Shield tunneling machine, roundness and flatness detection device and detection method thereof

Abstract

The application discloses a shield tunneling machine, a roundness and flatness detection device and a detection method thereof, and belongs to the technical field of tunneling methods or equipment of tunnels or adits. The detection device comprises a first telescopic mechanism, a second telescopic mechanism and a third telescopic mechanism. The first telescopic mechanism has a first fixed end and a first movable end. The first movable end is configured to be able to extend or retract relative to the first fixed end. A second fixed end is connected to the first movable end. A second movable end is configured to be able to extend or retract relative to the second fixed end. A third fixed end is rotatably connected to the second fixed end around a first axis to change the included angle between the second telescopic mechanism and the third telescopic mechanism. A third movable end is configured to be able to extend or retract relative to the third fixed end. A first distance measuring module is arranged on the second movable end and is used for detecting the roundness of a measured object. A second distance measuring module is arranged on the third movable end and is used for detecting the flatness of the measured object. The detection device has high adaptability.

Description

Technical Field

[0001] This application relates to the technical field of tunnel or adit excavation methods or equipment, specifically to a tunnel boring machine, a roundness and flatness detection device and its detection method. Background Technology

[0002] Regardless of whether it is a conventional diameter shield or a variable diameter shield, during the assembly, excavation, and maintenance process in the factory or on-site, the assembly and maintenance of shield machine-related components (such as the shield body and cutterhead), as well as the roundness and flatness of the assembled segments, are important factors to ensure the safe excavation and formation quality of the tunnel. Therefore, the measurement of the roundness and flatness of shield-related components and assembled segments is an indispensable part of tunnel construction.

[0003] Currently, the measurement of the assembly quality of tunnel boring machines (TBMs) focuses on structures such as the shield body and tail shield, using surveying instruments such as total stations for spatial positioning, and the data processing process is quite cumbersome. At the same time, there is a lack of testing devices and methods for the roundness and flatness quality indicators of large shield components under the condition of TBM assembly with variable diameter.

[0004] Therefore, improving the adaptability of roundness and flatness testing devices is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of the above problems, this application provides a tunnel boring machine, a roundness and flatness detection device and a detection method thereof, which can improve the adaptability of the roundness and flatness detection device.

[0006] In a first aspect, this application provides a roundness and flatness testing device, comprising a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism, a first distance measuring module, and a second distance measuring module. The first telescopic mechanism has a first fixed end and a first movable end, the first movable end being configured to extend or retract relative to the first fixed end. The second telescopic mechanism has a second fixed end and a second movable end, the second fixed end being connected to the first movable end, the second movable end being configured to extend or retract relative to the second fixed end, and the telescopic direction of the second telescopic mechanism being the same as that of the first telescopic mechanism. The third telescopic mechanism has a third fixed end and a third movable end, the third fixed end being rotatably connected to the second fixed end about a first axis to change the included angle between the second and third telescopic mechanisms. The third movable end is configured to extend or retract relative to the third fixed end, the first axis being perpendicular to the telescopic direction of the second telescopic mechanism. The first distance measuring module is disposed at the second movable end and is used to detect the roundness of the measured part. The second distance measuring module is disposed at the third movable end and is used to detect the flatness of the measured part.

[0007] In the technical solution of this application embodiment, by setting three telescopic mechanisms, and with the third fixed end rotatably connected to the second fixed end around the first axis, the first and second ranging modules can flexibly adjust their detection positions and angles when deployed to adapt to the measurement needs of different specifications of test pieces. In the non-working state, each module can be retracted and stored, effectively reducing the space occupied. This design is particularly advantageous for efficient testing of large shield components under space-constrained conditions during shield conversion, exhibiting good adaptability to various working conditions. Simultaneously, this integrated layout avoids operational interruptions caused by frequent disassembly and assembly of testing devices, contributing to improved overall construction efficiency.

[0008] In one or more embodiments of the first aspect, the first telescopic mechanism is a first telescopic cylinder, which includes a first cylinder body and a first piston rod, one end of the first cylinder body being a first fixed end and one end of the first piston rod being a first movable end. The second telescopic mechanism is a second telescopic cylinder, which includes a second cylinder body and a second piston rod, one end of the second cylinder body being a second fixed end and one end of the second piston rod being a second movable end. The third telescopic mechanism is a third telescopic cylinder, which includes a third cylinder body and a third piston rod, one end of the third cylinder body being a third fixed end and one end of the third piston rod being a third movable end.

[0009] In the above scheme, a telescopic cylinder is used to achieve telescopic movement, which has high stroke control accuracy and good structural rigidity, and can improve the positioning accuracy of the first and second ranging modules, thereby improving the reliability of the test results.

[0010] In one or more embodiments of the first aspect, the roundness and flatness detection device further includes a locking mechanism for locking the second cylinder and the third cylinder to fix the included angle between the second telescopic mechanism and the third telescopic mechanism.

[0011] In the above scheme, the locking mechanism can ensure that the first ranging module and the second ranging module maintain accurate angular positioning during the detection process. Even when the detection device rotates together with other components, it can effectively suppress the measurement deviation caused by the change in attitude, thereby improving the reliability and stability of the detection results.

[0012] In one or more embodiments of the first aspect, the locking mechanism includes a positioning pin; the second cylinder and the third cylinder are connected by a rotating shaft, one of the second cylinder and the third cylinder is provided with a plurality of first positioning holes, and the other is provided with a second positioning hole, the plurality of first positioning holes are arranged around the rotating shaft, and the positioning pin passes through the second positioning hole and is selectively inserted into one of the first positioning holes.

[0013] In the above solution, the locking and unlocking of the first and second ranging modules can be conveniently and efficiently achieved by inserting a positioning pin into one of the first positioning holes. This approach can improve operational convenience and simplify control while maintaining high reliability.

[0014] In one or more embodiments of the first aspect, the roundness and flatness detection device further includes a housing, one end of which has a first opening, and a first telescopic mechanism is installed inside the housing; the roundness and flatness detection device has a retracted state and an extended state. In the retracted state, the first piston rod retracts into the first cylinder, and the second and third telescopic cylinders are arranged side by side and housed inside the housing, with the second piston rod retracting into the second cylinder and the third piston rod retracting into the third cylinder; in the extended state, the first piston rod extends out of the first cylinder, the second telescopic cylinder extends out from the first opening, and the third telescopic cylinder is arranged at an angle to the second telescopic cylinder, with the second piston rod extending out of the second cylinder and the third piston rod extending out of the third cylinder.

[0015] In the above solution, when stored, the outer shell structure can provide effective protection for the first and second ranging modules, significantly reducing the risk of damage caused by bumps, dust intrusion, or vibration impact. It is especially suitable for complex working conditions such as frequent vibration, high dust levels, and limited space during tunnel boring machine construction.

[0016] Secondly, this application provides a tunnel boring machine (TBM) including a small shield body, a large shield body assembly, a variable diameter cutterhead, and a roundness and flatness detection device as described in one or more embodiments of the first aspect.

[0017] In the above solution, since the roundness and flatness detection device in one or more embodiments of the first aspect has high adaptability, the tunnel boring machine including the roundness and flatness detection device in one or more embodiments of the first aspect can realize the detection of various test parts during the shield conversion process.

[0018] In one or more embodiments of the second aspect, the roundness and flatness detection device is installed on the variable diameter cutterhead, and the part to be tested is a large shield assembly.

[0019] In the above scheme, the roundness and flatness detection device can rotate synchronously with the variable diameter cutterhead, thereby enabling real-time shape and position detection of each large shield assembly during the assembly of the large shield components into a ring. This design eliminates the need for a separate rotary drive mechanism for the detection device, saving valuable space inside the shield and improving detection efficiency and integration.

[0020] In one or more embodiments of the second aspect, the variable diameter cutter disc includes a cutter disc stirring rod, the cutter disc stirring rod includes a body and a cover plate, the body has a cavity inside, the body has a second opening communicating with the cavity, a roundness and flatness detection device is installed in the cavity, and the cover plate is detachably connected to the body and closes the second opening.

[0021] In the above solution, the roundness and flatness detection device is housed inside the cutter disc stirring rod, thereby further reducing the space occupied by the roundness and flatness detection device by utilizing the internal space of the cutter disc stirring rod.

[0022] In one or more embodiments of the second aspect, the tunnel boring machine further includes a segment assembly machine, and a roundness and flatness detection device is installed at the execution end of the segment assembly machine, wherein the measured component is a segment.

[0023] In the above scheme, the roundness and flatness detection device can be adjusted in position by the segment assembly machine, thereby realizing real-time shape and position detection of each segment during the process of assembling the segments into a ring. This design eliminates the need to set up a separate rotary drive mechanism for the detection device, which not only saves valuable space inside the shield, but also improves detection efficiency and integration.

[0024] In one or more embodiments of the second aspect, the roundness and flatness detection device is located between the variable diameter cutterhead and the large shield assembly, and is installed on the large shield assembly, with the variable diameter cutterhead being the part to be tested.

[0025] In the above scheme, the roundness and flatness detection device can detect the shape and position of the variable-diameter cutterhead in real time during its rotation. This design eliminates the need for a separate rotary drive mechanism for the detection device, saving valuable space within the shield and improving detection efficiency and integration.

[0026] Thirdly, this application provides a roundness and flatness detection method based on the roundness and flatness detection device in one or more embodiments of the first aspect. The detection method includes: adjusting the position of a first ranging module so that the detection direction of the first ranging module is perpendicular to the end face of the part being measured; adjusting the position of a second ranging module so that the detection direction of the second ranging module is perpendicular to the inner circumferential surface of the part being measured; measuring the actual roundness data of the end face of the part being measured using the first ranging module; measuring the actual flatness data of the inner circumferential surface of the part being measured using the second ranging module; performing coordinate transformation and fitting based on the actual flatness data and the actual roundness data to obtain the actual flatness profile and the actual roundness profile of the part being measured; comparing and analyzing the actual flatness profile with a standard flatness profile; comparing and analyzing the actual roundness profile with a standard roundness profile; and determining whether the roundness and flatness of the part being measured meet the design requirements.

[0027] In the above solution, by adjusting the positions of the first and second ranging modules, it can adapt to test parts of different specifications, achieving real-time detection of flatness and roundness, and possessing good adaptability. Based on the measurement data, the actual roundness and flatness profiles can be fitted, thereby determining in real time whether they meet the design requirements. This ensures that the assembly of the test parts achieves the expected results and facilitates timely adjustments by operators based on the data, avoiding the impact on work efficiency due to large-scale rework.

[0028] In one or more embodiments of the third aspect, the step of obtaining the actual roundness data of the inner circumferential surface of the test piece by the first ranging module includes: dividing the inner circumferential surface of the test piece into multiple regions arranged along the circumference of the test piece; measuring the distance from the first ranging module to the inner circumferential surface of the test piece M times in each region, where M is an odd number greater than 1; arranging the M distances in an ascending or descending sequence and obtaining the middle term of the sequence; and obtaining the actual roundness data based on the middle term of the sequence obtained in each region.

[0029] In the above scheme, the actual roundness data is obtained based on the middle term of the sequence, which reduces the amount of data to be processed, lowers the computational load and storage costs, and improves the efficiency of subsequent analysis, transmission, and response. It effectively smooths random fluctuations, more clearly reflects the overall trend and stable state of the data, and avoids interference from detailed noise. In storage, transmission, and real-time monitoring scenarios, it can significantly save bandwidth, storage space, and computing resources.

[0030] In one or more embodiments of the third aspect, the step of obtaining the actual flatness data of the end face of the test piece by the second ranging module includes: dividing the end face of the test piece into multiple regions arranged along the circumference of the test piece; measuring the distance from the second ranging module to the end face of the test piece N times in each region, where N is an odd number greater than 1; arranging the N distances in an ascending or descending sequence and obtaining the middle term of the sequence; and obtaining the actual flatness data based on the middle term of the sequence obtained in each region.

[0031] In the above scheme, the actual flatness data is obtained based on the middle term of the sequence, which reduces the amount of data to be processed, lowers the computational load and storage costs, and improves the efficiency of subsequent analysis, transmission, and response. It effectively smooths random fluctuations, more clearly reflects the overall trend and stable state of the data, and avoids interference from detailed noise. In storage, transmission, and real-time monitoring scenarios, it can significantly save bandwidth, storage space, and computing resources.

[0032] In one or more embodiments of the third aspect, the step of measuring the actual roundness data of the end face of the test piece by the first ranging module includes: dividing the inner circumferential surface of the test piece into a first effective measurement area and a first invalid measurement area based on an angle, and measuring the actual roundness data of the inner circumferential surface of the test piece by the first ranging module within the first effective measurement area; the first effective measurement area is a flat surface on the inner circumferential surface of the test piece that is equidistant from the first ranging module radially.

[0033] In the above scheme, the first effective measurement area is limited to a flat surface on the inner circumference of the measured part, and the radial distance between this area and the first ranging module remains constant. The measurement data effectively avoids interference introduced by the inherent uneven structure of the measured part's surface, thus improving data reliability.

[0034] In one or more embodiments of the third aspect, the step of measuring the actual flatness data of the end face of the test piece by the second ranging module includes: dividing the end face of the test piece into a second effective measurement area and an invalid measurement area based on an angle, and measuring the actual flatness data of the end face of the test piece by the second ranging module within the second effective measurement area; the second effective measurement area is a flat surface on the end face of the test piece that is equidistant from the second ranging module radially.

[0035] In the above scheme, the second effective measurement area is limited to the flat surface of the end face of the measured part, and the radial distance between this area and the second ranging module remains constant. The measurement data effectively avoids interference introduced by the inherent uneven structure of the measured part's surface, thus improving the reliability of the data.

[0036] In one or more embodiments of the third aspect, the radius of the actual roundness profile R1 = r + L1, where r is the radius of the measured part and L1 is the distance between the first ranging module and the inner circumferential surface of the measured part; the radius of the actual flatness profile R2 = r + L2, where r is the radius of the measured part and L2 is the distance between the second ranging module and the end face of the measured part.

[0037] In the above solution, by combining the known radius of the measured part with the distance measured by the ranging module, and using coordinate transformation methods, the actual circular outline is fitted. This allows operators to intuitively identify specific parts that deviate during assembly, facilitating timely adjustments, thus improving both work efficiency and ease of operation.

[0038] In one or more embodiments of the third aspect, the step of determining whether the roundness and flatness of the tested part meet the design requirements includes: calculating the roundness deviation, which is the difference between the actual roundness data and the initial roundness value designed; if the roundness deviation value is within 10mm, the roundness is qualified; and calculating the flatness deviation, which is the difference between the actual flatness roundness data and the initial flatness value designed; if the flatness deviation value is within 10mm, the flatness is qualified.

[0039] In the above scheme, the roundness deviation and flatness deviation are controlled within 10mm. While meeting the basic requirements for docking and assembly, the risk of stress concentration and failure of the tested part can also be reduced.

[0040] In one or more embodiments of the third aspect, after the step of determining whether the roundness and flatness of the test piece meet the design requirements, the detection method further includes: marking the maximum roundness deviation and the minimum roundness deviation on the actual roundness profile, and marking the maximum flatness deviation and the minimum flatness deviation on the actual flatness profile.

[0041] In the above scheme, marking the maximum and minimum deviations on the fitted contour helps operators quickly locate problem areas and make real-time adjustments. This not only visually prompts operators to focus on that specific location during subsequent assembly, thereby improving assembly efficiency, but also provides a clear basis for analyzing the causes of deviations and summarizing operational patterns, helping to systematically reduce the occurrence of similar deviations.

[0042] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0043] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the roundness and flatness detection device in some embodiments of this application; Figure 2 This is a schematic diagram of the tunnel boring machine in some embodiments of this application, showing that the roundness and flatness detection device is installed on the variable diameter cutterhead and is in an unfolded state; Figure 3 This is a schematic diagram of the tunnel boring machine in some embodiments of this application, showing that the roundness and flatness detection device is installed on the variable diameter cutterhead and is in a retracted state. Figure 4 This is a schematic diagram of the tunnel boring machine in some embodiments of this application, showing that the roundness and flatness detection device is installed on the segment assembly machine; Figure 5 This is a schematic diagram of the tunnel boring machine in some embodiments of this application, showing that the roundness and flatness detection device is installed on the large shield assembly; Figure 6 This is a flowchart of a roundness and flatness detection method in some embodiments of this application; Figure 7 This is a flowchart of a roundness and flatness detection method in some other embodiments of this application; Figure 8 This is a schematic diagram illustrating the marking of the maximum and minimum roundness deviations on the actual roundness profile in the roundness and flatness detection methods of some embodiments of this application. Figure 9 In some embodiments of this application, the roundness and flatness detection methods mark the maximum and minimum flatness deviations on the actual roundness profile.

[0044] The reference numerals in the detailed embodiments are as follows: 10-Roundness and flatness testing device; 1-First telescopic mechanism; 11-First fixed end; 12-First movable end; 2-Second telescopic mechanism; 21-Second fixed end; 22-Second movable end; 3-Third telescopic mechanism; 31-Third fixed end; 32-Third movable end; 4-First ranging module; 5-Second ranging module; 6-Outer shell; 61-First opening; 20-Small shield body; 30-Large shield body assembly; 40-Variable diameter cutter head; 41-Cutter head stirring rod; 42-Main body; 43-Cover plate; 44-Second opening; 50-Large shield body cutting ring; 60-Segment assembly machine; 70-Segment. Detailed Implementation

[0045] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0047] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0048] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0049] Currently, the measurement of the assembly quality of tunnel boring machines (TBMs) focuses on structures such as the shield body and tail shield, using surveying instruments such as total stations for spatial positioning. The data processing process is quite cumbersome, and there is a lack of devices and methods for rapid and accurate detection of the roundness and flatness of shield-related components (shield body, cutterhead, etc.). At the same time, there is a lack of devices and methods for detecting key quality indicators such as the roundness and flatness of the "large shield body components" under the variable diameter assembly state of the TBM.

[0050] In view of this, this application provides a roundness and flatness detection device, which includes a first telescopic mechanism, a second telescopic mechanism, a third telescopic mechanism, a first distance measuring module, and a second distance measuring module. The first telescopic mechanism has a first fixed end and a first movable end, the first movable end being configured to extend or retract relative to the first fixed end. The second telescopic mechanism has a second fixed end and a second movable end, the second fixed end being connected to the first movable end, the second movable end being configured to extend or retract relative to the second fixed end, and the telescopic direction of the second telescopic mechanism being the same as the telescopic direction of the first telescopic mechanism. The third telescopic mechanism has a third fixed end and a third movable end, the third fixed end being rotatably connected to the second fixed end about a first axis to change the included angle between the second and third telescopic mechanisms. The third movable end is configured to extend or retract relative to the third fixed end, the first axis being perpendicular to the telescopic direction of the second telescopic mechanism. The first distance measuring module is disposed at the second movable end and is used to detect the roundness of the measured part. The second distance measuring module is disposed at the third movable end and is used to detect the flatness of the measured part. By incorporating three telescopic mechanisms, with the third fixed end rotatably connected to the second fixed end around the first axis, the first and second ranging modules can flexibly adjust their detection positions and angles when deployed to adapt to the measurement needs of different sized test pieces. In non-working mode, each module can be retracted for storage, effectively reducing space occupation. This design is particularly advantageous for efficient testing of large shield components under space-constrained conditions during shield conversion, demonstrating excellent adaptability to various working conditions. Furthermore, this integrated layout avoids operational interruptions caused by frequent disassembly and reassembly of testing devices, contributing to improved overall construction efficiency.

[0051] According to some embodiments of this application, please refer to Figures 1-5This application provides a roundness and flatness testing device 10, which includes a first telescopic mechanism 1, a second telescopic mechanism 2, a third telescopic mechanism 3, a first ranging module 4, and a second ranging module 5. The first telescopic mechanism 1 has a first fixed end 11 and a first movable end 12, the first movable end 12 being configured to extend or retract relative to the first fixed end 11. The second telescopic mechanism 2 has a second fixed end 21 and a second movable end 22, the second fixed end 21 being connected to the first movable end 12, the second movable end 22 being configured to extend or retract relative to the second fixed end 21, and the telescopic direction of the second telescopic mechanism 2 being the same as that of the first telescopic mechanism 1. The third telescopic mechanism 3 has a third fixed end 31 and a third movable end 32, the third fixed end 31 being rotatably connected to the second fixed end 21 about a first axis to change the included angle between the second telescopic mechanism 2 and the third telescopic mechanism 3. The third movable end 32 is configured to extend or retract relative to the third fixed end 31, the first axis being perpendicular to the telescopic direction of the second telescopic mechanism 2. The first ranging module 4 is located at the second movable end 22 and is used to detect the roundness of the measured part. The second ranging module 5 is located at the third movable end 32 and is used to detect the flatness of the measured part.

[0052] It should be noted that the tested component can be the shield or cutterhead of a non-variable diameter shield machine, also known as a conventional shield machine. The tested component can also be the variable diameter cutterhead 40, large shield assembly 30, large shield cutting ring 50, large shield tail shield, small shield 20 cutting ring, and small shield 20 tail shield of a variable diameter shield machine. The large shield assembly 30 generally comprises multiple rings, arranged axially along the small shield 20. Each ring of the large shield assembly 30 includes multiple large shield assemblies 30 arranged circumferentially along the small shield 20. Similarly, the large shield cutting ring 50, large shield tail shield, small shield 20 cutting ring, and small shield 20 tail shield can also include at least one ring of blocks, each ring comprising multiple blocks arranged circumferentially along the small shield 20. That is, the tested component can include multiple blocks arranged in a ring structure.

[0053] In some embodiments, the first telescopic mechanism 1 may include a housing, a gear and rack pair, a reducer, a telescopic rod, and a servo motor, etc.

[0054] In some embodiments, the second telescopic mechanism 2 may include a housing, a gear and rack pair, a reducer, a telescopic rod, and a servo motor, etc.

[0055] In some embodiments, the third telescopic mechanism 3 may include a housing, a gear and rack pair, a reducer, a telescopic rod, and a servo motor, etc.

[0056] In some embodiments, the first ranging module 4 can be an ultrasonic ranging sensor or a laser ranging sensor.

[0057] In some embodiments, the second ranging module 5 can be an ultrasonic ranging sensor or a laser ranging sensor.

[0058] It should be noted that multiple first ranging modules 4 and multiple second ranging modules 5 can be set.

[0059] Please refer to Figure 1 and Figure 3 The arrangement of three telescopic mechanisms, and the fact that the third fixed end 31 is rotatably connected to the second fixed end 21 around the first axis, allows the roundness and flatness detection device 10 to be retracted as much as possible, reducing its space occupation.

[0060] In the technical solution of this application embodiment, by setting three telescopic mechanisms, and with the third fixed end 31 rotatably connected to the second fixed end 21 around the first axis, the first ranging module 4 and the second ranging module 5 can flexibly adjust their detection positions and angles when deployed to adapt to the measurement needs of different specifications of test pieces. In the non-working state, each module can be retracted and stored, effectively reducing the space occupied. This design is particularly advantageous for efficiently inspecting the large shield assembly 30 under space-constrained conditions during shield conversion, exhibiting good adaptability to working conditions. Simultaneously, this integrated layout avoids operational interruptions caused by frequent disassembly and assembly of the testing devices, contributing to improved overall construction efficiency.

[0061] According to some embodiments of this application, please refer to Figures 1-5 The first telescopic mechanism 1 is a first telescopic cylinder, which includes a first cylinder body and a first piston rod. One end of the first cylinder body is a first fixed end 11, and one end of the first piston rod is a first movable end 12. The second telescopic mechanism 2 is a second telescopic cylinder, which includes a second cylinder body and a second piston rod. One end of the second cylinder body is a second fixed end 21, and one end of the second piston rod is a second movable end 22. The third telescopic mechanism 3 is a third telescopic cylinder, which includes a third cylinder body and a third piston rod. One end of the third cylinder body is a third fixed end 31, and one end of the third piston rod is a third movable end 32.

[0062] In some embodiments, the first telescopic cylinder may be a hydraulic cylinder, an electric push rod, or the like.

[0063] In some embodiments, the second telescopic cylinder may be a hydraulic cylinder, an electric push rod, or the like.

[0064] In some embodiments, the third telescopic cylinder may be a hydraulic cylinder, an electric push rod, or the like.

[0065] In the above scheme, a telescopic cylinder is used to achieve telescopic movement, which has high stroke control accuracy and good structural rigidity, and can improve the positioning accuracy of the first ranging module 4 and the second ranging module 5, thereby improving the reliability of the test results.

[0066] According to some embodiments of this application, the roundness and flatness detection device 10 further includes a locking mechanism for locking the second cylinder and the third cylinder to fix the included angle between the second telescopic mechanism 2 and the third telescopic mechanism 3.

[0067] In some embodiments, the locking mechanism may include a rotary joint and a locking cylinder, wherein the rotary joint enables the second cylinder to rotate relative to the third cylinder, and the locking cylinder enables mechanical locking.

[0068] In the above scheme, the locking mechanism can ensure that the first ranging module 4 and the second ranging module 5 maintain accurate angular positioning during the detection process. Even when the detection device rotates together with other components, it can effectively suppress the measurement deviation caused by the change in posture, thereby improving the reliability and stability of the detection results.

[0069] According to some embodiments of this application, the locking mechanism includes a positioning pin; the second cylinder and the third cylinder are connected by a rotating shaft, one of the second cylinder and the third cylinder is provided with a plurality of first positioning holes, and the other is provided with a second positioning hole, the plurality of first positioning holes are arranged around the rotating shaft, and the positioning pin passes through the second positioning hole and is selectively inserted into one of the first positioning holes.

[0070] In some embodiments, the positioning pin can be driven by components such as a motor or a telescopic cylinder.

[0071] In the above scheme, the locking and unlocking of the first ranging module 4 and the second ranging module 5 can be conveniently and efficiently achieved by inserting a positioning pin into one of the first positioning holes. This approach can improve operational convenience and simplify control while maintaining high reliability.

[0072] According to some embodiments of this application, please refer to Figures 1-5 The roundness and flatness testing device 10 also includes a housing 6, one end of which has a first opening 61. The first telescopic mechanism 1 is installed inside the housing 6. The roundness and flatness testing device 10 has a retracted state and an extended state. In the retracted state, the first piston rod retracts into the first cylinder, and the second and third telescopic cylinders are arranged side by side and housed inside the housing 6. The second piston rod retracts into the second cylinder, and the third piston rod retracts into the third cylinder. In the extended state, the first piston rod extends out of the first cylinder, the second telescopic cylinder extends out from the first opening 61, and the third telescopic cylinder is arranged at an angle to the second telescopic cylinder. The second piston rod extends out of the second cylinder, and the third piston rod extends out of the third cylinder.

[0073] like Figure 1 As shown, the roundness and flatness testing device 10 is in an unfolded state, as... Figure 2 The roundness and flatness detection device 10 is in a retracted state.

[0074] In the above solution, when stored, the outer shell 6 structure can provide effective protection for the first ranging module 4 and the second ranging module 5, significantly reducing the risk of damage caused by bumps, dust intrusion or vibration impact, and is especially suitable for complex working conditions such as frequent vibration, high dust and limited space during tunnel boring machine construction.

[0075] According to some embodiments of this application, please refer to Figures 1-5 This application provides a tunnel boring machine, which includes a small shield body 20, a large shield body assembly 30, a variable diameter cutterhead 40, and a roundness and flatness detection device 10 as described in one or more embodiments of the first aspect.

[0076] In some embodiments, the roundness and flatness detection device 10 may be installed on the actuator of a multi-axis robot.

[0077] It should be noted that, Figure 2 The tunnel boring machine shown is in the state of assembling the first ring of the large shield assembly 30. After each ring of the large shield assembly 30 is assembled, the small shield 20 advances a certain distance with the variable diameter cutterhead 40. After all the rings of the large shield assembly 30 are assembled, the large shield cutting ring 50 will be assembled at the front end of the large shield assembly 30, and the large shield assembly 30 will be fixedly connected to the small shield 20. After that, the large shield assembly 30 and the small shield 20 can advance together.

[0078] In the above solution, since the roundness and flatness detection device 10 in one or more embodiments of the first aspect has high adaptability, the tunnel boring machine including the roundness and flatness detection device 10 in one or more embodiments of the first aspect can realize the detection of various test parts during the shield conversion process.

[0079] According to some embodiments of this application, please refer to Figures 1-3 The roundness and flatness testing device 10 is installed on the variable diameter cutterhead 40, and the part to be tested is the large shield assembly 30.

[0080] In some embodiments, the roundness and flatness detection device 10 can be installed at any position at the rear end of the variable diameter cutter head 40.

[0081] In the above scheme, the roundness and flatness detection device 10 can rotate synchronously with the variable diameter cutterhead 40, thereby realizing real-time shape and position detection of each large shield assembly 30 during the assembly of the large shield assembly 30 into a ring. This design eliminates the need to set up a separate rotation drive mechanism for the detection device, which not only saves valuable space inside the shield, but also improves detection efficiency and integration.

[0082] According to some embodiments of this application, please refer to Figures 1-3The variable diameter cutter head 40 includes a cutter head stirring rod 41, which includes a main body 42 and a cover plate 43. The main body 42 has a cavity inside and a second opening 44 communicating with the cavity. The roundness and flatness detection device 10 is installed in the cavity. The cover plate 43 is detachably connected to the main body 42 and closes the second opening 44.

[0083] In some embodiments, the cover plate 43 can be detachably connected to the body 42 by means of fasteners.

[0084] In the above scheme, the roundness and flatness detection device 10 is housed inside the blade stirring rod 41, and the space occupied by the roundness and flatness detection device 10 is further reduced by utilizing the internal space of the blade stirring rod 41.

[0085] According to some embodiments of this application, please refer to Figure 1 and Figure 4 The tunnel boring machine also includes a segment assembly machine 60, and a roundness and flatness detection device 10 is installed on the execution end of the segment assembly machine 60. The part being tested is the segment 70.

[0086] It should be noted that the execution end of the segment assembly machine 60 is the execution end of the segment assembly machine 60 that grabs the segment 70.

[0087] In the above scheme, the roundness and flatness detection device 10 can be adjusted in position under the drive of the segment assembly machine 60, thereby realizing real-time shape and position detection of each segment 70 during the process of assembling the segments 70 into a ring. This design eliminates the need to set up a separate rotary drive mechanism for the detection device, which not only saves valuable space inside the shield body, but also improves detection efficiency and integration.

[0088] According to some embodiments of this application, please refer to Figure 1 and Figure 5 The roundness and flatness testing device 10 is located between the variable diameter cutterhead 40 and the large shield assembly 30, and is installed on the large shield assembly 30. The part to be tested is the variable diameter cutterhead 40.

[0089] In some embodiments, when the roundness and flatness detection device 10 is in a retracted state, its total length along the axial direction of the small shield 20 is less than the minimum distance between the variable diameter cutterhead 40 and the large shield assembly 30, that is, it will not interfere with the rotation of the variable diameter cutterhead 40 even when the roundness and flatness detection device 10 is not removed.

[0090] In the above scheme, the roundness and flatness detection device 10 can detect the shape and position of the variable diameter cutterhead 40 in real time during its rotation. This design eliminates the need for a separate rotary drive mechanism for the detection device, saving valuable space inside the shield and improving detection efficiency and integration.

[0091] It should be noted that multiple roundness and flatness testing devices 10 can be installed. One of the multiple roundness and flatness testing devices 10 is installed on the variable diameter cutterhead 40, one is installed on the large shield assembly 30, and one is installed on the segment assembly machine 60. Of course, the installation positions of the roundness and flatness testing devices 10 are not limited to the above three positions.

[0092] According to some embodiments of this application, please refer to Figure 1 and Figure 6 This application provides a roundness and flatness detection method, based on the roundness and flatness detection device 10 in one or more embodiments of the first aspect, the detection method includes the following steps: In some embodiments, the roundness and flatness detection device 10 further includes a communication module, a data transmission module, and a host computer. The communication module communicates with the first ranging module 4 and the second ranging module 5 to collect measurement data. The data transmission module converts and transmits signal formats, transmitting the data collected by the communication module to the host computer. The host computer is positioned according to actual needs and can be installed in the main control room or inside the shield. The host computer has a built-in algorithm module that performs coordinate transformation and fitting based on the actual flatness data and actual roundness data to obtain the actual flatness profile and actual roundness profile of the measured part. The actual flatness profile is compared and analyzed with the standard flatness profile, and the actual roundness profile is compared and analyzed with the standard roundness profile to determine whether the roundness and flatness of the measured part meet the design requirements. The maximum and minimum roundness deviations can also be marked on the actual roundness profile and the maximum and minimum flatness deviations on the actual flatness profile, providing correction suggestions. It should be noted that there should be no metal objects obstructing the line of sight of the first ranging module 4, the second ranging module 5, and the communication module antenna. The communication module antenna can be installed by extending the extension antenna to an unobstructed position.

[0093] S100. Adjust the position of the first ranging module 4 so that the detection direction of the first ranging module 4 is perpendicular to the end face of the measured part. Adjust the position of the second ranging module 5 so that the detection direction of the second ranging module 5 is perpendicular to the inner circumferential surface of the measured part.

[0094] S200: The actual roundness data of the end face of the measured part is measured by the first ranging module 4.

[0095] It should be noted that the actual roundness data includes multiple sets of distance data, which together constitute the actual roundness data.

[0096] S300, the actual flatness data of the inner circumferential surface of the measured part is measured by the second ranging module 5.

[0097] It should be noted that the actual flatness data includes multiple sets of distance data, and these multiple sets of distance data together constitute the actual flatness data.

[0098] S400: Based on the actual flatness data and actual roundness data, coordinate transformation is performed to fit the actual flatness profile and actual roundness profile of the measured part.

[0099] It should be noted that the actual flatness profile and actual roundness profile can be curved. For example, by establishing a coordinate system with the horizontal axis representing angle and the vertical axis representing distance, the fitted actual flatness profile and actual roundness profile of the measured part can be curved. Of course, the actual flatness profile and actual roundness profile can also be circular, such as... Figure 8 and Figure 9 As shown.

[0100] S500. Compare and analyze the actual flatness profile with the standard flatness profile, compare and analyze the actual roundness profile with the standard roundness profile, and determine whether the roundness and flatness of the measured part meet the design requirements.

[0101] The standard flatness profile can be the profile formed by coordinate transformation of the distance between the second ranging module 5 and the end face of the measured part as specified in the design drawing. The standard roundness profile can be the profile formed by coordinate transformation of the distance between the first ranging module 4 and the inner circumferential surface of the measured part as specified in the design drawing.

[0102] In the above solution, by adjusting the positions of the first ranging module 4 and the second ranging module 5, it can adapt to test parts of different specifications, achieving real-time detection of flatness and roundness, and possessing good adaptability. Based on the measurement data, the actual roundness profile and flatness profile can be fitted, thereby determining in real time whether they meet the design requirements. This ensures that the assembly of the test parts achieves the expected results and facilitates timely adjustments by operators based on the data, avoiding the impact on work efficiency due to large-scale rework.

[0103] According to some embodiments of this application, please refer to Figure 1 and Figure 7 The steps for measuring the actual roundness data of the inner circumference surface of the measured part through the first ranging module 4 include: S201. Divide the inner circumferential surface of the test piece into multiple regions arranged along the circumference of the test piece. Measure the distance from the first distance measuring module 4 to the inner circumferential surface of the test piece M times in each region, where M is an odd number greater than 1. Arrange the M distances in an ascending or descending sequence and obtain the middle term of the sequence. Based on the middle term of the sequence obtained in each region, obtain the actual roundness data.

[0104] For example, when M=5, the middle term is the third data in the sequence.

[0105] In the above scheme, the actual roundness data is obtained based on the middle term of the sequence, which reduces the amount of data to be processed, lowers the computational load and storage costs, and improves the efficiency of subsequent analysis, transmission, and response. It effectively smooths random fluctuations, more clearly reflects the overall trend and stable state of the data, and avoids interference from detailed noise. In storage, transmission, and real-time monitoring scenarios, it can significantly save bandwidth, storage space, and computing resources.

[0106] According to some embodiments of this application, please refer to Figure 1 and Figure 7 The steps for obtaining the actual flatness data of the end face of the measured part through the second ranging module 5 include: S301. Divide the end face of the test piece into multiple regions arranged along the circumference of the test piece. Measure the distance from the second distance measuring module 5 to the end face of the test piece N times in each region, where N is an odd number greater than 1. Arrange the N distances in an ascending or descending sequence and obtain the middle term of the sequence. Based on the middle term of the sequence obtained in each region, obtain the actual flatness data.

[0107] For example, when N=5, the middle term is the third data in the sequence.

[0108] It should be noted that M and N can be the same or different.

[0109] In the above scheme, the actual flatness data is obtained based on the middle term of the sequence, which reduces the amount of data to be processed, lowers the computational load and storage costs, and improves the efficiency of subsequent analysis, transmission, and response. It effectively smooths random fluctuations, more clearly reflects the overall trend and stable state of the data, and avoids interference from detailed noise. In storage, transmission, and real-time monitoring scenarios, it can significantly save bandwidth, storage space, and computing resources.

[0110] According to some embodiments of this application, please refer to Figure 1 and Figure 7 The steps for measuring the actual roundness data of the inner circumference surface of the measured part through the first ranging module 4 include: S201. Divide the inner circumferential surface of the test piece into a first effective measurement area and a first invalid measurement area based on the angle. Within the first effective measurement area, measure the actual roundness data of the inner circumferential surface of the test piece through the first ranging module 4. The first effective measurement area is a flat surface on the inner circumferential surface of the test piece that is equidistant from the first ranging module 4.

[0111] It should be noted that, taking the large shield assembly 30 as the test piece as an example, its inner circumferential surface may be designed with a telescopic structure or a connection mechanism for connecting with the small shield 20, and its inner circumferential surface is not a completely flat surface.

[0112] In the above scheme, the first effective measurement area is limited to a flat surface on the inner circumference of the workpiece, and the radial distance between this area and the first ranging module 4 remains constant. The measurement data effectively avoids interference introduced by the inherent uneven structure of the workpiece surface, thus improving data reliability.

[0113] According to some embodiments of this application, please refer to Figure 1 and Figure 7 The steps of measuring the actual flatness data of the end face of the test piece by the second ranging module 5 include: dividing the end face of the test piece into a second effective measurement area and an invalid measurement area based on the angle; measuring the actual flatness data of the end face of the test piece by the second ranging module 5 within the second effective measurement area; the second effective measurement area is a flat surface on the end face of the test piece that is equidistant from the second ranging module 5 radially.

[0114] It should be noted that, taking the large shield assembly 30 as the test piece as an example, its end face may be designed with a telescopic structure or a connection mechanism for connecting with the small shield 20, and its end face is not a completely flat surface.

[0115] In the above scheme, the second effective measurement area is limited to the flat surface of the end face of the measured part, and the radial distance between this area and the second ranging module 5 remains constant. The measurement data effectively avoids interference introduced by the inherent uneven structure of the surface of the measured part, thus improving the reliability of the data.

[0116] According to some embodiments of this application, please refer to Figure 1 as well as Figures 7-9 The actual roundness profile radius R1 = r + L1, where r is the radius of the measured part and L1 is the distance between the first ranging module 4 and the inner circumferential surface of the measured part; the actual flatness profile radius R2 = r + L2, where r is the radius of the measured part and L2 is the distance between the second ranging module 5 and the end face of the measured part.

[0117] like Figure 8 As shown, Figure 8 The radius of the circle drawn in the coordinate panel is the sum of r and L1. For example... Figure 9 As shown, Figure 9 The radius of the circle drawn in the coordinate panel is the sum of r and L2.

[0118] In the above solution, by combining the known radius of the measured part with the distance measured by the ranging module, and using coordinate transformation methods, the actual circular outline is fitted. This allows operators to intuitively identify specific parts that deviate during assembly, facilitating timely adjustments, thus improving both work efficiency and ease of operation.

[0119] According to some embodiments of this application, please refer to Figure 1 as well as Figures 7-9 The steps for determining whether the roundness and flatness of the tested part meet the design requirements include: S501. Calculate the roundness deviation. The roundness deviation is the difference between the actual roundness data and the initial roundness value designed. If the roundness deviation value is within 10mm, the roundness is qualified. Calculate the flatness deviation. The flatness deviation is the difference between the actual flatness roundness data and the initial flatness value designed. If the flatness deviation value is within 10mm, the flatness is qualified.

[0120] The initial value of roundness in the design can be understood as the distance between the first measuring module 4 and the inner circumference of the part being measured, as specified in the design drawings. The initial value of flatness in the design can be understood as the distance between the second measuring module 5 and the inner circumference of the part being measured, as specified in the design drawings.

[0121] In the above scheme, the roundness deviation and flatness deviation are controlled within 10mm. While meeting the basic requirements for docking and assembly, the risk of stress concentration and failure of the tested part can also be reduced.

[0122] According to some embodiments of this application, please refer to Figure 1 as well as Figures 7-9 After determining whether the roundness and flatness of the tested part meet the design requirements, the detection method further includes: marking the maximum roundness deviation and the minimum roundness deviation on the actual roundness profile, and marking the maximum flatness deviation and the minimum flatness deviation on the actual flatness profile.

[0123] It should be noted that the maximum roundness deviation, minimum roundness deviation, maximum flatness deviation, and minimum flatness deviation can be marked on the display interface of the host computer, and their colors can be eye-catching colors such as red.

[0124] Please refer to Figure 8 , Figure 8 The actual roundness profile shown indicates a maximum roundness deviation of 15mm and a minimum roundness deviation of 12mm.

[0125] Please refer to Figure 9 , Figure 9 The actual flatness profile shown indicates a maximum flatness deviation of 20 mm and a minimum roundness deviation of 11 mm.

[0126] In the above scheme, marking the maximum and minimum deviations on the fitted contour helps operators quickly locate problem areas and make real-time adjustments. This not only visually prompts operators to focus on that specific location during subsequent assembly, thereby improving assembly efficiency, but also provides a clear basis for analyzing the causes of deviations and summarizing operational patterns, helping to systematically reduce the occurrence of similar deviations.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A roundness and flatness testing device (10), characterized in that, include: The first telescopic mechanism (1) has a first fixed end (11) and a first movable end (12), the first movable end (12) being configured to extend or retract relative to the first fixed end (11); The second telescopic mechanism (2) has a second fixed end (21) and a second movable end (22). The second fixed end (21) is connected to the first movable end (12). The second movable end (22) is configured to extend or retract relative to the second fixed end (21). The telescopic direction of the second telescopic mechanism (2) is the same as that of the first telescopic mechanism (1). The third telescopic mechanism (3) has a third fixed end (31) and a third movable end (32). The third fixed end (31) is rotatably connected to the second fixed end (21) about a first axis to change the included angle between the second telescopic mechanism (2) and the third telescopic mechanism (3). The third movable end (32) is configured to extend or retract relative to the third fixed end (31). The first axis is perpendicular to the telescopic direction of the second telescopic mechanism (2). The first ranging module (4) is located at the second active end (22) and is used to detect the roundness of the measured part; The second ranging module (5) is located at the third active end (32) and is used to detect the flatness of the measured part.

2. The roundness and flatness testing device (10) as described in claim 1, characterized in that, The first telescopic mechanism (1) is a first telescopic cylinder, which includes a first cylinder body and a first piston rod. One end of the first cylinder body is the first fixed end (11), and one end of the first piston rod is the first movable end (12). The second telescopic mechanism (2) is a second telescopic cylinder, which includes a second cylinder body and a second piston rod. One end of the second cylinder body is the second fixed end (21), and one end of the second piston rod is the second movable end (22). The third telescopic mechanism (3) is a third telescopic cylinder, which includes a third cylinder body and a third piston rod. One end of the third cylinder body is the third fixed end (31), and one end of the third piston rod is the third movable end (32).

3. The roundness and flatness detection device (10) as described in claim 2, characterized in that, The roundness and flatness detection device (10) further includes a locking mechanism for locking the second cylinder and the third cylinder to fix the included angle between the second telescopic mechanism (2) and the third telescopic mechanism (3).

4. The roundness and flatness detection device (10) as described in claim 3, characterized in that, The locking mechanism includes a positioning pin; The second cylinder and the third cylinder are connected by a rotating shaft. One of the second cylinder and the third cylinder is provided with a plurality of first positioning holes, and the other is provided with a second positioning hole. The plurality of first positioning holes are arranged around the rotating shaft. The positioning pin passes through the second positioning hole and is selectively inserted into one of the first positioning holes.

5. The roundness and flatness testing device (10) as described in claim 2, characterized in that, The roundness and flatness detection device (10) further includes a housing (6), one end of which has a first opening (61), and the first telescopic mechanism (1) is installed inside the housing (6); The roundness and flatness detection device (10) has a retracted state and an extended state. In the retracted state, the first piston rod retracts into the first cylinder, the second telescopic cylinder and the third telescopic cylinder are arranged side by side and housed in the outer shell (6), the second piston rod retracts into the second cylinder, and the third piston rod retracts into the third cylinder. In the deployed state, the first piston rod extends out of the first cylinder body, the second telescopic cylinder extends out of the first opening (61), the third telescopic cylinder is set at an angle to the second telescopic cylinder, the second piston rod extends out of the second cylinder body, and the third piston rod extends out of the third cylinder body.

6. A tunnel boring machine, characterized in that, include: Small shield body (20); The large shield assembly (30) is disposed on the radial outer side of the small shield (20) and fixedly connected to the small shield (20); A variable-diameter cutterhead (40) is disposed at the front end of the large shield body; The roundness and flatness testing device (10) as described in any one of claims 1-5.

7. The tunnel boring machine as described in claim 6, characterized in that, The roundness and flatness detection device (10) is installed on the variable diameter cutter head (40), and the test piece is the large shield assembly (30).

8. The tunnel boring machine as described in claim 7, characterized in that, The variable diameter cutter disc (40) includes a cutter disc stirring rod (41), the cutter disc stirring rod (41) includes a body (42) and a cover plate (43), the body (42) has a cavity inside, the body (42) has a second opening (44) communicating with the cavity, the roundness and flatness detection device (10) is installed in the cavity, and the cover plate (43) is detachably connected to the body (42) and closes the second opening (44).

9. The tunnel boring machine as described in claim 6, characterized in that, The tunnel boring machine also includes a segment assembly machine (60), and the roundness and flatness detection device (10) is installed on the execution end of the segment assembly machine (60). The part being tested is a segment (70).

10. The tunnel boring machine as described in claim 6, characterized in that, The roundness and flatness detection device (10) is located between the variable diameter cutter head (40) and the large shield assembly (30), and is installed on the large shield assembly (30). The test piece is the variable diameter cutter head (40).

11. A method for detecting roundness and flatness, based on the roundness and flatness detection device (10) according to any one of claims 1-5, characterized in that, The detection method includes: Adjust the position of the first ranging module (4) so ​​that the detection direction of the first ranging module (4) is perpendicular to the end face of the measured part, and adjust the position of the second ranging module (5) so that the detection direction of the second ranging module (5) is perpendicular to the inner circumferential surface of the measured part. The actual roundness data of the end face of the measured part is obtained by the first ranging module (4); The actual flatness data of the inner circumferential surface of the measured part is obtained by the second ranging module (5); Based on actual flatness and roundness data, coordinate transformation is performed to fit the actual flatness profile and actual roundness profile of the measured part; By comparing and analyzing the actual flatness profile with the standard flatness profile, and by comparing and analyzing the actual roundness profile with the standard roundness profile, it is determined whether the roundness and flatness of the tested part meet the design requirements.

12. The roundness and flatness detection method as described in claim 11, characterized in that, The steps for obtaining the actual roundness data of the inner circumference surface of the measured part through the first ranging module (4) include: Divide the inner circumferential surface of the test piece into multiple regions arranged along the circumference of the test piece. Measure the distance from the first distance measuring module (4) to the inner circumferential surface of the test piece M times in each region. M is an odd number greater than 1. Arrange the M distances in an ascending or descending sequence and obtain the middle term of the sequence. The actual roundness data is obtained based on the middle term of the sequence obtained in each region.

13. The roundness and flatness detection method as described in claim 11, characterized in that, The steps for obtaining the actual flatness data of the end face of the measured part through the second ranging module (5) include: Divide the end face of the test piece into multiple regions arranged along the circumference of the test piece. Measure the distance from the second distance measuring module (5) to the end face of the test piece N times in each region. N is an odd number greater than 1. Arrange the N distances in an ascending or descending sequence and obtain the middle term of the sequence. The actual flatness data is obtained based on the middle term of the sequence obtained in each region.

14. The roundness and flatness detection method as described in claim 11, characterized in that, The steps for obtaining the actual roundness data of the end face of the measured part through the first ranging module (4) include: The inner circumferential surface of the test piece is divided into a first effective measurement area and a first invalid measurement area based on the angle. The actual roundness data of the inner circumferential surface of the test piece is measured by the first distance measuring module (4) within the first effective measurement area. The first effective measurement area is a flat surface on the inner circumferential surface of the test piece that is the same radial distance from the first distance measuring module (4).

15. The roundness and flatness detection method as described in claim 11, characterized in that, The steps for obtaining the actual flatness data of the end face of the measured part through the second ranging module (5) include: The end face of the test piece is divided into a second effective measurement area and an invalid measurement area based on the angle. The actual flatness data of the end face of the test piece is measured by the second distance measuring module (5) within the second effective measurement area. The second effective measurement area is a flat surface on the end face of the test piece that is the same radial distance from the second distance measuring module (5).

16. The roundness and flatness detection method as described in claim 11, characterized in that, The radius of the actual roundness profile is R1 = r + L1, where r is the radius of the measured part and L1 is the distance between the first distance measuring module (4) and the inner circumferential surface of the measured part. The actual flatness profile radius R2 = r + L2, where r is the radius of the measured part and L2 is the distance between the end face of the measured part and the actual measured by the second distance measuring module (5).

17. The roundness and flatness detection method as described in claim 11, characterized in that, The steps for determining whether the roundness and flatness of the tested part meet the design requirements include: Calculate the roundness deviation, which is the difference between the actual roundness data and the initial roundness value designed. If the roundness deviation is within 10mm, the roundness is qualified. Calculate the flatness deviation, which is the difference between the actual flatness data and the initial flatness value designed. If the flatness deviation is within 10mm, the flatness is qualified.

18. The roundness and flatness detection method as described in claim 17, characterized in that, After determining whether the roundness and flatness of the tested part meet the design requirements, the inspection method further includes: Mark the maximum and minimum roundness deviations on the actual roundness profile, and mark the maximum and minimum flatness deviations on the actual flatness profile.

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