drives the lower lifting platform 51 to rise or fall, thereby achieving Z-axis orientation adjustment. When adjusting the pitch angle around the X-axis, the length of one heavy-duty cylinder 45 is fixed, and the piston rods of the other heavy-duty cylinders 45 extend and retract by the same length respectively; when adjusting the roll angle around the Y-axis, the extension and retraction directions of one heavy-duty cylinder 45 are opposite to those of the other heavy-duty cylinders 45; when adjusting the pitch angle and roll angle, the rigid central column 41, the double-row thrust bearing 42, the bearing sleeve 43, and the heavy-duty universal joint 44 restrict the translation of the lifting mechanism 5.

[0032] When yawing around the Z-axis, the C-type hook 53 is driven to rotate around the vertical centerline by the rotary drive mechanism 52.

[0033] During attitude fine-tuning, the three heavy-duty hydraulic cylinders 45 extend and retract by corresponding distances according to the attitude adjustment requirements. The three cylinders 45 are evenly distributed with an included angle of 120° around the geometric center of the positioning and attitude adjustment mechanism 4. For pitch angle adjustment, one of the heavy-duty hydraulic cylinders 45 is defined as cylinder C, and the other two are defined as cylinders A and B. Cylinder C has a fixed length, while the piston rods of cylinders A and B extend and retract by the same length, achieving precise positioning of the box culvert's rotation around the X-axis of the spatial coordinate system. For roll angle adjustment, the piston rods of cylinders A and B extend or retract synchronously, while cylinder C extends and retracts in the opposite direction, achieving precise positioning of the box culvert's rotation around the Y-axis of the spatial coordinate system. The extension and retraction of the cylinders adaptively match the attitude adjustment requirements, and the heavy-duty Hooke hinge 46 provides the required rotational freedom for the lifting device's rotational movement. During attitude adjustment, the extension and retraction of the hydraulic cylinder 45 causes translational movement of the lifting mechanism 5, resulting in incomplete rotational positioning. The positioning mechanism, consisting of a rigid central column 41, double-row thrust bearings 42, bearing sleeves 43, and a heavy-duty universal joint 44, effectively restricts the three translational degrees of freedom of the lifting mechanism 5, ensuring that it only completes rotational movements under the drive of the hydraulic cylinder. The rigid central column 41, double-row thrust bearings 42, and bearing sleeves 43 work together to provide the lifting mechanism 5 with rotational freedom around the Z-axis, while the heavy-duty universal joint 44 provides rotational freedom around the X and Y axes, ensuring the accuracy and stability of attitude adjustment.

[0034] This invention discloses a fully automated assembly equipment for prefabricated box culvert components in shield tunnels, used for automatic grabbing, lifting, transporting, posture adjustment, and precise assembly of box culverts. The box culvert components to be assembled are transported from the tunnel entrance or shaft to the shield machine trailer via a double-headed transport vehicle. After the vehicle is parked in the designated position, the fully automated assembly equipment for prefabricated box culvert components of this invention is activated, initiating the box culvert grabbing process. The trolley traveling mechanism 2 moves the C-shaped hook 53 to the side of the box culvert. A vision camera is installed at the C-shaped hook 53, which can identify image information of the box culvert surface and control the C-shaped hook 53 to precisely align with the center of the box culvert, completing the automatic grabbing of the box culvert. Once the box culvert is in place, the drums of four winches 31 simultaneously wind steel wire ropes, smoothly lifting the box culvert.

[0035] After the box culvert is lifted off the double-headed transport vehicle, it enters the transfer process. The robot, relying on the trolley's traveling mechanism along the tunnel boring machine's excavation direction (Y-axis) and the trolley's traveling mechanism moving laterally (X-axis), smoothly transports the box culvert from the lifting point to the target assembly position. The trolley's movement is achieved by a motor-driven rack and pinion system, with dual positioning calibration using an absolute encoder and laser positioning. The trolley's movement is achieved by a telescopic hydraulic cylinder, with precise positioning via a displacement sensor. Simultaneously, the rigid telescopic sleeve 32 provides rigid constraints to the lifting device during the process, preventing uncontrollable swaying during long-distance transport. After the box culvert is transferred to the assembly position, a box culvert attitude adjustment process is performed.

[0036] The X-axis direction is achieved by the movement of the trolley; the Y-axis direction is achieved by the movement of the main trolley; the Z-axis direction is achieved by the coordinated fine-tuning of four winches; the roll and pitch directions are achieved by the extension and retraction of three heavy-duty hydraulic cylinders 45 distributed below the rigid telescopic sleeve (32), which drive the lifting platform (51) to rotate, thus achieving precise attitude adjustment; the yaw direction is achieved by the rotation drive mechanism driving the C-type hook 53 to rotate. Through the above attitude adjustment mechanism, the box culvert to be assembled is comprehensively adjusted in six degrees of freedom, so as to achieve precise alignment and assembly with the already assembled benchmark box culvert.

[0037] The invention employs a winch and wire rope for flexible hoisting and load-bearing of box culverts, and uses a rigid telescopic sleeve to constrain the swing of the wire rope during hoisting to achieve precise positioning and assembly of the box culverts.

Claims

1. A fully automated assembly equipment for prefabricated box culvert components in shield tunnels, characterized in that, It includes a lifting mechanism (5) and a positioning and attitude adjustment mechanism (4), wherein: The lifting mechanism (5) includes a lifting platform (51), a slewing drive mechanism (52), and a C-shaped hook (53). The slewing drive mechanism (52) is used to drive the C-shaped hook (53) to rotate around the vertical centerline. The C-shaped hook (53) is used to lift and grab the box culvert. The positioning and attitude adjustment mechanism (4) is set on the lifting platform (51) and includes a rigid central column (41), a double-row thrust bearing (42), a bearing sleeve (43), a heavy-duty universal joint (44), and a heavy-duty hydraulic cylinder (45). The heavy-duty universal joint (44) is mounted on the lifting platform (51), and its upper end is assembled and connected to the bearing sleeve (43). The bearing sleeve (43) is fitted over the double-row thrust bearing (42) above. The rigid central column (41) is set vertically, with its upper end connected to the hoisting drive mechanism (3) and its lower end fitted into the thrust bearing (42); There are multiple heavy-duty hydraulic cylinders (45), which are arranged at intervals around the outside of the rigid central column (41). The upper end is hinged to the rigid sleeve (32), and the lower end is connected to the lifting platform (51). Multiple heavy-duty cylinders (45) are used to drive the spreader platform (51) to change the pitch and roll angles by varying the amount of extension and retraction.

2. The fully automatic assembly equipment for prefabricated box culvert components in shield tunnels as described in claim 1, characterized in that, The hoisting drive mechanism (3) includes a telescopic sleeve (32), which is vertically arranged. Its upper end is connected to the traveling mechanism, and its lower end is axially connected to the upper end of the rigid central column (41). The telescopic sleeve (32) can reciprocate in the vertical direction to drive the hoisting mechanism (5) to rise and fall.

3. The fully automatic assembly equipment for prefabricated box culvert components in shield tunnels as described in claim 2, characterized in that, The hoisting drive mechanism (3) also includes multiple winches (31). The multiple winches (31) are divided into two groups, set on the traveling mechanism, and located on opposite side walls of the telescopic sleeve (32). The wire ropes of the winches (31) are connected to the lower lifting platform (51) to drive the lifting mechanism (5) to rise and fall, and change the telescopic length of the telescopic sleeve (32).

4. The fully automatic assembly equipment for prefabricated box culvert components in shield tunnels as described in claim 3, characterized in that, The slewing drive mechanism (52) includes a drive motor (52a) and a slewing bearing (52b) (the outer ring is connected to 53). The slewing bearing (52b) is located below the lifting platform (51). The drive motor (52a) is mounted on the lifting platform (51), and its shaft is connected to the slewing bearing (52b) to drive the slewing bearing (52b) to rotate.

5. The fully automatic assembly equipment for prefabricated box culvert components in shield tunnels as described in claim 4, characterized in that, Each of the heavy-duty cylinders (45) is inclined. The upper piston end is hinged to the rigid sleeve (32) through a heavy-duty Hooke hinge (46), and the lower end is hinged to the lifting platform (51) through a heavy-duty Hooke hinge (46). The multiple heavy-duty cylinders (45) change the pitch angle and roll angle of the lifting platform (51) by the difference in the amount of extension and retraction.

6. The fully automatic assembly equipment for prefabricated box culvert components in shield tunnels as described in claim 5, characterized in that, The hoisting drive mechanism (3) is installed on the traveling structure and moves forward, backward, left, and right under the drive of the traveling mechanism.

7. The posture adjustment method of a fully automatic assembly equipment for prefabricated box culvert components in a shield tunnel, as described in any one of claims 1-6, is characterized in that... The method is as follows: The traveling structure drives the lifting platform (51) to move forward, backward, left, and right, thereby achieving position and pose adjustment in the X and Y axes; The winch (31) winds the wire rope, which drives the lower lifting platform (51) to rise or fall, thereby achieving Z-axis orientation adjustment; When adjusting the pitch angle around the X-axis, the length of one heavy-duty cylinder (45) is fixed, and the piston rods of the other heavy-duty cylinders (45) extend and retract by the same length respectively; when adjusting the roll angle around the Y-axis, the extension and retraction directions of one heavy-duty cylinder (45) are opposite to those of the other heavy-duty cylinders (45); when adjusting the pitch angle and roll angle, the rigid central column (41), double-row thrust bearing (42), bearing sleeve (43) and heavy-duty universal joint (44) restrict the translation of the lifting mechanism (5); When making a yaw angle around the Z-axis, the C-type hook (53) is driven to rotate around the vertical centerline by the rotary drive mechanism (52).

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