WO2020082746A1 - 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
WO2020082746A1
WO2020082746A1 PCT/CN2019/090461 CN2019090461W WO2020082746A1 WO 2020082746 A1 WO2020082746 A1 WO 2020082746A1 CN 2019090461 W CN2019090461 W CN 2019090461W WO 2020082746 A1 WO2020082746 A1 WO 2020082746A1
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Prior art keywords
cutter
cutter head
robot
arm
cylinder
Prior art date
Application number
PCT/CN2019/090461
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English (en)
Chinese (zh)
Inventor
姜礼杰
李建斌
贺飞
贾连辉
宁向可
齐志冲
张宁川
文勇亮
Original Assignee
中铁工程装备集团有限公司
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Publication date
Application filed by 中铁工程装备集团有限公司 filed Critical 中铁工程装备集团有限公司
Priority to EP19875605.8A priority Critical patent/EP3872299B1/fr
Publication of WO2020082746A1 publication Critical patent/WO2020082746A1/fr

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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
    • 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

Definitions

  • the invention relates to the field of rock tunnel boring machines (TBM) in tunnel construction, and in particular to a flexible arm boring machine (Robot-TBM) for excavating tunnels of arbitrary cross-sections based on robot support within a certain range. ).
  • TBM rock tunnel boring machines
  • Robot-TBM flexible arm boring machine
  • Rock tunnel boring machine is a kind of tunnel excavation equipment that integrates multi-disciplinary technologies such as light, machine, electricity and hydraulic. It is used in hydraulic tunnels, railway tunnels, urban rail transit tunnels and comprehensive pipe corridors. Plays an extremely important role
  • this type of roadheader mainly uses the rotation of the cutter head for rock breaking excavation, and its excavation section is mostly round, which is difficult to adapt to the current tunnel projects with diverse cross-sections such as horseshoe-shaped and rectangular-like, although a small part is equipped with other devices
  • the joint excavation can complete the engineering cases of special-shaped cross-sections such as rectangles and horseshoes.
  • these special-shaped cross-sections are all used in the excavation of soft soil tunnels. The construction cases in rock tunnel projects are rarely reported.
  • the cutterheads of tunnel boring machines are all fixed, and the cutterheads can only be pitched and oscillated with a small amplitude to adjust the direction of tunneling, but the shape of the excavation surface is limited.
  • the excavation section of the tunnel boring machine Once the excavation section of the tunnel boring machine is determined, it will be difficult to change again. Its excavation shape is single, the excavation section has poor flexibility, and its application range is limited. It is difficult to meet the requirements of different sections of different projects and even different sections of the same project. If you need to excavate different shape sections, you need to redesign a new roadheader, which has high cost, long cycle and lack of flexibility under complex geological conditions to affect the construction schedule.
  • the roadheader works with a single cutter head, and its working efficiency is limited, and the single cutterhead structure will generate a large reaction torque when excavating, so that the roadheader always works under a large stress.
  • the strength of the equipment is mainly increased by increasing the volume and thickness of key components such as the main beam of the roadheader, which wastes a lot of manpower and material resources.
  • a multi-cutter torque coupling tunneling machine based on robot support is designed to realize large-section excavation of any shape while using multi-cutter coupling torque to reduce the stress of key components.
  • the present invention makes up for the single defect of the existing tunnel boring machine excavation section, and provides a method for realizing large-section excavation with multiple cutter disc coupling moments while reducing key components New type of roadheader with multi-cutter arbitrary cross-section based on stress supported by robot.
  • a robot-supported flexible arm boring machine for excavating tunnels of any cross-section including a cutter head cutter system and a main beam, the rear of the main beam passes through a propelling cylinder and The front part of the rear support shoe is connected, and the rear part of the rear support shoe is connected with the rear support; the front part of the main beam is flexibly connected with the cutter head cutter system through a robot.
  • the cutter head cutter system includes a cutter head, and the cutter head cutter system is connected to the front of the robot through a cutter head torque support system.
  • the cutter head cutter system includes two cutter heads, and the two cutter heads are arranged side by side in front of the robot.
  • the cutter head cutter system includes at least three cutter heads.
  • the cutter head cutter system is connected to the front of the robot through a cutter head torque support system.
  • the robot includes a cutter head posture adjustment mechanism and a robot arm.
  • the cutter head cutter system is arranged in parallel on the cutter head posture adjustment mechanism.
  • the rear robot arm of the cutter head posture adjustment mechanism is connected to the main beam to resist the cutter head torque support
  • the shoe system is arranged on the cutter posture adjusting mechanism.
  • the cutter posture adjustment mechanism includes a connecting seat.
  • the front end of the connecting seat is movably connected to several sub-cutter tool systems through joint bearings.
  • the outer side of the connecting seat is provided with a tilting oil cylinder and a swinging oil cylinder. Between the sub-cutter tool system and the connecting seat Both are equipped with pitch cylinder and swing cylinder.
  • the anti-knife disc torque support system includes a support shoe, a support oil cylinder and a support seat.
  • the support seat is provided in a cutter posture adjustment mechanism.
  • the support shoe is connected to the support seat through the support oil cylinder.
  • the robot arm is a tandem robot arm.
  • the tandem robot arm includes a machine arm, a machine arm, and a slewing base.
  • the slewing base is provided on the main beam.
  • the front end of the machine arm is fixedly connected to the connecting seat, and the back end of the machine arm is hingedly connected to the slewing base through a motion joint.
  • the machine arm and the machine arm are hingedly connected; a telescopic oil cylinder is provided between the rotary base and the machine arm, and between the machine arm and the machine arm.
  • the robot arm is a serial-parallel robot arm.
  • the serial-parallel robot arm includes a slewing frame, a moving frame, and a slide rail.
  • the slewing frame is arranged on the upper part of the moving frame, and one side of the moving frame cooperates with the slide rail.
  • On the main beam; No. 1 cylinder and No. 3 cylinder are arranged in parallel on the slewing frame, No. 1 cylinder is connected in series with No. 2 cylinder through series joint I, and No. 3 cylinder is connected in series with No. 4 cylinder through series joint II;
  • the No. 2 cylinder and No. 4 cylinder are connected to the cutter posture adjusting mechanism through the connecting seat.
  • a slag discharge system is provided below the cutter head cutter system, and the front end of the slag discharge system extends below the cutter head cutter system and the rear end is connected to the belt conveyor.
  • the cutter head cutter system includes a main cutter head and several secondary cutter heads.
  • the outer diameter of the main cutter head is not less than the outer diameter of the secondary cutter head, and the secondary cutter head is arranged outside the main cutter head.
  • the invention is equipped with a hard rock excavation cutter head.
  • the structure is flexible, the cross-section conversion range is large, and the excavation of any cross section of the rock tunnel can be truly realized.
  • the invention is based on a flexible cutterhead excavation system supported by a robot (series, parallel, series-parallel or other forms), which can carry out excavation of any shape cross section; the combined cutterhead cutter system structure of multiple cutter head torque coupling, offsets the Stress, optimize structure and reduce costs; the new slag discharge system (including any form of slag scraping and slag suction system) at the bottom of the tunnel can clean and output the slag generated by the roadheader.
  • the Robot-TBM (Robot-TBM) of the present invention refers to the use of several groups of hydraulic oil cylinders for elastic connection between the cutterhead of the roadheader and the support beam, and the distance between the cutterhead and the beam changes with the change of the excavation position.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • FIG. 2 is a schematic structural view of the cutter posture adjustment mechanism with an anti-cutter torque support system of the present invention
  • FIG. 3 is a schematic view of the structure of a cutter plate arrangement of the present invention.
  • FIG. 4 is a schematic view of the structure of the arrangement of two cutter heads of the present invention.
  • FIG. 5 is a schematic view of the structure of the three-cutter arrangement of the present invention.
  • FIG. 6 is a schematic view of the structure of the four-cutter arrangement of the present invention.
  • FIG. 7 is a schematic view of the structure of the five-cutter arrangement of the present invention.
  • FIG. 8 is a schematic view of the use state structure of the robot arm of the present invention is a tandem robot arm;
  • FIG. 9 is a schematic view of the use state structure of the present invention when the robot arm is a serial-parallel robot arm;
  • FIG. 10 is a schematic structural view of a series-parallel robot arm according to Embodiment 3 of the present invention.
  • the front part of the shoe 8 is connected, and the rear part of the rear support shoe 8 is connected to the rear support 9; characterized in that: the front part of the main beam 6 is flexibly connected to the cutter head cutter system 1 through the robot 4, and the cutter head cutter system 1 A cutter head is included, and the cutter head cutter system is connected to the front of the robot through the cutter head torque support system.
  • a robot-supported boring machine for excavating tunnels of any cross-section
  • the cutter head cutter system 1 includes two cutter heads, and the two cutter heads are arranged side by side in the robot 4 Front part.
  • the two cutter heads are cutter head I and cutter head II respectively, and cutter head I and cutter head II are arranged side by side in front of cutter head posture adjustment mechanism 3, and the rear part of cutter head posture adjustment mechanism 3 is connected to main beam 6 through a robot arm .
  • the cutter head I and the cutter head II of the present invention are complete and independently operable cutter head systems. As shown in FIG. 4, the two are installed on the same support, and the robot 4 controls the position of the cutter head system.
  • the robot 4 can select the series structure form, the parallel structure form, and the series-parallel structure form according to different engineering requirements, and can plan the multi-degree-of-freedom movement of the cutter head through control methods such as offline programming and manual teaching.
  • the cutter posture adjustment mechanism 3 of the present invention can be regarded as a robot dexterous hand, which is mainly used to drive the cutter head to rotate and adjust the cutter head posture, and the robot arm is the robot body.
  • the present invention can adopt series type, parallel type, or series-parallel type according to needs It is mainly used to adjust the position of the cutter head system. It can adopt pre-programming or human-computer interaction and other control methods to realize the multi-degree of freedom movement of the cutter head and realize the excavation of different sections.
  • Other structures are the same as in Example 1.
  • the cutter head cutter system 1 includes at least three cutter heads.
  • the cutter head cutter system 1 is connected to the front of the robot 4 through a cutter head torque support system 3.
  • the front part of the robot 4 is provided with an anti-cutter torque support system 3.
  • the robot 4 includes a cutter head posture adjustment mechanism 3 and a robot arm.
  • the cutter head cutter system 1 is arranged on the cutter head posture adjustment mechanism 3 in parallel.
  • the rear robot arm of the cutter head posture adjustment mechanism 3 is connected to the main beam 6.
  • the anti-cutter torque support system 3 is provided on the cutter posture adjustment mechanism 3.
  • Several sub-cutter tool systems 1 form a combined cutter head system. The size and power of each cutter head in the combined cutter head are adjusted according to the required cross-sectional size and working torque.
  • the combined cutter head is installed on the cutter head support base and the movement of the cutter head is controlled by the robot. And posture adjustment.
  • Figures 5 to 7 respectively illustrate the layout and rotation directions of the three-cutter, four-cutter, and five-cutter, by adjusting the steering of different cutters to counteract the reaction torque generated during the tunneling process. According to the way that the torques are coupled with each other and cancelled, it can be expanded to a multi-cutter coupling type roadheader excavating cutter head.
  • the cutter posture adjustment mechanism 3 includes a connecting seat 204.
  • the front end of the connecting seat 204 is movably connected to several sub-cutter tool systems 1 via joint bearings 201.
  • a pitching oil cylinder 202 and a swinging oil cylinder 203 are provided outside the connecting seat 204.
  • a pitch cylinder 202 and a swing cylinder 203 are provided between the disc cutter system 1 and the connecting seat 204.
  • the pitch cylinder completes the up and down pitching movement of the cutter head, and the swing cylinder completes the left and right swing movement of the cutter head.
  • the pitch cylinder 302 and the swing cylinder 303 are vertically arranged.
  • Each cutter head is provided with a cutter head main driving structure.
  • the pitch cylinder and the swing cylinder of the cutter head posture adjustment mechanism 3 are perpendicular to each other to adjust the attitude of the cutter head.
  • the anti-cutter torque support system 3 includes a support shoe 301, a support cylinder 302, and a support base 303.
  • the support base 303 is provided in the cutter posture adjustment mechanism 3.
  • the support shoe 301 is supported by the support cylinder 302 Block 303 is connected.
  • the supporting base 303 is provided on the connecting base 204 of the cutter posture adjusting mechanism 3.
  • the anti-cutter torque support system 3 is a tightening device fixed inside the cutter tray, symmetrically arranged on both sides of the cutter tray, the support shoe 301 can be attached to the hole wall, the support shoe cylinder 302 is a telescopic oil cylinder, which can control the support shoe When extending and retracting, there are two support cylinders 302, the two support cylinders 302 can be controlled independently, and the support base 303 is an oil cylinder support base located inside the cutter head.
  • the anti-knife torque support system 3 is activated.
  • a plurality of support cylinders 302 may be provided as needed, and different extensions of the support cylinders 302 may be controlled according to needs.
  • the robot arm of the present invention is a tandem robot arm 40.
  • the tandem robot arm 40 includes a machine arm 402, a machine arm 405, and a slewing base 403.
  • the slewing base 403 is disposed on the main beam 6, the front end of the machine arm 405 is fixedly connected to the connecting seat 204, and the back end of the machine arm 402
  • the motion joint 401 is hingedly connected to the rotary base 403, and the machine arm 402 and the machine arm 405 are hingedly connected; the rotary base 403 and the machine arm 402, and between the machine arm 402 and the machine arm 405 are provided
  • the tandem robot arm 4 is the mechanical arm body of the tandem robot, in which the machine arm 401 is the main force mechanism, the telescopic cylinder 402 is used to realize the movement of the robot arm, the motion joint 404 is the rotary joint of the robot, and the rotary base 403 is fixed on the main beam
  • the machine arm 401 is the main force mechanism
  • the telescopic cylinder 402 is used to realize the movement of the robot arm
  • the motion joint 404 is the rotary joint of the robot
  • the rotary base 403 is fixed on the main beam
  • pre-programmed or human-computer interaction and other control methods can be adopted to realize the multi-degree-of-freedom motion of the cutter head.
  • the robot arm of the present invention is a serial-parallel robot arm 42.
  • the serial-parallel robot arm 42 includes a slewing frame 421, a moving frame 422, and a slide rail 423.
  • the slewing frame 421 is provided to move The upper part of the frame 422, one side of the moving frame 422 cooperates with the slide rail 423, and the slide rail 423 is arranged on the main beam 6; the rotary frame 421 is provided with a No. 1 oil cylinder 425 and a No. 3 oil cylinder 428 in parallel.
  • the serial joint I426 is connected in series with the second cylinder 427, and the third cylinder 428 is connected in series with the fourth cylinder 420 through the serial joint II429; the second cylinder 427 and the fourth cylinder 420 are connected to the cutter posture adjusting mechanism 3 through the connecting seat 204 connection.
  • the mobile rack 422 is driven by a drive 424.
  • three, four, five, etc. oil cylinders can be arranged in parallel on the revolving frame 301 according to the present invention to facilitate better control of the cutter head cutter system. In the present invention, two oil cylinders are connected in parallel to the slewing frame 301, the control system is simpler and easier to control.
  • the second cylinder 427 and the fourth cylinder 420 are connected to the cutter posture adjusting mechanism 3 through a connecting seat 204.
  • the cutter posture adjustment mechanism 3 is a dexterous hand of the serial-parallel robot, which is mainly used to adjust the attitude of the cutter head.
  • 422 realizes the movement of the robot along the slide rail 423, the first oil cylinder 425, the tandem joint I426, the second oil cylinder 427 and the third oil cylinder 428, the tandem joint II429, and the fourth oil cylinder 420 respectively constitute the two serial mechanisms of the robot, the first oil cylinder 425
  • Two oil cylinders and No. 3 oil cylinder 428 are connected in parallel on the slewing frame, and the multi-freedom movement of the cutter head can be realized by pre-programming or human-machine interactive teaching, etc., and different excavation sections can be realized.
  • the serial-parallel robot arm 42 of the present invention drives the cutter head to move forward and backward through the expansion and contraction of the No. 1 oil cylinder 425 and the No. 3 oil cylinder 428.
  • the excavation angle of the cutter head can be adjusted through the expansion and contraction of the second oil cylinder 427 or the fourth oil cylinder 420.
  • a slag discharge system 5 is provided below the cutter head cutter system 1.
  • the front end of the slag discharge system 5 extends below the cutter head cutter system 1 and the rear end is connected to the belt conveyor 10.
  • the slag discharge system 5 is a belt conveyor slag discharge system or a screw conveyor slag discharge system.
  • the belt conveyor 10 is provided at the tail of the slag discharge system.
  • the slag discharge system 5 transports the slag soil under the cutter head 1 to the outside of the roadheader and transports it out.
  • Other structures are the same as in Example 1.
  • the cutter head cutter system 1 includes a main cutter head 101 and several secondary cutter heads 102.
  • the outer diameter of the main cutter head 101 is not less than the outer diameter of the secondary cutter head 102, and the secondary cutter head 102 is disposed outside the main cutter head 101 .
  • the two secondary cutter heads are set outside the main cutter head, which can be offset by adjusting the speed and direction of the sub cutter head
  • the anti-knife torque support system 3 is activated; when there are 4 cutter head cutter systems 1, as shown in Fig.
  • the main cutter head and the secondary cutter head are the same size and adjusted
  • the rotation speed and direction of different cutter heads are used to calibrate the torque of each cutter head.
  • a main cutter head and four secondary cutter heads are provided.
  • the torque generated by the main cutter head is offset by adjusting the speed and steering of the secondary cutter head.
  • the anti-cutter torque support system 3 is activated.
  • the principle is the same as above, and the purpose of offsetting torque is achieved by adjusting the rotation speed and steering.
  • Other structures are the same as in Example 1.
  • the working of the present invention includes the following steps: 1. Design the number, size and steering of the cutter head in the combined cutter head cutter system according to the parameters such as the excavation torque requirement; 2. According to the construction section shape requirements, pre-program the movement path of the intelligent robot; 3. Make the boring machine reach the working range of the robot, and the robot will make the cutter head reach the specified position according to the set trajectory; 4. The support shoes support the wall of the hole, propel the oil cylinder and the main drive work; 5. The bottom slag discharge system works, and it will fall into the hole The bottom dregs are transported out by the belt conveyor; 6. After reaching a certain excavation volume, repeat steps 2-4 for the next station cycle.

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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)
  • Manipulator (AREA)

Abstract

L'invention concerne une machine de forage à bras flexible supportée par un robot (4) pouvant excaver un tunnel avec une section transversale arbitraire. La machine de forage à bras flexible comprend un système d'outil de coupe à tête de coupe (1) et une poutre principale (6). Une partie arrière de la poutre principale (6) est reliée à une partie avant d'une pince arrière (8) au moyen d'un cylindre de poussée (7) ; une partie arrière de la pince arrière (8) est reliée à un support arrière (9) ; et une partie avant de la poutre principale (6) est reliée de manière flexible au système d'outil de coupe à tête de coupe (1) au moyen du robot (4).
PCT/CN2019/090461 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 WO2020082746A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP19875605.8A 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

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811259349.1 2018-10-26
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

Publications (1)

Publication Number Publication Date
WO2020082746A1 true WO2020082746A1 (fr) 2020-04-30

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

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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
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

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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
CN110905542B (zh) * 2019-12-30 2024-09-13 中铁工程装备集团有限公司 一种适用于柔臂掘进机的tbm刀盘及其开挖方法
CN110966014B (zh) * 2019-12-30 2024-09-20 中铁工程装备集团有限公司 一种新型柔臂tbm及其掘进方法
CN110985028B (zh) * 2019-12-30 2024-09-20 中铁工程装备集团有限公司 一种新型摆动式柔臂tbm及其掘进方法
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)
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

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