Patent ID: 11913337
Assignee: HERRENKNECHT AKTIENGESELLSCHAFT
Field: Handling (Mechanical engineering)
Classification: CPC E  B | IPC B  E

Claim 9:
10. A method 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 with a device on which a manipulator fitted with at least one tool for picking up, holding and placing the at least one tunnel lining segment is provided, and which is provided in a tunneling machine,
wherein the at least one tool is moved by 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,
wherein an actual position and actual location of the tool in the space of the tunnel section is sensed by at least one tool position sensor, which is provided on the manipulator and/or tool,
wherein an actual position and/or actual location of at least one section of at least one already arranged tunnel lining segment is sensed by at least one tunnel lining segment sensor, which is provided on the manipulator and/or tool, and/or wherein an actual position and/or actual location of the tunnel lining segment respectively to be placed is sensed by the at least one tunnel lining segment sensor,
wherein at least one controller, which accesses installation data of the tunnel lining segments and the measurement data of the at least one tool position sensor and the at least one tunnel lining segment sensor, is provided,
wherein the at least one controller controls the at least one actuator and the at least one tool on the basis of the installation data and measurement data, so that the tool with the tunnel lining segment is moved from its respective picking-up position to its respective target placing position and, on the basis of the measurement data of the tunnel lining segment sensor, the tunnel lining segment is aligned in the actual placing position and arranged 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.