EP3872299A4 - Machine de forage à bras flexible supportée par un robot pouvant excaver un tunnel avec une section transversale arbitraire - Google Patents

Machine de forage à bras flexible supportée par un robot pouvant excaver un tunnel avec une section transversale arbitraire Download PDF

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Publication number
EP3872299A4
EP3872299A4 EP19875605.8A EP19875605A EP3872299A4 EP 3872299 A4 EP3872299 A4 EP 3872299A4 EP 19875605 A EP19875605 A EP 19875605A EP 3872299 A4 EP3872299 A4 EP 3872299A4
Authority
EP
European Patent Office
Prior art keywords
robot
section
machine capable
boring machine
arbitrary cross
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19875605.8A
Other languages
German (de)
English (en)
Other versions
EP3872299B1 (fr
EP3872299A1 (fr
Inventor
Lijie Jiang
Jianbin Li
Fei He
Lianhui JIA
Xiangke NING
Zhichong QI
Ningchuan ZHANG
Yongliang WEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Railway Engineering Equipment Group Co Ltd CREG
Original Assignee
China Railway Engineering Equipment Group Co Ltd CREG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Railway Engineering Equipment Group Co Ltd CREG filed Critical China Railway Engineering Equipment Group Co Ltd CREG
Publication of EP3872299A1 publication Critical patent/EP3872299A1/fr
Publication of EP3872299A4 publication Critical patent/EP3872299A4/fr
Application granted granted Critical
Publication of EP3872299B1 publication Critical patent/EP3872299B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • E21D9/0875—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
    • E21D9/087—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
    • 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)
EP19875605.8A 2018-10-26 2019-06-10 Machine de forage à bras flexible supportée par un robot pouvant excaver un tunnel avec une section transversale arbitraire Active EP3872299B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811259349.1A CN109209413B (zh) 2018-10-26 2018-10-26 机器人支撑的多刀盘开挖任意断面隧道的柔臂掘进机
PCT/CN2019/090461 WO2020082746A1 (fr) 2018-10-26 2019-06-10 Machine de forage à bras flexible supportée par un robot pouvant excaver un tunnel avec une section transversale arbitraire

Publications (3)

Publication Number Publication Date
EP3872299A1 EP3872299A1 (fr) 2021-09-01
EP3872299A4 true EP3872299A4 (fr) 2022-01-05
EP3872299B1 EP3872299B1 (fr) 2023-10-25

Family

ID=64997237

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19875605.8A Active EP3872299B1 (fr) 2018-10-26 2019-06-10 Machine de forage à bras flexible supportée par un robot pouvant excaver un tunnel avec une section transversale arbitraire

Country Status (3)

Country Link
EP (1) EP3872299B1 (fr)
CN (1) CN109209413B (fr)
WO (1) WO2020082746A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109209413B (zh) * 2018-10-26 2024-04-09 中铁工程装备集团有限公司 机器人支撑的多刀盘开挖任意断面隧道的柔臂掘进机
CN109653756B (zh) * 2019-01-18 2024-03-15 中铁工程装备集团有限公司 一种矩形断面硬岩掘进机及其施工方法
CN109915162B (zh) * 2019-03-09 2024-06-04 上海创力集团股份有限公司 一种硬岩截割装置
CN110242314A (zh) * 2019-07-30 2019-09-17 中铁工程服务有限公司 一种可多自由度运动的tbm刀盘
CN110985035B (zh) * 2019-12-30 2021-04-23 中铁工程装备集团有限公司 一种串联式柔臂tbm刀盘掘进控制方法
US11905835B1 (en) * 2020-09-17 2024-02-20 TopEng Inc. Tunnel digging machine (TDM)
CN113175326B (zh) * 2021-04-09 2022-08-19 重庆文理学院 自动测量式tbm施工的掘进测量机及使用方法
CN113446019A (zh) * 2021-07-30 2021-09-28 中铁十五局集团有限公司 一种泥水盾构机错开式空隙可变刀盘及泥水盾构机
CN113685193A (zh) * 2021-09-16 2021-11-23 中煤科工集团重庆研究院有限公司 一种适用于tbm超前钻探的环形钻孔方法及钻机
CN116122835B (zh) * 2023-04-14 2023-06-20 太原理工大学 适用于紧凑型全断面掘进机的扭矩系统及掘进机

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06173575A (ja) * 1992-12-08 1994-06-21 Sentan Kensetsu Gijutsu Center 斜坑トンネルの掘削工法
US5890771A (en) * 1996-12-11 1999-04-06 Cass; David T. Tunnel boring machine and method
US5915790A (en) * 1994-11-15 1999-06-29 Hazama Corporation Tunnel boring machine

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2895362B2 (ja) * 1993-09-22 1999-05-24 三菱重工業株式会社 岩盤掘削機
JP3500082B2 (ja) * 1998-12-21 2004-02-23 三菱重工業株式会社 トンネル掘削機
CN103670420B (zh) * 2013-12-13 2016-03-23 中铁工程装备集团有限公司 全断面竖井钻机
CN203626846U (zh) * 2013-12-13 2014-06-04 东北大学 一种盾构机的变截面掘进装置
CN203742607U (zh) * 2013-12-23 2014-07-30 中铁工程装备集团有限公司 短距离重合断面掘进机
CN104533435B (zh) * 2014-11-27 2017-01-04 中铁工程装备集团有限公司 一种摆动刀盘式矩形断面顶管机
CN106640106B (zh) * 2017-02-23 2018-01-16 淮南矿业(集团)有限责任公司 一种矿用全断面硬岩掘进机及其循环掘进方法
CN109236315B (zh) * 2018-10-26 2024-04-12 中铁工程装备集团有限公司 机器人支撑的单刀盘开挖任意断面隧道的柔臂掘进机
CN109209413B (zh) * 2018-10-26 2024-04-09 中铁工程装备集团有限公司 机器人支撑的多刀盘开挖任意断面隧道的柔臂掘进机
CN109236313B (zh) * 2018-10-26 2024-05-10 中铁工程装备集团有限公司 串并联机器人支撑、开挖任意断面隧道的柔臂掘进机
CN109488323A (zh) * 2018-10-26 2019-03-19 中铁工程装备集团有限公司 并联机器人支撑、可开挖任意断面隧道的柔臂掘进机
CN109236314B (zh) * 2018-10-26 2024-04-09 中铁工程装备集团有限公司 串联机器人支撑、可开挖任意断面隧道的柔臂掘进机
CN109209420B (zh) * 2018-10-26 2024-04-16 中铁工程装备集团有限公司 机器人支撑的双刀盘开挖任意断面隧道的柔臂掘进机
CN208950598U (zh) * 2018-10-26 2019-06-07 中铁工程装备集团有限公司 一种机器人支撑的多刀盘开挖任意断面隧道的柔臂掘进机
CN109763836B (zh) * 2018-12-29 2024-03-08 中铁工程装备集团有限公司 适用于柔臂掘进机的重载柔性输送机

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06173575A (ja) * 1992-12-08 1994-06-21 Sentan Kensetsu Gijutsu Center 斜坑トンネルの掘削工法
US5915790A (en) * 1994-11-15 1999-06-29 Hazama Corporation Tunnel boring machine
US5890771A (en) * 1996-12-11 1999-04-06 Cass; David T. Tunnel boring machine and method

Also Published As

Publication number Publication date
CN109209413B (zh) 2024-04-09
EP3872299B1 (fr) 2023-10-25
EP3872299A1 (fr) 2021-09-01
WO2020082746A1 (fr) 2020-04-30
CN109209413A (zh) 2019-01-15

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