A robot mechanical arm auxiliary installation device for assembling a shield machine

Abstract

The application discloses a kind of robot mechanical arm auxiliary installation devices for shield machine assembly, belong to shield machine technical field, when hoisting cutterhead using crane, there is prone to cause cutterhead to shake and deflect, docking difficult, and there is security risk problem when installing cutterhead using artificial guidance, the device includes chassis, moving parts, fixed frame, arc support pole, mechanical arm and hydraulic transmission parts, moving parts are composed of slide rail, slide plate, support box and arc bracket, arc bracket is equipped with arc rack and gear engagement, for driving cutterhead rotation, mechanical arm includes mechanical clamp arm, soft pressure capsule, pressure sensor and hydraulic drive mechanism, transmission plate is driven by hydraulic oil to drive clamp arm to overturn, realize the clamping positioning of cutterhead and host body, and clamping force is detected by pressure sensor and then displayed in real time by bluetooth module, the present application is used for the accurate docking installation of cutterhead and host body when shield machine assembly.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine technology, and in particular to a robotic arm-assisted installation device for assembling tunnel boring machines. Background Technology

[0002] A tunnel boring machine (TBM) is a large and complex engineering equipment used for tunnel excavation. Its assembly work is usually carried out in the main shaft or a dedicated assembly area. The core components of a TBM include the cutterhead and the main body. The cutterhead is used to cut rock and soil, while the main body contains core systems such as drive and propulsion. When the TBM is shipped from the factory, due to size and weight limitations, the cutterhead and the main body are often transported separately and then assembled and connected after arriving at the construction site.

[0003] Traditional tunnel boring machine assembly methods, especially the docking and installation of the cutterhead and the main body, mainly rely on large lifting equipment (such as gantry cranes and truck cranes) for hoisting and positioning. In specific operations, the main body is usually placed on a fixed support frame in advance, and then the cutterhead is slowly hoisted to the front of the main body by a crane. Fine-tuning and docking are assisted by manual observation and command. Multiple bolt holes need to be precisely aligned, and finally the connecting bolts are tightened manually or semi-automatically.

[0004] However, this traditional assembly method has the following problems:

[0005] 1. Using a crane to lift the cutter head is a flexible suspension method. When the cutter head approaches the main body, it is easy to shake and deflect, making it difficult to adjust its posture and position stably and accurately. This leads to difficulties in docking and long time to align bolt holes, which seriously affects assembly efficiency.

[0006] 2. Due to the extreme weight of the cutterhead (usually tens to hundreds of tons), relying on cranes for hoisting and manual guidance and adjustment at high altitudes and close distances poses significant safety risks such as detachment, collision, and crushing, which threaten the personal safety of operators.

[0007] To address the aforementioned problems, this invention proposes a robotic arm-assisted installation device for tunnel boring machine assembly. Summary of the Invention

[0008] This invention provides a robotic arm-assisted installation device for tunnel boring machine assembly, which solves the problems of easy swaying and deflection of the cutterhead and difficulty in docking when using a crane to lift the cutterhead, as well as the safety risks when using manual guidance to install the cutterhead.

[0009] This invention provides the following technical solution:

[0010] A robotic arm-assisted installation device for assembling a tunnel boring machine includes a base frame installed inside the main shaft opening. A movable component is mounted on the top of the base frame, and a fixed frame is fixedly installed on one side of the top of the base frame. Arc-shaped support rods are installed on the top of the fixed frame and on the movable component. The arc-shaped support rods on the fixed frame are fixedly connected to the fixed frame. The two arc-shaped support rods are used to support the cutterhead and the main body, respectively. The auxiliary installation device also includes:

[0011] Two robotic arms symmetrically mounted on the arc-shaped support rod are used to clamp and position the cutter head or the main body, so that the cutter head and the main body can be accurately aligned when the cutter head is mounted on the main body.

[0012] The hydraulic transmission component installed on the top of the base frame is connected to both sides of the moving component and the fixed frame, so as to drive the moving component to move and bring the cutter head closer to the main body, thereby enabling the cutter head and the main body to dock.

[0013] In one possible design, the moving component includes two slide rails symmetrically fixedly mounted on the top of the base frame. A slide plate is slidably connected to the slide rails, and an adjustment component is mounted on the top of the slide plate. The tops of the two adjustment components are connected to the same arc-shaped bracket. The bottom of the arc-shaped support rod for supporting the cutter head is set inside the arc-shaped bracket. Slide grooves are provided on both sides of the inner wall of the arc-shaped bracket, and arc-shaped strips are slidably connected in the slide grooves. Two arc-shaped strips are respectively fixedly mounted on both sides of the corresponding arc-shaped support rod to achieve sliding support for the arc-shaped support rod.

[0014] In one possible design, the adjustment assembly includes a support box fixedly mounted on top of the slide plate, a first electric push rod fixedly mounted on the bottom inner wall of the support box, a connecting plate fixedly mounted on the output shaft of the first electric push rod, the connecting plate being slidably connected to the inner wall of the support box, an mounting plate being rotatably connected to the connecting plate, and the top of the mounting plate extending above the support box and fixedly mounted on the bottom of the arc-shaped bracket.

[0015] In one possible design, a mounting box is fixedly installed at the bottom of the arc-shaped bracket. A through hole communicating with the mounting box is opened on the inner wall of the bottom of the arc-shaped bracket. A drive motor is fixedly installed on one side of the mounting box. The output shaft of the drive motor extends into the mounting box and a gear is fixedly installed thereon. An arc-shaped rack is fixedly installed at the bottom of the arc-shaped support rod located in the arc-shaped bracket. The top of the gear extends into the arc-shaped bracket and meshes with the arc-shaped rack.

[0016] In one possible design, the robotic arm includes a mechanical gripper rotatably connected to an arc-shaped support rod. The mechanical gripper is used to clamp and position the cutter head or the main body. Two support plates are symmetrically fixedly mounted on the mechanical gripper, and the same connecting shaft is fixedly mounted through the two support plates. Two second docking plates are symmetrically rotatably sleeved on the connecting shaft. The robotic arm also includes two first docking plates, which are rotatably connected to both sides of the arc-shaped support rod. A transmission box is fixedly mounted on the top of the first docking plate. A transmission plate is slidably connected inside the transmission box. The top of the transmission plate extends above the transmission box and is fixedly connected to the bottom of the second docking plate. A first hydraulic cylinder is fixedly mounted on one side of the transmission box. The first hydraulic cylinder contains hydraulic oil. A second electric push rod is fixedly mounted on the top of the first hydraulic cylinder. The output shaft of the second electric push rod extends into the first hydraulic cylinder and is fixedly mounted with a push plate. The push plate is slidably connected to the inner wall of the first hydraulic cylinder. A conveying pipe is fixedly mounted on the bottom inner wall of the first hydraulic cylinder. The bottom end of the conveying pipe extends into the transmission box and is fixedly connected to the bottom inner wall of one side of the transmission box.

[0017] In one possible design, a soft pressure bladder is fixedly installed on one side of the mechanical gripper arm. The soft pressure bladder is used to clamp and position the cutter head or main body. The soft pressure bladder is filled with buffer solution. Multiple support tubes are fixedly installed through the mechanical gripper arm at equal intervals. One end of the support tube extends into the soft pressure bladder and is fixedly connected to the inner wall of one side of the soft pressure bladder. A pressure rod is tightly slidably connected inside the support tube. An assembly box is fixedly installed at the other end of the support tube. A pressure sensor is fixedly installed on the inner wall of one side of the assembly box. One end of the pressure rod extends into the corresponding assembly box and is used to apply pressure to the pressure sensor. A controller and a Bluetooth module are also respectively set on the mechanical gripper arm. Multiple pressure sensors and two second electric push rods are connected to an external handheld control display screen through the controller and Bluetooth module.

[0018] In one possible design, two limiting tubes are symmetrically fixedly installed on the top of the first docking plate. A limiting rod is slidably connected inside the limiting tube. The top end of the limiting rod extends above the limiting tube and is fixedly connected to the bottom of the second docking plate. The same tension spring is sleeved on the limiting tube and the limiting rod. The top and bottom ends of the tension spring are fixedly connected to the bottom of the second docking plate and the top of the first docking plate respectively through hooks set at the top and bottom ends of the tension spring.

[0019] In one possible design, the hydraulic transmission component includes an oil tank fixedly mounted on the other side of the top of the base frame, and two hydraulic assemblies respectively mounted on opposite sides of two support boxes. The oil tank and the hydraulic assemblies are filled with the same hydraulic oil as the oil in the first cylinder. One side of the hydraulic assembly is connected to one side of the fixed frame. A first hose and a second hose are respectively connected to the hydraulic assembly. One end of each of the two first hoses extends into the oil tank and is fixedly connected to the inner wall of one side of the oil tank. One end of each of the two second hoses extends into the oil tank and is fixedly connected to the inner wall of the other side of the oil tank. A drive assembly is mounted on one side of the oil tank, and one side of the drive assembly extends into the oil tank and fits tightly against the inner wall of the oil tank.

[0020] In one possible design, the hydraulic assembly includes a second cylinder fixedly mounted on one side of a support box. A piston plate is slidably connected inside the second cylinder. A transmission rod is fixedly mounted on one side of the piston plate. One end of the transmission rod extends to the outside of the second cylinder and is fixedly connected to one side of a mounting bracket. The transmission rod is slidably connected to the inner wall of one side of the second cylinder. A first oil supply pipe and a second oil supply pipe are fixedly mounted on the inner wall of the other side of the second cylinder. One end of the first oil supply pipe extends to the outside of the second cylinder and is fixedly connected to the other end of a first hose. One end of the second oil supply pipe extends to the outside of the second cylinder and is fixedly connected to the other end of a second hose.

[0021] In one possible design, the drive assembly includes two third electric actuators symmetrically fixedly mounted on one side of the fuel tank. The output shafts of the two third electric actuators extend into the fuel tank and are fixedly mounted on the same drive plate. Both sides of the drive plate are provided with sealing rings, and both sealing rings are tightly slidably connected to the inner wall of the fuel tank. Both third electric actuators are wirelessly connected to an external handheld display screen via a controller.

[0022] In this invention, when the cutterhead needs to be assembled onto the main body, the base frame is first placed inside the main wellhead. Then, the main body is hoisted into the main wellhead by a crane. During the base frame's movement, the main body is fully supported by a pre-set temporary support frame. After the base frame is in place, it maintains contact with the bottom of the main body using corresponding arc-shaped support rods. Then, the cutterhead is hoisted onto the arc-shaped support rods within the arc-shaped bracket on the moving component. After hoisting, the external handheld control display screen is used to activate two second electric push rods on the four robotic arms, causing the push plate to move downwards along the inner wall of the first cylinder. This forces hydraulic oil into the transmission box through the delivery pipe. The hydraulic oil pushes the transmission plate upwards. At this point, through the transmission of the two support plates, the mechanical clamping arms can be driven to rotate upwards. When the mechanical gripper arm flips upward, it allows the soft pressure bladder mounted on the mechanical gripper arm to press against the cutter head or main body, completing the clamping and positioning of the cutter head or main body. During the clamping process, the soft pressure bladder is subjected to pressure, and the buffer solution inside the soft pressure bladder disperses and flows into multiple support tubes. At this time, under the pressure of the buffer solution, the push rod can be moved into the assembly box and press the pressure sensor, causing the pressure sensor to sense the pressure. The pressure sensor can then detect the pressure value and generate corresponding pressure information. After the pressure information is processed into a digital signal by the processor, it is transmitted to an external handheld control display screen via Bluetooth module to display the clamping force in real time. The operator can adjust the appropriate clamping force accordingly. After clamping and positioning the cutter head and main body, the two first electric... The push rod moves the connecting plate longitudinally within the support box, coordinating with the rotation of the mounting plate to finely adjust the height of the arc-shaped bracket, aligning the axis of the cutter head with the axis of the main body. Then, the drive motor is activated, rotating the gears. Under the meshing transmission of the gears and the arc-shaped rack, the arc-shaped support rod moves in an arc within the arc-shaped bracket, rotating the cutter head and precisely aligning the connecting holes on the cutter head with those on the main body. Once aligned, the external handheld control display simultaneously activates two third electric push rods, retracting their output shafts. This moves the drive plate within the oil tank. The drive plate is then moved towards the side closest to the third electric push rods, injecting hydraulic oil from the tank into the two second electric push rods via the second hose and the second oil supply pipe. Inside the hydraulic cylinder, the hydraulic oil drives the second hydraulic cylinder to move along the transmission rod towards the fixed frame, causing the support box to move the cutter head closer to the main body, achieving the joining and docking of the cutter head and the main body. After docking, the second electric push rod is activated, causing the push plate to move in the opposite direction. The hydraulic oil loses pressure, and the two tension springs that had previously stored energy apply tension to the second docking plate through the guide of the limit tube and limit rod, driving the mechanical clamping arm to flip downwards and reset, releasing the clamp on the cutter head. Finally, the two third electric push rods are activated in the opposite direction, causing their output shafts to extend and pushing the drive plate to move in the opposite direction. This forces the hydraulic oil in the second hydraulic cylinder back into the oil tank through the first oil supply pipe and the first hose. The reverse movement of the second hydraulic cylinder causes the arc-shaped bracket to retract away from the fixed frame, completing the entire installation process. Finally, after installation is completed...The device can be moved using a tool base frame to separate the main body from the corresponding arc-shaped support rod, and finally, the entire device can be lifted out of the main wellhead using a crane.

[0023] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention.

[0024] Beneficial effects:

[0025] 1. The clamping force is detected and displayed in real time by using a soft pressure bladder on the mechanical clamping arm in conjunction with a pressure sensor and Bluetooth module. Operators can intuitively grasp the clamping status and make precise adjustments through an external handheld control display screen, avoiding the problems of damage to the cutter head surface or insecure clamping caused by uncontrollable clamping force in traditional hoisting methods. At the same time, the hydraulic transmission method of the buffer solution in the soft pressure bladder makes the pressure detection response sensitive and the structure simple.

[0026] 2. The first electric push rod drives the connecting plate to move longitudinally and rotates the mounting plate to achieve fine adjustment of the height of the arc bracket, so that the axis of the cutter head and the main body are precisely aligned. At the same time, the drive motor drives the gear to mesh with the arc rack to achieve arc rotation adjustment of the cutter head, so that the connecting hole positions are precisely aligned. The combination of the two replaces the rough operation of manual straightening and repeated adjustment in traditional crane hoisting, which greatly improves the docking accuracy and installation efficiency.

[0027] 3. The mechanical arm clamping and release process is achieved by combining hydraulic oil drive and tension spring energy storage reset: during clamping, the second electric push rod drives the hydraulic oil to push out the transmission plate to complete the mechanical clamping arm flipping up; during release, the hydraulic oil is depressurized and the tension spring automatically drives the mechanical clamping arm to flip down and reset. The automatic retrieval of the mechanical arm can be completed without an additional power source, which simplifies the operation process and shortens the installation cycle.

[0028] 4. The hydraulic transmission components form a unified hydraulic circuit through the oil tank, the second oil cylinder, the first hose, and the second hose. The drive plate is synchronously driven by two third electric push rods to simultaneously complete the axial advancement of the cutter head towards the main body and the reset and retraction of the arc bracket. The positioning adjustment and assembly advancement are integrated into a single system operation, avoiding the problems of separate positioning and advancement and complicated procedures in the traditional method. This realizes an integrated operation from precise positioning to assembly and installation.

[0029] This invention uses a robotic arm in conjunction with a soft pressure bladder to achieve stable clamping and positioning of the cutter head, replacing the flexible lifting of a crane and eliminating swaying problems. Pressure sensors provide real-time feedback on clamping force to prevent component damage. Height fine-tuning and arc-shaped rotation adjustment ensure precise alignment of holes, significantly improving assembly efficiency. The fully mechanized operation replaces manual high-altitude guidance, effectively eliminating safety hazards. Attached Figure Description

[0030] Figure 1This is a three-dimensional structural diagram of the robotic arm-assisted installation device for assembling a tunnel boring machine, provided in an embodiment of the present invention, for docking the cutterhead and the main body.

[0031] Figure 2 This is a first-view three-dimensional structural schematic diagram of the robotic arm-assisted installation device for tunnel boring machine assembly provided in an embodiment of the present invention.

[0032] Figure 3 This is a second-view three-dimensional structural schematic diagram of the robotic arm-assisted installation device for tunnel boring machine assembly provided in an embodiment of the present invention.

[0033] Figure 4 This is a cross-sectional schematic diagram of the arc-shaped support rod, arc-shaped rack, gear, and two mechanical clamping arms connecting structure of the robot arm auxiliary installation device for shield machine assembly provided in an embodiment of the present invention.

[0034] Figure 5 A three-dimensional schematic diagram of the arc-shaped support rod and mechanical clamping arm connection structure of the robot mechanical arm auxiliary installation device for shield machine assembly provided in an embodiment of the present invention;

[0035] Figure 6 This is a cross-sectional view of the first hydraulic cylinder and transmission box of the robot arm auxiliary installation device for tunnel boring machine assembly provided in an embodiment of the present invention.

[0036] Figure 7 A three-dimensional schematic diagram of the internal structure of the arc-shaped bracket of the robot arm auxiliary installation device for tunnel boring machine assembly provided in an embodiment of the present invention;

[0037] Figure 8 A three-dimensional schematic diagram of the arc-shaped bracket and the two separate support boxes of the robot arm auxiliary installation device for tunnel boring machine assembly provided in an embodiment of the present invention;

[0038] Figure 9 This is a three-dimensional cross-sectional schematic diagram of the second hydraulic cylinder of the robot arm auxiliary installation device for tunnel boring machine assembly provided in an embodiment of the present invention.

[0039] Figure 10 This is a three-dimensional schematic diagram of the structure of the robotic arm-assisted installation device for tunnel boring machine assembly provided in this embodiment of the invention, which is set at the construction site.

[0040] Figure label:

[0041] 1. Base frame; 2. Slide rail; 3. Slide plate; 4. Support box; 5. First electric push rod; 6. Connecting plate; 7. Mounting plate; 8. Arc-shaped bracket; 9. Arc-shaped support rod; 10. Arc-shaped rack; 11. Mounting box; 12. Drive motor; 13. Gear; 14. Mechanical clamping arm; 15. Soft pressure bladder; 16. Support tube; 17. Connecting shaft; 18. Assembly box; 19. Pressure rod; 20. Pressure sensor; 21. Support plate; 22. First docking plate; 23. Second docking plate; 24. Transmission 25. Transmission plate; 26. First hydraulic cylinder; 27. Second electric push rod; 28. Push plate; 29. ​​Conveying pipe; 30. Limiting pipe; 31. Limiting rod; 32. Tension spring; 33. Cutter head; 34. Main body; 35. Fixing frame; 36. Second hydraulic cylinder; 37. Piston plate; 38. Transmission rod; 39. First oil supply pipe; 40. Second oil supply pipe; 41. First hose; 42. Second hose; 43. Oil tank; 44. Third electric push rod; 45. Drive plate; 46. Slide groove. Detailed Implementation

[0042] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection" and "installation" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Furthermore, "connection" can be a direct connection or an indirect connection through an intermediate medium. "Fixed" means that the devices are connected to each other and their relative positional relationship remains unchanged after the connection. The directional terms mentioned in the embodiments of the present invention, such as "inner," "outer," "top," and "bottom," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, and are not intended to 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 the embodiments of the present invention.

[0044] In this embodiment of the invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0045] In this embodiment of the invention, "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0046] References to "one embodiment" or "some embodiments" as used in this specification mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the invention. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically emphasized.

[0047] In one embodiment: Refer to Figure 1-10 An installation device is installed entirely inside the main shaft opening of a tunnel boring machine (TBM). Its main components include a rectangular steel base frame 1. The overall dimensions of the base frame 1 are matched to the working area at the shaft opening.

[0048] like Figure 1-4As shown, two parallel slide rails 2 are symmetrically fixedly installed along the length of the top of the base frame 1. The slide rails 2 are heavy-duty guide rails with a rectangular cross-section, locked to a pre-set mounting base on the top surface of the base frame 1 by high-strength bolts. Each slide rail 2 has a sliding plate 3, the bottom of which has a groove matching the cross-section of the slide rail 2, and the groove is lined with a wear-resistant liner. A support box 4 is welded to the top surface of the sliding plate 3. The support box 4 is a sealed steel box, and a first electric push rod 5 is bolted to its bottom inner wall. The output axis of the first electric push rod 5 extends upwards, and its end is fixedly connected to a connecting plate 6 via a flange. A certain gap is left between the side of the connecting plate 6 and the inner wall of the support box 4, forming a sliding fit. A mounting plate 7 is rotatably connected to the top of the connecting plate 6 via a slewing bearing, which allows the mounting plate 7 to rotate at a small angle in the horizontal plane. The top of the mounting plate 7 extends upward through the opening at the top of the support box 4. Two mounting plates 7 are welded to the bottom of an arc-shaped steel bracket 8. The arc-shaped brackets 8 on the two support boxes 4 together support an arc-shaped support rod 9 for supporting the cutter head 33. The curvature of the arc-shaped support rod 9 matches the contour of the back of the cutter head 33. Rectangular arc-shaped strips are welded to both sides of the arc-shaped support rod 9. These arc-shaped strips slide into grooves 46 opened on the inner walls of both sides of the arc-shaped bracket 8, allowing the arc-shaped support rod 9 to slide along its arc-shaped trajectory within the arc-shaped bracket 8. A mounting box 11 is fixedly installed at the bottom of the arc-shaped bracket 8. A through hole communicating with the mounting box 11 is opened on the inner wall of the bottom of the arc-shaped bracket 8. A drive motor 12 is fixedly installed on one side of the mounting box 11. The output shaft of the drive motor 12 extends into the mounting box 11 and a gear 13 is fixedly installed thereon. An arc-shaped rack 10 is fixedly installed at the bottom of the arc-shaped support rod 9 located in the arc-shaped bracket 8. The top of the gear 13 extends into the arc-shaped bracket 8 and meshes with the arc-shaped rack 10. Two first electric push rods 5 have built-in high-precision wire displacement sensors that transmit displacement signals to the PLC controller in real time (the PLC controller has been mentioned later). The PLC controller compares the two displacement values. When the difference exceeds 0.5mm, it sends a "continue to extend" command to the first electric push rod 5 with the smaller displacement and a "pause" command to the first electric push rod 5 with the larger displacement, until the two displacement values ​​are the same.

[0049] like Figure 1-3 As shown, a fixing frame 35 is fixedly installed on the top of the base frame 1 near one side. The fixing frame 35 is also a welded steel structure, and its height is approximately the same as the total height of the support box 4 plus the first electric push rod 5 when it is in the middle position. Another arc-shaped support rod 9 with the same structure is fixedly installed on the top of the fixing frame 35 to support the main body 34. The arc-shaped support rod 9 is rigidly connected to the fixing frame 35 by welding or large bolts and does not have a sliding function.

[0050] like Figure 5As shown, two mechanical gripping arms 14 are symmetrically and rotatably connected to the gripping ends of each arc-shaped support rod 9. The root of the mechanical gripping arm 14 is hinged to the connecting ear plate welded to the side of the arc-shaped support rod 9 via a heavy-duty hinge. A soft pressure bladder 15 is fixed to the inner side of the gripping surface of the mechanical gripping arm 14. The soft pressure bladder 15 is made of multiple layers of nylon cloth coated with neoprene rubber and filled with ethylene glycol aqueous solution as a buffer. On the arm body of the mechanical gripping arm 14, multiple support tubes 16 are fixedly and equidistantly along the length of the mechanical gripping arm 14. One end of the support tube 16 communicates with the inner cavity of the soft pressure bladder 15. A pressure rod 19 is tightly slidably fitted inside each support tube 16, and the other end of the pressure rod 19 extends into an assembly box 18 fixed to the outside of the mechanical gripping arm 14. A pressure sensor 20, which can be a resistance strain gauge pressure sensor, is installed on the inner wall of the assembly box 18. The pressure rod 19 is used to apply pressure to the pressure sensor 20. A controller and a Bluetooth module are also installed on the mechanical clamping arm 14. The controller uses an industrial-grade PLC as the main controller. Multiple pressure sensors 20 and two second electric push rods 27 are connected to an external handheld control display screen through the controller and Bluetooth module.

[0051] like Figure 5-6 As shown, to drive the mechanical gripper arm 14 to rotate, two vertical support plates 21 are welded to both sides of the mechanical gripper arm. First docking plates 22 are hinged to both sides of the arc-shaped support rod 9. A connecting shaft 17 is fixed through the two support plates 21, and two second docking plates 23 are symmetrically mounted on the connecting shaft 17 via bearings. A transmission box 24 is fixed to the top of the first docking plate 22, and a transmission plate 25 is tightly slidably fitted inside the transmission box 24. The top of the transmission plate 25 extends upward through the transmission box 24 and is fixedly connected to the bottom of the second docking plate 23 above. A first hydraulic cylinder 26 is fixed to one side of the transmission box 24, and hydraulic oil is injected into the first hydraulic cylinder 26. A second electric push rod 27 is installed on the top of the first hydraulic cylinder 26. The output shaft of the second electric push rod 27 extends downward into the first hydraulic cylinder 26 and is fixedly connected to a push plate 28, which is in a sealed sliding fit with the inner wall of the first hydraulic cylinder 26. The bottom of the first hydraulic cylinder 26 is connected to the bottom chamber of the transmission box 24 via a delivery pipe 29.

[0052] In this embodiment, the hydraulic transmission mechanism consisting of the first hydraulic cylinder 26, the second electric push rod 27, and the transmission box 24 is used to drive the mechanical clamping arm 14. This is based on engineering considerations regarding the stability and controllability of the clamping force. If this hydraulic transmission structure is not used, and a high-power electric push rod is directly used to drive the mechanical clamping arm 14, the instantaneous impact during start-up and stop will be large when clamping the cutter head 33, which can easily cause slight vibration of the cutter head 33 and is not conducive to precise alignment. Through the damping effect of hydraulic oil, the start-up and stop of the clamping action can be made smoother. At the same time, by controlling the stroke of the second electric push rod 27, the amount of oil pushed into the transmission box 24 is controlled, thereby controlling the rotation angle and final clamping force of the mechanical clamping arm 14, and thus achieving control over the clamping process.

[0053] like Figure 5-6 As shown, two limiting tubes 30 are welded symmetrically to the top of the first docking plate 22. A limiting rod 31 is slidably connected inside each limiting tube 30. The top end of the limiting rod 31 extends above the limiting tube 30 and is welded and fixed to the bottom of the second docking plate 23. A tension spring 32 is fitted onto both the limiting tube 30 and the limiting rod 31. The top and bottom ends of the tension spring 32 are respectively fixedly connected to the bottom of the second docking plate 23 and the top of the first docking plate 22 via hooks at the top and bottom ends of the tension spring 32, respectively. The sliding connection between the limiting tubes 30 and the limiting rod 31 allows for... Maintaining the sliding connection between the first docking plate 22 and the second docking plate 23, and moving the transmission plate 25 outward to move the first docking plate 22 and the second docking plate 23 away from each other, the tension spring 32 can be stretched, so that the tension spring 32 is under tension. Therefore, after the cutter head 33 is installed on the main body 34, when the push plate 28 is moved in the opposite direction by activating the second electric push rod 27, the hydraulic oil will lose pressure. The two tension springs 32 under tension can apply a pulling force to the second docking plate 23, thereby driving the mechanical clamping arm 14 to flip downward and release the clamping and positioning of the cutter head 33 or the main body 34.

[0054] like Figure 9As shown, the hydraulic transmission component that drives the cutter head 33 to translate towards the main body 34 includes two second cylinders 36 symmetrically mounted on opposite sides of two support boxes 4. The second cylinders 36 are fixed to the sides of the support boxes 4 by brackets. A piston plate 37 is sealed and slidably fitted inside each second cylinder 36. A transmission rod 38 is fixedly connected to one side of the piston plate 37, and the other end of the transmission rod 38 passes through the end cap of the second cylinder 36 and is sealed and slidably fitted therewith. This end is ultimately fixedly connected to the side of the mounting bracket 35. A first oil supply pipe 39 and a second oil supply pipe 40 are installed at the end of the second cylinder 36 away from the transmission rod 38. An oil tank 43 is fixed to the other side of the top of the base frame 1. The oil tank 43 is connected to the two first oil supply pipes 39 via a first hose 41 and to the two second oil supply pipes 40 via a second hose 42. The oil tank 43 is equipped with a drive assembly, which includes two third electric push rods 44 horizontally mounted on one side of the oil tank 43. The output shafts of both rods extend into the oil tank 43 and are connected to a drive plate 45. The edge of the drive plate 45 is equipped with a polyurethane sealing ring, which slides tightly against the inner wall of the oil tank 43.

[0055] The two third electric push rods 44 have built-in displacement sensors of the same specifications as those on the first electric push rod 5. The PLC controller compares the displacement values ​​of the two in real time to ensure that the synchronization error does not exceed 1mm, thus preventing the cutter head from deviating during the push process.

[0056] First, the main body 34 is hoisted into the main wellhead using a crane and pre-supported and positioned. Then, the fixed frame 35 is moved below the main body 34 using the movable base frame 1, maintaining contact with the bottom of the main body 34 using the corresponding arc-shaped support rod 9. The cutter head 33 is then hoisted onto the arc-shaped support rod 9 on the movable side. The external handheld control panel is operated to activate the second electric push rod 27 on the four robotic arms. The second electric push rod 27 pushes the push plate 28 downwards, forcing the hydraulic oil in the first cylinder 26 into the lower cavity of the transmission box 24 via the delivery pipe 29. The hydraulic pressure pushes the transmission plate 25 upwards, causing the second docking plate 23 to rotate upwards around the connecting shaft 17. Since the second docking plate 23 and the first docking plate 22 are linked through the transmission plate 25 and the transmission box 24, the first docking plate 22 and the mechanical clamping arm 14 hinged to it are driven to rotate upwards, causing the soft pressure bladder 15 to contact and grip the cutter head 33 or the main body 34. During clamping, the buffer solution inside the soft pressure bladder 15 is forced into the support tube 16, pushing the pressure rod 19 to compress the pressure sensor 20. The pressure signals detected by each pressure sensor 20 are processed by the controller and sent to the handheld control screen via Bluetooth module for display. The operator can then fine-tune the stroke of the second electric push rod 27 to ensure uniform pressure at each point and reach the set value, thus achieving stable clamping.

[0057] The PLC controller compares the calculated average clamping force with a preset threshold. When the average clamping force is lower than the lower threshold, it sends a "low-speed extension" command to the corresponding second electric push rod 27. The push plate 28 moves down to press hydraulic oil into the transmission box 24 until the clamping force reaches the set value. When any pressure sensor 20 detects that the pressure exceeds the upper threshold, the PLC controller immediately sends a "stop" command to all second electric push rods 27 and issues an audible and visual alarm through the handheld control panel to prevent the components from being crushed and damaged.

[0058] Next, the handheld control panel is used to control the movement of the two first electric push rods 5, adjusting the height of the connecting plate 6. Since the mounting plate 7 is rotatable, the independent raising and lowering of the two first electric push rods 5 can also adjust the pitch angle of the arc-shaped bracket 8, thereby fine-tuning the posture of the cutter head 33 and initially aligning its axis with the axis of the main body 34. Then, the drive motor 12 installed at the bottom of the arc-shaped bracket 8 is started, driving the gear 13 to rotate. The gear 13 meshes with the arc-shaped rack 10 at the bottom of the arc-shaped support rod 9, driving the arc-shaped support rod 9 and the cutter head 33 on it to rotate along an arc-shaped trajectory within the arc-shaped bracket 8, finely adjusting the circumferential angle of the cutter head 33 so that its flange connection hole is aligned with the flange hole of the main body 34.

[0059] The alignment of the cutter head 33 and the main body 34 can be achieved by uniformly installing three laser targets on the flange surfaces of both the cutter head 33 and the main body 34, and installing three laser displacement sensors at corresponding positions on the base frame 1. The laser displacement sensors collect the three-dimensional coordinate signals of the targets in real time and transmit them to the PLC controller. The PLC controller calculates the axial deviation (X, Y, Z directions) and circumferential angle deviation between the cutter head 33 and the main body 34 through coordinate calculation.

[0060] The PLC controller sends adjustment commands to the two first electric push rods 5 according to the axis deviation, adjusting the height and pitch angle of the arc bracket 8 so that the axis deviation is less than 0.2mm;

[0061] The PLC controller sends a "forward / reverse" pulse command to the drive motor 12 based on the circumferential angle deviation. The drive motor 12 drives the gear 13 to rotate, which in turn drives the cutter head 33 to rotate, so that the circumferential angle deviation is less than 0.1°, thereby achieving automatic and precise alignment of the connecting hole positions.

[0062] Finally, the two third electric push rods 44 are simultaneously activated to retract, pushing the drive plate 45 to move. This pumps the hydraulic oil in the oil tank 43 through the second hose 42 and the second oil supply pipe 40 into the chambers of the two second cylinders 36 near the piston plate 37. The hydraulic pressure pushes the second cylinders 36 to move smoothly along the fixed transmission rod 38 towards the fixed frame 35, thereby driving the entire moving component and its cutter head 33 to precisely and stably approach the main body 34, completing the docking. After docking, the robotic arm and hydraulic transmission components reverse their movements to release the clamp and retract the moving component.

[0063] The connection between the output shafts of the first hydraulic cylinder 26 and the second electric push rod 27, as well as the connection between the second hydraulic cylinder 36 and the transmission rod 37, are all sealed with polyurethane sealing rings. The hydraulic oil used is L-HM46 anti-wear hydraulic oil as the transmission medium. In construction sites where the ambient temperature is below 0℃, it can be replaced with L-HV46 low-temperature anti-wear hydraulic oil.

[0064] This application can be used in the field of tunnel boring machine technology, or in other fields applicable to this application.

[0065] In another embodiment: an improvement on the above embodiment: a robotic arm auxiliary installation device for shield machine assembly, which is applied to the field of shield machine technology. The structure of this embodiment is basically the same as the previous embodiment, except that: the driving method of the arc-shaped support rod 9 in the arc-shaped bracket 8.

[0066] In this embodiment, the drive motor 12, gear 13, and arc-shaped rack 10 are omitted. Instead, a low-speed, high-torque hydraulic motor (not shown in the figure) is installed at one end of the arc-shaped bracket 8. The output shaft of the hydraulic motor is directly connected to a drive shaft via a coupling, and two friction wheels are fixed on this drive shaft. The two friction wheels press against the arc-shaped strip surfaces on both sides of the arc-shaped support rod 9, driving the arc-shaped support rod 9 to slide through friction. The hydraulic motor's oil circuit is connected to a manual directional valve and a small hydraulic station, allowing the operator to manually jog and control the slight rotation of the cutter head 33.

[0067] This friction-driven solution has a relatively simple structure, but when precise, minute angle adjustments are required to drive the heavy-duty cutter head 33, slight slippage may occur in the friction drive, resulting in lower repeatability accuracy compared to the gear and rack meshing drive in the aforementioned embodiments. Therefore, this solution is more suitable for applications where circumferential angle alignment accuracy requirements are relatively relaxed, or where the cutter head 33 is relatively lightweight.

[0068] Furthermore, regarding the buffer solution within the soft pressure bladder 15, in construction sites where the ambient temperature may be below 0°C, the ethylene glycol aqueous solution can be replaced with a low-temperature hydraulic oil of suitable viscosity to prevent liquid solidification from affecting pressure transmission. In this case, the range calibration of the pressure sensor 20 needs to be adjusted accordingly, as the compressibility of oil differs slightly from that of aqueous solution.

[0069] However, as is well known to those skilled in the art, the working principles and wiring methods of the first electric actuator 5, drive motor 12, pressure sensor 20, second electric actuator 27 and third electric actuator 44 are conventional means or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0070] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0071] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. In the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robotic arm-assisted installation device for assembling a tunnel boring machine, comprising a base frame (1) installed inside the main shaft opening, characterized in that, The base frame (1) is provided with a movable component on its top. A fixed frame (35) is fixedly installed on one side of the top of the base frame (1). Arc-shaped support rods (9) are installed on the top of the fixed frame (35) and the movable component. The arc-shaped support rods (9) on the fixed frame (35) are fixedly connected to the fixed frame (35). The two arc-shaped support rods (9) are used to support the cutter head (33) and the main body (34) respectively. The auxiliary installation device also includes: Two robotic arms symmetrically mounted on the arc-shaped support rod (9) are used to clamp and position the cutter head (33) or the main body (34) so ​​that the cutter head (33) and the main body (34) can be accurately aligned when the cutter head (33) is mounted on the main body (34). The hydraulic transmission component installed on the top of the base frame (1) is connected to both sides of the moving component and the fixed frame (35) respectively, so as to drive the moving component to move and bring the cutter head (33) closer to the main body (34), thereby enabling the cutter head (33) and the main body (34) to dock.

2. The robotic arm-assisted installation device for shield machine assembly according to claim 1, characterized in that, The moving component includes two slide rails (2) symmetrically fixedly installed on the top of the base frame (1). A slide plate (3) is slidably connected on the slide rail (2). An adjustment component is installed on the top of the slide plate (3). The top of the two adjustment components is connected to the same arc bracket (8). The bottom of the arc bracket (9) used to support the cutter head (33) is set in the arc bracket (8). Slide grooves (46) are opened on both sides of the inner wall of the arc bracket (8). Arc strips are slidably connected in the slide grooves (46). Two arc strips are fixedly installed on both sides of the corresponding arc bracket (9) to enable sliding support of the arc bracket (9).

3. The robotic arm-assisted installation device for shield machine assembly according to claim 2, characterized in that, The adjustment assembly includes a support box (4) fixedly installed on the top of the slide plate (3), a first electric push rod (5) fixedly installed on the bottom inner wall of the support box (4), a connecting plate (6) fixedly installed on the output shaft of the first electric push rod (5), the connecting plate (6) is slidably connected to the inner wall of the support box (4), and an mounting plate (7) is rotatably connected to the connecting plate (6). The top of the mounting plate (7) extends to the top of the support box (4) and is fixedly installed on the bottom of the arc bracket (8).

4. The robotic arm-assisted installation device for shield machine assembly according to claim 2 or 3, characterized in that, The bottom of the arc-shaped bracket (8) is fixedly installed with a mounting box (11). The inner wall of the bottom of the arc-shaped bracket (8) is provided with a through hole that communicates with the mounting box (11). A drive motor (12) is fixedly installed on one side of the mounting box (11). The output shaft of the drive motor (12) extends into the mounting box (11) and is fixedly installed with a gear (13). The bottom of the arc-shaped support rod (9) located in the arc-shaped bracket (8) is fixedly installed with an arc-shaped rack (10). The top of the gear (13) extends into the arc-shaped bracket (8) and meshes with the arc-shaped rack (10).

5. The robotic arm-assisted installation device for shield machine assembly according to claim 1, characterized in that, The robotic arm includes a mechanical clamping arm (14) rotatably connected to an arc-shaped support rod (9). The mechanical clamping arm (14) is used to clamp and position the cutter head (33) or the main body (34). Two support plates (21) are symmetrically fixedly installed on the mechanical clamping arm (14). The same connecting shaft (17) is fixedly installed through the two support plates (21). Two second docking plates (23) are symmetrically rotatably sleeved on the connecting shaft (17). It also includes two first docking plates (22). The two first docking plates (22) are rotatably connected to both sides of the arc-shaped support rod (9). A transmission box (24) is fixedly installed on the top of the first docking plate (22). A transmission plate (25) is tightly slidably connected inside the transmission box (24). The top of (25) extends to the top of the transmission box (24) and is fixedly connected to the bottom of the second docking plate (23). A first oil cylinder (26) is fixedly installed on one side of the transmission box (24). Hydraulic oil is provided in the first oil cylinder (26). A second electric push rod (27) is fixedly installed on the top of the first oil cylinder (26). The output shaft of the second electric push rod (27) extends into the first oil cylinder (26) and a push plate (28) is fixedly installed. The push plate (28) is tightly slidably connected to the inner wall of the first oil cylinder (26). A conveying pipe (29) is fixedly installed on the bottom inner wall of the first oil cylinder (26). The bottom end of the conveying pipe (29) extends into the transmission box (24) and is fixedly connected to the bottom inner wall of one side of the transmission box (24).

6. The robotic arm-assisted installation device for shield machine assembly according to claim 5, characterized in that, A soft pressure bladder (15) is fixedly installed on one side of the mechanical clamping arm (14). The soft pressure bladder (15) is used to clamp and position the cutter head (33) or the main body (34). The soft pressure bladder (15) is filled with buffer solution. Multiple support tubes (16) are fixedly installed through the mechanical clamping arm (14) at equal intervals. One end of the support tube (16) extends into the soft pressure bladder (15) and is fixedly connected to the inner wall of one side of the soft pressure bladder (15). A pressure rod (19) is tightly slidably connected inside the support tube (16). An assembly box (18) is fixedly installed at the other end of the support tube (16). A pressure sensor (20) is fixedly installed on the inner wall of one side of the assembly box (18). One end of the pressure rod (19) extends into the corresponding assembly box (18) and is used to apply pressure to the pressure sensor (20). A controller and a Bluetooth module are also set on the mechanical clamping arm (14). Multiple pressure sensors (20) and two second electric push rods (27) are connected to an external handheld control display screen through the controller and Bluetooth module.

7. The robotic arm-assisted installation device for shield machine assembly according to claim 5, characterized in that, Two limiting tubes (30) are symmetrically fixedly installed on the top of the first docking plate (22). A limiting rod (31) is slidably connected inside the limiting tube (30). The top end of the limiting rod (31) extends above the limiting tube (30) and is fixedly connected to the bottom of the second docking plate (23). The same tension spring (32) is sleeved on the limiting tube (30) and the limiting rod (31). The top end and bottom end of the tension spring (32) are fixedly connected to the bottom of the second docking plate (23) and the top end of the first docking plate (22) respectively through hooks set at the top end and bottom end of the tension spring (32).

8. The robotic arm-assisted installation device for shield machine assembly according to claim 1, characterized in that, The hydraulic transmission component includes an oil tank (43) fixedly installed on the other side of the top of the base frame (1), and two hydraulic components respectively installed on the opposite side of the two support boxes (4). The oil tank (43) and the hydraulic components are filled with the same hydraulic oil as the oil cylinder (26). One side of the hydraulic component is connected to one side of the fixed frame (35). A first hose (41) and a second hose (42) are respectively connected to the hydraulic component. One end of each of the two first hoses (41) extends into the oil tank (43) and is fixedly connected to the inner wall of one side of the oil tank (43). One end of each of the two second hoses (42) extends into the oil tank (43) and is fixedly connected to the inner wall of the other side of the oil tank (43). A drive component is installed on one side of the oil tank (43). One side of the drive component extends into the oil tank (43) and is tightly fitted to the inner wall of the oil tank (43).

9. The robotic arm-assisted installation device for shield machine assembly according to claim 8, characterized in that, The hydraulic assembly includes a second cylinder (36) fixedly installed on one side of the support box (4). A piston plate (37) is tightly slidably connected inside the second cylinder (36). A transmission rod (38) is fixedly installed on one side of the piston plate (37). One end of the transmission rod (38) extends to the outside of the second cylinder (36) and is fixedly connected to one side of the fixing frame (35). The transmission rod (38) is tightly slidably connected to the inner wall of one side of the second cylinder (36). A first oil supply pipe (39) and a second oil supply pipe (40) are fixedly installed on the inner wall of the other side of the second cylinder (36). One end of the first oil supply pipe (39) extends to the outside of the second cylinder (36) and is fixedly connected to the other end of the first hose (41). One end of the second oil supply pipe (40) extends to the outside of the second cylinder (36) and is fixedly connected to the other end of the second hose (42).

10. The robotic arm-assisted installation device for shield machine assembly according to claim 8, characterized in that, The drive assembly includes two third electric push rods (44) symmetrically fixedly installed on one side of the oil tank (43). The output shafts of the two third electric push rods (44) extend into the oil tank (43) and are fixedly installed with the same drive plate (45). Both sides of the drive plate (45) are provided with sealing rings. Both sealing rings are tightly slidably connected to the inner wall of the oil tank (43). The two third electric push rods (44) are connected to the external handheld display screen via radio signals through the controller.

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