Splicing device for splicing pieces between shield segments and shield tunneling machine
By designing an assembly device for tunnel segments, the automated, intelligent, and multi-degree-of-freedom precise adjustment of the splicing components was achieved. This solved the problems of low alignment accuracy and low efficiency of traditional assembly devices in high water pressure and deep burial environments, improving assembly accuracy and efficiency, and ensuring the safety and quality of the tunnel.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-11
- Publication Date
- 2026-04-14
AI Technical Summary
Traditional tunnel boring machines (TBMs) suffer from problems such as low alignment accuracy, low assembly efficiency, and poor operational continuity in segment assembly under high water pressure and deep burial conditions. This leads to quality defects such as misalignment of segments and loose joints, affecting tunnel safety and durability.
Design a shield tunnel segment assembly device, including a base rotation module, a multi-level attitude adjustment module, a propulsion module and a continuous feeding module, to realize the automated, intelligent, multi-degree-of-freedom precise adjustment of the splicing parts. The base rotation module provides circumferential rotation, the multi-level attitude adjustment module realizes multi-degree-of-freedom precise positioning, and the continuous feeding module realizes the automatic and continuous supply of splicing parts.
It improved assembly accuracy and efficiency, enhanced the adaptability and safety of assembly operations, and ensured the quality of segment assembly and the overall safety of the tunnel.
Smart Images
Figure CN121848077A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of tunnel boring machine (TBM) engineering equipment, and in particular to an assembly device for inter-segment splicing components of a TBM and a TBM. Background Technology
[0002] With the rapid development of underground tunnel construction and the widespread application of tunnel boring machines (TBMs), tunnel construction in my country has recently exhibited characteristics of being "large, high, and deep." The proportion of large-diameter TBMs with excavation diameters exceeding 15 meters has been increasing year by year, and tunnel engineering is focusing on complex tunnels with high water pressure and deep burial depths. In environments with high water pressure and deep burial depths, traditional segment assembly devices rely mainly on manual labor or semi-automatic equipment when installing splicing components for tight connections between segments. This results in problems such as low alignment accuracy, low assembly efficiency, and poor operational continuity, easily leading to quality defects such as misalignment of segments and loose joints, affecting the overall safety and durability of the tunnel. In view of this, it is necessary to design an assembly device for the inter-segment splicing components of the tunnel boring machine and a tunnel boring machine to solve one of the above problems. Summary of the Invention
[0003] This application provides an assembly device for inter-segment splicing components of a tunnel boring machine (TBM) and a TBM. The assembly device for inter-segment splicing components can achieve a high degree of automation, intelligence, and precise adjustment capability with multiple degrees of freedom during the assembly process.
[0004] To achieve the above objectives, the technical solution provided in this application is as follows: This application provides an assembly device for inter-segment splicing components of a tunnel boring machine (TBM), for installation on the rotating ring of the TBM trolley, wherein the assembly device includes: The base rotation module is used to install on the machine tool and provides circumferential rotational motion around the tunnel axis; A multi-level attitude adjustment module, whose input end is connected to the output end of the base rotation module, is used to adjust the end effector pose in multiple degrees of freedom; The propulsion module has its input end connected to the output end of the multi-stage attitude adjustment module; An end effector, connected to the output of the propulsion module, is used to grasp and release the splice component; A continuous feeding module is located on the side of the base rotation module and is used to supply splice parts to the end effector; The base rotation module, multi-stage attitude adjustment module, propulsion module and end effector are connected in series to form an adjustment chain from circumferential positioning to axial insertion.
[0005] Furthermore, the base rotation module includes a mounting base, a rotary motor fixed on the mounting base, and a gear connected to the rotary motor. The gear meshes with a rotating ring, and the rotary motor drives the gear to rotate relative to the rotating ring, thereby driving all the modules connected in series thereafter to rotate 360° in a circumferential direction.
[0006] Furthermore, the base rotation module also includes several guide wheels disposed on the mounting base, the guide wheels being symmetrically disposed on both sides of the rotary motor.
[0007] Furthermore, the multi-stage attitude adjustment module includes a horizontal swing mechanism, which includes a swing base fixed on the mounting base, a swing bracket rotatably connected to the swing base via a slewing bearing, and a swing drive connecting the swing base and the swing bracket. The cylinder end of the swing drive is hinged to the swing base, and the piston rod end is hinged to the swing bracket to drive the swing bracket to reciprocate relative to the swing base in the horizontal plane.
[0008] Furthermore, the multi-level attitude adjustment module also includes a lifting mechanism, which includes a fixed bracket fixedly connected to the swing bracket and a lifting drive component connected to the fixed bracket; the cylinder end of the lifting drive component is fixedly connected to the fixed bracket, and the piston rod of the lifting drive component extends upward or downward to provide linear drive in the vertical direction.
[0009] Furthermore, the multi-level attitude adjustment module also includes a pitch mechanism, which includes a pitch base fixedly connected to the end of the piston rod of the lifting drive, a pitch frame hinged to the pitch base via a horizontal hinge axis, and a pitch drive that is hinged to the pitch base and the pitch frame respectively. The cylinder end of the pitch drive is hinged to the pitch base, and the end of its piston rod is hinged to the pitch frame, for driving the pitch frame to pitch and swing around the hinge axis in the vertical plane.
[0010] Furthermore, the propulsion module includes a propulsion base fixed on the pitching frame, a linear drive assembly mounted on the propulsion base, and a slide connected to the linear drive assembly and moving along the length of the propulsion base. The slide includes a body and a push plate, and one of the end effectors is fixed on the body and disposed adjacent to the push plate.
[0011] Furthermore, the end effector includes a clamping base mounted on the output end of the propulsion module, and an elastic gripper disposed on the clamping base, the elastic gripper having a slot adapted to the shape of the splice.
[0012] Furthermore, the continuous feeding module includes a storage mechanism, a drive transmission mechanism disposed within the storage mechanism, a feeding mechanism corresponding to the discharge station on the storage mechanism, and a state switching mechanism that is hinged to the storage mechanism and the swing bracket respectively. The feeding mechanism transfers the splicing parts in the storage mechanism into the slot of the elastic gripper.
[0013] This application also provides a tunnel boring machine, which includes a machine trolley and an assembly device for the above-mentioned inter-segment splicing components mounted on the machine trolley.
[0014] Compared with related technologies, the beneficial effects of this application are as follows: by using the assembly device for the inter-segment splicing components of the shield tunneling machine, the assembly accuracy of the segment splicing is adjusted through a multi-level attitude adjustment module, and the automated assembly operation is achieved through the cooperation of a continuous feeding module and an end effector, thereby improving the adaptability and safety of the assembly operation. Attached Figure Description
[0015] Figure 1 This is a three-dimensional structural schematic diagram of an assembly device according to one embodiment of the shield tunnel segment splicing device of this application.
[0016] Figure 2 yes Figure 1 A three-dimensional structural diagram of the assembly device from another angle.
[0017] Figure 3 yes Figure 1 Side view of the assembly device.
[0018] Figure 4 This is a schematic diagram of the continuous feeding module in different working states.
[0019] The components include: 1-base rotation module, 11-mounting base, 12-rotary motor, 13-gear, 14-guide wheel, 2-multi-stage attitude adjustment module, 21-horizontal swing mechanism, 211-swing base, 212-slewing bearing, 213-swing bracket, 22-lifting mechanism, 221-fixed support, 222-lifting drive component, 23-pitch mechanism, 231-pitch base, 232-pitch frame, 233-pitch drive component, 3-propulsion module, 31-propulsion base, 32-linear drive assembly, 33-slide table, and 331-body. 332-Push plate, 4-End effector, 41-Clamping base, 42-Elastic gripper, 43-Slot, 44-Auxiliary end effector, 5-Continuous feeding module, 51-Storage mechanism, 511-Frame, 512-Storage tank, 513-Stop plate, 514-Discharge station, 515-Filling station, 516-Connecting structure, 517-Reinforcing structure, 52-Drive transmission mechanism, 521-Drive component, 522-Ring transmission component, 53-Feeding mechanism, 531-Clamping component, 532-Linear drive unit, 54-State switching mechanism. Detailed Implementation
[0020] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.
[0021] It should be noted that the terms "upper" and "lower," etc., indicating orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the purpose of simplifying the description of this application. They do not indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this application. Specifically, in this application, the direction facing the ground is "lower," and conversely, the direction away from the ground is "upper." The axial direction is the depth direction of the tunnel, and the circumferential direction is the circumferential direction of the circle containing the tunnel cross-section. Other descriptions indicating orientation are defined based on "upper" and "lower."
[0022] In the various figures of this application, for ease of illustration, certain dimensions of structures or parts may be exaggerated relative to other structural parts; therefore, they are only used to illustrate the basic structure of the subject matter of this application.
[0023] This application provides an assembly device for inter-segment splicing components of a tunnel boring machine (TBM) and a TBM, wherein the assembly device is used to be installed on the rotating ring of the TBM trolley to realize an automated assembly process with precise multi-angle positioning.
[0024] like Figures 1 to 4 As shown, the assembly device includes a base rotation module 1, a multi-stage attitude adjustment module 2, a propulsion module 3, an end effector 4, and a continuous feeding module 5. The base rotation module 1, the multi-stage attitude adjustment module 2, the propulsion module 3, and the end effector 4 are connected in series to form an adjustment chain from multi-angle positioning to axial insertion. This adjustment chain precisely adjusts and positions the splice obtained from the continuous feeding module 5 at multiple angles before inserting it axially into the segment assembly port.
[0025] like Figures 1 to 3 As shown, the base rotation module 1 is used to be mounted on a trolley and provides circumferential rotational motion around the tunnel axis. Specifically, the base rotation module 1 includes a mounting base 11, a rotary motor 12 fixed on the mounting base 11, and a gear 13 connected to the rotary motor 12. The gear 13 meshes with a rotating ring, and the rotary motor 12 drives the gear 13 to rotate relative to the rotating ring, thereby driving all the modules connected in series thereafter to perform a 360° circumferential rotation.
[0026] In this application, the mounting base 11 is U-shaped and is sleeved on the rotating ring of the machine trolley, which guides and limits the circumferential movement of the base rotation module 1 around the rotating ring.
[0027] To ensure the smooth rotation of the base rotation module 1, the base rotation module 1 also includes a plurality of guide wheels 14 disposed on the mounting base 11, the guide wheels 14 being symmetrically disposed on both sides of the rotary motor 12 along the circumferential direction.
[0028] The input end of the multi-level attitude adjustment module 2 is connected to the output end of the base rotation module 1, and is used to adjust the end effector posture in multiple degrees of freedom. Specifically, the multi-level attitude adjustment module 2 includes a horizontal swing mechanism 21, a lifting mechanism 22 and a pitch mechanism 23, so that the multi-level attitude adjustment module can drive the propulsion module 3 and the end effector 4 to achieve precise positioning in the horizontal plane reciprocating swing, the vertical direction linear drive and the vertical plane pitch swing.
[0029] like Figure 1 and Figure 2As shown, the horizontal swing mechanism 21 includes a swing base 211 fixed on the mounting base 11, a swing bracket 213 rotatably connected to the swing base 211 via a slewing bearing 212, and a swing drive (not shown) connecting the swing base 211 and the swing bracket 213. The swing drive is a hydraulic cylinder, with its cylinder body hinged to the swing base 211 and its piston rod hinged to the swing bracket 213. By controlling the extension or retraction of the piston rod of the swing drive, the swing bracket 213 is driven to reciprocate in the horizontal plane relative to the swing base 211, which is used to adjust the swing amplitude of other components on the swing bracket 213 relative to the swing base 211 in the horizontal plane.
[0030] like Figure 2 and Figure 3 As shown, the lifting mechanism 22 includes a fixed bracket 221 fixedly connected to the swing bracket 213 and a lifting drive component 222 connected to the fixed bracket 221. The cylinder end of the lifting drive component 222 is fixedly connected to the swing bracket 213. The piston rod of the lifting drive component 222 extends upward or downward to provide linear drive in the vertical direction. By controlling the extension or retraction of the piston rod of the lifting drive component, the other components connected to the swing bracket 213 are precisely positioned in the vertical direction.
[0031] like Figure 3 As shown, the pitch mechanism 23 includes a pitch base 231 fixedly connected to the piston rod end of the lifting drive 222, a pitch frame 232 hinged to the pitch base 231 via a horizontal hinge axis, and a pitch drive 233 hinged to the pitch base 231 and the pitch frame 232 respectively. The cylinder end of the pitch drive 233 is hinged to the pitch base 231, and the piston rod end is hinged to the pitch frame 232. It is used to drive the pitch frame 232 to pitch and swing around the hinge axis in the vertical plane. By controlling the extension or retraction of the piston rod of the pitch drive 233, the other structures on the pitch frame 232 are precisely positioned in the vertical plane.
[0032] like Figure 2 and Figure 3 As shown, the input end of the propulsion module 3 is connected to the output end of the multi-stage attitude adjustment module 2. Specifically, the input end of the propulsion module 3 is connected to the pitching frame 232.
[0033] The propulsion module 3 includes a propulsion base 31 fixed on the pitch frame 232, a linear drive assembly 32 mounted on the propulsion base 31, and a slide 33 connected to the linear drive assembly 32 and moving along the length of the propulsion base 31. The linear drive assembly 32 drives the slide 33 to move axially along the propulsion base 31, thereby driving the splicing piece on the end effector 4 to be inserted into the target area.
[0034] The propulsion base 31 forms a guide rail, and the slide 33 slides along the guide rail, improving the smoothness of the slide 33's sliding.
[0035] The linear drive assembly 32 includes a drive motor, a transmission chain, a drive sprocket, and a driven sprocket. The drive motor is fixedly mounted on the pitch frame 232, and its output shaft is connected to the drive sprocket. The driven sprocket is rotatably mounted on the pitch frame 232 and spaced apart from the drive sprocket. The transmission chain is engaged with the drive sprocket and the driven sprocket. The transmission chain is also fixedly connected to the slide 33, so that the drive motor can drive the slide 33 to perform linear reciprocating motion along the guide rail through the drive sprocket and the transmission chain.
[0036] like Figure 3 As shown, the slide table 33 includes a body 331 and a push plate 332. The push plate 332 is configured to: when the slide table 33 moves the end effector 4 and the splicing component to the assembly port, the push plate 332 pushes the splicing component laterally so that it is fully embedded in the assembly port.
[0037] The end effector 4 is connected to the output end of the propulsion module 3 and is used to grab and release the splice. In other words, the end effector 4 is connected to the slide table 33.
[0038] like Figure 1 As shown, the end effector 4 includes a clamp base 41 mounted on the output end of the propulsion module 3, and an elastic gripper 42 disposed on the clamp base 41. The elastic gripper 42 has a slot 43 adapted to the shape of the splice. The clamp base 41 is fixed on the body 331, and the push plate 332 is disposed adjacent to the slot 43, so that the push plate 332 can push the end effector 4 to move axially, thereby driving the splice to be inserted into the splicing port axially.
[0039] The assembly device of this application also includes an auxiliary end effector 44 fixed on the propulsion base 31. The structure of the auxiliary end effector 44 is the same as that of the end effector 4, and the elastic gripper 42 of the auxiliary end effector 44 only grasps and releases the splicing parts. The auxiliary end effector 44 will not drive the splicing parts to move axially.
[0040] The process of precise positioning using the base rotation module 1 and the multi-level attitude adjustment module 2 is as follows: based on the precise position of the splicing interface, the base rotation module 1 is used to roughly adjust the position of the entire assembly device relative to the tunnel circumference; the horizontal swing mechanism 21 is used to adjust the precise positioning of the entire assembly device on the horizontal plane; the lifting frame 22 is used to adjust the precise positioning of the entire assembly device in the vertical direction; and the pitch mechanism 23 is used to adjust the precise positioning of the entire assembly device on the vertical plane.
[0041] like Figure 1 and Figure 4 As shown, the continuous feeding module 5 is located on the side of the base rotation module 1 and is used to continuously supply splicing parts to the end effector 4 to realize automatic continuous supply of splicing parts and improve work efficiency.
[0042] like Figure 4 As shown, the continuous feeding module 5 includes a storage mechanism 51, a drive transmission mechanism 52 disposed in the storage mechanism 51, a feeding mechanism 53 corresponding to the discharge station on the storage mechanism 51, and a state switching mechanism 54 that is hinged to the storage mechanism 51 and the swing bracket 213 respectively. The feeding mechanism 53 transfers the splicing parts in the storage mechanism 51 to the slot 43 of the elastic gripper 42.
[0043] The storage mechanism 51 includes a pair of frames 511 and a plurality of storage slots 512 disposed within the frames 511 for storing splicing parts. The plurality of storage slots 512 are evenly arranged circumferentially within the frames 511 for accommodating a plurality of splicing parts. Both C-type and I-type splicing parts can be accommodated in the same storage slot 512.
[0044] The storage mechanism 51 includes a plurality of mounting components disposed within the frame 511. Each storage slot 512 is correspondingly disposed on each mounting component. The mounting component also includes a stop plate 513 disposed within the storage slot 512 to limit the splicing component and prevent the splicing component from falling out of the storage slot 512.
[0045] It is understood that several of the aforementioned storage slots 512 may also be spaced apart on the same substrate, which is also within the scope of protection of this application.
[0046] The storage mechanism 51 also includes a discharge station 514 and a filling station 515 located on the frame 511. The discharge station 514 and the filling station 515 are located on both sides of the frame 511. The openings of the storage troughs 512 located at the discharge station 514 are all at the same level as the discharge station 514, which facilitates the feeding mechanism 53 to grab the spliced parts. In this application, the discharge station 514 and the filling station 515 are both clearance spaces provided on the frame 511. The size of the discharge station 514 and the filling station 515 is not less than the width of the storage trough 512, which facilitates the entry and exit of the spliced parts.
[0047] The storage mechanism 51 further includes a connecting structure 516 connecting a pair of frames 511, the connecting structure 516 being connected to the upper middle part of the frames 511. The storage mechanism 51 also includes a reinforcing structure 517 connecting the lower part of the pair of frames 511, the reinforcing structure 517 being spaced apart from and parallel to the connecting structure 516, thereby improving the structural strength and stability of the storage mechanism 51.
[0048] The drive transmission mechanism 52 includes a drive member 521 mounted on the frame 511 and an annular transmission member 522 driven and connected to the drive member 521 to rotate stepwise along an annular trajectory. The storage slots 512 are spaced apart on the annular transmission members 522. The length of the annular transmission members 522 occupied by the storage slots 512 is no more than half the total length of the annular transmission members 522, providing space for the storage slots 512 that have been fed.
[0049] The driving component 521 is a rotary motor that rotates in both directions. The gear ring of the driving component 512 is mounted on the connecting structure 516 and is isolated from the annular transmission component 522 to avoid interference during the movement of the annular transmission component 522.
[0050] The driving component 521 drives the ring transmission component 522 to rotate, and drives the plurality of storage tanks 512 to circulate, so that one of the storage tanks 512 is selectively positioned at the discharge station 514 or the filling station 515, so that it can sequentially reach the filling station 515 to fill the splice, and then sequentially reach the discharge station 514 to remove the splice, thereby achieving the purpose of automatic feeding.
[0051] The output end of the rotary motor is connected to an encoder, and the frame 511 is equipped with a position sensor corresponding to the discharge station 514; the encoder is signal-connected to the position sensor and is used to coordinately control the rotation angle of the annular transmission component 522 to achieve precise positioning of the storage tank 512 at the discharge station 514.
[0052] The feeding mechanism 53 is installed in the middle of the connecting structure 516 along the length direction and is set at the same horizontal position as the discharge station 514.
[0053] The feeding mechanism 53 includes a clamping member 531 for gripping the spliced parts in the storage tank 512 on the feeding station 514, and a linear drive unit 532 for driving the clamping member 531 to push the spliced parts towards the end effector 4. The movement direction of the linear drive unit 532 is adapted to the opening direction of the storage tank 512 on the discharging station 514. Through the precise control of the linear drive unit 532, the spliced parts can be stably and accurately pushed along a preset linear trajectory into the gripping range of the end effector 4, realizing the connection between the continuous feeding module and the end effector 4 and ensuring the success rate of the handover.
[0054] The clamping member 531 includes a mounting base fixed to the output end of the linear drive unit 532 and a gripper mounted on the mounting base and performing a gripping motion relative to the mounting base. The gripper can firmly grasp the combination of complex "C" and "I" shaped splicing parts and effectively prevent them from loosening, rotating or falling off during the transfer process.
[0055] The continuous feeding module 5 also includes a state switching mechanism 54 for switching the working state of the storage mechanism 51. The state switching mechanism 54 includes a hinge arm connected to the swing bracket 213 and an opening and closing cylinder. The hinge arm is installed on the upper end of the frame 511. The piston rod of the opening and closing cylinder is hinged to the side of the frame 511. The cylinder end of the opening and closing cylinder is used to be hinged to the swing bracket 213. The storage mechanism 51 has a feeding working state with the piston rod extended and a filling working state with the piston rod retracted.
[0056] When the piston rod of the opening and closing cylinder retracts, the storage mechanism 51 is in the filling working state. The storage mechanism 51 forms an angle with the swing bracket 213, leaving space for manual operation.
[0057] When the piston rod of the opening and closing cylinder extends, the storage mechanism 51 is in the feeding working state. The storage mechanism 51 is close to the swing bracket 213, which shortens the distance between the frame 511 and the end effector 4 and improves the efficiency of the feeding mechanism 53 in transferring the spliced parts.
[0058] The assembly device of this application operates as follows: the continuous feeding module 5 is controlled to transport a splice to a preset picking position; the end effector 4 is controlled to move to the picking position and grab the splice; based on the spatial coordinates of the target segment assembly port, the base rotation module 1 and the multi-stage attitude adjustment module 2 are controlled to move in coordination to position the grabbed splice to the position corresponding to the assembly port; the propulsion module 3 is controlled to push the end effector 4 and the splice along the insertion direction to insert the entire splice into the assembly port. If the splice is only partially inserted into the assembly port, the insertion process is repeated; after the splice is inserted into place, the end effector 4 is controlled to release the splice and reset, thus completing the installation of a single splice.
[0059] This application also provides a tunnel boring machine (TBM), which includes a trolley and an assembly device for inter-segment splicing components mounted on the trolley, thereby realizing automated operation of the TBM.
[0060] In summary, the assembly device for inter-segment splicing components of the shield tunneling machine of this application adjusts the assembly accuracy of the segment splicing through the base rotation module 1 and the multi-stage attitude adjustment module 2, and achieves automated assembly operation through the cooperation of the continuous feeding module 5 and the end effector 4, thereby improving the adaptability and safety of the assembly operation.
[0061] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
[0062] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of this application and are not intended to limit the scope of protection of this application. All equivalent embodiments or modifications made without departing from the spirit of the art of this application should be included within the scope of protection of this application.
Claims
1. An assembly device for inter-segment splicing components of a tunnel boring machine (TBM), used for installation on the rotating ring of the TBM trolley, characterized in that, The assembly device includes: The base rotation module is used to install on the machine tool and provides circumferential rotational motion around the tunnel axis; A multi-level attitude adjustment module, whose input end is connected to the output end of the base rotation module, is used to adjust the end effector pose in multiple degrees of freedom; The propulsion module has its input end connected to the output end of the multi-stage attitude adjustment module; An end effector, connected to the output of the propulsion module, is used to grasp and release the splice component; A continuous feeding module is located on the side of the base rotation module and is used to supply splice parts to the end effector; The base rotation module, multi-stage attitude adjustment module, propulsion module and end effector are connected in series to form an adjustment chain from multi-angle positioning to axial insertion.
2. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 1, characterized in that, The base rotation module includes a mounting base, a rotary motor fixed on the mounting base, and a gear connected to the rotary motor. The gear meshes with a rotating ring, and the rotary motor drives the gear to rotate relative to the rotating ring, thereby driving all the modules connected in series thereafter to rotate 360° in a circumferential direction.
3. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 2, characterized in that, The base rotation module also includes several guide wheels disposed on the mounting base, the guide wheels being symmetrically disposed on both sides of the rotary motor.
4. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 2, characterized in that, The multi-stage attitude adjustment module includes a horizontal swing mechanism, which includes a swing base fixed on the mounting base, a swing bracket rotatably connected to the swing base via a slewing bearing, and a swing drive connecting the swing base and the swing bracket. The cylinder end of the swing drive is hinged to the swing base, and the piston rod end is hinged to the swing bracket to drive the swing bracket to reciprocate relative to the swing base in the horizontal plane.
5. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 4, characterized in that, The multi-level attitude adjustment module also includes a lifting mechanism, which includes a fixed bracket fixedly connected to the swing bracket and a lifting drive component connected to the fixed bracket. The cylinder end of the lifting drive component is fixedly connected to the fixed bracket, and the piston rod of the lifting drive component extends upward or downward to provide linear drive in the vertical direction.
6. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 5, characterized in that, The multi-level attitude adjustment module also includes a pitch mechanism, which includes a pitch base fixedly connected to the end of the piston rod of the lifting drive, a pitch frame hinged to the pitch base via a horizontal hinge axis, and a pitch drive that is hinged to the pitch base and the pitch frame respectively. The cylinder end of the pitch drive is hinged to the pitch base, and the end of its piston rod is hinged to the pitch frame, for driving the pitch frame to pitch and swing around the hinge axis in the vertical plane.
7. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 6, characterized in that, The propulsion module includes a propulsion base fixed on the pitching frame, a linear drive assembly mounted on the propulsion base, and a slide connected to the linear drive assembly and moving along the length of the propulsion base. The slide includes a body and a push plate, and one of the end effectors is fixed on the body and disposed adjacent to the push plate.
8. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 7, characterized in that, The end effector includes a clamp base mounted on the output end of the propulsion module and an elastic gripper disposed on the clamp base, the elastic gripper having a slot adapted to the shape of the splice.
9. The assembly device for inter-segment splicing components of a tunnel boring machine as described in claim 8, characterized in that, The continuous feeding module includes a storage mechanism, a drive transmission mechanism located within the storage mechanism, a feeding mechanism corresponding to the discharge station on the storage mechanism, and a state switching mechanism that is hinged to the storage mechanism and the swing bracket respectively. The feeding mechanism transfers the splicing parts in the storage mechanism into the slot of the elastic gripper.
10. A tunnel boring machine, characterized in that, The tunnel boring machine includes a machine trolley and an assembly device for the inter-segment splicing components as described in any one of claims 1 to 9, mounted on the machine trolley.