US 11,913,337 B2
Method and device for the automated arrangement of tunnel lining segments
Stefan Pabst, Lahr (DE); and Frederic Seng, Kenzingen (DE)
Assigned to Herrenknecht AG, Schwanau (DE)
Appl. No. 17/788,118
Filed by HERRENKNECHT AG, Schwanau (DE)
PCT Filed Dec. 31, 2020, PCT No. PCT/EP2020/088085
§ 371(c)(1), (2) Date Mar. 15, 2023,
PCT Pub. No. WO2021/136837, PCT Pub. Date Jul. 8, 2021.
Claims priority of application No. 10 2019 135 908.2 (DE), filed on Dec. 31, 2019; and application No. 10 2020 101 081.8 (DE), filed on Jan. 17, 2020.
Prior Publication US 2023/0296022 A1, Sep. 21, 2023
Int. Cl. E21D 11/40 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 19/02 (2006.01)
CPC E21D 11/40 (2013.01) [B25J 9/1679 (2013.01); B25J 13/088 (2013.01); B25J 19/023 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A device for the automated installation of at least one tunnel lining segment of a tunnel lining ring for lining a tunnel section driven by a tunneling machine, which device can be coupled to the tunneling machine,
having a manipulator with at least one tool for picking up, holding and placing the at least one tunnel lining segment, and with at least one actuator for moving the at least one tool, wherein the at least one tool can be moved by means of the at least one actuator in a radial, tangential and/or axial direction with respect to the machine axis of the tunneling machine in the space of the tunnel section created by the tunneling machine,
having at least one tool position sensor, which is provided on the manipulator and/or tool, for sensing the respective actual position and actual location of the tool in the space of the tunnel section,
having at least one tunnel lining segment sensor, which is provided on the manipulator and/or tool, with which an actual position and/or actual location of at least one section of at least one already arranged tunnel lining segment can be sensed, and/or with which an actual position and/or actual location of the tunnel lining segment respectively to be placed can be sensed,
having at least one controller, which accesses installation data of the tunnel lining segments and which accesses the measurement data of the at least one tool position sensor and the at least one tunnel lining segment sensor, and with which the at least one actuator and the at least one tool can be controlled on the basis of the installation data and measurement data in order to move the tool from the picking-up position to the target placing position of the respective tunnel lining segment, to align it in the actual placing position and to arrange the tunnel lining segment against at least one already placed tunnel lining segment of a tunnel lining ring,
wherein at least two tunnel lining segment sensors are provided, and
wherein the tunnel lining segment sensor is a time-of-flight camera.