WO2020082747A1 - 并联机器人支撑、可开挖任意断面隧道的柔臂掘进机 - Google Patents

并联机器人支撑、可开挖任意断面隧道的柔臂掘进机 Download PDF

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Publication number
WO2020082747A1
WO2020082747A1 PCT/CN2019/090462 CN2019090462W WO2020082747A1 WO 2020082747 A1 WO2020082747 A1 WO 2020082747A1 CN 2019090462 W CN2019090462 W CN 2019090462W WO 2020082747 A1 WO2020082747 A1 WO 2020082747A1
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WIPO (PCT)
Prior art keywords
parallel robot
section
cross
group
cutter head
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PCT/CN2019/090462
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English (en)
French (fr)
Inventor
李建斌
张宁川
贺飞
贾连辉
姜礼杰
宁向可
齐志冲
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中铁工程装备集团有限公司
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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 EP19875310.5A priority Critical patent/EP3872298A4/en
Publication of WO2020082747A1 publication Critical patent/WO2020082747A1/zh

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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
    • E21D9/03—Driving non-circular tunnels
    • 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
    • E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
    • 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
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms

Definitions

  • the invention relates to the field of rock tunnel boring machines (TBM) in tunnel construction, in particular to a parallel robot support that can realize tunnel excavation of any cross-sectional shape, a flexible arm boring machine that can excavate tunnels of any cross-section, and a tunneling method thereof.
  • TBM rock tunnel boring machines
  • Rock tunnel boring machine is a large tunnel excavation equipment integrating mechanical, electronic, hydraulic, laser and other technologies, and plays an important role in the construction of mountain tunnels and urban subway projects.
  • the excavation section of this type of roadheader is basically circular. Although there are a few cases that can complete rectangular and horseshoe-shaped and other special-shaped cross-sections, these special-shaped cross-sections are all used in soft soil tunnel excavation, which has not been seen in rock tunnel engineering. And, once the excavation section of this type of roadheader is determined, it cannot be changed again in the application process. Its excavation shape is single, the application range is limited, and any section excavation cannot be achieved. At present, in rock tunnels, there are more and more projects with shaped sections such as horseshoes and other shaped sections. If the traditional circular boring machine is used for excavation, it will inevitably increase the amount of engineering excavation. Increased engineering costs and extended the construction period.
  • the technical problem to be solved by the present invention is to excavate the special-shaped section in the rock tunnel by using a traditional circular boring machine, which has a large amount of excavation, requires backfilling, high engineering cost, and long construction period.
  • the structure is flexible and the cross-section conversion range is large.
  • the parallel robot supports the excavation of any cross section of the rock tunnel, and the flexible arm roadheader can excavate the tunnel of any cross section.
  • a parallel robot support flexible arm tunneling machine that can excavate tunnels of any cross-section, including a cutter head cutter system, drive system, front support and main beam, front support setting On the main beam, the front part of the drive system is connected to the cutter head cutter system, and the drive system is flexibly connected to the front support through a parallel robot.
  • the parallel robot is a hydraulic cylinder group in the form of a parallel structure.
  • the front end of the hydraulic cylinder group is hingedly connected to the drive system, and the rear end is hingedly connected to the front support.
  • the front end of the hydraulic oil cylinder group is hingedly connected to the drive system through a ball hinge seat or universal joint, and the rear end is hingedly connected to the front support through a ball hinge seat or universal joint.
  • the driving system is connected to the front support through a hydraulic oil cylinder group to form a truss structure.
  • the hydraulic oil cylinder group has at least three groups, and each group has at least one hydraulic oil cylinder. At least three groups of hydraulic cylinder groups are evenly distributed on the drive system and front support
  • each group has one hydraulic oil cylinder.
  • each group has two hydraulic cylinders, and the two hydraulic cylinders of each group are distributed in a "V" shape on the drive system.
  • each group has two hydraulic cylinders, and the two hydraulic cylinders in each group are distributed in a "V" shape on the drive system.
  • a slag discharge system is provided under the cutter head cutter system.
  • 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 slag discharge system is a belt conveyor slag discharge system or a screw conveyor slag discharge system.
  • the cutter head cutter system is provided with a disc-shaped hob; the main beam is further provided with a steel arch mounter and an anchor rig system.
  • the main beam is connected to the support system through a propulsion system, and the rear of the support system is provided There are rear legs.
  • the digging method of a flexible arm tunneling machine supported by a parallel robot that can excavate tunnels of any cross-section includes the following steps: 1When the tunneling machine is working, the support system supports the hole wall, the rear legs retract, and the propulsion system extends out, which is extended by the main beam Drive the front support, shield structure, parallel robot, drive system, cutter head cutter system to advance forward; 2The cutter head with the disk hob is rotated by the drive system to complete the tunnel excavation; 3The excavated The rock slag is output outside the hole by the belt conveyor slag system; 3 After the propulsion system completes a tunnel excavation, the rear legs extend against the bottom of the hole to support the main machine and the support system retracts under the action of the propulsion system Move forward to complete the step change process.
  • Step 2 When the cutter head completes tunnel excavation under the action of the drive system, the position of the cutter head is adjusted by the parallel robot.
  • Robot-TBM refers to the use of several groups of hydraulic cylinders to elastically connect the cutterhead of the roadheader and the supporting beam. The distance between the cutterhead and the beam changes with the excavation position.
  • the invention can obtain an excavation operation with any cross-sectional shape: the parallel robot uses a truss structure composed of hydraulic oil cylinder groups to adjust the excavation range of the cutter head in a large and large range, thereby obtaining any desired cross-section.
  • the hob cutter head hard rock rock tunnels can be excavated and shaped: the application range of the boring machine is widened, especially the special-shaped section excavation in the hard rock formation is realized, and a new flexible parallel robot arbitrary section boring machine is formed .
  • the invention realizes the flexible structure and large cross-section conversion range by controlling the position and posture of the parallel robot, and truly realizes the excavation of any cross section of the rock tunnel; the new slag discharge system always located at the bottom of the cave contains any form of slag scraping and suction system, It is quick and convenient to transport the slag produced by excavation.
  • FIG. 1 is a schematic structural view of Embodiment 1 of the present invention.
  • FIG. 2 is a schematic structural diagram of the state of excavation on the top of the cutter head according to Embodiment 1 of the present invention
  • FIG. 3 is a schematic view of the structure of the excavation state of the bottom of the cutter head according to Embodiment 1 of the present invention.
  • FIG. 4 is an A-A view of FIG. 1;
  • FIG. 5 is an E-E view of FIG. 2;
  • Figure 6 is the F-F view of Figure 3;
  • FIG. 7 is a B-B view of FIG. 1 when there are four hydraulic cylinder groups in the embodiment 2 and two hydraulic cylinders in each group;
  • FIG. 8 is a C-C view of FIG. 1 when there are four hydraulic cylinder groups in the embodiment 2 and two hydraulic cylinders in each group;
  • FIG. 9 is a schematic view of the enlarged structure of the front portion of the third embodiment of the hydraulic cylinder group of three groups, each group of two hydraulic cylinders;
  • FIG. 10 is a schematic diagram of a three-dimensional structure relationship between a driving system, a parallel robot, and a front support when there are three hydraulic cylinder groups in Example 3 with two hydraulic cylinder groups in each group.
  • FIG. 11 is a schematic diagram of a three-dimensional structure relationship between a driving system, a parallel robot, and a front support when there are three hydraulic cylinder groups in Example 4 with one hydraulic cylinder in each group.
  • a flexible arm tunneling machine supported by a parallel robot and capable of excavating tunnels of any cross-section includes a cutter head cutter system 1, a drive system 2, a front support 6 and a main beam 9, the front support 6 is provided at On the main beam 9, the front part of the drive system 2 is connected to the cutter head cutter system 1, and the drive system 2 is flexibly connected to the front support 6 through a parallel robot 14.
  • the cutter head tool system 1 is bolted to the drive system 2.
  • the drive system 2 is composed of bearings, seals, motors, speed reducers, and steel structural parts.
  • the parallel robot 14 is a hydraulic cylinder group 5 in the form of a parallel structure.
  • the front end of the hydraulic cylinder group 5 is hingedly connected to the drive system 2 and the rear end is hingedly connected to the front support 6.
  • the hydraulic oil cylinder group 5 of the present invention can be driven by a hydraulic drive system or an electro-hydraulic servo system; at the same time, the hydraulic oil cylinder group 5 can also use a linear cylinder or a rotary pneumatic motor, and a pneumatic drive system.
  • the front end of the hydraulic cylinder group 5 is hingedly connected to the drive system 2 through a ball hinge seat 3, a flat hinge seat or a universal joint, and the rear end is hingedly connected to the front support 6 through a ball hinge seat 3, a flat hinge seat or a universal joint.
  • the slag discharge system 13 is a belt conveyor slag discharge system or a screw conveyor slag discharge system.
  • the slag discharge system 13 is a belt conveyor slag discharge system.
  • the slag discharge system 13 is connected to the belt conveyor 16 provided at the tail of the slag discharge system.
  • the slag discharge system 13 conveys the slag soil under the cutter head cutter system 1 to the belt conveyor 16, and then It is transported by the belt conveyor 16 to the outside of the roadheader.
  • the cutter head cutter system 1 is provided with a disc-shaped hob 15; the main beam 9 is also provided with a steel arch mounter 7 and an anchor rig system 8, the main beam 9 passes through the propulsion system 10 and the support system 11 is connected, and a rear leg 12 is provided at the rear of the support system 11.
  • the position of the cutter head during the excavation in the middle of the tunnel of the present invention is shown in Figures 1 and 4, the position of the cutter head during the excavation of the top of the tunnel is shown in Figures 2 and 3; the position of the cutter head during the excavation of the bottom of the tunnel is shown in Figure 3 And shown in Figure 6;
  • a method for driving a flexible arm tunneling machine supported by a parallel robot and capable of digging a tunnel of any cross-section includes the following steps: 1 When the tunneling machine is in operation, the support system 11 supports the hole wall, the rear leg 12 retracts, and the propulsion system 10 extends Out, the main beam 9 drives the front support 6, shield structure 4, parallel robot 14, drive system 2, cutter head cutter system 1 to go forward; 2 cutter head cutter system 1 with disk hob 15 installed in the drive system Under the action of 2, the slewing motion completes the tunnel excavation; 3The excavated rock slag is output by the belt conveyor slag system 13 out of the hole; 3 After the propulsion system 10 completes the progress of a tunnel excavation, the rear leg 12 extends to reach At the bottom of the hole, the host is supported, the support system 11 retracts, and moves forward under the action of the propulsion system 10 to complete the step change process.
  • Step 2 When the cutter head cutter system 1 completes tunnel excavation under the action of the drive system 2, the position of the cutter head cutter system 1 is adjusted by the parallel robot 14.
  • the hydraulic oil cylinder group has four groups, and each group has two hydraulic oil cylinders.
  • the two hydraulic oil cylinders of each group appear on the drive system 2 " V-shaped distribution.
  • the two ends of the four hydraulic cylinder groups are evenly distributed on the drive system 2 and the front support 6, respectively.
  • the two hydraulic cylinders distributed in a "V" shape can support each other and offset part of the cutter head cutting torque .
  • each group of the present invention When the number of hydraulic cylinders of each group of the present invention is greater than or equal to two, the adjacent hydraulic cylinders of each group are distributed in a "V" shape on the drive system 2, and when the cutter head tool system 1 rotates, it is distributed in a "V" shape. Two or more hydraulic cylinders can support each other to offset part of the cutting torque of the cutter head.
  • the number of hydraulic cylinder groups is four. When each group is two, there are a total of eight hydraulic cylinders, followed by No. 1 cylinder, No. 2 cylinder, ... No. 8 cylinder, and ball joint 3 on the drive system 2 and the front support 6 The arrangement positions are shown in Figures 7 and 8, respectively. In the figure, A1 and B1 represent the two ends of No.
  • A2 and B2 respectively represent the two ends of No. 2 cylinder ...
  • A8 and B8 respectively represent the No. 8 cylinder Both ends; it can be seen that after the installation of 8 hydraulic cylinders, a "V" shape is distributed on the drive system 2.
  • Other structures are the same as in Example 1.
  • the hydraulic oil cylinder group has three groups, each group has two hydraulic oil cylinders, and the two hydraulic oil cylinders of each group appear on the drive system 2 as "V "Type distribution.
  • the two ends of the three hydraulic cylinder groups are evenly distributed on the drive system 2 and the front support 6, respectively.
  • the two hydraulic cylinders in a "V" shape can support each other and offset part of the cutter head cutting torque .
  • the hydraulic oil cylinder group has three groups, and each group has a hydraulic oil cylinder.
  • the two ends of the three hydraulic cylinder groups are evenly distributed on the drive system 2 and the front support 6, as shown in FIG. 11, the front ends of the three hydraulic cylinder groups are evenly distributed on the drive system 2, and the rear ends are evenly distributed on the front support 6. .
  • Other structures are the same as in Example 1.

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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)

Abstract

一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机被公开，其能解决传统圆形掘进机在开挖异形断面岩石隧道过程中的开挖量大、需要回填、工程成本高、工期长等问题。该柔臂掘进机包括刀盘刀具系统（1）、驱动系统（2）、前支撑（6）和主梁（9）。前支撑设置在主梁上，所述的驱动系统前部与刀盘刀具系统连接，驱动系统通过并联机器人（14）与前支撑进行柔性连接。通过控制并联机器人的位姿，实现结构灵活、断面转换范围大，真正实现岩石隧道任意断面的开挖。同时还公开了一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机的掘进方法。

Description

并联机器人支撑、可开挖任意断面隧道的柔臂掘进机 技术领域
本发明涉及隧道施工中的岩石隧道掘进机(TBM)领域，具体涉及一种可以实现任意断面形状隧道开挖的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机及其掘进方法。
背景技术
岩石隧道掘进机(TBM)是一种集机械、电子、液压、激光等技术于一体的大型隧道开挖装备，在山岭隧道及城市地铁工程建设中发挥着重要作用。目前该种掘进机的开挖断面基本为圆形，虽然也有少部分可以完成矩形、马蹄形等异形断面的案例，但是这些异形断面全部应用于软土隧道开挖，在岩石隧道工程中还未见，并且该种掘进机开挖断面一旦确定，在应用过程中就无法再次改变，其开挖形状单一，应用范围受限，无法做到任意断面开挖。目前在岩石隧道中，成形断面采用马蹄形等异形断面的工程越来越多，如果采用传统的圆形掘进机开挖，势必增大了工程开挖量，同时多挖的一部分还要回填，不仅增大了工程成本，还延长了工期。
发明内容
本发明要解决的技术问题是采用传统的圆形掘进机开挖岩石隧道中的异形断面，开挖量大、需要回填、工程成本高、工期长，提供一种通过控制并联机器人的姿态，实现结构灵活、断面转换范围大，真正实现岩石隧道任意断面的开挖的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机。
为解决上述技术问题，本发明采用下述技术方案：一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，包括刀盘刀具系统、驱 动系统、前支撑和主梁，前支撑设置在主梁上，所述的驱动系统前部与刀盘刀具系统连接，驱动系统通过并联机器人与前支撑柔性连接。
所述的并联机器人为并联结构形式的液压油缸组，液压油缸组前端与驱动系统铰接连接、后端与前支撑铰接连接。
所述液压油缸组前端通过球铰座或万向接头与驱动系统铰接连接，后端通过球铰座或万向接头与前支撑铰接连接。
所述的驱动系统通过液压油缸组与前支撑连接成桁架结构，所述液压油缸组至少有三组，每组至少有一个液压油缸。至少三组的液压油缸组的两端分别在驱动系统和前支撑上均匀分布
所述的液压油缸组有三组，每组有一个液压油缸。
所述的液压油缸组有三组，每组有两个液压油缸，每组的两个液压油缸在驱动系统上呈“V”型分布。
所述的液压油缸组有四组，每组有两个液压油缸，每组的两个液压油缸在驱动系统上呈“V”型分布。
所述的刀盘刀具系统下方设有出渣系统，出渣系统前端伸至刀盘刀具系统下方、后端与皮带机相连。
所述的出渣系统为皮带机出渣系统或螺旋输送机出渣系统。
所述的刀盘刀具系统上设有盘形滚刀；所述的主梁上还设有钢拱架安装器和锚杆钻机系统，主梁通过推进系统与支撑系统相连，支撑系统后部设有后支腿。
并联机器人支撑、可开挖任意断面隧道的柔臂掘进机的掘进方法，包括以下步骤：①掘进机工作时，支撑系统撑紧洞壁，后支腿缩回， 推进系统伸出，由主梁带动前支撑、护盾结构、并联机器人、驱动系统、刀盘刀具系统向前掘进；②安装有盘形滚刀的刀盘在驱动系统的作用下回转运动，完成隧道开挖；③开挖的岩渣由皮带机出渣系统输出洞外；③推进系统完成一个隧道开挖的行程推进后，后支腿伸出抵紧洞底，支撑起主机，支撑系统缩回，在推进系统的作用下向前移动完成换步工序。
所述步骤②刀盘在驱动系统的作用下完成隧道开挖时，通过并联机器人调整刀盘的位置。
柔臂掘进机(Robot-TBM)是指掘进机刀盘与支撑大梁之间采用若干组液压油缸组弹性连接，刀盘与大梁之间的距离随着开挖位置的变化而变化。本发明可以获得任意断面形状的开挖作业：并联机器人利用液压油缸组组成的桁架结构，可以大幅度大范围的调整刀盘开挖范围，从而获得需要的任意断面。配合滚刀刀盘可以实现硬岩岩石隧道的开挖成型：拓宽了掘进机的应用范围，尤其是实现了在硬岩地层的异形断面开挖，形成了一种新型柔性并联机器人任意断面掘进机。
本发明通过控制并联机器人的位姿，实现结构灵活、断面转换范围大，真正实现岩石隧道任意断面的开挖；通过始终位于洞底的新型出渣系统包含任何形式的刮渣和吸渣系统，将开挖产生的渣土运输出去，快捷方便。
附图说明
图1是本发明实施例1结构示意图；
图2是本发明实施例1刀盘顶部开挖状态结构示意图；
图3是本发明实施例1刀盘底部开挖状态结构示意图；
图4是图1的A-A视图；
图5是图2的E-E视图；
图6是图3的F-F视图；
图7是实施例2液压油缸组为四组、每组两个液压油缸时图1的B-B视图；
图8是实施例2液压油缸组为四组、每组两个液压油缸时图1的C-C视图；
图9是实施例3液压油缸组为三组，每组两个液压油缸时的前部放大结构示意图；
图10是实施例3液压油缸组为三组，每组两个液压油缸时的驱动系统、并联机器人与前支撑的立体结构关系简图。
图11是实施例4液压油缸组为三组，每组一个液压油缸时的驱动系统、并联机器人与前支撑的立体结构关系简图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1
如图1-6所示，一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，包括刀盘刀具系统1、驱动系统2、前支撑6和主梁9，前支撑6设置在主梁9上，所述的驱动系统2前部与刀盘刀具系统1连接，驱动系统2通过并联机器人14与前支撑6柔性连接。刀盘刀 具系统1与驱动系统2螺栓连接，驱动系统2由轴承、密封、电机、减速机及钢结构件组成。
所述的并联机器人14为并联结构形式的液压油缸组5，液压油缸组5前端与驱动系统2铰接连接、后端与前支撑6铰接连接。本发明液压油缸组5可以采用液压驱动系统或电液伺服系统进行驱动；同时液压油缸组5也可以采用直线气缸或旋转气动电动机，并采用气动驱动系统。
所述液压油缸组5前端通过球铰座3、平铰座或万向接头与驱动系统2铰接连接，后端通过球铰座3、平铰座或万向接头与前支撑6铰接连接。
所述的出渣系统13为皮带机出渣系统或螺旋输送机出渣系统。出渣系统13为皮带机出渣系统，出渣系统13与设置在出渣系统尾部皮带机16相接，出渣系统13将刀盘刀具系统1下方的渣土输送至皮带机16上，再由皮带机16输送至掘进机外侧。
所述的刀盘刀具系统1上设有盘形滚刀15；所述的主梁9上还设有钢拱架安装器7和锚杆钻机系统8，主梁9通过推进系统10与支撑系统11相连，支撑系统11后部设有后支腿12。本发明隧道中间开挖时的刀盘位置如图1和图4所示，隧道顶部开挖时的刀盘位置如图2和图3所示；隧道底部开挖时的刀盘位置如图3和图6所示；
一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机的掘进方法，包括以下步骤：①掘进机工作时，支撑系统11撑紧洞壁，后支腿12缩回，推进系统10伸出，由主梁9带动前支撑6、护盾结构4、并联机器人14、驱动系统2、刀盘刀具系统1向前掘进；②安装有盘形滚刀15的刀盘刀具系统1在驱动系统2的作用下回转运动，完成隧道开挖；③开挖的岩渣由皮带机出渣系统13输出洞外；③推 进系统10完成一个隧道开挖的行程推进后，后支腿12伸出抵紧洞底，支撑起主机，支撑系统11缩回，在推进系统10的作用下向前移动完成换步工序。
所述步骤②刀盘刀具系统1在驱动系统2的作用下完成隧道开挖时，通过并联机器人14调整刀盘刀具系统1的位置。
实施例2
一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，所述的液压油缸组有四组，每组有两个液压油缸，每组的两个液压油缸在驱动系统2上呈“V”型分布。四组液压油缸组的两端分别在驱动系统2和前支撑6上均匀分布，刀盘刀具系统1转动时，呈“V”型分布的两个液压油缸可相互支撑，抵消一部分刀盘切削扭矩。本发明每组的液压油缸数大于等于两个时，每组相邻液压油缸之间在驱动系统2上均呈“V”型分布，刀盘刀具系统1转动时，呈“V”型分布的大于等于两个的液压油缸可相互支撑，抵消一部分刀盘切削扭矩。液压油缸组数量为四组，每组两个时，共八个液压油缸，依次为一号油缸、二号油缸、……八号油缸，球铰座3在驱动系统2和前支撑6上的布置位置分别如图7和图8所示，图中，A1和B1分别表示一号油缸的两端，A2和B2分别表示二号油缸的两端，……A8和B8分别表示八号油缸的两端；可以看出，8个液压油缸安装后在驱动系统2上呈“V”型分布。其它结构同实施例1。
实施例3
一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，所述的液压油缸组有三组，每组有两个液压油缸，每组的两个液压油缸在驱动系统2上呈“V”型分布。三组液压油缸组的两端分别在驱动系统2和前支撑6上均匀分布，刀盘刀具系统1转动时，呈“V”型分 布的两个液压油缸可相互支撑，抵消一部分刀盘切削扭矩。液压油缸组数量有三组，每组有两个，共6个液压油缸时，依次为一号油缸、二号油缸、……六号油缸，其布置方式见图9和图10，可以看出，6个液压油缸安装后在驱动系统2上呈“V”型分布。实现并联机器人14在传递刀盘刀具系统1推力的同时能够抵抗刀盘刀具系统1的转矩，调整刀盘刀具系统1姿态，稳定刀盘刀具系统1，在并联机器人14的作用下，刀盘刀具系统1平面始终与开挖断面平行。其它结构同实施例1。
实施例4
一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，所述的液压油缸组有三组，每组有一个液压油缸。三组液压油缸组的两端分别在驱动系统2和前支撑6上均匀分布，如图11所示，三组液压油缸组前端均匀分布在驱动系统2上、后端均匀分布在前支撑6上。其它结构同实施例1。

Claims (12)

  1. 一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，包括刀盘刀具系统(1)、驱动系统(2)、前支撑(6)和主梁(9)，前支撑(6)设置在主梁(9)上，所述的驱动系统(2)前部与刀盘刀具系统(1)连接，其特征在于：驱动系统(2)通过并联机器人(14)与前支撑(6)柔性连接。
  2. 根据权利要求1所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的并联机器人(14)为并联结构形式的液压油缸组(5)，液压油缸组(5)前端与驱动系统(2)铰接连接、后端与前支撑(6)铰接连接。
  3. 根据权利要求2所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述液压油缸组(5)前端通过球铰座(3)或万向接头与驱动系统(2)铰接连接，后端通过球铰座(3)或万向接头与前支撑(6)铰接连接。
  4. 根据权利要求2所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的驱动系统(2)通过液压油缸与前支撑(6)连接成桁架结构，所述液压油缸组(5)至少有三组，每组至少有一个液压油缸。
  5. 根据权利要求4所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的液压油缸组(5)有三组，每组有一个液压油缸。
  6. 根据权利要求4所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的液压油缸组(5)有三组，每组有 两个液压油缸，每组的两个液压油缸在驱动系统(2)上呈“V”型分布。
  7. 根据权利要求4所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的液压油缸组(5)有四组，每组有两个液压油缸，每组的两个液压油缸在驱动系统(2)上呈“V”型分布。
  8. 根据权利要求1所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的刀盘刀具系统(1)下方设有出渣系统(13)，出渣系统(13)前端伸至刀盘刀具系统(1)下方、后端与皮带机(16)相连。
  9. 根据权利要求8所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的出渣系统(13)为皮带机出渣系统或螺旋输送机出渣系统。
  10. 根据权利要求1所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机，其特征在于：所述的刀盘刀具系统(1)上设有盘形滚刀(15)；所述的主梁(9)上还设有钢拱架安装器(7)和锚杆钻机系统(8)，主梁(9)通过推进系统(10)与支撑系统(11)相连，支撑系统(11)后部设有后支腿(12)。
  11. 一种并联机器人支撑、可开挖任意断面隧道的柔臂掘进机的掘进方法，其特征在于：包括以下步骤：①掘进机工作时，支撑系统(11)撑紧洞壁，后支腿(12)缩回，推进系统(10)伸出，由主梁(9)带动前支撑(6)、护盾结构(4)、并联机器人(14)、驱动 系统(2)、刀盘刀具系统(1)向前掘进；②安装有盘形滚刀(15)的刀盘刀具系统(1)在驱动系统(2)的作用下回转运动，完成隧道开挖；③开挖的岩渣由出渣系统(13)输出洞外；③推进系统(10)完成一个隧道开挖的行程推进后，后支腿(12)伸出抵紧洞底，支撑起主机，支撑系统(11)缩回，在推进系统(10)的作用下向前移动完成换步工序。
  12. 根据权利要求11所述的并联机器人支撑、可开挖任意断面隧道的柔臂掘进机的掘进方法，其特征在于：所述步骤②刀盘刀具系统(1)在驱动系统(2)的作用下完成隧道开挖时，通过并联机器人(14)调整刀盘刀具系统(1)的位置。
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