A pipe piece assembling and grouting integrated device and construction method

Abstract

This application provides an integrated device and method for segment assembly and grouting, relating to the field of segment installation technology. The integrated device includes a tensioner, an integrated assembly and grouting mechanism, and a multi-stage telescopic folding arm. The tensioner includes a base and a first support component and a second support component connected to the base. The first support component is vertically telescopic and abuts against the bottom support surface of the working well, while the second support component is horizontally telescopic and abuts against the side wall of the working well. The integrated assembly and grouting mechanism includes a clamping structure and a follow-up grouting unit. The multi-stage telescopic folding arm includes a robotic arm, a rotary joint, and a multimodal environmental sensing system, used to drive the clamping structure to pick up segments piece by piece from the working well opening and transport the segments to a preset installation position between adjacent working wells. This application simplifies the segment handling, assembly, and grouting process, reduces the need for personnel to enter the micro-pipeline for work, and improves the efficiency of segment laying.

Description

Technical Field

[0001] This application relates to the field of tunnel segment installation technology, and in particular to an integrated device and construction method for tunnel segment assembly and grouting. Background Technology

[0002] The limited internal working space of micro-jacking pipes or small-diameter pipelines makes it difficult for construction workers to enter the pipeline to transport, align, assemble, and grout segments. Traditional manual assembly methods are cumbersome, labor-intensive, and pose risks associated with working in confined spaces.

[0003] Existing track-mounted linear assembly equipment is usually large in size and relies on track layout, making it unsuitable for use in narrow working wells and small-diameter pipelines; some tracked segment installation robots need to walk inside the pipeline, which poses a risk of overturning, and usually require the segments to be transported to the bottom of the well or inside the pipeline in advance, making the construction process complicated.

[0004] In some micro-pipe jacking projects, adjacent working shafts are set with a short interval, for example, the interval between adjacent working shafts is about 10m, which provides the conditions for arranging equipment from the working shaft to the pipe section between adjacent working shafts and completing the segment laying in sections.

[0005] Therefore, it is necessary to develop a segment assembly and grouting equipment that can be applied to the internal working space of micro-jacking pipes or small-diameter pipes, so as to reduce the need for personnel to enter the interior of small-diameter pipes for work. Summary of the Invention

[0006] This application aims to address at least one of the following problems: difficulties in personnel operation within micro-jacking or small-diameter pipelines; cumbersome segment transportation and assembly procedures; insufficient stability of equipment during long-distance insertion operations; and separation of assembly and grouting processes. To this end, this application proposes an integrated segment assembly and grouting device and construction method.

[0007] An embodiment of the first aspect of this application provides an integrated device for segment assembly and grouting, comprising:

[0008] The tensioner includes a base, a first support assembly, and a second support assembly. The first support assembly and the second support assembly are respectively connected to the base. The first support assembly can extend and retract vertically and is used to abut against the bottom support surface of the working well. The second support assembly includes multiple sets of transverse support structures. The multiple sets of transverse support structures are evenly spaced along the circumference of the base. Each set of transverse support structures can extend and retract laterally and is used to abut against the side wall of the working well.

[0009] The integrated grouting mechanism includes a clamping structure and a follow-up grouting unit. The pipe segment is an arc-shaped prefabricated pipe segment with an inner arc surface, an outer arc surface, two circumferential splicing ends, and two axial splicing ends. Each pipe ring is formed by splicing multiple pipe segments circumferentially. The circumferential splicing ends of each pipe segment are provided with a connecting structure for fixing adjacent pipe segments. At least one pipe segment is provided with a grouting hole. The clamping structure is used to clamp the pipe segment from the inner arc surface of the pipe segment. The follow-up grouting unit is disposed on one side of the clamping structure and is used to inject grout through the grouting hole.

[0010] A multi-stage telescopic folding arm includes a robotic arm, a rotary joint, and a multimodal environmental sensing system. One end of the robotic arm is rotatably connected to the base via the rotary joint, and the other end of the robotic arm is connected to the clamping structure. The multimodal environmental sensing system is used to acquire pipeline geometry information, port pose information of installed pipe rings, and splicing end pose information of positioned pipe segments within the same pipe ring. A controller is connected to the second support component, the clamping structure, the follow-up grouting unit, the robotic arm, the rotary joint, and the multimodal environmental sensing system.

[0011] The tensioner is used to rigidly position the base within the working well; the robotic arm is used to grab the pipe segments piece by piece from the wellhead of the working well, send the pipe segments into a preset working section within the pipeline, and adjust the shape according to the geometric information of the pipeline route; the clamping structure is used to assist each of the pipe segments in being sequentially positioned and spliced ​​circumferentially at the same axial installation position to close and form the pipe ring; the clamping structure is also used to clamp the pipe segments with the grouting holes after the pipe ring is closed, and the follow-up grouting unit is used to inject grout into the annular gap between the pipe ring and the pipeline through the grouting holes.

[0012] Optionally, the first support assembly includes a plurality of telescopic support legs, which are respectively connected to different positions of the base, and each telescopic support leg is used to independently extend and retract to adjust the levelness of the base;

[0013] Each set of the lateral support structures includes a hydraulic support shoe, which includes a hydraulic support rod and a support shoe tooth plate. One end of the hydraulic support rod is connected to the side of the base, and the other end of the hydraulic support rod is connected to the support shoe tooth plate. The support shoe tooth plate has an arc-shaped surface on the side away from the base, and the arc-shaped surface is used to abut against the well wall of the working well.

[0014] Optionally,

[0015] The robotic arm includes a base, a pitch joint, a multi-segment articulated telescopic arm, and an end joint.

[0016] One end of the base is connected to the rotary joint, and the base is connected to the head end of the multi-segment articulated telescopic arm through the pitch joint.

[0017] The end of the multi-segment articulated telescopic arm is connected to the clamping structure via the end joint;

[0018] in,

[0019] The multi-segment articulated telescopic arm includes multiple sleeve-type linear guide rails and relay servo yaw hinges. Adjacent sleeve-type linear guide rails are hinged through one of the relay servo yaw hinges. The controller is used to determine the target angle of each relay servo yaw hinge based on pipeline design data and pipeline geometry information obtained by the multimodal environment perception system, so that the multi-segment articulated telescopic arm forms a polygonal shape adapted to the pipeline.

[0020] The end joint is a three-degree-of-freedom composite wrist joint with roll, pitch and yaw capabilities. The end joint is used to align the circumferential splicing end of the segment with the circumferential splicing end of the segment already positioned in the same pipe ring, and to align the axial splicing end of the segment with the port of the adjacent installed pipe ring.

[0021] Optionally,

[0022] The end joint includes a roll axis, a pitch axis, and a yaw axis;

[0023] One end of the roll shaft is fixedly connected to the end of the multi-segment articulated telescopic arm, and the other end of the roll shaft is connected to one end of the pitch shaft.

[0024] The yaw axis is mounted on the pitch axis and is connected to the clamping structure.

[0025] Optionally, each set of hydraulic support shoes is equipped with a hydraulic pressure sensor;

[0026] Establish a base coordinate system with the connection point between the base and the pedestal as the origin. The Z-axis points vertically upwards.

[0027] The weight of the robotic arm The load after the integrated injection mechanism grabs the pipe segment The overturning moment generated during operation is ;

[0028] The weight of the base and auxiliary equipment The inherent anti-overturning moment provided is ;

[0029] Each group of hydraulic support shoes applies radial pressure. Subsequently, the vertical static friction force generated between each of the support shoe tooth plates and the well wall of the working well... The provided active anchoring torque is ;

[0030] When the robotic arm moves in the direction When the extension operation is performed, the following torque balance inequality must be satisfied:

[0031] ,

[0032] in,

[0033] For safety reasons, ≥1.5; These are the joint angle and angular acceleration of the pitch joint, respectively; These are the center of mass of the robotic arm and the horizontal projection distance from the load to the flipping axis, respectively. The equivalent moment of inertia of the robotic arm at the pitch joint; The term r represents the dynamic inertial torque generated by the robotic arm's sudden stop or speed change. leg The horizontal distance from the equivalent line of action of the self-weight of the base and auxiliary equipment to the flipping axis; The friction coefficient between the support shoe tooth plate and the working well wall; For the first The active radial clamping force of the hydraulic support shoe; The radius of the working well; θ is the effective torque coefficient of the i-th hydraulic support shoe at the azimuth angle θ; θ is the extension azimuth angle of the robotic arm relative to the front of the base coordinate system; i is the number of the hydraulic support shoe, i=1,2,3,4.

[0034] Optionally, it also includes a tilting trend detection unit, which includes at least one of an angle sensor, a hydraulic pressure sensor, and a displacement sensor. The tilting trend detection unit is used to determine the tilting trend based on the angle of the base, the force on each of the hydraulic support shoes, and the displacement of the base relative to the working well.

[0035] When a tendency to tip over is detected in the base, the controller calculates the minimum required anti-tipping moment based on the real-time pose of the robotic arm, and calculates the target pressure of each of the hydraulic support shoes. ,satisfy:

[0036] ,

[0037] in, Assign a directional function;

[0038] The controller is also used to control the active radial clamping force of each of the hydraulic support shoes to be greater than or equal to the corresponding target pressure. And ensure that the contact pressure of each hydraulic support shoe on the well wall of the working well does not exceed a preset allowable value.

[0039] Optionally,

[0040] The clamping structure includes a bracket, a clamping part, and a clamping drive part;

[0041] The clamping part includes two clamping claws arranged opposite each other. The two clamping claws are spaced apart on the bracket and are used to extend into the inner arc side of the tube and move away from each other. The clamping drive part is used to change the interval between the two clamping claws so that the two clamping claws press against the inner arc surface of the tube or release the tube.

[0042] Optionally,

[0043] The clamping structure also includes a six-dimensional force sensor and a phase angle encoder;

[0044] The six-dimensional force sensor is disposed between the clamping structure and the end of the robotic arm to obtain the contact force and torque of the clamping structure during the grasping and splicing process;

[0045] The phase angle encoder is disposed on the end joint and is used to obtain the circumferential installation angle of the segment around the current pipe ring axis, so as to record the initial phase of the segment and control the target installation phase of the segment and the target phase of the grouting hole.

[0046] Optionally,

[0047] The follow-up grouting unit includes a grouting gun head and a telescopic drive component;

[0048] The grouting gun head is mounted on the bracket and is located on the extended side of the grouting hole of the segment;

[0049] The telescopic drive is used to drive the grouting gun head to extend and retract along its own axis, so that the grouting gun head avoids the clamping part or extends into the grouting hole.

[0050] Optionally,

[0051] The multimodal environment perception system includes a global monitoring camera, a binocular camera, and a laser line scanner;

[0052] The laser line scanner is used to collect multiple frames of line contour data when the robotic arm moves along a preset scanning trajectory. The controller is used to generate a three-dimensional point cloud by combining the pose data of the robotic arm, and to determine the geometric information of the pipeline, the port pose information of the installed pipe ring, and the splicing end pose information of the positioned pipe segments in the same pipe ring based on the three-dimensional point cloud.

[0053] An embodiment of the second aspect of this application provides a construction method applied to the integrated segment assembly and grouting device as described above, the construction method comprising the following steps:

[0054] S1: The integrated segment assembly and grouting device is hoisted into the working well and rigidly positioned so that it faces the pipe opening. The zero point, maximum extension distance, and preset working section are set in the control system of the integrated segment assembly and grouting device.

[0055] S2: Control the robotic arm to lift and extend upwards, so that the clamping structure at the end protrudes from the wellhead of the working well and grabs a segment of the arc-shaped precast segment from the inner arc surface; after confirming that the grip is tight, control the robotic arm to retract and extend downwards, lift the segment from the wellhead into the bottom of the working well, and align the segment with the pipe opening;

[0056] S3: Control the robotic arm to carry the pipe segment into the pipeline and deliver it to the axial installation position of the current pipe ring. Adjust the shape of the robotic arm according to the pipeline geometry. Fine-tune the posture according to the preset installation reference, the port pose information of adjacent installed pipe rings, or the splicing end pose information of the positioned pipe segments in the same pipe ring. Position the pipe segment and connect it to the adjacent structure. For pipe segments that are not the last closed segment, after they are fixed by the connecting structure, control the clamping structure to release the pipe segment and repeat steps S2 and this step. For the last closed segment, after the connection is completed, make multiple pipe segments close circumferentially to form the current pipe ring, and keep the clamping structure in a clamping state or clamp the pipe segment with the grouting hole.

[0057] S4: After the current pipe ring is closed and the connection is completed, control the grout-stopping structure or temporary grout-stopping assembly at the end of the pipe ring to close the end opening of the annular gap to be grouted, control the clamping structure to clamp the pipe segment with the grouting hole in the current pipe ring, control the follow-up grouting unit to extend into the grouting hole, inject grout into the annular gap between the current pipe ring and the pipe, and determine the end of grouting according to the grouting pressure or grouting flow rate; after the grout reaches the preset early strength, control the follow-up grouting unit to retract.

[0058] S5: After completing the work on the deepest ring, control the clamping structure to release the clamped segment and retract the robotic arm into the working well;

[0059] S6: Move the axial installation position one pipe ring width toward the working well, and repeat steps S2 to S5 until the segment assembly and grouting are completed ring by ring from the far end of the preset working section toward the working well.

[0060] Optionally, in step S1, the two integrated segment assembly and grouting devices are respectively hoisted into two adjacent working wells and rigidly positioned, dividing the pipe section between the two adjacent working wells into two preset working sections, and making the far ends of the two preset working sections adjacent and located in a preset connection area; one of the integrated segment assembly and grouting devices assembles multiple segments to form a reference pipe ring in the preset connection area, and the other integrated segment assembly and grouting device assembles the first pipe ring of the corresponding preset working section at an adjacent axial position of the reference pipe ring; thereafter, the two integrated segment assembly and grouting devices respectively perform segment assembly and grouting ring by ring from the preset connection area toward the working well.

[0061] Optionally, the second support component includes multiple sets of hydraulic support shoes, and the integrated segment assembly and grouting device further includes an overturning trend detection unit;

[0062] In step S3, it is determined whether the base has a tendency to overturn based on the tilt angle of the base, the force on each of the hydraulic support shoes, and the displacement of the base relative to the working well.

[0063] When the base is detected to have an overturning tendency, the active radial clamping force of the hydraulic support shoe on the side opposite to the overturning direction is increased, while the hydraulic support shoe on the overturning side provides a fulcrum, and the contact pressure of each hydraulic support shoe on the well wall is limited to a preset allowable value.

[0064] As can be seen from the above technical solutions, the embodiments of this application have at least the following beneficial effects:

[0065] In this embodiment, a tensioner is used to rigidly position the integrated segment assembly and grouting device within the working well. A multi-stage telescopic folding arm grabs the arc-shaped prefabricated segments one by one from the wellhead and sends them into the preset working section between adjacent working wells. A clamping structure assists in positioning and splicing multiple segments sequentially along the circumference to form a pipe ring. After the pipe ring is closed, the follow-up grouting unit completes the grouting, thereby reducing the need for personnel to enter the interior of micro-jacking pipes or small-diameter pipes for handling, assembly, and grouting. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 This is a schematic diagram of the overall structure of an integrated segment assembly and grouting device provided in one embodiment of this application;

[0068] Figure 2 This is a schematic diagram of the structure of the tensioner in an integrated segment assembly and grouting device provided in one embodiment of this application;

[0069] Figure 3 This is a schematic diagram of the integrated assembly and grouting mechanism and multi-stage telescopic folding arm in a segment assembly and grouting integrated device provided in one embodiment of this application;

[0070] Figure 4 This is a partial structural diagram of a multi-segment articulated telescopic arm in an integrated segment assembly and grouting device provided in one embodiment of this application.

[0071] Figure 5 This is a schematic diagram of the structure of a multi-segment articulated telescopic arm in a linear mode in an integrated segment assembly and grouting device provided in one embodiment of this application;

[0072] Figure 6 This is a schematic diagram of the multi-segment articulated telescopic arm curve mode in an integrated segment assembly and grouting device provided in one embodiment of this application;

[0073] Figure 7 This is a schematic diagram of the end joint structure in one embodiment of this application.

[0074] Figure label:

[0075] 100. Tensioner; 110. Base; 111. Support plane; 120. First support assembly; 121. Telescopic support leg; 122. Pad; 130. Second support assembly; 131. Hydraulic strut; 132. Support shoe tooth plate; 1321. Curved surface;

[0076] 200. Integrated grouting mechanism; 210. Clamping structure; 211. Support; 212. Clamping part; 213. Rubber pad; 220. Follow-up grouting unit;

[0077] 300. Multi-stage telescopic folding arm; 310. Robotic arm; 311. Base; 312. Pitch joint; 313. Multi-segment articulated telescopic arm; 3131. Sleeve-type linear slide rail; 3132. Relay servo yaw hinge; 3133. Pipeline following system; 314. End joint; 3141. Roll axis; 3142. Pitch axis; 3143. Yaw axis; 320. Rotation joint; 330. Multimodal environmental perception system; 331. Global monitoring camera; 332. Binocular camera; 333. Laser line scanner. Detailed Implementation

[0078] The technical solutions of 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 of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0079] The term "segment" as used in this application refers to an arc-shaped prefabricated segment used to assemble a pipe ring. Each segment has an inner arc surface, an outer arc surface, two circumferential splicing ends, and two axial splicing ends. Each pipe ring is formed by sequentially splicing and closing 3 to 5 segments circumferentially at the same axial installation position. At least one segment is provided with a grouting hole for injecting grout into the annular gap between the outer circumferential surface of the pipe ring and the inner wall of the pipe.

[0080] Adjacent segments within the same pipe ring are fixed by a connection structure located at the circumferential splicing end. The connection structure may be a bolted connection structure, a plug-in locking structure, or other structure that can maintain the position of the segments after the clamping structure 210 is released. If necessary, a detachable temporary holding structure may also be used to assist in maintaining the shape of the unclosed pipe ring.

[0081] The integrated segment assembly and grouting device of this application is mainly used for segmented segment laying in the construction of micro-jacking pipes or other small-diameter pipelines. The integrated segment assembly and grouting device is located in the working well and uses a robotic arm 310 to complete the wellhead grabbing, in-pipe transportation, circumferential splicing, closure into a ring, and grouting after ring formation of individual segments, thereby reducing the need for personnel to enter the pipeline for operation.

[0082] See Figures 1 to 7 The first aspect of this application discloses an integrated segment assembly and grouting device, including a tensioner 100, an integrated assembly and grouting mechanism 200, and a multi-stage telescopic folding arm 300.

[0083] like Figure 1 and Figure 2As shown, the tensioner 100 includes a base 110, a first support component 120, and a second support component 130. The first support component 120 and the second support component 130 are respectively connected to the base 110. The first support component 120 can extend and retract vertically and is used to abut against the bottom support surface of the working well. The second support component 130 includes multiple sets of transverse support structures, which are evenly spaced along the circumference of the base 110. Each set of transverse support structures can extend and retract laterally and is used to abut against the side wall of the working well. By having the first support component 120 and the second support component 130 abut against the bottom and side wall of the working well respectively, the base 110 can be rigidly positioned in the working well, avoiding the overturning of the integrated segment assembly and grouting device due to torque changes during operation. Compared to preventing the base 110 from overturning by increasing its weight, this embodiment can reduce the weight of the base 110, which helps to achieve a lightweight design of the integrated segment assembly and grouting device.

[0084] It should be understood that the first support component 120 provides vertical support to the base 110, preventing it from shifting downwards. Meanwhile, the force applied by each set of transverse support structures of the second support component 130 is perpendicular to the vertical direction, thus limiting the base 110 from overturning. In this way, the first support component 120 and the second support component 130 work together to reduce the probability of the integrated segment assembly and grouting device overturning. Specifically, the force applied in the vertical direction is perpendicular to the vertical direction. Figure 1 The Z direction shown is parallel.

[0085] like Figure 1 and Figure 3 As shown, the integrated grouting mechanism 200 includes a clamping structure 210 and a follow-up grouting unit 220. The clamping structure 210 is used to clamp the segments from the inner arc surface of the arc-shaped precast segments and assists in positioning and splicing each segment sequentially along the circumference at the same axial installation position in the pipeline. After the current segment is fixed by the connecting structure or temporary holding structure, the clamping structure 210 releases the current segment and grabs the next segment. After 3 to 5 segments are closed to form a pipe ring, the clamping structure 210 clamps the segment with grouting holes, and the follow-up grouting unit 220 injects grout into the annular gap between the pipe ring and the pipeline through the grouting holes.

[0086] like Figure 1 and Figure 3As shown, the multi-stage telescopic folding arm 300 includes a robotic arm 310, a rotary joint 320, and a multimodal environmental sensing system 330. The robotic arm 310 is used to drive the clamping structure 210 to extend out of the wellhead of the working well to grab the pipe segments one by one and send the pipe segments into the preset working section in the pipeline. The multimodal environmental sensing system 330 is used to acquire the geometric information of the pipeline route, the port pose information of the installed pipe ring, and the splicing end pose information of the positioned pipe segments in the same pipe ring. The integrated pipe segment assembly and grouting device also includes a controller, which is electrically connected to the second support component 130, the clamping structure 210, the follow-up grouting unit 220, the robotic arm 310, the rotary joint 320, and the multimodal environmental sensing system 330. The controller adjusts the shape and end posture of the robotic arm 310 according to the information.

[0087] With the first support component 120 and the second support component 130 respectively abutting against the bottom and sidewall of the working well, the integrated segment assembly and grouting device can form a rigid position inside the working well; through the coordinated action of the multi-stage telescopic folding arm 300, the clamping structure 210 and the follow-up grouting unit 220, it can continuously complete the wellhead grabbing, lowering, pipe transportation, circumferential splicing, closure into a ring, temporary support and grouting after ring formation of a single segment, reducing the need for personnel to enter the interior of micro jacking pipes or small-diameter pipes for operation.

[0088] In one embodiment, see Figure 1 and Figure 2 The first support assembly 120 includes multiple telescopic support legs 121, which are connected to different positions on the base 110. Each telescopic support leg 121 is used to independently extend and retract to adjust the levelness of the base 110. Each telescopic support leg 121 can extend and retract along the Z direction.

[0089] In one possible implementation, please continue to see Figure 1 and Figure 2 The base has four telescopic support legs 121, each connected to a different position on the outer periphery of the base 110, and the four telescopic support legs 121 are evenly spaced along the circumference of the base 110. Each telescopic support leg 121 is equidistant from the rotary joint 320, meaning the rotary joint 320 is located at the center of the base 110. By allowing each telescopic support leg 121 to extend and retract independently along the Z-direction, the levelness of the base 110 can be adjusted.

[0090] It should be understood that in the above embodiments, the greater the distance between each telescopic support leg 121 and the rotary joint 320, the higher the support stability of the base 110. However, the distance between two oppositely arranged telescopic support legs 121 should be less than the diameter of the working well so that the integrated segment assembly and grouting device can be placed in the working well.

[0091] In this embodiment, please continue to refer to Figure 1 and Figure 2 The first support assembly 120 includes a pad 122, which is disposed at the bottom of each telescopic support leg 121. The area of ​​the pad 122 in contact with the support surface is larger than the cross-sectional area of ​​the telescopic support leg 121.

[0092] Further reading is available upon request. Figure 1 and Figure 2 The base 110 has a support plane 111 on its top, and the swivel joint 320 is mounted on the support plane 111. By adjusting the height of each telescopic support leg 121, the support plane 111 can be made horizontal, thereby achieving the purpose of adjusting the levelness.

[0093] In one embodiment, see Figure 1 and Figure 2 Each set of transverse support structures includes a hydraulic support shoe, which includes a hydraulic support rod 131 and a support shoe toothed plate 132. One end of the hydraulic support rod 131 is connected to the side of the base 110, and the support shoe toothed plate 132 is connected to the other end of the hydraulic support rod 131. The side of the support shoe toothed plate 132 away from the base 110 has an arc-shaped curved surface 1321, which is used to abut against the well wall of the working well.

[0094] In the above embodiment, the base 110 is rigidly connected to the working well through a wall-supported fixing method. The reaction force of the well wall on the hydraulic support shoes and the available static friction force resist the overturning effect generated when the robotic arm 310 carries the pipe segments into the pipeline. The arc-shaped curved surface 1321 is used to increase the effective contact area between the support shoe tooth plate 132 and the well wall and stabilize the working position; the active radial clamping force of each hydraulic support shoe is also limited by the allowable contact pressure of the well wall.

[0095] In this embodiment, there are four sets of hydraulic support shoes, which are evenly spaced along the circumference of the base 110.

[0096] In one embodiment, the robotic arm 310 includes a base 311, a pitch joint 312, a multi-segment articulated telescopic arm 313, and an end joint 314. One end of the base 311 is connected to a rotation joint 320, and the base 311 is connected to the head end of the multi-segment articulated telescopic arm 313 via the pitch joint 312; the end of the multi-segment articulated telescopic arm 313 is connected to a clamping structure 210 via the end joint 314.

[0097] The multi-segment articulated telescopic arm 313 includes multiple sleeve-type linear guide rails 3131 and relay servo yaw hinges 3132. Adjacent sleeve-type linear guide rails 3131 are hinged through a relay servo yaw hinge 3132. The controller determines the target angle of each relay servo yaw hinge 3132 based on pipeline design data and / or on-site scanning data, so that adjacent sleeve-type linear guide rails 3131 form a polygonal shape adapted to the pipeline. The end joint 314 is a three-degree-of-freedom composite wrist joint with roll, pitch, and yaw capabilities.

[0098] It is worth mentioning that the sleeve-type linear guide 3131 has a multi-stage nested telescopic guide structure, similar to a multi-stage telescopic arm or sleeve-type guide rail, and is mainly used to provide large-stroke linear telescopic capability. Its working principle is as follows: the sleeves of the sleeve-type linear guide 3131 extend or retract in sequence, driven by the linear drive component and supported by the guide pair, which plays the role of undertaking axial feed and anti-bending guidance functions.

[0099] The relay servo yaw hinge 3132 includes a hinge base, a rotating shaft, a servo motor or hydraulic motor, a reducer, an angle encoder, and a locking mechanism. The controller determines the target angle based on the chord vector of the pipe centerline corresponding to the two adjacent sleeve-type linear slide rails 3131, and controls the rotation and locking of the relay servo yaw hinge 3132 under the condition that the target angle does not exceed the joint angle limit and the minimum gap between the arm and the pipe wall is not less than the preset safety gap.

[0100] In the curved pipe section, the controller adjusts the angle of the relay servo yaw hinge 3132 according to the pipeline design data and the pipeline geometry information obtained by the multimodal environment perception system 330, so that the robotic arm 310 forms a zigzag shape that matches the pipeline, thereby reducing the sweep envelope of the arm and reducing the risk of interference with the pipe wall.

[0101] In one embodiment, see Figure 3 and Figure 7The end joint 314 includes a roll axis 3141, a pitch axis 3142, and a yaw axis 3143. One end of the roll axis 3141 is fixedly connected to the end of the multi-segment articulated telescopic arm 313, and the other end of the roll axis 3141 is connected to one end of the pitch axis 3142. The yaw axis 3143 is mounted on the pitch axis 3142 and is connected to the clamping structure 210. The roll axis 3141 drives the pitch axis 3142 to rotate around a first axis, the pitch axis 3142 drives the yaw axis 3143 to rotate around a second axis, and the yaw axis 3143 drives the clamping structure 210 to rotate around a third axis. The first axis, the second axis, and the third axis are perpendicular to each other. Thus, through the coordinated movement of the roll axis 3141, pitch axis 3142 and yaw axis 3143, the clamping structure 210 can achieve three-degree-of-freedom adjustment, making it convenient to adjust the attitude of the tube segment to the target installation attitude, thereby making the end face of the tube segment fit smoothly with the tube section of the previous ring.

[0102] In the embodiments of this application, when the integrated segment assembly and grouting device is at risk of overturning, the radial pressure of the hydraulic support shoe on the side away from the overturning side, i.e. the side with the upward pulling tendency, can be increased to increase the downward friction force and use the downward friction force to "hold" the base 110. At the same time, the radial pressure of the hydraulic support shoe on the overturning side is kept constant to provide a fulcrum, thereby achieving force couple balance and thus preventing the integrated segment assembly and grouting device from overturning.

[0103] In one embodiment, the base 311 of the robotic arm 310 is mounted on the base 110, and a base coordinate system is established with the connection point between the base 110 and the base 311 as the origin. The Z-axis points vertically upwards.

[0104] The weight of robotic arm 310 The load after the integrated injection and splicing mechanism grabs the 200 segments The overturning moment generated during operation is ;

[0105] The weight of base 110 and its accessories The inherent anti-overturning moment provided is ;

[0106] Each hydraulic support shoe applies radial pressure Subsequently, the vertical static friction force generated between the hydraulic support shoe toothed plate 132 and the working well wall... The provided active anchoring torque is ;

[0107] When the robotic arm 310 moves in the direction When the extension operation is performed, the following torque balance inequality must be satisfied:

[0108] ,

[0109] in,

[0110] For safety reasons, ≥1.5;

[0111] These are the joint angle and angular acceleration of the pitch joint 312, respectively;

[0112] These are the center of mass of the robotic arm 310 and the horizontal projection distance from the load to the flip axis, respectively.

[0113] This is the equivalent moment of inertia of the robotic arm 310 at the pitch joint 312;

[0114] This refers to the dynamic inertial torque term generated by the robotic arm 310 during emergency stops or speed changes.

[0115] r leg The horizontal distance from the equivalent line of action of the self-weight of the base 110 and its auxiliary equipment to the tilting axis;

[0116] To determine the friction coefficient between the support shoe tooth plate 132 and the working well wall, considering the reduction due to the mud environment, we take... ;

[0117] For the first The active radial clamping force of a hydraulic support shoe;

[0118] The radius of the working well;

[0119] Let be the effective torque coefficient of the i-th hydraulic support shoe at the azimuth angle θ;

[0120] θ is the forward azimuth angle of the robotic arm 310 relative to the front of the base coordinate system;

[0121] i represents the hydraulic support shoe number, i=1,2,3,4.

[0122] Among the above parameters, the self-weight parameters of the robotic arm 310 and the base 110 are obtained from the design model or factory calibration data; the load weight is determined by the weight of the segments to be assembled and the weight of the integrated assembly mechanism 200, or by a six-dimensional force sensor; the joint angle of the pitch joint 312 is obtained by feedback from the joint angle encoder or servo drive, and the angular acceleration is calculated by the controller based on the joint angle signal or by feedback from the servo drive; the active radial clamping force of the hydraulic support shoe is calculated by the detection value of the hydraulic cylinder pressure sensor and the effective working area of ​​the hydraulic cylinder; the working well size is preset by the design data or obtained by on-site measurement, the friction coefficient is obtained by material testing or on-site calibration, and the effective torque coefficient is determined based on the geometric position of the hydraulic support shoe relative to the overturning axis and the extension direction of the robotic arm 310.

[0123] Through the above control method, under the condition of meeting the allowable pressure bearing capacity of the well wall and the capacity of the hydraulic system, the minimum anti-overturning moment required for the real-time position and orientation calculation of the integrated segment assembly and grouting device on the robotic arm 310 can be improved, and the target pressure of each hydraulic support shoe can be calculated. ;satisfy:

[0124] ,

[0125] in, The controller is used to assign a azimuth function; it is also used to adjust the radial pressure of each hydraulic support shoe according to the target pressure of each hydraulic support shoe, so that the active radial clamping force of each hydraulic support shoe is greater than or equal to the corresponding target pressure. This achieves force couple balance.

[0126] In the above embodiments, the radial pressure of each hydraulic support shoe is calculated by the controller, thereby achieving force couple balance and reducing the risk of overturning of the integrated segment assembly and grouting device.

[0127] In one application scenario, the actual radial pressure of each hydraulic support shoe is kept at least equal to the current target pressure. This can further reduce the probability of overturning.

[0128] Furthermore, when the integrated segment assembly and grouting device is detected to have a risk of overturning, the control system automatically increases the radial pressure of the hydraulic support shoe on the side away from the overturning direction (i.e. the side with an upward pulling tendency) to increase the downward friction and use the increased downward friction to "hold" the base 110; at the same time, the radial pressure of the hydraulic support shoe on the overturning side is kept constant to provide a fulcrum, thereby achieving force couple balance and stationary stability.

[0129] In one embodiment, see Figure 3The clamping structure 210 includes a bracket 211, a clamping part 212, and a clamping drive part. The bracket 211 is connected to the robotic arm 310; the clamping part 212 includes two opposing clamping jaws, which are spaced apart on the bracket 211; the clamping drive part is used to change the interval between the two clamping jaws so that the clamping part 212 clamps or releases the tube segment.

[0130] In one possible implementation, the clamping drive unit can be a finger cylinder, with its two output ends connected to a clamping claw. The finger cylinder drives the two clamping claws to move toward or away from each other to clamp the tube segment or release the tube segment.

[0131] It is worth noting that the clamping drive unit can also be other drive structures capable of changing the distance between two relatively positioned clamping claws, and this is not limited here.

[0132] Further reading is available upon request. Figure 3 The clamping structure 210 also includes a rubber pad 213, which is disposed at the position where the clamping claws abut against the tube segment. The rubber pad 213 has a high coefficient of friction, which can increase the friction with the tube segment, thereby ensuring the safety and reliability of the clamping; at the same time, the rubber pad 213 can also protect the surface of the tube segment, reducing the possibility of the inner arc surface of the tube segment being scratched.

[0133] Furthermore, the clamping structure 210 includes a six-dimensional force sensor and a phase angle encoder; the six-dimensional force sensor is used to acquire the contact force of the clamping part 212; the phase angle encoder is used to acquire the rotation angle of the clamping part 212. In this embodiment, by setting a six-dimensional force sensor to detect the contact force between the clamping part 212 and the segment during segment assembly, the safety and stability of the segment clamping are ensured; and by setting a phase angle encoder, the rotation angle of the clamping structure 210 is detected to facilitate adjusting the segment to the target posture for assembly.

[0134] In a specific application scenario, the working principle of the integrated injection mechanism 200 is as follows:

[0135] ① Initial gripping and recording: After the clamping structure 210 enters the preset position of the tube segment, the double gripping claws are driven to move radially, firmly locking the tube segment. At the same time, the phase angle encoder automatically records the current initial phase information of the tube segment, providing reference data for subsequent rotational alignment.

[0136] ② Smooth Assembly Sensing: When the segments are delivered to the assembly position, the built-in six-dimensional force sensor provides real-time feedback on the impact or extrusion force received at the end. The control system corrects the 310° position of the robotic arm in real time based on the force feedback signal, simulating the "hand feel" of human movement to achieve smooth docking between the end faces of the segments and avoid damage to the segments or sealing strips caused by hard impacts.

[0137] ③ Status maintenance: After the current segment is positioned and connected to the adjacent structure, if the current segment is not the last closed segment, the connecting structure or temporary holding structure maintains the position of the current segment, and the clamping structure 210 releases the current segment and grabs the next segment; if the current segment is the last closed segment, after multiple segments close to form the current pipe ring, the clamping structure 210 holds the segment with grouting holes and releases the segment after the grouting process is completed.

[0138] In one embodiment, see Figure 3 The follow-up grouting unit 220 includes a grouting gun head and a telescopic drive; the grouting gun head is mounted on the bracket 211 and is located on the extended side of the grouting hole of the segment; the telescopic drive is used to drive the grouting gun head to extend and retract axially so that the grouting gun head avoids the clamping part 212 or extends into the grouting hole.

[0139] In one application scenario, the segment with the grouting hole is preferably used as the last segment to be closed. After 3 to 5 segments installed in the same axial direction are closed to form a pipe ring and connected, the clamping structure 210 holds the segment with the grouting hole, the robotic arm 310 and the end joint 314 remain stationary, and the grouting gun head extends along the axis of the grouting hole and is inserted into the grouting hole; the phase of the grouting hole is determined according to the recorded value of the phase angle encoder and the recognition result of the binocular camera 332.

[0140] In this embodiment, the telescopic drive includes an automatic telescopic cylinder. After the tunnel segment is assembled in place, the automatic telescopic cylinder drives the grouting gun head to extend and, guided by vision, inserts it into the grouting hole of the tunnel segment for grouting. The grouting gun head has an expansion sealing ring at its front end, which seals the grouting hole by abutting against the edge of the grouting hole, thereby preventing grout backflow.

[0141] Grout enters the annular gap between the outer circumference of the pipe ring and the inner wall of the pipe through the grouting hole. The circumferential splicing ends of adjacent pipe segments within the same pipe ring and the axial splicing ends of adjacent pipe rings are equipped with sealing structures. The exposed axial end at the current working face is sealed by a temporary grout-stopping component. Air within the annular gap is discharged through vent holes or overflow holes. The intelligent grouting station determines the end of grouting based on grouting pressure, grouting flow rate, cumulative grouting volume, and / or overflow status. During grouting, the clamping structure 210 maintains support to reduce the risk of pipe segment displacement caused by grout pressure.

[0142] Sealing rings or grout-stopping structures can be installed at the circumferential splicing ends of adjacent segments within the same pipe ring and at the axial splicing ends of adjacent pipe rings; detachable grout-stopping rings, grout-stopping airbags, or other temporary grout-stopping components can be installed at the exposed axial ends of the current working face. During the initial grouting of the reference pipe ring, the axial end openings on both sides are sealed; during subsequent ring-by-ring laying, at least the exposed axial ends of the current annular gap to be grouted are sealed. Pipe segments can also be equipped with vent holes or overflow holes communicating with the grouting holes. The upper limit of the grouting pressure is determined based on the allowable stress of the segment connection structure, the gap between the pipe and the pipe ring, and the holding capacity of the clamping structure 210.

[0143] In one embodiment, the multimodal environment perception system 330 includes a global monitoring camera 331, a binocular camera 332, and a laser line scanner 333. The global monitoring camera 331 is used to perceive the environment inside the working well; the binocular camera 332 is used to identify the port of the installed pipe ring, the splicing end of the positioned pipe segment within the same pipe ring, and the grouting hole; the laser line scanner 333 is used to collect the line contour data of the inner wall of the pipe, the port of the installed pipe ring, and the splicing end of the positioned pipe segment.

[0144] The laser line scanner 333 moves along a preset scanning trajectory with the robotic arm 310 and continuously acquires multiple frames of line contours. The controller converts the multiple frames of line contours to the base coordinate system according to the pose of the robotic arm 310 at the scanning moment and stitches them into a 3D point cloud. Then, the geometric information of the pipeline, the port center, and the port normal are determined through centerline fitting, port circle fitting, and normal fitting. The transformation relationship between the sensor coordinate system and the end effector coordinate system of the robotic arm 310 is obtained through pre-calibration.

[0145] In this embodiment, the wellhead control platform includes a remote control console and an intelligent grouting station. The intelligent grouting station has closed-loop control functions for pressure and flow, and can stop grouting according to preset grouting termination conditions.

[0146] The following example, using the segmented arc-shaped precast tunnel segment laying within a micro-jacking pipe or small-diameter pipeline, details the integrated segment assembly and grouting device of this application. Each tunnel ring is formed by splicing 3 to 5 segments circumferentially. The following parameter relationships are used to illustrate the matching method between the design and construction section of the integrated segment assembly and grouting device; the specific dimensions are determined according to the engineering conditions.

[0147] See Figures 1 to 7 The integrated segment assembly and grouting device includes a tensioner 100, an integrated assembly and grouting mechanism 200, and a multi-stage telescopic folding arm 300.

[0148] In a typical operating condition, the axial distance between two adjacent working shafts is L, for example, L is approximately 10m. Two integrated segment assembly and grouting units are respectively installed in the two adjacent working shafts. Each integrated segment assembly and grouting unit is responsible for a corresponding preset working section. The far ends of the two preset working sections are adjacent and located in the preset connection area in the middle of the segment. The maximum effective working distance of a single integrated segment assembly and grouting unit is determined based on L / 2, the connection allowance, and the installation adjustment allowance.

[0149] When designing the integrated segment assembly and grouting device, the maximum extension state of the robotic arm 310 is checked based on the inner diameter of the pipe, the outer diameter of the closed pipe ring, the mass of a single segment, the length of each sleeve-type linear slide rail 3131, and the allowable deflection. Under the maximum load and the maximum effective working distance, the strength, stiffness, joint driving torque of the robotic arm 310, as well as the safety clearance between the arm body, the single segment, and the pipe wall, should all meet the preset design requirements.

[0150] The tensioner 100 includes a base 110, a first support assembly 120, and a second support assembly 130. The base 110 adopts a frame structure and is designed according to the bottom space of the working well; when the main top hydraulic cylinder push rod or other existing equipment is retained in the working well, the base 110 reserves corresponding clearance space. The first support assembly 120 includes multiple independent adjustable telescopic support legs 121; the second support assembly 130 includes multiple sets of hydraulic support shoes distributed circumferentially along the base 110, and the ends of the hydraulic support shoes are provided with arc-shaped support shoe tooth plates 132, and are equipped with hydraulic locks and hydraulic pressure sensors.

[0151] The tensioner 100 secures the base 110 in a rigid position within the working well by supporting it at the bottom of the well and tightening it against the well wall. The active radial clamping force of the hydraulic support shoe is determined based on the maximum working distance of the robotic arm 310, the quality of the tunnel segments, and the allowable contact pressure of the well wall, so that the integrated tunnel segment assembly and grouting device still meets the anti-overturning requirements when the robotic arm 310 carries the tunnel segments to the far end of the preset working section.

[0152] The multi-stage telescopic folding arm 300 adopts a multi-degree-of-freedom composite configuration including base rotation, root pitch, multi-segment telescopic, mid-terminal yaw folding, and end-effector roll, pitch and yaw, including a robotic arm 310, a rotary joint 320 and a multimodal environmental perception system 330.

[0153] The rotary joint 320 is used to drive the robotic arm 310 to change its horizontal working position in the working well and to align the robotic arm 310 with the pipe opening or the material loading position at the well opening.

[0154] The robotic arm 310 includes a base 311, a pitch joint 312, a multi-segment articulated telescopic arm 313, and an end effector 314.

[0155] The pitch joint 312, also known as the root joint of the boom, is designed with a range of motion of ±90° or more. Through the amplitude variation of the pitch joint 312, the orientation of the end effector of the robotic arm 310 in the vertical plane is changed, thereby driving a large-scale displacement of the integrated injection and assembly mechanism 200 along the Z-axis (vertical direction). Therefore, the robotic arm 310 can not only adjust the horizontal height of the integrated injection and assembly mechanism 200, but also drive it to stand vertically upright, allowing its end effector to extend beyond the working wellhead.

[0156] The multi-segment articulated telescopic boom 313 includes a multi-segment sleeve-type linear guide rail 3131 and a relay servo yaw hinge 3132. The sleeve-type linear guide rail 3131 provides axial feed stroke; the relay servo yaw hinge 3132 is disposed between two adjacent sleeve-type linear guide rails 3131 and adjusts the angle between the two adjacent sleeve-type linear guide rails 3131 according to the pipeline geometry information.

[0157] When operating on a straight pipe section, each relay servo yaw hinge 3132 remains locked, and the multi-segment articulated telescopic arm 313 extends and retracts in a straight line. When operating on a curved pipe section, the controller determines the adjacent chord vectors based on multiple target points selected along the pipe centerline, and uses the directional angle between the adjacent chord vectors in the corresponding hinge rotation plane as the target angle of the relay servo yaw hinge 3132. At the same time, it constrains each joint angle to not exceed the limit value and the gap between the arm and the pipe wall to not be less than the preset safety gap.

[0158] The end joint 314 is used to adjust the roll, pitch and yaw attitude of the tube segment and to compensate for the deviation between the arm direction of the robotic arm 310 and the target installation attitude, so that the circumferential splicing end of the tube segment to be installed fits with the already positioned tube segment in the same tube ring, and the axial splicing end of the tube segment to be installed fits with the port of the adjacent installed tube ring.

[0159] The pipeline following system 3133 includes a cable chain, grouting hose, and cable, and changes shape as the robotic arm 310 extends, retracts, and folds. The retracted size of the robotic arm 310 is smaller than the allowable lowering size of the working well opening, and the maximum effective working distance of the robotic arm 310 is determined based on the preset working section length and connection allowance.

[0160] The integrated grouting and splicing mechanism 200 includes a clamping structure 210 and a follow-up grouting unit 220 integrated on the end flange of the robotic arm 310, both of which are offset. During the single-segment transportation and splicing process, the grouting gun head is in a retracted and avoidance position; after 3 to 5 segments are closed to form a pipe ring, the controller completes the overall pre-alignment according to the phase of the grouting hole, and drives the grouting gun head to extend along the axis of the grouting hole when the clamping structure 210 clamps the segment with the grouting hole.

[0161] The clamping structure 210 adopts an internally supported double-claw structure. The two sets of clamping claws extend into the inner arc side of the arc-shaped precast segment and then expand in opposite directions to abut against the inner arc surface of the segment. The clamping force is determined according to the mass of a single segment, the clamping friction coefficient, and the allowable contact pressure. The clamping structure 210 can also be equipped with a positioning surface or anti-rotation structure that mates with the inner arc surface of the segment to limit the relative movement of the segment during transportation, splicing, and grouting.

[0162] The working principle of the clamping structure 210 is as follows:

[0163] ① Initial gripping and recording: After the clamping structure 210 enters the preset position of the tube segment, the radial back-to-back expansion firmly locks the tube segment. At the same time, the phase angle encoder automatically records the current initial phase information of the tube segment, providing reference data for subsequent rotational alignment.

[0164] ② Smooth Assembly Sensing: When the segment is delivered to the assembly position, the six-dimensional force / torque sensor built into the clamping structure 210 provides real-time feedback on the impact force or extrusion force received at the end. The control system corrects the posture of the robotic arm 310 in real time based on the force feedback signal, so that the circumferential splicing end of the current segment smoothly fits with the already positioned segments in the same pipe ring, and the axial splicing end of the current segment smoothly fits with the adjacent installed pipe ring, avoiding damage to the segments, connecting structures, or sealing strips caused by hard impacts.

[0165] ③ Status maintenance: After the current segment is positioned and connected to the adjacent structure, if the current segment is not the last closed segment, the connecting structure or temporary holding structure maintains the position of the current segment, and the clamping structure 210 releases the current segment and grabs the next segment; if the current segment is the last closed segment, after multiple segments close to form the current pipe ring, the clamping structure 210 holds the segment with grouting holes and releases the segment after the grouting process is completed.

[0166] The follow-up grouting unit 220 includes a grouting gun head and an automatic telescopic cylinder. The grouting gun head retracts during the conveying and splicing of single tunnel segments to avoid interference with the clamping structure 210 and the positioned tunnel segments. After 3 to 5 tunnel segments close to form the current tunnel ring and complete the connection, the telescopic cylinder drives the grouting gun head to extend and insert it into the grouting hole of the tunnel segment through visual guidance. The front end of the grouting gun head is equipped with an expansion sealing ring to prevent grout backflow.

[0167] The multimodal environment perception system 330 acquires working well environmental information through a global monitoring camera 331, identifies the installed pipe ring port, the splicing end of the positioned pipe segment within the same pipe ring, and the grouting hole through a binocular camera 332, and collects multiple frames of line contours as the robotic arm 310 moves along with the system. The controller fuses the multiple frames of line contours with the pose data of the robotic arm 310 to form a three-dimensional point cloud, thereby obtaining the pose information of the pipeline centerline, the installed pipe ring port, and the splicing end of the positioned pipe segment.

[0168] The wellhead control platform includes a remote control console and an intelligent grouting station. The intelligent grouting station performs closed-loop control based on grouting pressure, flow rate, cumulative grouting volume, and / or overflow status, and stops grouting after the preset grouting termination conditions are met.

[0169] The core control flow of this embodiment is as follows:

[0170] 1. Stability mechanical model of anchorage base 110.

[0171] The integrated segment assembly and grouting device is simplified into a multi-support rigid body system within a confined space. A base coordinate system is established. ,in The axis is vertically upward. The integrated segment assembly and grouting device is subjected to forces consisting of three parts:

[0172] Overturning moment ( ): The load consists of the weight of the robotic arm 310 itself and the load of the segment it grips at the end effector. It is generated during the extension operation;

[0173] Inherent overturning moment ( (): Provided by the weight of the base 110 and its accessories;

[0174] Active anchoring torque ( ):Depend on The hydraulic support shoe applies radial pressure Subsequently, the vertical static friction force generated between the arc-shaped toothed plate and the well wall supply.

[0175] When the robotic arm 310 moves towards the azimuth angle During the extension operation (relative to the front of base 311), the integrated segment assembly and grouting device tends to rotate around the line connecting the outermost support points. To ensure absolute stability, the following torque balance inequality must be satisfied:

[0176] ;

[0177] Expanded into specific parametric equations:

[0178] ;in,

[0179] For the safety factor (take) ); The angle and angular acceleration of the pitch joint 312; These are the center of mass of the robotic arm 310 and the horizontal projection distance from the load to the flip axis, respectively. This is the equivalent moment of inertia of the robotic arm 310 at the pitch joint 312; This refers to the dynamic inertial torque term generated by the robotic arm 310 during emergency stops or speed changes; r leg The horizontal distance from the equivalent line of action of the self-weight of the base 110 and its auxiliary equipment to the tilting axis; The friction coefficient between the toothed plate and the wellbore is taken as the reduction factor for the mud environment. ; For the first The active radial clamping force of a hydraulic support shoe; The radius of the working well; θ is the effective torque coefficient of the i-th hydraulic support shoe at the azimuth angle θ; θ is the extension azimuth angle of the robotic arm 310 relative to the front of the base coordinate system; i is the hydraulic support shoe number, i=1,2,3,4.

[0180] The controller of the control system calculates the minimum anti-overturning moment required based on the real-time pose of the robotic arm 310, and then calculates the target pressure of each support shoe in reverse. :

[0181] ,

[0182] The orientation assignment function is used. When the segment assembly and grouting integrated device is detected to have an overturning tendency, the control system automatically increases the radial pressure of the hydraulic support shoe away from the overturning side (i.e. the side with the upward pulling tendency), and uses the increased downward friction to "hold" the base 110; at the same time, it keeps the pressure of the support shoe on the overturning side constant to provide a fulcrum and achieve force couple balance.

[0183] 2. Kinematic modeling of the RPTR robotic arm 310.

[0184] Based on the improved Denavit-Hartenberg (MDH) method, a coordinate system for each joint link is established. Let the coordinate system of the robot arm 310 base be... The coordinate system of the end clamping center is The origin is located at the center of the segment. The definitions of each joint are as follows:

[0185] Joint 1 (Rotation Joint 320) Joint variables It is responsible not only for large-scale picking, but also for providing the horizontal feed yaw angle when working on curved pipe sections, so that the plane where the robotic arm 310 is located is aligned with the chord direction of the pipe curve in real time.

[0186] Joint 2 (Lex-Tex Joint 312) Joint variables In the vertical slope pipe section, pitch compensation is provided in the vertical plane to ensure that the robotic arm 310 is axially aligned with the three-dimensional spatial coordinates of the target pipe ring.

[0187] Joint 3 (Extension) Joint variables It is responsible for radial feed. In curved pipe sections, its expansion and contraction trajectory appears as a straight line in space connecting the base 311 and the end face of the target pipe ring (i.e., the chord of the curve);

[0188] Joint 4 (End-of-Loop Posture) Joint variables It is responsible for adjusting the wedge phase angle of the pipe segment and the fitted line direction. By actively compensating for the deviation of the normal inclination angle of the previous pipe ring section during the construction of the curved pipe segment, it achieves a smooth fit between the end face of the pipe segment and the previous ring.

[0189] Adjacent links The homogeneous transformation matrix obtained Described as:

[0190] ;

[0191] The pose matrix of the end effector of the robotic arm 310 in the base coordinate system The result is obtained by multiplying the transformation matrices of each joint:

[0192] ;

[0193] in, , , The transformation matrices correspond to the three main degrees of freedom of rotation, pitch, and telescopic boom, respectively. The transformation matrix corresponding to the three motion components of roll, pitch and yaw in the three-degree-of-freedom complex wrist joint at the end. This is a vector of joint space variables.

[0194] Let the pipeline design centerline be denoted by mileage. equation of space curve with parameters When assembling the first Ring segment (target mileage is) When ), the coordinates of the center of the target ring are The ideal normal vector of the pipe end face at this location is the tangent vector of the curve. To avoid chord height interference between the telescopic boom (joint three) and the curved pipe wall, the controller calculates the target center in real time. Relative to the origin of the base coordinate system Space chord vector Therefore, the inverse kinematics of the basic joints driving the robotic arm 310 to feed along the spatial polygonal line can be obtained:

[0195] ;

[0196] ;

[0197] ;

[0198] (Note: (The fixed normal length of the end effector)

[0199] At the same time, due to the telescopic arm axis vector fed along the chord (i.e. (direction) and the ideal normal vector of the target segment end face There must be a spatial angle in the curve segment. The distal joint 314 must actively apply follow-up compensation posture:

[0200] ;

[0201] In the above formula, To eliminate the rotation compensation matrix of the angle between the chord and the normal, and to ensure the absolute parallelism of the end face of the tube segment; Based on the general wedge segment roll angle The generated correction matrix. Using the above model, the physical scaling of a straight line is transformed into a smooth curve fitting in space, solving the problem of assembly collisions within pipes with small curvature.

[0202] 3. Curve fitting and attitude calculation model based on general wedge-shaped segments.

[0203] The integrated segment assembly and grouting device of this embodiment is not only suitable for straight pipelines, but also specifically for pipelines with a certain radius of curvature ( A wedge-shaped segment layout and robotic arm attitude compensation model was established for the curved pipe section (including horizontal turns and vertical slope changes). The assembly of the curved pipe section relies on the circumferential rotation of the general wedge-shaped segment. Let the outer diameter of the segment be... The maximum wedge amount is (i.e., the width difference between the widest and narrowest points of the tunnel segment), the maximum turning angle that a single ring tunnel segment can provide. Satisfying the relation:

[0204] ;

[0205] To fit the spatial curve of the designed route (based on the change in azimuth angle) and pitch angle change (Decision), the integrated segment assembly and grouting device needs to solve the first... Optimal installation roll angle for ring segments This parameter determines the direction of the maximum width of the wedge, and its solution relationship satisfies:

[0206] ;

[0207] For example when for or Achieve horizontal turning when for or Vertical slope can be changed in time.

[0208] Based on this, the feed trajectory at the end of the robotic arm 310 is no longer along a curve when operating on curved sections. The axis does not precess along a straight line, but rather along the tangential direction of the pipe's design axis. The target pose matrix of the end-effector 314. The posture in the previous ring is required. Based on this, a correction transformation matrix determined by both the wedge angle and the roll angle is superimposed. ,Right now:

[0209] ;

[0210] in, The known pose matrix of the previous ring segment; The spatial theoretical rotational relationship of the segment to be installed relative to the end face of the previous ring is described, which is determined by the wedge angle and the roll angle. This is the chord-tangent angle compensation matrix. It is used to compensate for the spatial angle between the telescopic arm axis and the normal vector of the segment end face when the robotic arm 310 feeds along the chord. This allows the end effector to be realigned with the normal of the segment splicing surface; This is the compensation matrix for the actual normal and radial deviation of the end face of the previous ring segment, calculated based on laser scanning data.

[0211] During actual assembly, the control system employs a closed-loop correction control strategy based on multimodal vision. The actual normal vector of the previous ring segment's end face is measured in real-time using a 333 laser line scanner. The controller will use the theoretically calculated normal vector The deviation matrix is ​​obtained by comparison. Subsequently, the system drives the robotic arm 310 to actively apply reverse compensation using multi-degree-of-freedom compound motion (yaw preset of rotary joint 320 + tangential fine adjustment of end joint 314). This model ensures that even when the main arm makes a straight "string-like" motion inside the curved pipe, the end face of the segment can still accurately follow the tangential direction at the moment of joining, meeting the smooth fitting requirements of "zero misalignment and zero angle", and completely eliminating accumulated errors.

[0212] In the above embodiments, unlike traditional track-type straight-line assembly equipment, this embodiment, through the RPTR configuration and a unique wedge-shaped segment phase calculation algorithm, can continuously complete the assembly of horizontal turns, vertical climbing and downhill pipe sections without changing equipment by controlling the segment roll angle. It has the ability to adapt to curves in the whole space and solves the pain point of trenchless repair of complex pipe networks.

[0213] The second aspect of this application discloses a construction method applied to the integrated segment assembly and grouting device described above. The construction method includes the following steps:

[0214] S1: The integrated segment assembly and grouting device is hoisted into the working well and rigidly positioned so that it faces the pipe opening. The zero point, maximum extension distance, and preset working section are set in the control system of the integrated segment assembly and grouting device.

[0215] S2: Control the robotic arm 310 to lift and extend upwards, so that the clamping structure 210 at the end protrudes from the wellhead of the working well and grabs a segment of the arc-shaped precast segment from the inner arc surface; after confirming that the grip is tight, control the robotic arm 310 to retract and extend downwards, lift the segment from the wellhead into the bottom of the working well, and align the segment with the pipe opening.

[0216] S3: Control the robotic arm 310 to carry the pipe segment into the pipeline and deliver it to the axial installation position of the current pipe ring. Adjust the shape of the robotic arm 310 according to the pipeline geometry information. Make fine-tuning of the posture according to the preset installation reference, the port posture information of the adjacent installed pipe ring, or the splicing end posture information of the positioned pipe segments in the same pipe ring. Position the pipe segment and connect it with the adjacent structure. For pipe segments that are not the last closed segment, after they are fixed by the connecting structure, control the clamping structure 210 to release the pipe segment and repeat steps S2 and this step. For the last closed segment, after the connection is completed, make multiple pipe segments close circumferentially to form the current pipe ring, and make the clamping structure 210 keep the clamping state or clamp the pipe segment with the grouting hole.

[0217] S4: After the current pipe ring is closed and the connection is completed, control the grout-stopping structure or temporary grout-stopping component at the end of the pipe ring to close the end opening of the annular gap to be grouted, control the clamping structure 210 to clamp the pipe segment with the grouting hole in the current pipe ring, control the follow-up grouting unit 220 to extend into the grouting hole, inject grout into the annular gap between the current pipe ring and the pipe, and determine the end of grouting according to the grouting pressure or grouting flow rate; after the grout reaches the preset early strength, control the follow-up grouting unit 220 to retract;

[0218] S5: After completing the work of the deepest ring, control the clamping structure 210 to release the clamped segment and cause the robotic arm 310 to retract into the working well;

[0219] S6: Move the axial installation position one pipe ring width toward the working well, and repeat steps S2 to S5 until the segment assembly and grouting are completed ring by ring from the far end of the preset working section toward the working well.

[0220] Furthermore, when the axial distance between two adjacent working wells is L, two integrated segment assembly and grouting devices can be installed in the two adjacent working wells respectively, and the effective working distance of each integrated segment assembly and grouting device can be set to be no less than the sum of L / 2 and the preset connection allowance. In typical engineering conditions, the distance between adjacent working wells can be approximately 10m, and the specific distance is determined according to the engineering design.

[0221] The two pre-designed work sections are adjacent at their far ends and located in a pre-designed connection area. The pre-designed installation reference is determined by the pipeline design centerline, the target axial mileage, and reference points and / or reference surfaces in the working shaft coordinate system, and can be corrected based on the on-site scanning results. At the start of construction, one segment assembly and grouting integrated device assembles 3 to 5 segments one by one in the pre-designed connection area to form a reference pipe ring, while the other segment assembly and grouting integrated device assembles its first pipe ring at an adjacent axial position based on the measured port position of the reference pipe ring; thereafter, the two segment assembly and grouting integrated devices respectively perform backward ring-by-ring assembly and grouting from the pre-designed connection area toward the working shaft.

[0222] In step S3, the controller determines the overturning tendency based on the tilt angle of the base 110, the force on each hydraulic support shoe, and / or the displacement of the base 110 relative to the working well. When an overturning tendency is detected, the active radial clamping force of the hydraulic support shoe on the side away from the overturning direction is increased, while the robotic arm 310 is restricted from continuing to extend or its movement speed is reduced.

[0223] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0224] 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 technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0225] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0226] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. An integrated device for segment assembly and grouting, characterized in that, include: The tensioner includes a base, a first support assembly, and a second support assembly. The first support assembly and the second support assembly are respectively connected to the base. The first support assembly can extend and retract vertically and is used to abut against the bottom support surface of the working well. The second support assembly includes multiple sets of transverse support structures. The multiple sets of transverse support structures are evenly spaced along the circumference of the base. Each set of transverse support structures can extend and retract laterally and is used to abut against the side wall of the working well. The integrated grouting mechanism includes a clamping structure and a follow-up grouting unit; the clamping structure is used to clamp the pipe segments, and the follow-up grouting unit is disposed on one side of the clamping structure and is used to inject grout through the grouting holes of the pipe segments; A multi-stage telescopic folding arm includes a robotic arm, a rotary joint, and a multimodal environmental sensing system. One end of the robotic arm is rotatably connected to the base via the rotary joint, which drives the robotic arm to rotate in a vertical direction. The other end of the robotic arm is connected to the clamping structure. The multimodal environmental sensing system is installed on the robotic arm and is used to acquire pipeline geometry information, port pose information of installed pipe rings, and splicing end pose information of positioned pipe segments within the same pipe ring. The controller is electrically connected to the second support component, the clamping structure, the follow-up grouting unit, the robotic arm, the rotary joint, and the multimodal environment sensing system, respectively. The tensioner is used to rigidly position the base within the working well; the robotic arm is used to drive the clamping structure to extend out of the wellhead of the working well, grab the pipe segments one by one, and send the pipe segments into a preset working section within the pipeline, and adjust the shape of the robotic arm according to the geometric information of the pipeline route; the clamping structure is used to assist each of the pipe segments in being sequentially positioned and spliced ​​circumferentially at the same axial installation position, so that each of the pipe segments closes to form a pipe ring; the clamping structure is also used to clamp the pipe segment with the grouting hole after the pipe ring is closed, and the follow-up grouting unit is used to inject grout into the annular gap between the pipe ring and the pipeline through the grouting hole; The first support component includes multiple telescopic support legs, which are respectively connected to different positions of the base. Each telescopic support leg is used to extend and retract independently to adjust the levelness of the base. Each set of the lateral support structures includes a hydraulic support shoe, which includes a hydraulic support rod and a support shoe tooth plate. One end of the hydraulic support rod is connected to the side of the base, and the other end of the hydraulic support rod is connected to the support shoe tooth plate. The support shoe tooth plate has an arc-shaped surface on the side away from the base, and the arc-shaped surface is used to abut against the well wall of the working well. The robotic arm includes a base, a pitch joint, a multi-segment articulated telescopic arm, and an end joint. One end of the base is connected to the rotary joint, and the base is connected to the head end of the multi-segment articulated telescopic arm through the pitch joint. The end of the multi-segment articulated telescopic arm is connected to the clamping structure via the end joint; in, The multi-segment articulated telescopic arm includes multiple sleeve-type linear slide rails and a relay servo yaw hinge, with two adjacent sleeve-type linear slide rails hinged together by one of the relay servo yaw hinges. The controller is used to determine the target angle of each relay servo yaw hinge based on the pipeline design data and the pipeline geometric information obtained by the multimodal environment perception system, and to control each relay servo yaw hinge to adjust the relative angle between two adjacent sleeve-type linear slide rails so that the multi-segment articulated telescopic arm forms a zigzag shape that is adapted to the pipeline. The end joint is a three-degree-of-freedom composite wrist joint with roll, pitch and yaw capabilities, used to align the circumferential splicing end of the segment with the circumferential splicing end of the segment already positioned in the same pipe ring, and to align the axial splicing end of the segment with the port of the adjacent installed pipe ring.

2. The integrated segment assembly and grouting device according to claim 1, characterized in that, The end joint includes a roll axis, a pitch axis, and a yaw axis; One end of the roll shaft is fixedly connected to the end of the multi-segment articulated telescopic arm, and the other end of the roll shaft is connected to one end of the pitch shaft. The yaw axis is mounted on the pitch axis and is connected to the clamping structure.

3. The integrated segment assembly and grouting device according to claim 1, characterized in that, Each set of hydraulic support boots is equipped with a hydraulic pressure sensor; Establish a base coordinate system with the base connection point as the origin. The Z-axis points vertically upwards. The controller is used to determine the weight of the robotic arm. The integrated injection and splicing mechanism captures the real-time pose of the pipe segment and the load after capturing the pipe segment. The overturning moment generated during the calculation operation ; Each group of hydraulic support shoes applies radial pressure. Subsequently, the vertical static friction between each of the support shoe teeth and the well wall of the working well... The provided active anchoring torque is ; When the robotic arm moves in the direction When the extension operation is performed, the following torque balance inequality must be satisfied: ， in, For safety reasons, ≥1.5; These are the joint angle and angular acceleration of the pitch joint, respectively; These are the center of mass of the robotic arm and the horizontal projection distance from the load to the flipping axis, respectively. The equivalent moment of inertia of the robotic arm at the pitch joint; This refers to the dynamic inertial torque term generated by the sudden stop or speed change of the robotic arm; r leg The horizontal distance from the equivalent line of action of the self-weight of the base and auxiliary equipment to the flipping axis; The weight of the base and its accessories; The friction coefficient between the support shoe tooth plate and the working well wall; For the first The active radial clamping force of the hydraulic support shoe; The radius of the working well; For the first i The hydraulic support boot is located at the azimuth angle. θ The effective torque coefficient is as follows; θ The azimuth angle of the extension of the robotic arm relative to the front of the base coordinate system; i The hydraulic support shoe is numbered. i =1,2,3,4.

4. The integrated segment assembly and grouting device according to claim 3, characterized in that, It also includes a tilting trend detection unit, which includes at least one of an angle sensor, a hydraulic pressure sensor, and a displacement sensor. The tilting trend detection unit is used to determine the tilting trend based on the tilt angle of the base, the force on each of the hydraulic support shoes, and the displacement of the base relative to the working well. When a tendency to tip over is detected in the base, the controller calculates the minimum required anti-tipping moment based on the real-time pose of the robotic arm, and calculates the target pressure of each of the hydraulic support shoes. ,satisfy: ， in, Assign a directional function; The controller is also used to control the active radial clamping force of each of the hydraulic support shoes to be greater than or equal to the corresponding target pressure. In order to achieve force couple balance.

5. The integrated segment assembly and grouting device according to claim 1, characterized in that, The clamping structure includes a bracket, a clamping part, and a clamping drive part; The bracket is connected to the end of the robotic arm; The clamping part includes two clamping claws arranged opposite each other. The two clamping claws are spaced apart on the bracket and are used to extend into the inner arc side of the tube and move back to back. The clamping drive unit is used to change the interval between the two clamping claws so that the two clamping claws press against the inner arc surface of the tube or release the tube.

6. The integrated segment assembly and grouting device according to claim 5, characterized in that, The clamping structure includes a six-dimensional force sensor and a phase angle encoder; The six-dimensional force sensor is disposed between the clamping structure and the end of the robotic arm to obtain the contact force and torque of the clamping structure during the grasping and splicing process; The phase angle encoder is disposed on the end joint and is used to obtain the circumferential installation angle of the segment around the current pipe ring axis, so as to record the initial phase of the segment and control the target installation phase of the segment and the target phase of the grouting hole.

7. The integrated segment assembly and grouting device according to claim 5, characterized in that, The follow-up grouting unit includes a grouting gun head and a telescopic drive component; The grouting gun head is mounted on the bracket and is located on the extended side of the grouting hole of the segment when the clamping structure clamps the segment; The telescopic drive is used to drive the grouting gun head to extend and retract along its own axis, so that the grouting gun head avoids the clamping part or extends into the grouting hole.

8. The integrated segment assembly and grouting device according to claim 1, characterized in that, The multimodal environment perception system includes a global monitoring camera, a binocular camera, and a laser line scanner; The global monitoring camera is used to sense the environment inside the working well; The binocular camera is installed at the end of the robotic arm. The binocular camera is used to acquire real-time image information of the working environment, the port of the installed pipe ring, the splicing end of the positioned pipe segment in the same pipe ring, and the grouting hole, and guide the follow-up grouting unit to insert into the grouting hole. The laser line scanner is installed at the end of the robotic arm. The laser line scanner is used to collect multiple frames of line contour data when the robotic arm moves along a preset scanning trajectory. The controller is used to combine the pose data of the robotic arm to convert the multiple frames of line contour data into a three-dimensional point cloud, and to determine the geometric information of the pipeline, the port pose information of the installed pipe ring, and the splicing end pose information of the positioned pipe segments in the same pipe ring based on the three-dimensional point cloud.

9. A construction method, characterized in that, The construction method, applied to the integrated segment assembly and grouting device as described in any one of claims 1 to 8, comprises the following steps: S1: The integrated segment assembly and grouting device is hoisted into the working well and rigidly positioned so that it faces the pipe opening. The zero point, maximum extension distance, and preset working section are set in the control system of the integrated segment assembly and grouting device. S2: Control the robotic arm to lift and extend upwards, so that the clamping structure at the end protrudes from the wellhead of the working well and grabs a segment of the arc-shaped precast pipe segment from the inner arc surface; after confirming that the grip is tight, control the robotic arm to retract and extend downwards, lift the segment from the wellhead into the bottom of the working well, and align the segment with the pipe opening; S3: Control the robotic arm to carry the pipe segment into the pipeline and deliver it to the axial installation position of the current pipe ring. Adjust the shape of the robotic arm according to the pipeline geometry. Fine-tune the posture according to the preset installation reference, the port pose information of adjacent installed pipe rings, or the splicing end pose information of the positioned pipe segments in the same pipe ring. Position the pipe segment and connect it to the adjacent structure. For pipe segments that are not the last closed segment, after they are fixed by the connecting structure, control the clamping structure to release the pipe segment and repeat steps S2 and this step. For the last closed segment, after the connection is completed, make multiple pipe segments close circumferentially to form the current pipe ring, and keep the clamping structure in a clamping state or clamp the pipe segment with the grouting hole. S4: After the current pipe ring is closed and the connection is completed, control the grout-stopping structure or temporary grout-stopping assembly at the end of the pipe ring to close the end opening of the annular gap to be grouted, control the clamping structure to clamp the pipe segment with the grouting hole in the current pipe ring, control the follow-up grouting unit to extend into the grouting hole, inject grout into the annular gap between the current pipe ring and the pipe, and determine the end of grouting according to the grouting pressure or grouting flow rate; after the grout reaches the preset early strength, control the follow-up grouting unit to retract. S5: After completing the work on the deepest ring, control the clamping structure to release the clamped segment and retract the robotic arm into the working well; S6: Move the axial installation position one pipe ring width toward the working well, and repeat steps S2 to S5 until the segment assembly and grouting are completed ring by ring from the far end of the preset working section toward the working well.

10. The construction method according to claim 9, characterized in that, In step S1, the two integrated segment assembly and grouting devices are hoisted into two adjacent working wells and rigidly positioned, dividing the pipe section between the two adjacent working wells into two preset working sections, with the far ends of the two preset working sections adjacent and located in a preset connection area; one of the integrated segment assembly and grouting devices assembles multiple segments into a reference pipe ring in the preset connection area, while the other integrated segment assembly and grouting device assembles the first pipe ring of the corresponding preset working section at an adjacent axial position of the reference pipe ring; thereafter, the two integrated segment assembly and grouting devices perform segment assembly and grouting ring by ring from the preset connection area toward the working well.

11. The construction method according to claim 9, characterized in that, The second support component includes multiple sets of hydraulic support shoes, and the integrated segment assembly and grouting device also includes an overturning trend detection unit; In step S3, it is determined whether the base has a tendency to overturn based on the tilt angle of the base, the force on each of the hydraulic support shoes, and the displacement of the base relative to the working well. When the base is detected to have an overturning tendency, the active radial clamping force of the hydraulic support shoe on the side opposite to the overturning direction is increased, while the hydraulic support shoe on the overturning side provides a fulcrum, and the contact pressure of each hydraulic support shoe on the well wall is limited to a preset allowable value.

Images