CN109209413A - The multi-cutter-disk of robot support excavates the soft arm development machine in arbitrary cross-section tunnel - Google Patents
The multi-cutter-disk of robot support excavates the soft arm development machine in arbitrary cross-section tunnel Download PDFInfo
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- CN109209413A CN109209413A CN201811259349.1A CN201811259349A CN109209413A CN 109209413 A CN109209413 A CN 109209413A CN 201811259349 A CN201811259349 A CN 201811259349A CN 109209413 A CN109209413 A CN 109209413A
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- machine
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- 238000010079 rubber tapping Methods 0.000 claims description 13
- 210000000245 forearm Anatomy 0.000 claims description 12
- 238000009412 basement excavation Methods 0.000 abstract description 13
- 230000008878 coupling Effects 0.000 abstract description 5
- 238000010168 coupling process Methods 0.000 abstract description 5
- 238000005859 coupling reaction Methods 0.000 abstract description 5
- 230000007812 deficiency Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 13
- 239000011435 rock Substances 0.000 description 12
- 238000009826 distribution Methods 0.000 description 5
- 230000005641 tunneling Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 210000000003 hoof Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/0875—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a movable support arm carrying cutting tools for attacking the front face, e.g. a bucket
-
- 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/0874—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with rotary drilling heads having variable diameter
-
- 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
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
-
- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
-
- 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
- E21D9/116—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines by means of non-concentric rotary heads
- E21D9/117—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines by means of non-concentric rotary heads mounted for orientating or sideways shifting relative to the frame
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the soft arm development machines (Robot-TBM) that a kind of multi-cutter-disk of robot support excavates arbitrary cross-section tunnel, in order to adapt to the excavation demand of current diversification tunnel cross-section, make up the single deficiency of existing tunnel development machine digging section, the present invention includes knife disc tool system and girder, the girder rear portion is connect by propelling cylinder with back brace boots front, and back brace boots rear portion is connect with rear support；The girder front is connect by robot with knife disc tool system flexibility, and the knife disc tool system includes at least three cutterheads.The assembled cutter head tooling system structure of multi-cutter-disk moment coupling of the present invention, offsets the stress generated when work, and optimization structure reduces cost.
Description
Technical field
The present invention relates to fields rock tunnel development machine (TBM) in constructing tunnel, and in particular to one kind is in a certain range
The interior multi-cutter-disk based on robot support for realizing arbitrary cross-section shape tunnel excavation excavates the soft arm driving in arbitrary cross-section tunnel
Machine (Robot-TBM).
Background technique
Rock tunnel development machine (TBM) is a kind of tunnel excavation dress for integrating the multidisciplinary technology such as light, mechanical, electrical, liquid
It is standby, work of crucial importance is played in the engineerings such as hydraulic tunnel, railway tunnel, urban track traffic tunnel and pipe gallery are set
With
This kind of development machine mainly carries out broken rock excavation using the rotation of cutterhead at present, and excavated section is mostly circle, it is difficult to be adapted to
In the Tunnel Engineering that the diversity section such as the current shape of a hoof, class rectangle requires, although there is small part that other devices is cooperated to combine out
The Engineering Projects that can complete the sections such as rectangle, the shape of a hoof is dug, but these sections apply all to soft soil tunnel
It excavates, the Project case in rock tunnel engineering is but rarely reported.
In addition, rock tunnel(ling) machine excavated section once it is determined that, it may be difficult to change again, section excavation shape is single, answers
It is limited with range, it is difficult to meet the requirement of different engineering different sections and even same engineering different section, after engineering
Rock tunnel(ling) machine carries out idle state and happens occasionally.
At present in rock tunnel, shaped cross section uses highway, the iron of the sections such as Double Circle, class rectangle, the shape of a hoof
The traffic tunnels engineering such as road is more and more, if excavated using traditional round development machine, certainly will increase engineering excavation amount, together
When the part backbreak also need to carry out secondary backfill, not only increase engineering cost, waste manpower and material resources, and extend work
Phase.Therefore, it is extremely urgent to design a kind of novel hard rock mole that can meet different excavated section engineering demands.
The cutterhead of rock tunnel(ling) machine (shield, TBM) is fixed at present, and cutterhead can only do pitching and the pendulum of slight amplitude
It moves to adjust tunneling direction, but excavation face shape is limited.Rock tunnel(ling) machine excavated section once it is determined that, it may be difficult to change again,
Its section excavation shape is single, and section excavation is flexible poor, and application range is limited, it is difficult to meet different engineering different sections and very
To the requirement of same engineering different section.One new development machine of custom design again is needed if you need to excavate different shape section, at
This height, the period is long and lacks flexibility influence construction speed under complex geological condition.Development machine is the work of hilted broadsword disk, work at present
It is limited to make efficiency, and hilted broadsword dish structure can generate very big reaction torque when excavating, and make development machine always in larger stress
Lower work.Mainly increase equipment intensity by increasing volume and the thickness of the critical components such as driving main beam at present, waste is big
Measure manpower and material resources.A kind of multi-cutter-disk moment coupling arbitrary cross-section development machine based on robot support is now designed, it is big disconnected realizing
Multi-cutter-disk coupling torque is utilized while face arbitrary shape excavates, and reduces critical component stress.
Summary of the invention
The present invention makes up existing tunnel development machine digging section to adapt to the excavation demand of current diversification tunnel cross-section
Single deficiency, provide while a kind of realization big cross section arbitrary shape excavates using multi-cutter-disk coupling torque, reduce crucial
The multi-cutter-disk arbitrary cross-section Novel excavating machine based on robot support of component stress.
In order to solve the above technical problems, the present invention adopts the following technical solutions: a kind of multi-cutter-disk excavation of robot support
The soft arm development machine in arbitrary cross-section tunnel, including knife disc tool system and girder, the girder rear portion by propelling cylinder with
The connection of back brace boots front, back brace boots rear portion is connect with rear support；The girder front passes through robot and knife disc tool system
Flexible connection, the knife disc tool system include at least three cutterheads.
The robot front is equipped with anti-cutter head torque and supports shoe system.
The robot includes cutterhead attitude-adjusting system and robots arm, and the knife disc tool system is set side by side
On cutterhead attitude-adjusting system, cutterhead attitude-adjusting system rear portion robots arm connect with girder, and anti-cutter head torque supports boots system
System is arranged on cutterhead attitude-adjusting system.
The cutterhead attitude-adjusting system includes attachment base, attachment base front end by oscillating bearing respectively with several height
The connection of knife disc tool system activity, attachment base outside are equipped with pitching oil cylinder and oscillating oil cylinder, sub- knife disc tool system and attachment base
Between be equipped with pitching oil cylinder and oscillating oil cylinder.
The anti-cutter head torque support shoe system includes support boots, support boots oil cylinder and support base, and the support base setting exists
Cutterhead attitude-adjusting system, support boots are connect by supportting boots oil cylinder with support base.
The robots arm is serial machine robot arm.The serial machine robot arm includes machine large arm, machine forearm
And rotary table, rotary table are arranged on girder, machine forearm front end is fixedly connected with attachment base, and machine large arm rear end passes through
Movable joint and rotary table are articulated and connected, machine large arm and the articulated connection of machine forearm；The rotary table and machine are big
It is equipped between arm, between machine large arm and machine forearm equipped with telescopic oil cylinder.
The robots arm be series-parallel robot arm, the series-parallel robot arm include reversing frame, movable stand,
Sliding rail, reversing frame are arranged on movable stand top, and movable stand side is matched with sliding rail, and sliding rail is arranged on girder；Described returns
In parallel on pivoted frame to be equipped with No.1 oil cylinder and No. three oil cylinders, No.1 oil cylinder is connected in series by series connection joint I and No. two oil cylinders, and No. three
Oil cylinder is connected in series by series connection joint II and No. four oil cylinders；No. two oil cylinders and No. four oil cylinders pass through attachment base and cutterhead
Attitude-adjusting system connection.
The robot includes parallel manipulator robot arm, and the parallel manipulator robot arm includes the hydraulic cylinder being connected in parallel
Drive system articulated connection, rear end and the front support of group, hydraulic cylinder group front end and knife disc tool system are articulated and connected, described
Front support is arranged on girder.
The drive system connects into truss structure by hydraulic cylinder group and front support, and the hydraulic cylinder group is at least
There are three groups, every group of at least one hydraulic cylinder.
The hydraulic cylinder group has four groups, and every group there are two hydraulic cylinders, and every group of two hydraulic cylinders are in driving system
It is distributed on system in " V " type.
It is equipped with slag-tapping system below the described knife disc tool system, slag-tapping system front end extends to below knife disc tool system,
Rear end is connect with belt feeder.
The knife disc tool system includes an operator disk and each and every one several time cutterheads, and the outer diameter for disk of operating is not less than secondary
The outer diameter of cutterhead, secondary cutterhead setting is on the outside of operator disk.
The present invention configures hard rock and excavates cutterhead, and position and the posture of cutterhead are supported by controlling intelligent serial manipulator, real
Existing flexible structure, section conversion range is big, can really realize the excavation of rock tunnel arbitrary cross-section.
The present invention is based on the flexible cutterheads of robot (series, parallel, series-parallel or other forms) support to excavate system, can
Carry out arbitrary shape section excavation；The assembled cutter head tooling system structure of multi-cutter-disk moment coupling, offset work when generate answer
Power, optimization structure reduce cost；Novel slag-tapping system positioned at tunnel bottom (scrapes slag and slag absorbing system comprising any type of
System), can the debris that development machine generates be cleared up and be exported.
Soft arm development machine (Robot-TBM) of the invention refers between development machine cutterhead and support crossbeam using several groups liquid
Compressing cylinder elastic connection, the distance between cutterhead and crossbeam change with the variation for excavating position.
Detailed description of the invention
Fig. 1 is 1 structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of cutterhead attitude-adjusting system of the embodiment of the present invention 1 with anti-cutter head torque support shoe system；
Fig. 3 is 1 three cutterhead arrangement schematic diagram of the embodiment of the present invention；
Fig. 4 is 1 four cutterhead arrangement schematic diagram of the embodiment of the present invention；
Fig. 5 is 1 five cutterhead arrangement schematic diagram of the embodiment of the present invention；
Fig. 6 is the using state structure diagram that 2 robots arm of the embodiment of the present invention is serial machine robot arm；
Fig. 7 be 3 robots arm of the embodiment of the present invention be series-parallel robot arm when using state structure diagram；
Fig. 8 is 3 series-parallel robot arm configuration schematic diagram of the embodiment of the present invention.
Fig. 9 be the embodiment of the present invention 4 be parallel manipulator robot arm, hydraulic cylinder is four groups, every group of two hydraulic cylinder when
Using state structure diagram；
Figure 10 be Fig. 9 of the present invention hydraulic cylinder group be four groups, every group of two hydraulic cylinder when B-B view；
Figure 11 be Fig. 9 of the present invention hydraulic cylinder group be four groups, every group of two hydraulic cylinder when C-C view；
Figure 12 is that 4 hydraulic cylinder group of the embodiment of the present invention is three groups, front enlarged structure signal when every group of two hydraulic cylinder
Figure；
It is three groups that Figure 13, which is 4 hydraulic cylinder group of the embodiment of the present invention, drive system, parallel manipulator when every group of two hydraulic cylinder
The stereochemical structure relationship schematic diagram of robot arm and front support；
It is three groups that Figure 14, which is 4 hydraulic cylinder group of the embodiment of the present invention, drive system, parallel manipulator when every group of hydraulic cylinder
The stereochemical structure relationship schematic diagram of robot arm and front support.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under that premise of not paying creative labor
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figures 1 to 5, a kind of multi-cutter-disk of robot support excavates the soft arm development machine (Robot- in arbitrary cross-section tunnel
TBM), including girder 6,6 rear portion of girder are connect by propelling cylinder 7 with 8 front of back brace boots, and 8 rear portion of back brace boots is with after
9 connection of support；It is characterized by: 6 front of girder is flexibly connected by robot 4 and knife disc tool system 1, it is described
Knife disc tool system 1 includes at least three cutterheads.
4 front of robot is equipped with anti-cutter head torque and supports shoe system 3.
The robot 4 includes cutterhead attitude-adjusting system 2 and robots arm, and the knife disc tool system 1 is arranged side by side
It is arranged on cutterhead attitude-adjusting system 2,2 rear portion robots arm of cutterhead attitude-adjusting system connect with girder 6, anti-cutter head torque
Shoe system 3 is supportted to be arranged on cutterhead attitude-adjusting system 2.Several sub- knife disc tool systems 1 form assembled cutter head system, according to
It is required that section size and operation torque adjust the size and power of each cutterhead in assembled cutter head, assembled cutter head is uniformly mounted on cutterhead
By robot control cutterhead movement and pose adjustment on support base.Fig. 3-Fig. 5 illustrates three cutterheads, four cutterheads and five cutterheads respectively
Arrangement and rotation direction schematic diagram, offset the reaction torque that generates in tunneling process by adjusting the steering of different cutterheads.
The development machine that multi-cutter-disk coupled mode is extended in such a way that this torque intercouples counteracting excavates cutterhead.
The cutterhead attitude-adjusting system 2 includes attachment base 204, and 204 front end of attachment base is distinguished by oscillating bearing 201
It is flexibly connected with several sub- knife disc tool systems 1, pitching oil cylinder 202 and oscillating oil cylinder 203, son is equipped on the outside of attachment base 204
Pitching oil cylinder 202 and oscillating oil cylinder 203 are equipped between knife disc tool system 1 and attachment base 204.Pitching oil cylinder completes cutterhead
Upper and lower pitching motion, oscillating oil cylinder complete the movement that swings of cutterhead.Pitching oil cylinder 302 and oscillating oil cylinder 303 are vertically arranged.
Each cutterhead rear portion is equipped with the main driving structure of cutterhead, and the pitching oil cylinder and oscillating oil cylinder of cutterhead attitude-adjusting system 2 mutually hang down
It is straight orthogonal, the posture of cutterhead is adjusted.
The anti-cutter head torque support shoe system 3 includes support boots 301, support boots oil cylinder 302 and support base 303, the branch
The setting of seat 303 is supportted in cutterhead attitude-adjusting system 2, boots 301 is supportted and is connect by supportting boots oil cylinder 302 with support base 303.Support base
303 are arranged on the attachment base 204 of cutterhead attitude-adjusting system 2.Anti- cutter head torque support shoe system 3 is to be fixed on inside cutterhead
Tightening device is symmetrically arranged in cutterhead two sides, and support boots 301 can be attached to Dong Bishang, and support boots oil cylinder 302 is telescopic oil cylinder, can control
Support boots extend and retract, and support there are two boots oil cylinders 302, two support boots oil cylinders 302 can independent control, support base 303 for positioned at
Oil cylinder support base inside cutterhead.After cutterhead arrangement has been determined, it cannot be supported completely by adjusting the revolving speed of cutterhead and direction
Disappear the torque generated in different cutterhead tunneling processes when, enable anti-cutter head torque support shoe system 3.It is as needed to support boots oil cylinder 302
Also can be set it is multiple, control as needed it is different support boots oil cylinders 302 stretchings.
Embodiment 2
As shown in fig. 6, robots arm of the present invention is serial machine robot arm 40.The serial machine robot arm 40 includes machine
Device large arm 402, machine forearm 405 and rotary table 403, rotary table 403 be arranged on girder 6,405 front end of machine forearm with
Attachment base 204 is fixedly connected, and 402 rear end of machine large arm is articulated and connected by movable joint 401 and rotary table 403, and machine is big
Arm 402 and machine forearm 405 are articulated and connected；Between the rotary table 403 and machine large arm 402, machine large arm 402 and machine
It is equipped between device forearm 405 equipped with telescopic oil cylinder 404.Serial machine robot arm 4 is the mechanical arm body of serial manipulator, wherein
Machine large arm 401 is main force mechanism, and telescopic oil cylinder 402 is used to realize the movement of robot arm, and movable joint 404 is machine
The rotary joint of device people, rotary table 403, which is fixed on girder, realizes robot revolute movement, can take pre-programmed or man-machine friendship
The control modes such as mutual realize the multifreedom motion of cutterhead.
Embodiment 3
As shown in Figure 7 and Figure 8, robots arm of the present invention is series-parallel robot arm 42, the series-parallel robot
Arm 42 includes reversing frame 421, movable stand 422, sliding rail 423, and reversing frame 421 is arranged in 422 top of movable stand, movable stand 422 1
Side is matched with sliding rail 423, and sliding rail 423 is arranged on girder 6；It is in parallel on the reversing frame 421 to be equipped with 425 He of No.1 oil cylinder
No. three oil cylinders 428, No.1 oil cylinder 425 are connected in series by series connection joint I426 and No. two oil cylinders 427, and No. three oil cylinders 428 pass through
Series connection joint II429 and No. four oil cylinders 420 are connected in series；No. two oil cylinders 427 and No. four oil cylinders 420 pass through attachment base
204 connect with cutterhead attitude-adjusting system 2.Movable stand 422 is by 424 driving of driving.Basis on reversing frame 301 of the present invention
Need can parallel connection set there are three, four, multiple oil cylinders such as five, convenient for preferably control knife disc tool system.The present invention exists
Two oil cylinders in parallel on reversing frame 301, control system is simpler, convenient for control.
No. two oil cylinders 427 and No. four oil cylinders 420 are connect by attachment base 204 with cutterhead attitude-adjusting system 2.Series-parallel machine
It is the Dextrous Hand of series-parallel robot with cutterhead attitude-adjusting system 2 in device robot arm 42, is mainly used to adjust cutterhead posture, string
Parallel manipulator robot arm 42 is robot body, and wherein reversing frame 421 realizes robot revolute movement, and movable stand 422 realizes machine
People moves along sliding rail 423, No.1 oil cylinder 425, series connection joint I426, No. two oil cylinders 427 and No. three oil cylinders 428, series connection joint
II429, No. four oil cylinders 420 separately constitute two serial mechanisms of robot, 428 two oil of No.1 oil cylinder 425 and No. three oil cylinders
Cylinder is parallel on reversing frame, and the modes such as pre-programmed or human-computer interaction teaching can be taken to realize the multifreedom motion of cutterhead, is realized
Different excavated sections.
Series-parallel robot arm 42 of the invention passes through before the telescopic band movable knife disc of No.1 oil cylinder 425 and No. three oil cylinders 428
After move, realize that cutterhead moves up and down along moving for sliding rail by movable stand 422, pass through the rotation band of reversing frame 421 itself
The adjustment of angle is excavated in movable knife disc rotation by the flexible realization cutterhead of No. two oil cylinders 427 or No. four oil cylinders 420.
Embodiment 4
As shown in Fig. 9-14, robot 4 of the present invention includes parallel manipulator robot arm 41, and the parallel manipulator robot arm 41 is wrapped
Include the hydraulic cylinder 415 being connected in parallel, 411 front end of hydraulic cylinder and the drive system articulated connection of knife disc tool system 1, rear end
It is articulated and connected with front support 416, the front support 416 is arranged on girder 6.As shown in figure 9, being knife disc tool system of the present invention
Structural schematic diagram when system tunneling middle position, hydraulic cylinder front end of the present invention pass through ball hinge or universal base and drive
Dynamic group articulated connection, rear end are articulated and connected by ball hinge or universal base and front support.Hydraulic cylinder group 415 of the present invention can adopt
It is driven with fluid power system or electrohydraulic servo system；Hydraulic cylinder group 415 can also use straight line cylinder or rotation simultaneously
Turn pneumatic motor, and uses Pneumatic drive system.
The drive system connects into truss structure, the hydraulic cylinder by hydraulic cylinder group 415 and front support 416
At least three groups of group 415, every group of at least one hydraulic cylinder.
The hydraulic cylinder group has four groups, and every group there are two hydraulic cylinders, and every group of two hydraulic cylinders are in driving system
It is distributed on system in " V " type.The both ends of four groups of hydraulic cylinder groups are uniformly distributed in drive system and front support 416 respectively, cutterhead
When tooling system 1 rotates, it can mutually be supported in two hydraulic cylinders of " V " type distribution, offset a part of knife cutting torque.This
It is in " V " type in drive system between every group of adjacent hydraulic cylinder when inventing every group of hydraulic cylinder number more than or equal to two
Distribution when knife disc tool system 1 rotates, can be supported mutually in the hydraulic cylinder group 415 more than or equal to two of " V " type distribution,
Offset a part of knife cutting torque.When hydraulic cylinder group quantity is four groups, every group two, totally eight hydraulic cylinders, are followed successively by
No.1 oil cylinder, No. two oil cylinders ... No. eight oil cylinders, position of the ball hinge 3 in drive system and front support 416 is respectively such as
Shown in Figure 10 and Figure 11, in figure, A1 and B1 respectively indicate the both ends of No.1 oil cylinder, and A2 and B2 respectively indicate the two of No. two oil cylinders
A8 and B8 respectively indicates the both ends of No. eight oil cylinders at end ... ...；As can be seen that being in drive system after 8 hydraulic cylinder installations
The distribution of " V " type.
The hydraulic cylinder group of parallel manipulator robot arm of the present invention can also have three groups, every group there are two hydraulic cylinder, every group
Two hydraulic cylinders are distributed in drive system in " V " type.The both ends of three groups of hydraulic cylinder groups are respectively in drive system and preceding branch
It is uniformly distributed in support 416, when knife disc tool system 1 rotates, can mutually support, offset in two hydraulic cylinders of " V " type distribution
A part of knife cutting torque.Hydraulic cylinder quantity has three groups, there are two every group, when totally 6 hydraulic cylinders, is followed successively by No.1 oil
Cylinder, No. two oil cylinders ... No. six oil cylinders, arrangement are shown in Figure 12 and Figure 13, it can be seen that after the installation of 6 hydraulic cylinders
It is distributed in drive system in " V " type.Realize that parallel manipulator robot arm 14 can resist while transmitting 1 thrust of knife disc tool system
The torque of knife disc tool system 1 adjusts 1 posture of knife disc tool system, stablizes knife disc tool system 1, in parallel manipulator robot arm 14
Under the action of, 1 plane of knife disc tool system is parallel with excavated section always.
The hydraulic cylinder group of parallel manipulator robot arm of the present invention has three groups, and every group has a hydraulic cylinder.Three groups of hydraulic cylinders
Both ends be uniformly distributed in drive system and front support 416 respectively, as shown in figure 14, three groups of hydraulic cylinder front ends are uniformly distributed
In drive system, rear end is evenly distributed in front support 416.
Slag-tapping system 5 is equipped with below the knife disc tool system 1,5 front end of slag-tapping system extends under knife disc tool system 1
Side, rear end and belt feeder 10 connect.Slag-tapping system 5 is belt feeder slag-tapping system or screw conveyor slag-tapping system, belt feeder 10
The dregs of 1 lower section of cutterhead is delivered on the outside of development machine and is transported away in slag-tapping system tail portion, slag-tapping system 5 by setting.It is other
Structure is the same as embodiment 1.
Embodiment 5
Knife disc tool system 1 of the present invention includes an operator disk 101 and each and every one several time cutterheads 102, disk 101 of operating
Outer diameter is not less than the outer diameter of time cutterhead 102, and the secondary setting of cutterhead 102 is in 101 outside of operator disk.When knife disc tool system 1 has 3
When, an operator disk and two cutterheads are set, as shown in figure 3, two cutterheads are arranged on the outside of operator disk, by adjusting secondary
The revolving speed of cutterhead and steering enable anti-cutter head torque and support to offset the torque of operator disk generation when torque cannot be completely counterbalanced by
Shoe system 3；When knife disc tool system 1 there are 4, as shown in figure 4, operator disk is identical with time cutterhead size, different cutterheads are adjusted
The each cutterhead of revolving speed and direction sports school torque；When knife disc tool system 1 there are 5, an operator disk and four times are set
Cutterhead offsets master by adjusting the revolving speed and steering of secondary cutterhead as shown in figure 5, four time cutterheads settings are on the outside of operator disk
The torque that cutterhead generates enables anti-cutter head torque support shoe system 3 when torque cannot be completely counterbalanced by.When knife disc tool system 1 has
More when, principle is same as above, and achievees the purpose that offset torque by revolving speed and the adjusting turned to.Other structures are the same as embodiment 1.
When the invention works, comprising the following steps: 1, according to excavating the parameter designings assembled cutter head cutter system such as torque demand
Cutterhead quantity, size, steering in system；2, according to construction section configuration requirement, motion profile volume is carried out to intelligent robot in advance
Journey；3, make development machine to robot working range, robot makes cutterhead reach designated position according to setting track；4, support stretcher for boot and shoe is tight
Hole wall, propelling cylinder and main driving work；5, bottom slag-tapping system works, and the debris fallen at hole bottom is transported through belt feeder；
6, after reaching certain excavated volume, 2-4 step is repeated, next station cycle is carried out.
Claims (12)
1. a kind of multi-cutter-disk of robot support excavates the soft arm development machine in arbitrary cross-section tunnel, including knife disc tool system (1)
With girder (6), the girder (6) rear portion is connect by propelling cylinder (7) with back brace boots (8) front, back brace boots (8) rear portion and
Rear support (9) connection；It is characterized by: girder (6) front is flexible by robot (4) and knife disc tool system (1)
Connection, the knife disc tool system (1) include at least three cutterheads.
2. the multi-cutter-disk of robot support according to claim 1 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: robot (4) front is equipped with anti-cutter head torque support shoe system (3).
3. the multi-cutter-disk of robot support according to claim 1 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the robot (4) includes cutterhead attitude-adjusting system (2) and robots arm, the knife disc tool system (1)
It being disposed in parallel on cutterhead attitude-adjusting system (2), cutterhead attitude-adjusting system (2) rear portion robots arm connect with girder (6),
Anti- cutter head torque support shoe system (3) is arranged on cutterhead attitude-adjusting system (2).
4. the multi-cutter-disk of robot support according to claim 3 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the cutterhead attitude-adjusting system (2) includes attachment base (204), and attachment base (204) front end passes through oscillating bearing
(201) is flexibly connected respectively with several sub- knife disc tool systems (1), on the outside of attachment base (204) equipped with pitching oil cylinder (202) and
Oscillating oil cylinder (203) is equipped with pitching oil cylinder (202) and oscillating oil cylinder between sub- knife disc tool system (1) and attachment base (204)
(203).
5. the multi-cutter-disk of robot support according to claim 2 or 4 excavates the soft arm development machine in arbitrary cross-section tunnel,
Be characterized in that: anti-cutter head torque support shoe system (3) includes support boots (301), supports boots oil cylinder (302) and support base (303),
Support base (303) setting supports boots (301) and passes through support boots oil cylinder (302) and support base in cutterhead attitude-adjusting system (2)
(303) it connects.
6. the multi-cutter-disk of robot support according to claim 3 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the robots arm is serial machine robot arm (40), and the serial machine robot arm (40) includes machine large arm
(402), machine forearm (405) and rotary table (403), rotary table (403) are arranged on girder (6), machine forearm (405)
Front end is fixedly connected with attachment base (204), and machine large arm (402) rear end is cut with scissors by movable joint (401) and rotary table (403)
It connects in succession, machine large arm (402) and machine forearm (405) articulated connection；The rotary table (403) and machine large arm
(402) it is equipped between, between machine large arm (402) and machine forearm (405) equipped with telescopic oil cylinder (404).
7. the multi-cutter-disk of robot support according to claim 3 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the robots arm is series-parallel robot arm (42), and the series-parallel robot arm (42) includes reversing frame
(421), movable stand (422), sliding rail (423), reversing frame (421) are arranged in movable stand (422) top, movable stand (422) side
It is matched with sliding rail (423), sliding rail (423) is arranged on girder (6)；It is in parallel on the reversing frame (421) to be equipped with No.1 oil
Cylinder (425) and No. three oil cylinders (428), No.1 oil cylinder (425) by series connection joint I(426) with No. two oil cylinder (427) companies of series connection
Connect, No. three oil cylinders (428) pass through series connection joint II(429) it is connected in series with No. four oil cylinders (420)；No. two oil cylinders
(427) it is connect by attachment base (204) with cutterhead attitude-adjusting system (2) with No. four oil cylinders (420).
8. the multi-cutter-disk of robot support according to claim 1 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the robot (4) includes parallel manipulator robot arm (41), and the parallel manipulator robot arm (41) includes being connected in parallel
Hydraulic cylinder group (415), the drive system articulated connection of hydraulic cylinder group (415) front end and knife disc tool system (1), rear end
It is articulated and connected with front support (416), the front support (416) is arranged on girder (6).
9. the multi-cutter-disk of robot support according to claim 8 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the drive system connects into truss structure by hydraulic cylinder group (415) and front support (416), described hydraulic
At least three groups of oil cylinder group (415), every group of at least one hydraulic cylinder.
10. the multi-cutter-disk of robot support according to claim 9 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the hydraulic cylinder group (415) has four groups, and every group there are two hydraulic cylinder, every group of two hydraulic cylinders to drive
It is distributed in dynamic system in " V " type.
11. the multi-cutter-disk of robot support according to claim 1 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: being equipped with slag-tapping system (5) below the knife disc tool system (1), slag-tapping system (5) front end extends to knife disc tool system
System (1) lower section, rear end and belt feeder (10) connect.
12. the multi-cutter-disk of robot support according to claim 1 excavates the soft arm development machine in arbitrary cross-section tunnel, special
Sign is: the knife disc tool system (1) includes an operator disk (101) and each and every one several time cutterheads (102), disk of operating
(101) outer diameter is not less than the outer diameter of time cutterhead (102), and secondary cutterhead (102) setting is on the outside of operator disk (101).
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259349.1A CN109209413B (en) | 2018-10-26 | 2018-10-26 | Flexible arm heading machine for digging tunnel with arbitrary section by multiple cutter discs supported by robot |
| PCT/CN2019/090461 WO2020082746A1 (en) | 2018-10-26 | 2019-06-10 | Robot-supported flexible-arm boring machine capable of excavating tunnel with arbitrary cross section |
| EP19875605.8A EP3872299B1 (en) | 2018-10-26 | 2019-06-10 | Robot-supported flexible-arm boring machine capable of excavating tunnel with arbitrary cross section |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259349.1A CN109209413B (en) | 2018-10-26 | 2018-10-26 | Flexible arm heading machine for digging tunnel with arbitrary section by multiple cutter discs supported by robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109209413A true CN109209413A (en) | 2019-01-15 |
| CN109209413B CN109209413B (en) | 2024-04-09 |
Family
ID=64997237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811259349.1A Active CN109209413B (en) | 2018-10-26 | 2018-10-26 | Flexible arm heading machine for digging tunnel with arbitrary section by multiple cutter discs supported by robot |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP3872299B1 (en) |
| CN (1) | CN109209413B (en) |
| WO (1) | WO2020082746A1 (en) |
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| CN109915162A (en) * | 2019-03-09 | 2019-06-21 | 上海创力集团股份有限公司 | A kind of hard rock cutting means |
| CN110242314A (en) * | 2019-07-30 | 2019-09-17 | 中铁工程服务有限公司 | It is a kind of can multifreedom motion TBM cutterhead |
| CN110985035A (en) * | 2019-12-30 | 2020-04-10 | 中铁工程装备集团有限公司 | Tunneling control method for series-type flexible arm TBM cutterhead |
| WO2020082746A1 (en) * | 2018-10-26 | 2020-04-30 | 中铁工程装备集团有限公司 | Robot-supported flexible-arm boring machine capable of excavating tunnel with arbitrary cross section |
| CN116122835A (en) * | 2023-04-14 | 2023-05-16 | 太原理工大学 | Torque system suitable for compact full-face heading machine and heading machine |
| US11905835B1 (en) * | 2020-09-17 | 2024-02-20 | TopEng Inc. | Tunnel digging machine (TDM) |
| CN109915162B (en) * | 2019-03-09 | 2024-06-04 | 上海创力集团股份有限公司 | Hard rock cutting device |
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| CN113175326B (en) * | 2021-04-09 | 2022-08-19 | 重庆文理学院 | Automatic measurement type tunneling measuring machine for TBM construction and using method |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3872299A4 (en) | 2022-01-05 |
| WO2020082746A1 (en) | 2020-04-30 |
| CN109209413B (en) | 2024-04-09 |
| EP3872299A1 (en) | 2021-09-01 |
| EP3872299B1 (en) | 2023-10-25 |
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