CN108104842A - A kind of soft soil tunnel lining construction method and device based on 3D printing technique - Google Patents
A kind of soft soil tunnel lining construction method and device based on 3D printing technique Download PDFInfo
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- CN108104842A CN108104842A CN201711436481.0A CN201711436481A CN108104842A CN 108104842 A CN108104842 A CN 108104842A CN 201711436481 A CN201711436481 A CN 201711436481A CN 108104842 A CN108104842 A CN 108104842A
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- tunnel
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- soft soil
- lining cutting
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- 238000010146 3D printing Methods 0.000 title claims abstract description 50
- 239000002689 soil Substances 0.000 title claims abstract description 35
- 238000010276 construction Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000007639 printing Methods 0.000 claims abstract description 36
- 238000009412 basement excavation Methods 0.000 claims abstract description 4
- 241000219098 Parthenocissus Species 0.000 claims description 15
- 230000007547 defect Effects 0.000 claims description 6
- 239000000654 additive Substances 0.000 claims description 5
- 230000000996 additive effect Effects 0.000 claims description 5
- 230000000295 complement effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000001815 facial effect Effects 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 3
- 238000011161 development Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 238000005086 pumping Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005345 coagulation Methods 0.000 description 2
- 230000015271 coagulation Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003487 anti-permeability effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/10—Lining with building materials with concrete cast in situ; Shuttering also lost shutterings, e.g. made of blocks, of metal plates or other equipment adapted therefor
- E21D11/105—Transport or application of concrete specially adapted for the lining of tunnels or galleries ; Backfilling the space between main building element and the surrounding rock, e.g. with concrete
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Structural Engineering (AREA)
- Architecture (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Civil Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The present invention relates to a kind of soft soil tunnel lining construction method and device based on 3D printing technique, the construction method includes：1) tunnel piercing step：The tunnel piercing that tunnel piercing module carries out setpoint distance under the control of driving signal is excavated；2) lining cutting printing step：Concrete 3D printing module completes the printing of progress annular concrete lining cutting at tunnel piercing excavation under the control of print signal；The tunnel piercing step and lining cutting printing step are alternately.Compared with prior art, the present invention has many advantages, such as lining cutting integration degree height, high degree of automation, effectively shortens the construction time.
Description
Technical field
The present invention relates to a kind of construction method of tunnel-liner, more particularly, to a kind of weak soil tunnel based on 3D printing technique
Road lining construction method and device.
Background technology
Important component of the tunnel-liner as tunnel structure, have resist extraneous Water And Earth Pressures, maintain tunnel stabilization,
Prevent the important function such as leakage.In the construction of soft soil tunnel, since soil moisture content is higher, have to the impermeability of lining cutting compared with
High requirement.Currently used soft soil tunnel lining cutting method of construction is shield method, but due to the connector of each ring plate in shield tunnel
Place can not accomplish to be bonded completely, and always there are gap, therefore leakage problems are not solved effectively always in shield tunnel liner
Certainly.In addition, tunnel lining segment is from prefabricated, transport, installation procedure is long, it is long to take.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind is based on 3D printing skill
The soft soil tunnel lining construction method and device of art.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of soft soil tunnel lining construction method based on 3D printing technique, including：
1) tunnel piercing step：The tunnel piercing that tunnel piercing module carries out setpoint distance under the control of driving signal is opened
It digs；
2) lining cutting printing step：Concrete 3D printing module is completed under the control of print signal at tunnel piercing excavation
Carry out the printing of annular concrete lining cutting；
The tunnel piercing step and lining cutting printing step are alternately.
Further, the tunnel piercing step is specially：
After the driving signal is received, reversely top is once obtained based on printed annular concrete lining cutting in the past
Thrust, the tunnel piercing that setpoint distance is carried out under the reversed jacking force are excavated.
Further, the lining cutting printing step specifically includes following steps：
201) print signal is received, control concrete 3D printing module is moved to position to be printed, and scanning-tunnelling section obtains
Obtain profiled outline data；
202) location data of the concrete 3D printing module is obtained；
203) lining cutting print track is generated according to the profiled outline data and location data；
204) concrete 3D printing module realizes the printing of annular concrete lining cutting according to the lining cutting print track.
Further, in step 204), the position of the print head of concrete 3D printing module described in real-time tracking.
Further, the lining cutting printing step further includes：
After step 204) is performed, printed annular concrete lining cutting is detected with the presence or absence of defect, and is finding defect
Shi Jinhang concrete complements.
The present invention also provides the weak soils based on 3D printing technique of a kind of soft soil tunnel lining construction method described in realize
Lining construction device, including tunnel piercing module and concrete 3D printing module, wherein,
The tunnel piercing module includes boring mechanism, counter-force top-pushing mechanism and control terminal, the control terminal difference
Connect boring mechanism and counter-force top-pushing mechanism；
The concrete 3D printing module includes walking mechanism, feeding mechanism, mechanical arm, print head, tunnel cross-section and sweeps
Instrument and print control unit are retouched, the mechanical arm and print control unit are arranged in walking mechanism, and the print head and tunnel break
Surface scan instrument is arranged on mechanical arm, and the feeding mechanism is connected with print head, the print control unit respectively with vehicle with walking machine
Structure, feeding mechanism, mechanical arm, tunnel cross-section scanner and control terminal communication connection.
Further, the counter-force top-pushing mechanism includes multiple jack.
Further, the walking mechanism includes the creeper truck being connected with print control unit and creeper truck locator.
Further, the mechanical arm that distance between measurement print head and tunnel cross-section is additionally provided on the mechanical arm positions
Device.
Further, the feeding mechanism includes the concrete adding device being connected with print head and additive addition is single
Member.
Compared with prior art, the present invention is applied by the integration of 3D printing concrete technology progress soft soil tunnel lining cutting
Work effectively overcomes the problems of conventional tunnel lining construction, has the advantages that：
1st, the present invention innovatively proposes the tunnel of " layering printing being carried out on vertical plane, be successively superimposed along tunnel is axial "
Lining concrete 3D printing method of construction, 3D printing concrete technology has been applied in the construction of soft soil tunnel lining cutting.
2nd, by continuously printing the tunnel-liner of monoblock type, overcome and connect not close, leakage between shield method difference ring plate
The serious chronic disease of water spillage phenomenon improves the anti-permeability performance of soft soil tunnel lining cutting.
3rd, the lining cutting integration degree of printing is high, solves the disadvantage that seam crossing percolating water.
4th, mechanization and high degree of automation largely save manually, significantly improve construction efficiency.
5th, compared to precast assembly technology, soft soil tunnel lining cutting, scene system are built by way of live 3D printing concrete
Make tunnel-liner, process is greatly simplified compared to precast spliced concrete.
6th, work progress is succinct, makes tunnel-liner, need not additionally carry out template support, reduce total engineering
Workload shortens the construction time.
Description of the drawings
Fig. 1 is the structure diagram of apparatus of the present invention；
In figure, 1, driving cutterhead, 2, control room, 3, counter-force top-pushing mechanism, 4, slagging channel, 5, concrete pump, 6, coagulation
Native pumping line, 7, additive adding device, 8, mechanical arm, 9, print head, 10, creeper truck, 11, tunnel cross-section scanner,
12nd, creeper truck locator, 13, mechanical arm locator, 14, print control unit.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
The present invention provides a kind of soft soil tunnel lining construction method based on 3D printing technique, including：1) tunnel digging progress
Suddenly：The tunnel piercing that tunnel piercing module carries out setpoint distance under the control of driving signal is excavated；2) lining cutting printing step：It is mixed
Solidifying soil 3D printing module completes the printing of progress annular concrete lining cutting at tunnel piercing excavation under the control of print signal；
The tunnel piercing step and lining cutting printing step are alternately.
Tunnel piercing step is specially：
After the driving signal is received, reversely top is once obtained based on printed annular concrete lining cutting in the past
Thrust, the tunnel piercing that setpoint distance is carried out under the reversed jacking force are excavated.
The lining cutting printing step specifically includes following steps：
201) print signal is received, control concrete 3D printing module is moved to position to be printed, and scanning-tunnelling section obtains
Profiled outline data are obtained, the profiled outline data include the profile of tunnel cross-section and concrete 3D printing module is broken with tunnel
Relative position relation between the border of face；
202) location data of the concrete 3D printing module is obtained, the location data includes tunnel cross-section and coagulation
The relative position relation of each component on the position relationship of native 3D printing module and concrete 3D printing module；
203) lining cutting print track is generated according to the profiled outline data and location data；
204) concrete 3D printing module realizes the printing of annular concrete lining cutting according to the lining cutting print track.
In the step 204) of some embodiments, the position of the print head of concrete 3D printing module described in real-time tracking,
So as to fulfill accurately printing.
In certain embodiments, the lining cutting printing step further includes：After step 204) is performed, printed ring is detected
Shape concrete lining whether there is defect, and concrete complement is carried out when finding defect.
As shown in Figure 1, realizing the constructing device of above-mentioned construction method includes tunnel piercing module and concrete 3D printing mould
Building for soft soil tunnel lining cutting is realized in block, tunnel piercing module and the work of concrete 3D printing module cooperative.
Tunnel piercing module includes boring mechanism, counter-force top-pushing mechanism 3 and control terminal, and the control terminal connects respectively
Boring mechanism and counter-force top-pushing mechanism 3.In the present embodiment, boring mechanism includes development machine and slagging channel 4, development machine front end
To tunnel cutterhead 1, slagging channel 4 leaves passage inside development machine, through development machine.Counter-force top-pushing mechanism 3 is located at development machine
Afterbody.Control terminal is located in the control room 2 of development machine.
Tunnel piercing module carries out the cutting of front end weak soil by tunneling the rotation of cutterhead 1, and pass through slagging channel 4 will
The native slag cut is transported to tunnel rear end always from 1 position of driving cutterhead, and tunnel is carried out by special machinery.Counter-force pushing tow
Mechanism 3 is acted in the tunnel-liner that rear is printed, and so as to provide counter-force development machine is promoted to advance.Used 3D printing mixes
Solidifying soil is high-early strength concrete, can reach higher-strength in a short time, so as to reaction of bearing top-pushing mechanism 3, promotes tunnel
Road driving module is advanced.
After development machine is pushed ahead a distance by counter-force top-pushing mechanism 3, can bounce back, after retraction counter-force top-pushing mechanism 3 with
The tunnel-liner separation at rear, slot milling carry out the printing of novel concrete lining cutting.In certain embodiments, counter-force top-pushing mechanism
3 are made of multiple jack.
Concrete 3D printing module includes walking mechanism, feeding mechanism, mechanical arm 8, print head 9, tunnel cross-section scanning
Instrument 11 and print control unit 14, the mechanical arm 8 and print control unit 14 are arranged in walking mechanism, 9 He of print head
Tunnel cross-section scanner 11 is arranged on mechanical arm 8, and the feeding mechanism is connected with print head 9, the print control unit 14
It is communicated to connect respectively with walking mechanism, feeding mechanism, mechanical arm 8, tunnel cross-section scanner 11 and control terminal.
In certain embodiments, walking mechanism includes the creeper truck 10 being connected with print control unit and creeper truck locator
12.Walking mechanism can also be moved by running track in tunnel.Creeper truck locator 12 is surveyed in real time by way of ranging
The distance between creeper truck 10 and tunnel piercing module and tunnel cross-section are measured, and transfers data to print control unit 14, is beaten
Print controller 14 according to range information, adjust the direction of motion of creeper truck 10 in real time so that creeper truck 10 always with tunnel piercing
The relative position of module is maintained in definite scope, and is kept equal with the horizontal distance of tunnel both sides.
In certain embodiments, the mechanical arm of distance between measurement print head 9 and tunnel cross-section is additionally provided on mechanical arm 8
Locator 13.
In certain embodiments, feeding mechanism includes the concrete adding device being connected with print head and additive addition
Unit 7.Concrete adding device includes concrete pump 5 and concrete pumping pipe 6, and the connection of 6 one end of concrete pumping pipe is mixed
Solidifying soil pump 5, the other end is connected with print head 9.
Print head 9 can be connected on mechanical arm 8 by method of clamping, and the scope of activities of mechanical arm 8 is according to weak soil tunnel
The diameter in road determines.In certain embodiments, by the actual size and detailing requiments of tunnel-liner, design print head quantity,
Arrangement form and the size and shape of printing outlet, the shape of print head outlet can be that rectangle can also be circular.
Print control unit 14 is according to the length and sectional dimension in tunnel, by field monitoring, automatic sensing and Mechanical course,
The positioning of conveying, mechanical arm and the rate of extrusion to concrete control, and are automatically performed the quick of tunnel-liner and beat
Print.The time factor for needing to consider initial set and final set during concrete printing is printed, and considers its mobility, early strength；Meanwhile
Aggregate size needs the requirement for meeting printing.
Since information exchange can be carried out between print control unit 14 and tunnel piercing system, when counter-force top-pushing mechanism 3 with after
After the tunnel-liner separation of side, control machinery arm 8 is carried out concrete lining by print control unit 14 in the space newly reserved
Printing.The print procedure of lining cutting is specific as follows：First, tunnel cross-section scanner 11 will carry out the tunnel cross-section that will be printed
Scanning, so that it is determined that the relative position between the profile of tunnel cross-section and tunnel cross-section scanner 11 and tunnel cross-section border is closed
System.Tunnel cross-section scanner 11 transfers data to print control unit 14, and print control unit 14 is according to section information, section with adopting
Collect the opposite position of each component in the distance, the information of creeper truck locator 12 and creeper truck 10 of 1 tunnel cross-section scanner 1 of instrument
Relation is put, the track of tunnel cross-section lining cutting printing is carried out so as to calculate mechanical arm 8, and trace information is transferred to manipulator
Arm 8 manipulates concrete print head 9 by mechanical arm 8 and is printed by track.In annular lining cutting print procedure is carried out, machine
Tool arm locator 13 is installed on the front end of mechanical arm 8, can accurately measure the distance between print head 9 and section, and by number
According to print control unit 14 is fed back to, so as to fulfill accurately printing.
The concrete printed have good adhesive property, can with soil layer and between section different layers effectively
It is bonded together, carries out the reciprocating motion of concentric tracks on same section by mechanical arm 8, realize that same section difference is thin
Bonding between layer is finally reached the design thickness of lining cutting.At this point, creeper truck 10 moves forward to next printing section, then
The secondary scanning for carrying out carrying out tunnel cross-section by tunnel cross-section scanner 11, repeats the above process, completes next bore tunnel
The printing of lining cutting.It is mutually bonded between different section printing ring, seamless generation.
In the print procedure of concrete, concrete pump 5 continues to be fed to print head 9 by concrete pumping pipe 6, outside
Agent adding device 7 is added to add additive into print head 9 according to match ratio.
When the concrete lining newly printed reaches certain length, print control unit 14 controls concrete print system to stop
New lining cutting is printed forward, due to using early strong block dry concrete, therefore is only needed to wait for the short period, is waited printed concrete lining
Part bearing power increase is to when can carry load that counter-force top-pushing mechanism 3 is applied, you can again stretch counter-force top-pushing mechanism 3
It is long, tunnel piercing system is promoted to tunnel forward.During concrete strength is waited to increase, print control unit 14 can be in program
Control under concrete print system is controlled to fall back, the lining cutting printed before is detected, and to irregular, defective place into
Row complement concrete.
Above-mentioned whole process is repeated several times, it can be achieved that the whole serialization printing of tunnel-liner is built.
In conclusion the 3D printing method of soft soil tunnel lining cutting provided by the invention, concrete printer and driving cutterhead
Coordinated, lining cutting is built by way of squeezing out concrete, realize the three-dimensional quick Fabrication of tunnel-liner, had to improve and apply
Work speed improves the advantages that construction environment.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Creative work is needed according to the present invention can to conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (10)
- A kind of 1. soft soil tunnel lining construction method based on 3D printing technique, which is characterized in that including：1) tunnel piercing step：The tunnel piercing that tunnel piercing module carries out setpoint distance under the control of driving signal is excavated；2) lining cutting printing step：Concrete 3D printing module is completed to carry out at tunnel piercing excavation under the control of print signal The printing of annular concrete lining cutting；The tunnel piercing step and lining cutting printing step are alternately.
- 2. the soft soil tunnel lining construction method according to claim 1 based on 3D printing technique, which is characterized in that described Tunnel piercing step is specially：After the driving signal is received, once reversed pushing tow was obtained based on printed annular concrete lining cutting in the past Power, the tunnel piercing that setpoint distance is carried out under the reversed jacking force are excavated.
- 3. the soft soil tunnel lining construction method according to claim 1 based on 3D printing technique, which is characterized in that described Lining cutting printing step specifically includes following steps：201) print signal is received, control concrete 3D printing module is moved to position to be printed, and scanning-tunnelling section is broken Facial contour data；202) location data of the concrete 3D printing module is obtained；203) lining cutting print track is generated according to the profiled outline data and location data；204) concrete 3D printing module realizes the printing of annular concrete lining cutting according to the lining cutting print track.
- 4. the soft soil tunnel lining construction method according to claim 3 based on 3D printing technique, which is characterized in that step 204) in, the position of the print head of concrete 3D printing module described in real-time tracking.
- 5. the soft soil tunnel lining construction method according to claim 3 based on 3D printing technique, which is characterized in that described Lining cutting printing step further includes：After step 204) is performed, detect printed annular concrete lining cutting with the presence or absence of defect, and when finding defect into Row concrete complement.
- 6. a kind of soft soil tunnel based on 3D printing technique for realizing soft soil tunnel lining construction method as described in claim 1 Lining construction device, which is characterized in that including tunnel piercing module and concrete 3D printing module, wherein,The tunnel piercing module includes boring mechanism, counter-force top-pushing mechanism and control terminal, and the control terminal connects respectively Boring mechanism and counter-force top-pushing mechanism；The concrete 3D printing module includes walking mechanism, feeding mechanism, mechanical arm, print head, tunnel cross-section scanner And print control unit, the mechanical arm and print control unit are arranged in walking mechanism, the print head and tunnel cross-section are swept Instrument is retouched to be arranged on mechanical arm, the feeding mechanism is connected with print head, the print control unit respectively with walking mechanism, into Expect mechanism, mechanical arm, tunnel cross-section scanner and control terminal communication connection.
- 7. the soft soil tunnel lining construction device according to claim 6 based on 3D printing technique, which is characterized in that described Counter-force top-pushing mechanism includes multiple jack.
- 8. the soft soil tunnel lining construction device according to claim 6 based on 3D printing technique, which is characterized in that described Walking mechanism includes the creeper truck being connected with print control unit and creeper truck locator.
- 9. the soft soil tunnel lining construction device according to claim 6 based on 3D printing technique, which is characterized in that described The mechanical arm locator of distance between measurement print head and tunnel cross-section is additionally provided on mechanical arm.
- 10. the soft soil tunnel lining construction device according to claim 6 based on 3D printing technique, which is characterized in that institute Stating feeding mechanism includes the concrete adding device being connected with print head and additive adding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711436481.0A CN108104842A (en) | 2017-12-26 | 2017-12-26 | A kind of soft soil tunnel lining construction method and device based on 3D printing technique |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711436481.0A CN108104842A (en) | 2017-12-26 | 2017-12-26 | A kind of soft soil tunnel lining construction method and device based on 3D printing technique |
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| CN201711436481.0A Pending CN108104842A (en) | 2017-12-26 | 2017-12-26 | A kind of soft soil tunnel lining construction method and device based on 3D printing technique |
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Cited By (7)
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|---|---|---|---|---|
| CN109595007A (en) * | 2018-12-05 | 2019-04-09 | 湖南五新隧道智能装备股份有限公司 | A kind of full-automatic wet shot control method and full-automatic wet shot system |
| CN112408917A (en) * | 2020-12-01 | 2021-02-26 | 中铁工程装备集团有限公司 | Preparation method of concrete segment |
| CN113084962A (en) * | 2021-04-06 | 2021-07-09 | 天津大学 | A3D printing device for underground piping structure lays |
| CN113266422A (en) * | 2021-06-16 | 2021-08-17 | 清华大学 | Automatic maintenance lining system for tunnel |
| CN113266423A (en) * | 2021-06-16 | 2021-08-17 | 清华大学 | Automatic maintenance lining system and method for tunnel |
| CN114183183A (en) * | 2021-11-22 | 2022-03-15 | 中煤科工集团沈阳研究院有限公司 | Device and method for constructing underground coal mine sealing wall |
| CN116084701A (en) * | 2023-02-27 | 2023-05-09 | 同济大学 | Multi-stage mechanical arm control method for 3D printing, electronic equipment and storage medium |
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| CN114183183A (en) * | 2021-11-22 | 2022-03-15 | 中煤科工集团沈阳研究院有限公司 | Device and method for constructing underground coal mine sealing wall |
| CN116084701A (en) * | 2023-02-27 | 2023-05-09 | 同济大学 | Multi-stage mechanical arm control method for 3D printing, electronic equipment and storage medium |
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Application publication date: 20180601 |