CN110985028A - Novel swing type flexible arm TBM and tunneling method thereof - Google Patents
Novel swing type flexible arm TBM and tunneling method thereof Download PDFInfo
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- CN110985028A CN110985028A CN201911397663.0A CN201911397663A CN110985028A CN 110985028 A CN110985028 A CN 110985028A CN 201911397663 A CN201911397663 A CN 201911397663A CN 110985028 A CN110985028 A CN 110985028A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 54
- 239000002893 slag Substances 0.000 claims abstract description 32
- 239000011435 rock Substances 0.000 claims abstract description 25
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 238000009412 basement excavation Methods 0.000 claims description 31
- 238000005520 cutting process Methods 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 16
- 238000009966 trimming Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000010079 rubber tapping Methods 0.000 claims description 4
- 239000013049 sediment Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 8
- 230000001429 stepping effect Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
- E21D9/087—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
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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- 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)
Abstract
The invention discloses a novel swing type flexible arm TBM and a tunneling method thereof, and solves the problem of low tunneling efficiency of a flexible arm tunneling machine in the prior art. The invention comprises a cutter head tunneling system, a main beam supporting and protecting system and a slag discharging system, wherein the cutter head tunneling system is arranged at the front part of the main beam supporting and protecting system, the slag discharging system is positioned on the main beam supporting and protecting system and corresponds to the cutter head tunneling system, the cutter head tunneling system comprises a rotary cutter head and a swinging telescopic arm, one end of the swinging telescopic arm is connected with the rotary cutter head, and the other end of the swinging telescopic arm is rotatably connected with the main beam supporting and protecting system through a swinging mechanism. The rotary cutter head of the cutter head tunneling system is provided with a positive cutter and a plurality of rotary-cut side cutters axially arranged on a fixed cutter cylinder in a rock breaking mode, when a swing oil cylinder is matched with a pitching oil cylinder to enable the front surface of the rotary cutter to be tightly propped against a face, the flexible arm tunneling machine mainly uses the positive cutter to fracture and break rock, and when the hole diameter needs to be expanded to the periphery, the side cutters of the cutter head are mainly used for rotary-cut rock breaking to adapt to different working conditions and improve the tunneling efficiency.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a novel swing type flexible arm TBM and a tunneling method thereof.
Background
A rock Tunnel Boring Machine (TBM) is large tunnel excavation equipment integrating technologies such as mechanical, electrical and hydraulic technologies and plays an important role in mountain tunnels and urban subway engineering construction. The existing TBM has the defects that the excavation section is basically circular, and the rectangular, horseshoe-shaped and other special-shaped sections are applied to the construction of the soft soil tunnel, and once the excavation section is determined, the excavation section cannot be changed in the construction process, so that the excavation section is single in shape, and the application range is limited. The current situation and the planning of rock tunnel construction at home and abroad show that more and more projects with special-shaped sections are adopted, and if a traditional customized scheme of a heading machine is adopted, the production period of equipment is inevitably increased greatly, so that the construction cost is increased, and the resource waste is also caused. Aiming at the difficult problem of the manufacture of the heading machine caused by the diversification of the current engineering, a flexible arm heading machine (Robotic TBM) concept based on robot support is provided. The flexible arm tunneling machine can realize six-degree-of-freedom motion in a large range by means of a robot supporting cutter head, and excavation of a large-diameter section tunnel with any shape by means of a small-diameter cutter head is realized.
However, research on the flexible arm heading machine is less at home and abroad, the flexible arm control of the flexible arm heading machine and the heading efficiency of the corresponding cutter head are both the key points of the design of the flexible arm heading machine, and how to improve the control precision of the flexible arm heading machine while the flexible arm of the flexible arm heading machine is convenient to control and how to improve the heading efficiency of the corresponding cutter head is the key point of the existing flexible arm heading machine.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides a novel swing type flexible arm TBM and a tunneling method thereof, and solves the problem of low tunneling efficiency of a flexible arm tunneling machine in the prior art.
The technical scheme of the invention is realized as follows: the utility model provides a novel gentle arm TBM of oscillating, props including blade disc tunnelling system, girder and protects the system and goes out the sediment system, and blade disc tunnelling system sets up and props the front portion of protecting the system at the girder, and the system of slagging tap is located the girder and props and protect the system and corresponding with the blade disc tunnelling system, blade disc tunnelling system includes rotary-cut blade disc and the flexible arm of swing, and the one end of the flexible arm of swing is connected with the rotary-cut blade disc, the other end props through swing mechanism and girder and protects the system rotation and be connected.
The swing mechanism comprises a supporting seat connected with the main beam supporting and protecting system, a center positioning shaft vertically arranged is fixedly arranged on the supporting seat, a rotary shaft sleeve is rotatably arranged on the center positioning shaft, an eccentric lug seat is arranged on the rotary shaft sleeve, a swing oil cylinder is connected onto the eccentric lug seat, one end of the swing oil cylinder is hinged to the eccentric lug seat, and the other end of the swing oil cylinder is connected with the main beam supporting and protecting system.
The swing telescopic arm comprises an upper swing arm and a lower swing arm which are hinged with the rotating shaft sleeve, the front ends of the upper swing arm and the lower swing arm are hinged with the cutter head tunneling system, the upper swing arm is connected with the lower swing arm through a connecting rod, the upper swing arm, the lower swing arm and the connecting rod form a four-bar mechanism, the four-bar mechanism is connected with a pitching oil cylinder which drives the four-bar mechanism to move up and down, one end of the pitching oil cylinder is hinged with the four-bar mechanism, and the other end of the pitching oil cylinder is connected with the rotating shaft sleeve.
And displacement sensors are arranged on the swing oil cylinder and the pitching oil cylinder.
The rotary cutter head comprises a fixed cutter cylinder, the fixed cutter cylinder is hinged with the swing telescopic arm, a front panel of the fixed cutter cylinder is provided with a positive hob and a side hob, the positive hob is vertically arranged on a front panel of the fixed cutter cylinder, and the side hob is obliquely arranged on the outer edge of the front panel of the fixed cutter cylinder; the outer ring surface of the fixed cutter cylinder is provided with a side rotary digging cutter.
The side rotary excavating cutter is a side hobbing cutter group arranged along the circumferential direction of the fixed cutter cylinder, at least one circle of side hobbing cutter group is arranged on the fixed cutter cylinder, and each circle of side hobbing cutter group comprises at least two side hobbing cutters vertically arranged.
The rotary-cut cutter head further comprises an autorotation mechanism, the fixed cutter cylinder is connected with the swing telescopic arm through the autorotation mechanism, the autorotation mechanism comprises a cutter head seat and an autorotation drive, one end of the cutter head seat is rotatably connected with the fixed cutter cylinder, the other end of the cutter head seat is hinged with the swing telescopic arm, the autorotation drive is fixedly connected onto the cutter head seat, an output end of the autorotation drive is provided with a driving gear, and the driving gear is meshed with an inner gear ring arranged inside the fixed cutter cylinder.
The main beam supporting and protecting system comprises a main beam, wherein an auxiliary supporting shoe and a main supporting shoe are arranged on the main beam, the auxiliary supporting shoe is located behind the swinging mechanism, the main supporting shoe is located behind the auxiliary supporting shoe, the auxiliary supporting shoe is fixed on the main beam, and the main supporting shoe steps along the main beam through a stepping oil cylinder arranged on the main beam.
A supporting system is arranged between the auxiliary supporting shoes and the main supporting shoes, and the supporting system is connected to the main beam; the slag tapping system is arranged on the main beam and extends forwards to the position below the cutter head tunneling system.
The slag discharging system comprises a slag collecting mechanism and a belt conveyor, the slag collecting mechanism is obliquely arranged below the cutter head tunneling system, the belt conveyor is arranged on a main beam of the main beam supporting and protecting system, and the slag discharging end of the slag collecting mechanism corresponds to the belt conveyor.
A novel tunneling method of a swing type flexible arm TBM comprises the following specific steps:
s1: retracting a pitching oil cylinder of the swing telescopic arm, and retracting a swing oil cylinder of the swing mechanism to a cutter head tunneling system to be in an initial state;
s2: the background controller determines a pre-excavation profile according to the tunnel boundary parameters and plans a movement route of the rotary cutter head;
s3: the background controller sets displacement amounts of a pitching oil cylinder of the swing telescopic arm and a swing oil cylinder of the swing mechanism according to the movement route of the rotary cutter head planned in the step S2;
s4: when the TBM starts to tunnel, the auxiliary supporting shoes and the main supporting shoes are tightly supported on the wall of the tunnel, the background controller controls the swinging mechanism to swing and the rotary-cut cutter head to rotate, the swinging telescopic arm executes preset actions at the same time, and the rotary-cut cutter head of the cutter head tunneling system excavates according to a set path;
s5: in step S4, the background controller monitors the displacement and swing angle of the swing telescopic arm in real time according to the displacement sensors on the pitch cylinder and the swing cylinder, and synchronously corrects the displacement and swing angle of the swing telescopic arm to ensure that the swing telescopic arm drives the cutter head tunneling system to excavate according to a predetermined path until an excavation cycle is completed;
s6: after an excavation period is finished, the three-dimensional scanning sensor scans an excavated following road profile and transmits corresponding information to the console controller, and the background controller compares the excavated following road profile with a pre-excavated profile to determine a profile trimming path;
s7: trimming the wall of the hole by a cutterhead tunneling system or manually according to the contour trimming path of the step S6;
s8: and after finishing, repeating the steps S1-S7 and entering the next excavation cycle.
When the rotary cutter disc is used for excavating in steps S4-S5, the swing oil cylinder drives the swing telescopic arm to swing in a vertical plane through the rotary shaft sleeve, the pitching oil cylinder drives the rotary cutter disc to swing up and down, meanwhile, the rotation drive drives the fixed cutter cylinder to rotate, the positive hob and the side hob on the front panel of the fixed cutter cylinder extrude and rotatably cut rock together, and the side rotary cutter on the outer ring surface of the fixed cutter cylinder is used for assisting in rotatably cutting rock.
The rotary cutter head of the cutter head tunneling system is provided with a positive cutter and a plurality of rotary-cut side cutters axially arranged on a fixed cutter cylinder in a rock breaking mode, when a swing oil cylinder is matched with a pitching oil cylinder to enable the front face of the rotary cutter to be tightly propped against a tunnel face, the flexible arm tunneling machine mainly fractures and breaks rocks by the positive cutter arranged on the front face plate of the cutter head, and when the hole diameter needs to be expanded to the periphery, the side cutters of the cutter head are mainly used for rotary-cutting and breaking rocks so as to adapt to different working conditions and improve the tunneling efficiency. In addition, the cutter head can swing the telescopic arm to rotate relatively, the traditional extrusion rock breaking is changed into spinning rock breaking, and the two working modes can be switched randomly so as to meet the requirements of different working conditions and improve the applicability of the device. The swing telescopic arm is matched with the swing oil cylinder to drive the rotary cutter head of the cutter head tunneling system to swing, so that the position and angle of the rotary cutter head are adjusted, the flexibility is good, the control is convenient, the excavation of the tunnel walls with various outlines is realized, the site construction requirements are met, and the efficient and safe construction is carried out.
Drawings
In order to illustrate the embodiments of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the invention, and that other drawings may be derived from those drawings by a person skilled in the art without inventive effort.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the connection state of the cutterhead tunneling system and the main beam supporting and protecting system.
Fig. 3 is a schematic view of a cutting pick and a cutter head adopted by the cutter head tunneling system in embodiment 1 of the present invention.
Fig. 4 is a schematic front view of a rotary cutter head.
Fig. 5 is a side view of a rotary cutter head.
Fig. 6 is a schematic view of the rotation structure of the rotary cutter disc in embodiment 3.
FIG. 7 is a schematic view of the structure of a rotary cutter disk in example 3.
Fig. 8 is a flow chart of the tunneling process of the present invention.
Figure 9 shows three profile shapes that can be excavated by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1 and 2, in embodiment 1, a novel oscillating flexible arm TBM includes a cutter head tunneling system, a main beam supporting and protecting system, and a slag discharge system, wherein the cutter head tunneling system is mainly used for excavating a tunnel face, and the oscillating flexible arm is matched to excavate horseshoe-shaped, rectangular, circular and other contours as shown in fig. 9. The main beam supporting and protecting system provides support for the back matching of the TBM and supports the rock wall, and the structure of the main beam supporting and protecting system is similar to that of the existing shaft boring machine. The slag tapping system is used for transporting slag generated in the tunneling process. The cutterhead tunneling system is arranged in front of the main beam supporting and protecting system, the slag discharging system is located on the main beam supporting and protecting system and corresponds to the cutterhead tunneling system, namely the slag discharging system is located at the lower portion of the cutterhead tunneling system, and therefore rapid collection and cleaning of slag soil are facilitated. The cutter head tunneling system comprises a rotary cutter head 1 and a swinging telescopic arm 2, one end of the swinging telescopic arm 2 is hinged with the rotary cutter head 1, and the other end of the swinging telescopic arm is rotatably connected with the main beam supporting and protecting system through a swinging mechanism. The arrangement of the swing mechanism realizes the rotation of the swing telescopic arm relative to the main beam supporting and protecting system in a vertical plane, so that the main rotation of the cutter head tunneling system is realized, and rotary cutting is carried out on the tunnel face. The swing telescopic arm 2 drives a rotary cutter head of the cutter head tunneling system to swing, so that the position and angle of the rotary cutter head are adjusted, the flexibility is good, the control is convenient, and the excavation of the multi-profile tunnel wall is realized.
Further, swing mechanism includes that the supporting seat 3 that is connected with the girder props the protection system, the front end at the girder that the girder propped the protection system is fixed to the supporting seat, fixed central location axle 4 that is equipped with vertical setting on the supporting seat 3, be equipped with on the central location axle 4 and rotate and be equipped with gyration axle cover 5, the gyration axle cover is established epaxially at the central location promptly, accessible bearing rotates with the central location axle to be connected, be equipped with eccentric ear seat 6 on the gyration axle cover 5, eccentric ear seat sets up the eccentric position on gyration axle cover upper portion promptly, be connected with swing hydro-cylinder 7 on the eccentric ear seat 6, swing hydro-cylinder 7's one end is articulated with eccentric ear seat 6, the other end props the protection system with the. The swing oil cylinder stretches and retracts to drive the rotating shaft sleeve to rotate around the central positioning shaft, and the swing telescopic arm swings left and right in a vertical plane.
Further, the swing telescopic arm 2 comprises an upper swing arm 201 and a lower swing arm 202 which are hinged with the rotary shaft sleeve 5, the upper swing arm 201 and the lower swing arm 202 are symmetrically arranged between the cutter head tunneling system and the swing mechanism, the front ends of the upper swing arm 201 and the lower swing arm 202 are hinged with the cutter head tunneling system, the upper swing arm 201 is connected with the lower swing arm 202 through a connecting rod 203, the upper swing arm 201, the lower swing arm 202 and the connecting rod 203 form a four-bar mechanism, a pitching cylinder 8 which drives the four-bar mechanism to move up and down is connected to the four-bar mechanism, one end of the pitching cylinder 8 is hinged with the four-bar mechanism, the other end of the pitching cylinder is connected with the rotary shaft sleeve 5, the pitching cylinder can be hinged on the upper swing arm 201 or the lower swing arm 202 or the connecting rod 203, and the rotary cutter head is driven to swing up and down through the. And displacement sensors are arranged on the swing oil cylinder 7 and the pitch oil cylinder 8 and used for detecting the expansion amount of the swing oil cylinder 7 and the pitch oil cylinder 8 and ensuring the correct position and the proper angle of the rotary cutter head. Further, as shown in fig. 3, the rotary cutting cutter head can be a cutting pick cutter head, and cutting pick cutters are uniformly arranged on the cutting pick cutter head to perform rotary cutting excavation on the working face.
As shown in fig. 4 and 5, in embodiment 2, a novel swing type flexible arm TBM, the rotary cutter head 1 may also adopt a structure including a fixed cutter cylinder 101, the fixed cutter cylinder 101 is hinged to a swing telescopic arm 2, and the eccentric distance between the cutter head and a main beam is adjusted by the swing telescopic arm 2, so as to implement excavation of any cross section in a working space range. The front panel of the fixed cutter cylinder 101 is provided with a positive hob 401 and an edge hob 402, the positive hob 401 and the edge hob 402 play a main role in excavating a tunnel face, the positive hob 401 is vertically arranged on the front panel of the fixed cutter cylinder 101, the edge hob 402 is obliquely arranged on the outer edge of the front panel of the fixed cutter cylinder 101, namely, the edge face of the positive hob is perpendicular to the front panel, the preferred inclination angle theta is 20-60 degrees, and the specific cutterhead area and the excavation environment are used as the standard. The outer ring surface of the fixed cutter cylinder 101 is provided with a side rotary digging cutter 105, and the side rotary digging cutter carries out rotary rock breaking and expanding digging on the rock wall.
Further, the side rotary cutter 105 is a side hob group arranged along the circumferential direction of the fixed cutter cylinder 101, at least one circle of side hob group, preferably two or three circles, are arranged on the outer wall of the fixed cutter cylinder 101, each circle of side hob group includes at least two vertically arranged side hobs, the side hobs of each circle of side hob group are equiangularly distributed on the same circle of the cylinder, and the cutting edge surfaces of the side hobs are arranged perpendicular to the outer wall of the fixed cutter cylinder 101. The height of the side hob extending out of the outer ring surface of the fixed cutter cylinder 101 is not lower than the height of the side hob 402 extending out of the outer ring surface of the fixed cutter cylinder 101, and expanding excavation of the excavated hole wall is achieved.
At the beginning, the swing telescopic arm 2 is completely retracted, the swing telescopic arm is controlled to synchronously advance according to the same displacement, the rotary cutting cutterhead rotates, the cutterhead has the same working function as the cutterhead of the existing development machine, and the hobbing cutter on the front side of the cutterhead is stressed to extrude the tunnel face to cut and break rock; after the cutter head is positively penetrated to a certain depth, the axis of the cutter head is gradually deviated from the axis of the main beam under the action of the swinging telescopic arm, the cutter head enters a rotary cutting mode at the moment, the main excavation cutter is hardly subjected to axial force, the side hobbing cutters are subjected to rotary cutting force to carry out rotary cutting rock breaking and expanding excavation, and the process is expanding excavation of the excavated hole diameter.
The other structure is the same as embodiment 1.
As shown in fig. 6 and 7, in embodiment 3, the rotary cutter head 1 further includes an autorotation mechanism, the fixed cutter cylinder 101 is connected to the swing telescopic arm 2 through the autorotation mechanism, the autorotation mechanism includes a cutter head seat 106 and an autorotation drive 107, and the autorotation drive 107 can be driven by a motor or a hydraulic motor to provide power for the autorotation of the fixed cutter cylinder. One end of the cutter head seat 106 is rotatably connected with the fixed cutter cylinder 101, the other end of the cutter head seat is hinged with the swing telescopic arm 2, the rotation drive 107 is fixedly connected on the cutter head seat 106, the output end of the rotation drive 107 is provided with a driving gear 108, and the driving gear 108 is meshed with an inner gear ring 109 arranged in the fixed cutter cylinder 101. The rotation driving rotation drives the inner gear ring to rotate through the driving gear, so that the fixed cutter cylinder rotates relative to the cutter head seat, the rotation of the fixed cutter cylinder is further realized, and the main excavation cutter and the side rotary excavating cutter carry out rotary cutting rock breaking on the tunnel wall.
Furthermore, the main beam supporting and protecting system comprises a main beam 9, an auxiliary supporting shoe 10 and a main supporting shoe 11 are arranged on the main beam 9, the auxiliary supporting shoe 10 is located behind the swing mechanism, namely the auxiliary supporting shoe is close to one side of the swing mechanism, so that the effects of large torque and overturning moment caused by deviation of the cutter head from the main beam rotation center and the long cantilever in the working process can be better counteracted, and the stability of the system is improved. The main supporting shoes 11 are positioned behind the auxiliary supporting shoes 10 and abut against the wall of the hole when the cutter head works, so that the stability of the whole machine is ensured, and the stepping action of the heading machine is completed by matching with the stepping oil cylinder 10 after a heading cycle is completed. The auxiliary supporting shoe 10 is fixed on the main beam 9, the main supporting shoe 11 steps along the main beam 9 through the stepping oil cylinder 12 arranged on the main beam 9, namely, the stepping oil cylinder and the fixed beam are arranged in parallel and in the same direction, and under the action of the stepping oil cylinder, the main supporting shoe slides along the main beam to realize stepping of the main supporting shoe 11, so that stepping of the TBM is realized. And a supporting system 13 is arranged between the auxiliary supporting shoes 10 and the main supporting shoes 11 and is used for supporting the excavated surrounding rock. A support system 13 is connected to the main beam 9, and the support system 13 is used for supporting the excavated surrounding rock. The slag tapping system is arranged on the main beam 9 and extends forwards to the position below the cutter head tunneling system. Preferably, the slag discharging system comprises a slag collecting mechanism 14 and a belt conveyor, wherein the slag collecting mechanism 14 is obliquely arranged below the cutter head tunneling system, the belt conveyor is arranged on a main beam 9 of the main beam supporting and protecting system, and the slag discharging end of the slag collecting mechanism 14 corresponds to the belt conveyor. The slag discharging system is used for conveying broken stones falling off when the cutter head is excavated, the front end slag collecting mechanism 14 of the slag discharging system is positioned at the bottom of the tunnel, the tail end of the slag discharging system is connected with the belt conveyor, and the slag is conveyed to the tail part of the heading machine through the belt conveyor to complete slag removal.
The other structure is the same as embodiment 2.
Example 4: a novel tunneling method of a swing type flexible arm TBM is shown in figure 8, and comprises the following specific steps:
s1: the pitching oil cylinder 8 of the swing telescopic arm 2 retracts, and the swing oil cylinder 7 of the swing mechanism retracts into the cutterhead tunneling system to be in an initial state;
s2: the background controller determines a pre-excavation profile according to the tunnel boundary parameters and plans a movement route of the rotary cutter head 1;
s3: the background controller sets the displacement of the pitching cylinder 8 of the swing telescopic arm 2 and the swing cylinder 7 of the swing mechanism according to the movement path of the rotary cutter head 1 planned in the step S2;
s4: when the TBM starts to tunnel, the auxiliary supporting shoes 10 and the main supporting shoes 11 are tightly supported on the wall of the tunnel, the background controller controls the swinging mechanism to swing and the rotary-cut cutter head 1 to rotate, meanwhile, the swinging telescopic arm 2 executes preset actions, and the rotary-cut cutter head 1 of the cutter head tunneling system excavates according to a preset path;
s5: in step S4, the background controller monitors the displacement and swing angle of the swing telescopic arm 2 in real time according to the displacement sensors on the pitch cylinder 8 and the swing cylinder 7, and synchronously corrects the displacement and swing angle of the swing telescopic arm 2 to ensure that the swing telescopic arm 2 drives the cutter tunneling system to excavate according to a predetermined path until an excavation period is completed;
s6: after an excavation period is finished, the three-dimensional scanning sensor scans an excavated following road profile and transmits corresponding information to the console controller, and the background controller compares the excavated following road profile with a pre-excavated profile to determine a profile trimming path;
s7: trimming the wall of the hole by a cutterhead tunneling system or manually according to the contour trimming path of the step S6;
s8: and after finishing, repeating the steps S1-S7 and entering the next excavation cycle.
When the rotary cutter disc 1 is excavated in steps S4 to S5, the swing cylinder 7 drives the swing telescopic arm 2 to swing in a vertical plane through the rotary shaft sleeve 5, the pitching cylinder 8 drives the rotary cutter disc 1 to swing up and down, meanwhile, the rotation drive 107 drives the fixed cutter cylinder 101 to rotate, the positive hob 401 and the side hob 402 on the front panel of the fixed cutter cylinder 101 extrude and rotatably cut the rock together, and the side rotary cutter 5 on the outer annular surface of the fixed cutter cylinder 101 assists in rotatably cutting the rock. When the cutter head is penetrated into the main beam in a certain depth in the forward direction, the axis of the cutter head gradually deviates from the axis of the main beam under the action of the parallel oil cylinder mechanism, the cutter head enters a complete rotary cutting mode, the main excavation cutter is hardly subjected to axial force, the side hobbing cutters are subjected to rotary cutting force, and the main excavation cutter and the side hobbing cutters carry out rotary cutting rock breaking and expanding excavation.
The other structure is the same as in example 3.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (12)
1. The utility model provides a novel gentle arm TBM of oscillating, props including blade disc tunnelling system, girder and protects the system and go out the sediment system, and the blade disc tunnelling system sets up and props the front portion of protecting the system at the girder, and it is corresponding its characterized in that the system of just digging with the blade disc on the girder system of protecting that the system of slagging tap is located: the cutter head tunneling system comprises a rotary cutter head (1) and a swinging telescopic arm (2), one end of the swinging telescopic arm (2) is connected with the rotary cutter head (1), and the other end of the swinging telescopic arm is rotatably connected with the main beam supporting and protecting system through a swinging mechanism.
2. The new oscillating flexible arm TBM according to claim 1, characterized in that: swing mechanism includes and props supporting seat (3) that protect the system and be connected with the girder, fixes central location axle (4) that is equipped with vertical setting on supporting seat (3), rotates on central location axle (4) and is equipped with gyration axle cover (5), is equipped with eccentric ear seat (6) on gyration axle cover (5), is connected with swing hydro-cylinder (7) on eccentric ear seat (6), and the one end and the eccentric ear seat (6) of swing hydro-cylinder (7) are articulated, the other end props with the girder and protects the headtotail.
3. The new oscillating flexible arm TBM according to claim 2, characterized in that: the swing telescopic arm (2) comprises an upper swing arm (201) and a lower swing arm (202) which are hinged with the rotation shaft sleeve (5), the front ends of the upper swing arm (201) and the lower swing arm (202) are hinged with a cutter head tunneling system, the upper swing arm (201) is connected with the lower swing arm (202) through a connecting rod (203), the upper swing arm (201), the lower swing arm (202) and the connecting rod (203) form a four-bar mechanism, a pitching oil cylinder (8) which drives the four-bar mechanism to move up and down is connected onto the four-bar mechanism, one end of the pitching oil cylinder (8) is hinged with the four-bar mechanism, and the other end of the pitching oil cylinder is connected with the rotation shaft sleeve (5).
4. The new oscillating flexible arm TBM according to claim 3, characterized in that: and displacement sensors are arranged on the swing oil cylinder (7) and the pitching oil cylinder (8).
5. The new oscillating flexible arm TBM according to claim 1 or 4, characterized in that: the rotary cutter head (1) comprises a fixed cutter barrel (101), the fixed cutter barrel (101) is hinged with a swing telescopic arm (2), a front panel of the fixed cutter barrel (101) is provided with a positive hob (401) and an edge hob (402), the positive hob (401) is vertically arranged on the front panel of the fixed cutter barrel (101), and the edge hob (402) is obliquely arranged on the outer edge of the front panel of the fixed cutter barrel (101); the outer ring surface of the fixed cutter cylinder (101) is provided with a side rotary digging cutter (105).
6. The novel oscillating flexible arm TBM according to claim 5, characterized in that: the side rotary excavating cutter (105) is a side hob group arranged along the circumferential direction of the fixed cutter barrel (101), at least one circle of side hob group is arranged on the fixed cutter barrel (101), and each circle of side hob group comprises at least two side hobs vertically arranged.
7. The novel oscillating flexible arm TBM according to claim 5, characterized in that: the rotary-cut cutter head (1) further comprises a rotation mechanism, the fixed cutter cylinder (101) is connected with the swing telescopic arm (2) through the rotation mechanism, the rotation mechanism comprises a cutter head seat (106) and rotation driving (107), one end of the cutter head seat (106) is rotatably connected with the fixed cutter cylinder (101), the other end of the cutter head seat is hinged with the swing telescopic arm (2), the rotation driving (107) is fixedly connected onto the cutter head seat (106), the output end of the rotation driving (107) is provided with a driving gear (108), and the driving gear (108) is meshed with an inner gear ring (109) arranged inside the fixed cutter cylinder (101).
8. The novel oscillating flexible arm TBM according to any one of claims 1 to 4, 6 and 7, wherein: the main beam supporting and protecting system comprises a main beam (9), auxiliary supporting boots (10) and main supporting boots (11) are arranged on the main beam (9), the auxiliary supporting boots (10) are located behind the swing mechanism, the main supporting boots (11) are located behind the auxiliary supporting boots (10), the auxiliary supporting boots (10) are fixed on the main beam (9), and the main supporting boots (11) are stepped along the main beam (9) through stepping oil cylinders (12) arranged on the main beam (9).
9. The novel oscillating flexible arm TBM according to claim 8, characterized in that: a supporting system (13) is arranged between the auxiliary supporting boots (10) and the main supporting boots (11), and the supporting system (13) is connected to the main beam (9); the slag tapping system is arranged on the main beam (9) and extends forwards to the position below the cutter head tunneling system.
10. The new oscillating flexible arm TBM according to claim 9, characterized in that: the slag discharging system comprises a slag collecting mechanism (14) and a belt conveyor, wherein the slag collecting mechanism (14) is obliquely arranged below the cutter head tunneling system, the belt conveyor is arranged on a main beam (9) of the main beam supporting and protecting system, and the slag discharging end of the slag collecting mechanism (14) corresponds to the belt conveyor.
11. A novel tunneling method of a swing type flexible arm TBM (tunnel boring machine) as claimed in any one of claims 1-4, 9 and 10, is characterized by comprising the following specific steps:
s1: a pitching oil cylinder (8) of the swing telescopic arm (2) retracts, and a swing oil cylinder (7) of the swing mechanism retracts into the cutter head tunneling system to be in an initial state;
s2: the background controller determines a pre-excavation profile according to the tunnel boundary parameters and plans a movement route of the rotary cutter head (1);
s3: the background controller sets displacement amounts of a pitching oil cylinder (8) of the swing telescopic arm (2) and a swing oil cylinder (7) of the swing mechanism according to the movement route of the rotary cutter head (1) planned in S2;
s4: the TBM starts tunneling, the auxiliary supporting shoes (10) and the main supporting shoes (11) are tightly supported on the wall of the tunnel, the background controller controls the swinging of the swinging mechanism and the rotation of the rotary-cut cutter head (1), meanwhile, the swinging telescopic arm (2) executes preset actions, and the rotary-cut cutter head (1) of the cutter head tunneling system excavates according to a preset path;
s5: in the step S4, the background controller monitors the displacement and the swing angle of the swing telescopic arm (2) in real time according to the displacement sensors on the pitch cylinder (8) and the swing cylinder (7), and synchronously corrects the displacement and the swing angle of the swing telescopic arm (2) to ensure that the swing telescopic arm (2) drives the cutter head tunneling system to excavate according to a set path until an excavation period is completed;
s6: after an excavation period is finished, the three-dimensional scanning sensor scans an excavated following road profile and transmits corresponding information to the console controller, and the background controller compares the excavated following road profile with a pre-excavated profile to determine a profile trimming path;
s7: trimming the wall of the hole by a cutterhead tunneling system or manually according to the contour trimming path of the step S6;
s8: and after finishing, repeating the steps S1-S7 and entering the next excavation cycle.
12. The novel tunneling method of the oscillating flexible arm TBM according to claim 10, characterized in that: when the rotary cutter head (1) is excavated in the steps S4-S5, the swing oil cylinder (7) drives the swing telescopic arm (2) to swing in a vertical plane through the rotary shaft sleeve (5), the pitching oil cylinder (8) drives the rotary cutter head (1) to swing up and down, meanwhile, the rotation drive (107) drives the fixed cutter cylinder (101) to rotate, the positive hob (401) and the side hob (402) on the front panel of the fixed cutter cylinder (101) extrude and rotatably cut rock together, and the side rotary cutter (5) on the outer ring surface of the fixed cutter cylinder (101) assists in rotary-cutting rock breaking.
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| CN201911397663.0A CN110985028A (en) | 2019-12-30 | 2019-12-30 | Novel swing type flexible arm TBM and tunneling method thereof |
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| CN201911397663.0A CN110985028A (en) | 2019-12-30 | 2019-12-30 | Novel swing type flexible arm TBM and tunneling method thereof |
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| CN112031805A (en) * | 2020-09-27 | 2020-12-04 | 中铁工程装备集团有限公司 | Cantilever excavator and excavation method thereof |
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| CN116717258A (en) * | 2023-08-07 | 2023-09-08 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Shaft development machine cutterhead assembly and shaft development machine |
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| CN113338965A (en) * | 2020-08-14 | 2021-09-03 | 中铁工程装备集团有限公司 | Combined rock breaking construction method and tunneling equipment thereof |
| CN113338965B (en) * | 2020-08-14 | 2022-03-25 | 中铁工程装备集团有限公司 | Combined rock breaking construction method and tunneling equipment thereof |
| CN112253126A (en) * | 2020-09-07 | 2021-01-22 | 辽宁三三工业有限公司 | Synchronous support device for connecting rod of shaft heading machine |
| CN112031805A (en) * | 2020-09-27 | 2020-12-04 | 中铁工程装备集团有限公司 | Cantilever excavator and excavation method thereof |
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| CN116030699A (en) * | 2023-03-24 | 2023-04-28 | 东北大学 | Excavation mechanical arm based on miniature hydraulic motor |
| CN116717258A (en) * | 2023-08-07 | 2023-09-08 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Shaft development machine cutterhead assembly and shaft development machine |
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