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Robot-supported flexible arm tunnel boring machine (Robot-TBM) with multiple cutters boring tunnels with arbitrary cross sections

A robotic arm and robot technology, applied in tunnels, mining equipment, earth-moving drilling and other directions, can solve the problems of increasing the strength of the equipment, increasing the volume and thickness, wasting manpower and material resources, and achieving the effect of flexible structure and large cross-section conversion range.

Pending Publication Date: 2019-01-15
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the strength of 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.

Method used

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  • Robot-supported flexible arm tunnel boring machine (Robot-TBM) with multiple cutters boring tunnels with arbitrary cross sections
  • Robot-supported flexible arm tunnel boring machine (Robot-TBM) with multiple cutters boring tunnels with arbitrary cross sections
  • Robot-supported flexible arm tunnel boring machine (Robot-TBM) with multiple cutters boring tunnels with arbitrary cross sections

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as Figure 1 to Figure 5 As shown, a robot-supported multi-cutterhead flexible-arm tunnel boring machine (Robot-TBM) for excavating tunnels with arbitrary cross-sections includes a main beam 6, and the rear part of the main beam 6 is forwarded by a propulsion cylinder 7 and a rear support shoe 8. The rear part of the rear support shoe 8 is connected with the rear support 9; it is characterized in that: the front part of the main beam 6 is flexibly connected with the cutterhead tool system 1 through the robot 4, and the cutterhead tool system 1 includes at least three cutterhead.

[0040] The front portion of the robot 4 is provided with an anti-cutter torque support shoe system 3 .

[0041]The robot 4 includes a cutterhead attitude adjustment mechanism 2 and a robot arm, the cutterhead cutter system 1 is arranged side by side on the cutterhead attitude adjustment mechanism 2, and the robot arm at the rear of the cutterhead attitude adjustment mechanism 2 is connec...

Embodiment 2

[0045] Such as Image 6 As shown, the robot arm described in the present invention is a serial robot arm 40 . The series robot arm 40 includes a machine arm 402, a machine arm 405 and a rotary base 403, the rotary base 403 is arranged on the main beam 6, the front end of the robot arm 405 is fixedly connected with the connecting seat 204, and the machine arm 402 rear end Through the articulated connection between the kinematic joint 401 and the rotary base 403, the large arm 402 of the machine is articulated with the small arm 405 of the machine; There is a telescopic oil cylinder 404. The tandem robot arm 4 is the mechanical arm body of the tandem robot, wherein the robot arm 401 is the main force-bearing mechanism, the telescopic oil cylinder 402 is used to realize the movement of the robot arm, the kinematic joint 404 is the rotation joint of the robot, and the rotary base 403 is fixed on the main beam The rotary motion of the robot can be realized on the robot, and the m...

Embodiment 3

[0047] Such as Figure 7 and Figure 8 As shown, the robot arm of the present invention is a series-parallel robot arm 42, and the series-parallel robot arm 42 includes a revolving frame 421, a moving frame 422, and a slide rail 423, and the revolving frame 421 is arranged on the top of the moving frame 422, and the moving frame One side of 422 cooperates with slide rail 423, and slide rail 423 is arranged on the main beam 6; Described slewing frame 421 is provided with No. 1 oil cylinder 425 and No. 3 oil cylinder 428 in parallel, and No. 1 oil cylinder 425 is connected with No. 2 oil cylinder through serial joint I426. The oil cylinders 427 are connected in series, and the No. 3 oil cylinder 428 is connected in series with the No. 4 oil cylinder 420 through the series joint II429; the No. 2 oil cylinder 427 and the No. 4 oil cylinder 420 are connected with the cutter head attitude adjustment mechanism 2 through the connecting seat 204. The moving frame 422 is driven by a dr...

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Abstract

The invention discloses a robot-supported flexible arm tunnel boring machine (Robot-TBM) with multiple cutters boring tunnels with arbitrary cross sections, so as to meet the boring needs of diversified tunnel cross sections at present and make up for the single shortcomings of cross section boring by the existing tunnel boring machine. The robot-supported flexible arm tunnel boring machine (Robot-TBM) with multiple cutters boring tunnels with arbitrary cross sections comprises a cutter system and a main beam, wherein the rear part of the main beam is connected with the front part of a rear support shoe through a thrust cylinder, and the rear part of the rear support shoe is connected with a rear support; the front part of the main beam is connected with the cutter system through a robot;and the cutter system comprises at least three cutters. Due to the combined cutter system structure with multiple cutter moments coupled, the stress generated during working can be offset, the structure is optimized, and the cost is reduced.

Description

technical field [0001] The present invention relates to the field of rock tunnel boring machine (TBM) in tunnel construction, in particular to a flexible-arm tunneling machine based on robot-supported multi-cutters that can excavate tunnels with arbitrary cross-section shapes within a certain range ( Robot-TBM). Background technique [0002] Rock tunnel boring machine (TBM) is a kind of tunnel excavation equipment integrating optical, mechanical, electrical, hydraulic and other multidisciplinary technologies. play an extremely important role [0003] At present, this type of roadheader mainly uses the rotation of the cutterhead to excavate rocks, and its excavation sections are mostly circular, which is difficult to adapt to the current tunnel projects with diverse cross-section requirements such as horseshoe shapes and similar rectangles. Although a small number of them cooperate with other devices Joint excavation can complete engineering cases with rectangular, horsesho...

Claims

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Application Information

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IPC IPC(8): E21D9/087
CPCE21D9/0875E21D9/087E21D9/0874E21D9/093E21D9/11E21D9/117
Inventor 姜礼杰李建斌贺飞贾连辉宁向可齐志冲张宁川文勇亮
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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