US3861748A - Earth boring machine and method - Google Patents

Earth boring machine and method Download PDF

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Publication number
US3861748A
US3861748A US440695A US44069574A US3861748A US 3861748 A US3861748 A US 3861748A US 440695 A US440695 A US 440695A US 44069574 A US44069574 A US 44069574A US 3861748 A US3861748 A US 3861748A
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US
United States
Prior art keywords
support ring
cutterhead
tunnel
frame
support
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.)
Expired - Lifetime
Application number
US440695A
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English (en)
Inventor
David T Cass
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.)
Robbins Co
Original Assignee
Robbins Co
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
Priority to US440695A priority Critical patent/US3861748A/en
Application filed by Robbins Co filed Critical Robbins Co
Priority to GB113775A priority patent/GB1462604A/en
Priority to AU77256/75A priority patent/AU480372B2/en
Priority to CA217,801A priority patent/CA1008091A/en
Publication of US3861748A publication Critical patent/US3861748A/en
Application granted granted Critical
Priority to CH104875A priority patent/CH585852A5/xx
Priority to ES434424A priority patent/ES434424A1/es
Priority to ES434425A priority patent/ES434425A1/es
Priority to JP50015854A priority patent/JPS52290B2/ja
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier

Definitions

  • a steering link extends laterally of the tunnel and is connected at one of its ends to the frame [5 References Cited and at its opposite end to the support ring. It is used UNITED STATES PATENTS for tilting the cutterhead sideways, so as to offset the cutterhead from the support ring, to in that manner ifiiflrsglgli et al. 299/31 change the Course of the tunnel. 3,695,718 10/1972 Lauber 299/10 X 11 Claims, 9 Drawing Figures PATENTEU JANZI I975 SHEET 30F 3 EARTH BORING MACHINE AND METHOD BACKGROUND OF THE INVENTION 1.
  • This invention relates to earth boring machines, and in particular to machine and method aspects of driving a large head boring machine along a curve.
  • the machine was tilted by a shortening of the cylinder on the side of the machine towards which the machine is to be turned and a corresponding lengthening of the opposite side cylinder.
  • the machine included an overhead shield basically like the one disclosed by the aforementioned U.S. Pat. No. 3,295,892. It was necessary to retract such shield from the tunnel roof before the machine could be tilted sideways. As a result the roof support was lost during turning.
  • the tunnel boring machine of this invention includes means for tilting the cutterhead sideways relative to a forward support ring in the tunnel, for the purpose of changing the course of the tunneling machine without a loss of roof support.
  • the boring machine of this invention comprises a main frame having a forwardly positioned cutterhead support and an elongated beam which extends rearwardly in the tunnel from the cutterhead support.
  • a gripper assembly is spaced rearwardly of the cutterhead support.
  • Thrust rams for shoving the boring machine forwardly relative to the gripper assembly are interconnected between the gripper assembly and the frame.
  • the frame is supported at its forward end by an expandable support ring.
  • the frame is pivotally connected to the support ring, preferably at the base of the ring, and an adjustable link is provided between the cutterhead support and the support ring, for tilting the cutterhead support, and hence the cutterhead carried thereby, sideways relative to the support ring, for the purpose of changing the course of the boring machine.
  • FIG. 1 is an isometric view taken from up above, looking towards the front and one side of the basic components of an embodiment of the tunneling machine of this invention, with some parts cut away for clarity of illustration of other parts;
  • FIG. 2 is the side elevational view of the tunneling machine, with some components shown in section;
  • FIG. 3 is a cross-sectional view through the tunneling machine, taken substantially along line 3-3 of FIG. 2;
  • FIG. 4 is a cross-sectional view taken through the tunneling machine, substantially along line 44 of FIG. 2;
  • FIG. 5 is a cross-sectional view taken through the tunneling machine, substantially along line 5-5 of FIG. 2;
  • FIG. 6 is a sectional view through the gripper assembly, taken substantially along line 6-6 of FIG. 4;
  • FIG. 7 is a top plan view showing the tunneling machine at the. end of a straight section of tunnel and about to enter a curve;
  • FIG. 8 is a view like FIG. 7, but showing the tunneling machine moved into the curve.
  • FIG. 9 is a view like FIGS. 7 and 8, but showing the tunneling machine moved an additional amount into the curve.
  • the illustrated embodiment comprises a support ring 10 which supports the forward portion of a frame 12.
  • Frame 12 comprises a cutterhead support 14 and an elongated beam 16 which trails rearwardly from cutterhead support 14.
  • a rotary cutterhead 18 is mounted for rotation on the cutterhead support 14.
  • Small drive gears 22 driven by motors 20 mesh with a large diameter gear 24 on the cutterhead l8.
  • Cutter elements 26 on cutterhead l8 dislodge material from the tunnel face and scoops 28 pick up the material and start it along a rearward course.
  • the material is moved through the cutterhead l8 and onto a conveyor which is housed in the main beam 16, for example, as shown by U.S. Pat. No. 3,640,077, granted Feb. 8, 1972, to Frank George Watson and David Burnett Sugden.
  • the mechanism which advances the boring machine forwardly in the tunnel includes a gripper assembly which is basically like the gripper assembly disclosed by the aforementioned U.S. Pat. No. 3,203,737.
  • the gripper assembly 30 may comprise a gripper carrier 32 having a transverse passageway 34 formed therein in which two collinear gripper cylinders 36, 38 are housed.
  • the cylinders 36, 38 comprise piston chambers which are rigidly connected together at their closed ends by upper and lower beam members 40, 42.
  • a piston, one of which is designated 44, is located within each cylinder 36, 38.
  • Piston rods 46, 48 extend outwardly from the pistons (44) and at their outer ends are connected to tunnel wall engaging gripper pads 50, 52.
  • a trunion member 54 extends between the two sides of support 32 and is mounted at its ends for rotation about an axis X which is generally di-' rected axially of the tunnel.
  • a pin 56 extends perpendicularly through the trunion member 54.
  • Pin 56 extends between, and at its ends is anchored to, the two beam members 40, 42, and is rotatable relative to member 54.
  • the trunion member 54 and the carrier 32 are rotatable as a unit about the axis of pin 56, i.e. axis Z (FIG. 4), within the limits of the space 34.
  • Gripper carrier 32 includes a pair of opposed slide bearings 58, 60 which receive and guide edge portions of a rail 62 which is part of the beam 16.
  • a pair of double-acting hydraulic cylinders 64, 66 are interconnected between upper portions of the carrier 32 and the bodies of the cylinders 36, 38 (FIG. 4). Pivotal connections are provided at each end of the cylinders 64, 66.
  • the cylinders 64, 66 constitute adjustable torque transfer links between the frame 12 and the gripper assembly 30, as will hereinafter be explained in greater detail.
  • the gripper carrier 32 includes four corner placed springs 68 which function to automatically center the cylinders 36, 38 with respect to the carrier 32.
  • the compression springs 68 react against pads 70 which make sliding contact with the side wall of the cylinder housings.
  • a pair of double-acting hydraulic thrust rams or cylinders 72, 74 are interconnected between the gripper pads 50, 52 of the gripper assembly 30 and forward portions of the frame 12, in the vicinity of the cutterhead support 14.
  • FIG. 1 shows the boring machine at the start of an advance.
  • the gripper cylinders 36, 38 are extended, forcing the gripper pads 50, 52 outwardly into gripping contact with opposite side wall portions of the tunnel.
  • Hydraulic fluid is delivered into the thrust rams 72, 74 to cause their extension.
  • the motors 20 are operated to rotate the cutterhead 18.
  • Cutterhead rotation and machine advance causes the disc cutter elements 26 to cut concentric kerfs in the tunnel face and to dislodge the material between the kerfs.
  • the dislodged material is picked up by the scoops 28 and delivered into an overhead chute which deposits such material onto the conveyor housed within the beam 16.
  • the guide rail 62 moves forwardly through the guide bearings 58, 60 on the carrier 32.
  • the propulsion rams 72, 74 reach the ends of their stroke, the cylinders 36, 38 are retracted to withdraw the gripper pads 50, 52 from engagement with the tunnel wall. Then, the propulsion rams 72, 74 are retracted to in that manner pull the gripper assembly 70 forwardly along the rail 62.
  • the gripper assembly is at a forward position on the rail 62, the cylinders 36, 38 are again extended and the above described procedure is repeated.
  • the support ring is of sectional construction, and is provided with means for adjusting its diameter, as will hereinafter be explained in detail.
  • the illustrated embodiment comprises a pair of side sections 74, 76 which are hinge connected where they meet at the bottom of the tunnel.
  • the cutterhead support 14 rests on a pedestal 72.
  • a large diameter pivot is provided.
  • pin 78 may be used for both pivotally connecting the lower ends of ring sections 74, 76 together, and for pivotally mounting a lower portion of pedestal 72 onto the ring 10.
  • Pin 78 connects the cutterhead support 14, and hence the entire frame 12, to the support ring 10 at a location close to the tunnel wall.
  • Pin 78 provides for pivotal movement of frame 12 about the axis of pin 78. Such axis extends generally parallel to the center line of the tunnel (FIGS. 2 and 3).
  • the illustrated embodiment of the ring 10 also comprises a third section which is the upper section of the ring. It is connected to the side sections 74, 76 by means of extendible-retractable links, such as doubleacting hydraulic cylinders 82, 84. The ends of the hydraulic cylinders 82, 84 are pivotally attached to the ring sections 74, 76, 80. Extension of the cylinders 82,
  • a steering cylinder 86 extends laterally of the tunnel and is connected at one of its ends to a bracket 88 secured to an upper portion of the cutterhead support 14 and at its opposite end to a bracket 90 secured to the upper section 80 of support ring 10.
  • the ends of the cylinder 86 are connected to the brackets 88, 90 by means of pivot pins.
  • the cutterhead 18 cuts a circle which is generally equal to the expanded diameter of the ring 10.
  • the center of rotation of the cutterhead 18 generally coincides with the center axis of support ring 10 when the boring machine is being used for boring a tunnel which is horizontally straight.
  • the steering cylinder 86 When it is desired to turn the machine horizontally, the steering cylinder 86 is either extended or retracted (depending on the desired direction of turn) for the purpose of tilting the cutterhead l8 sideways relative to the support ring 10 (FIG. 3). Cylinder 86 also holds the frame 12 in position relative to support ring 10.
  • the cutterhead is progressively offset sideways during advancement of the machine. This is so that the change in direction of the tunnel will be gradual and will closely followalong a smooth curve.
  • FIG. 3 includes a broken line showing of a full offset position of cutterhead 18. When the support ring 10 enters the offset region it is influenced sideways by the change in direction of the bore.
  • Translation of the support ring 10 also causes the frame 12 and the cutterhead 18 to translate.
  • the frame 12 must be moved forward in such a manner that the rear portion of beam 16, (or some other structure, e.g., an operators station, which follows the beam 16 and moves with it) will not contact the tunnel wall.
  • the side locations on the tunnel wall at the upper level of the beam 16 are labeled a, b.
  • the cylinder (36 or 38) which is on the inside of the curve is shortened and the opposite cylinder is lengthened an equal amount (FIG. 8). If the machine must be turned along a curve which is sharp enough that rear end contact of the beam 16 (or other trailing structure) with a side location b, c on the tunnel would prevent holding the ring 10 on a radius line and the beam l6 on a cord, the gripper cylinder (36 or 38) which is on the inside of the curve is shortened and the opposite cylinder is lengthened, so that the ring 10 and the beam 16 will occupy positions substantially as lie on curves which correspond to the desired side boundaries of the tunnel. 7
  • Beam 16 must be able to yaw relative to the anchored gripper assembly as the frame 12 is translated. This movement is made possible by the pivot pin 56.
  • the centering springs 68 serves to auto- 20 matically return the gripper cylinders 36, 38 to centered positions with respect to the carrier 32.
  • Ring 10 may be a portion of a shield structure which is supported on ring 10 and extends rearly from ring 10.
  • a support ring anchorable in a tunnel a frame including a cutterhead support portion adjacent said support ring;
  • a forwardly directed rotary cutterhead supported on 0 said cutterhead support, including cutter means thereon for cutting a bore which is generally equal in diameter with said support ring;
  • a tunneling boring machine includes means for frictionally gripping the tunnel wall, to anchor such support ring in place within the tunnel.
  • a tunneling boring machine according to cla1m 1, wherein said support ring comprises at least two sections which are interconnected by an expandable link which is adjustable to expand and contract the support ring, such support ring being expandable outwardly into frictional'engagement with the walls of the tunnel.
  • said support ring includes at least two sections which are hinged together at and by the means which pivotally connects the frame to the support ring, and said support ring further includes means for swinging said sections outwardly into frictional contact with the wall of the tunnel.
  • a tunneling boring machine wherein said means for tilting said frame from said sup-' port ring, and for adjustable affixing such frame in position relative to said support ring, comprises a double acting hydraulic cylinder which extends transversely of the tunnel and is connected at one of its ends to the frame and at its other end to the support ring.
  • a tunneling machine wherein said frame also includes an elongated beam portion which extends rearwardly from the cutterhead support, and wherein said means advancing said machine includes a gripper assembly spaced rearwardly from said cutterhead support and including laterally extendible and retractable gripper pad means, guide means for said beam portion mounting said gripper assembly for longitudinal back-and-forth movement along said beam portion, and propulsion ram means interconnected between said gripper assembly and the frame in the vicinity of said cutterhead support.
  • said gripper assembly includes means mounting the gripper pad means for vertical, roll and yaw movement relative to the beam portion.
  • said support ring includes means for frictionally gripping the tunnel wall, to anchor such support ring in place within the tunnel.
  • said support ring comprises at least two sections which are interconnected by an expandible link 0 which is adjustable to expand and contract the support ring, such support ring being expandable outwardly into frictional engagement with the walls of the tunnel.
  • said support ring includes at least two sections which are hinged together at and by the means which pivotally connects the frame to the support ring, and said support ring further includes means for swinging said sections outwardly into frictional contact with the wall of the tunnel.
  • a method of steering a tunnel boring machine of a type having a single rotating cutterhead at its forward end which carries cutter means for dislodging material from the tunnel face as the cutterhead is both rotated and advanced axially forwardly said method compris- III upporting the front end of a boring machine on a support ring which is substantially the diameter of the bore cut by the cutterhead;

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  • 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)
US440695A 1974-02-08 1974-02-08 Earth boring machine and method Expired - Lifetime US3861748A (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
US440695A US3861748A (en) 1974-02-08 1974-02-08 Earth boring machine and method
GB113775A GB1462604A (en) 1974-02-08 1975-01-10 Earth boring machine and method
AU77256/75A AU480372B2 (en) 1974-02-08 1975-01-13 Earth boring machine and method
CA217,801A CA1008091A (en) 1974-02-08 1975-01-13 Earth boring machine and method
CH104875A CH585852A5 (en, 2012) 1974-02-08 1975-01-29
ES434425A ES434425A1 (es) 1974-02-08 1975-02-04 Perfeccionamientos en las maquinas de perforar tuneles.
ES434424A ES434424A1 (es) 1974-02-08 1975-02-04 Metodo de guiar una maquina de perforar tuneles, especial- mente en virajes.
JP50015854A JPS52290B2 (en, 2012) 1974-02-08 1975-02-06

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US440695A US3861748A (en) 1974-02-08 1974-02-08 Earth boring machine and method

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Publication Number Publication Date
US3861748A true US3861748A (en) 1975-01-21

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US440695A Expired - Lifetime US3861748A (en) 1974-02-08 1974-02-08 Earth boring machine and method

Country Status (6)

Country Link
US (1) US3861748A (en, 2012)
JP (1) JPS52290B2 (en, 2012)
CA (1) CA1008091A (en, 2012)
CH (1) CH585852A5 (en, 2012)
ES (2) ES434425A1 (en, 2012)
GB (1) GB1462604A (en, 2012)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2406064A1 (fr) * 1977-10-15 1979-05-11 Gewerk Eisenhuette Westfalia Bouclier a couteaux avec couteaux expansibles
US4160566A (en) * 1977-02-14 1979-07-10 Kerr-Mcgee Corporation Mining apparatus
WO1980001587A1 (en) * 1979-02-05 1980-08-07 Robbins Co Rotary cutterhead for an earth boring machine
US4247222A (en) * 1979-08-20 1981-01-27 Schosek William O Stabilizing means for an underground pipe installer device
US4548443A (en) * 1984-07-03 1985-10-22 The Robbins Company Tunnel boring machine
EP0115942A3 (en) * 1983-01-27 1986-10-15 Harrison Western Corporation Tunnel boring machine
FR2596084A1 (fr) * 1986-02-18 1987-09-25 Gewerk Eisenhuette Westfalia Dispositif de pose de tubes par poussee, en particulier pour tubes de faible diametre
WO1989010466A1 (en) * 1988-04-18 1989-11-02 Fikse Tyman H Shuffling quadrishoe tunnel boring machine
US5005911A (en) * 1988-04-18 1991-04-09 Fikse Tyman H Quadrishoe tunnel boring machine
US5205613A (en) * 1991-06-17 1993-04-27 The Robbins Company Tunnel boring machine with continuous forward propulsion
AU708331B2 (en) * 1995-11-27 1999-08-05 Ishikawajima-Harima Heavy Industries Co., Ltd. Excavation machine
AU719321B2 (en) * 1996-03-28 2000-05-04 Peter Kenneth Seear A mining machine
US20030173819A1 (en) * 2001-12-10 2003-09-18 Hames Marilyn Patricia Ann Mining method for steeply dipping ore bodies
US20040207247A1 (en) * 2002-10-15 2004-10-21 Eric Jackson Automated excavation machine
US20060000121A1 (en) * 2004-04-23 2006-01-05 Placer Dome Technical Services Limited Excavation apparatus and method
WO2006089349A1 (en) * 2005-02-25 2006-08-31 Commonwealth Scientific And Industrial Research Organisation An apparatus for driving a shaft in an excavating device
WO2014004405A1 (en) * 2012-06-25 2014-01-03 The Robbins Company Tunnel boring machine with cutterhead support assembly supporting a variable number of drive systems
CN113175326A (zh) * 2021-04-09 2021-07-27 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
AU2021243549B2 (en) * 2020-03-27 2024-05-02 Komatsu Ltd. Tunnel excavation device

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2191231B (en) * 1986-12-18 1990-03-28 Howden James & Co Ltd A tunnel boring machine
PL231572B1 (pl) 2013-03-23 2019-03-29 Hajduk Group Spolka Z Ograniczona Odpowiedzialnoscia Obudowa krocząca do wyrobiska chodnikowego
KR102007176B1 (ko) * 2018-09-11 2019-08-05 강성진 지중 배관 매설을 지원하는 배관 견인식 굴착기

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3419311A (en) * 1966-04-11 1968-12-31 S & M Constructors Inc Hydraulic circuit for holding and pushing cylinders of tunneling machine
US3598445A (en) * 1969-05-08 1971-08-10 Douglas F Winberg Tunnel-boring machine
US3695718A (en) * 1970-11-09 1972-10-03 Ernst Abraham Lauber Raise boring machine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3419311A (en) * 1966-04-11 1968-12-31 S & M Constructors Inc Hydraulic circuit for holding and pushing cylinders of tunneling machine
US3598445A (en) * 1969-05-08 1971-08-10 Douglas F Winberg Tunnel-boring machine
US3695718A (en) * 1970-11-09 1972-10-03 Ernst Abraham Lauber Raise boring machine

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4160566A (en) * 1977-02-14 1979-07-10 Kerr-Mcgee Corporation Mining apparatus
FR2406064A1 (fr) * 1977-10-15 1979-05-11 Gewerk Eisenhuette Westfalia Bouclier a couteaux avec couteaux expansibles
WO1980001587A1 (en) * 1979-02-05 1980-08-07 Robbins Co Rotary cutterhead for an earth boring machine
US4234235A (en) * 1979-02-05 1980-11-18 The Robbins Company Rotary cutterhead for an earth boring machine
US4247222A (en) * 1979-08-20 1981-01-27 Schosek William O Stabilizing means for an underground pipe installer device
EP0115942A3 (en) * 1983-01-27 1986-10-15 Harrison Western Corporation Tunnel boring machine
US4548443A (en) * 1984-07-03 1985-10-22 The Robbins Company Tunnel boring machine
FR2596084A1 (fr) * 1986-02-18 1987-09-25 Gewerk Eisenhuette Westfalia Dispositif de pose de tubes par poussee, en particulier pour tubes de faible diametre
BE1000191A3 (fr) * 1986-02-18 1988-08-23 Gewerk Eisenhuette Westfalia Dispositif de pose de tubes par poussee, en particulier pour tubes de faible diametre.
WO1989010466A1 (en) * 1988-04-18 1989-11-02 Fikse Tyman H Shuffling quadrishoe tunnel boring machine
US4915453A (en) * 1988-04-18 1990-04-10 Fikse Tyman H Floating shoe tunnel boring machine and boring process
US5005911A (en) * 1988-04-18 1991-04-09 Fikse Tyman H Quadrishoe tunnel boring machine
US5205613A (en) * 1991-06-17 1993-04-27 The Robbins Company Tunnel boring machine with continuous forward propulsion
AU708331B2 (en) * 1995-11-27 1999-08-05 Ishikawajima-Harima Heavy Industries Co., Ltd. Excavation machine
AU719321B2 (en) * 1996-03-28 2000-05-04 Peter Kenneth Seear A mining machine
US6857706B2 (en) 2001-12-10 2005-02-22 Placer Dome Technical Services Limited Mining method for steeply dipping ore bodies
US20030173819A1 (en) * 2001-12-10 2003-09-18 Hames Marilyn Patricia Ann Mining method for steeply dipping ore bodies
US7695071B2 (en) 2002-10-15 2010-04-13 Minister Of Natural Resources Automated excavation machine
US20040207247A1 (en) * 2002-10-15 2004-10-21 Eric Jackson Automated excavation machine
US8016363B2 (en) 2002-10-15 2011-09-13 Eric Jackson Automated excavation machine
US20100109417A1 (en) * 2002-10-15 2010-05-06 Minister Of Natural Resources Canada Automated Excavation Machine
US20060000121A1 (en) * 2004-04-23 2006-01-05 Placer Dome Technical Services Limited Excavation apparatus and method
US7192093B2 (en) 2004-04-23 2007-03-20 Placer Dome Technical Services Limited Excavation apparatus and method
WO2006089349A1 (en) * 2005-02-25 2006-08-31 Commonwealth Scientific And Industrial Research Organisation An apparatus for driving a shaft in an excavating device
WO2014004405A1 (en) * 2012-06-25 2014-01-03 The Robbins Company Tunnel boring machine with cutterhead support assembly supporting a variable number of drive systems
US9010872B2 (en) 2012-06-25 2015-04-21 The Robbins Company Tunnel boring machine with cutterhead support assembly supporting a variable number of drive systems
AU2021243549B2 (en) * 2020-03-27 2024-05-02 Komatsu Ltd. Tunnel excavation device
US12173607B2 (en) 2020-03-27 2024-12-24 Komatsu Ltd. Tunnel excavation device
CN113175326A (zh) * 2021-04-09 2021-07-27 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
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

Also Published As

Publication number Publication date
CA1008091A (en) 1977-04-05
ES434424A1 (es) 1977-03-16
JPS50108727A (en, 2012) 1975-08-27
JPS52290B2 (en, 2012) 1977-01-06
GB1462604A (en) 1977-01-26
AU7725675A (en) 1976-07-15
ES434425A1 (es) 1976-12-01
CH585852A5 (en, 2012) 1977-03-15

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