A slag cleaning device for a tunnel boring machine and a tunnel boring machine

Abstract

The present invention belongs to the field of tunnel excavation equipment, and specifically relates to a slag cleaning device for a tunnel boring machine and a tunnel boring machine. The tunnel boring machine comprises a cutter disc, a main beam connected to the cutter disc, an equipment bridge located at the rear side of the main beam, and a slag conveyor. It also comprises a slag cleaning device with a slag cleaning mechanical arm and a slag cleaning bucket. The slag cleaning mechanical arm comprises a connecting seat connected to the main beam and / or the equipment bridge and a movable arm hinged on the connecting seat. The movable arm comprises at least two arm sections. A driving device for driving the corresponding arm sections to unfold and fold is provided between the arm section and the connecting seat and between the arm sections. The slag cleaning bucket is connected to the arm section of the last stage and is an active slag cleaning bucket that can actively take slag under the drive of the slag cleaning mechanical arm. The slag cleaning bucket has a slag unloading position for putting the obtained slag into the slag conveyor on the main beam of the tunnel boring machine. A unloading door and an unloading driving device are provided on the slag cleaning bucket, or a material dumping driving device for driving the slag cleaning bucket to dump out the slag is provided between the slag cleaning bucket and the slag cleaning mechanical arm, thereby realizing automatic slag cleaning.

Description

Technical Field

[0001] The invention belongs to the field of tunnel excavation equipment, and in particular relates to a slag cleaning device for a tunnel boring machine and a tunnel boring machine. Background Art

[0002] At present, tunnel boring machines have become important equipment for tunnel construction projects and are widely used in water conservancy tunnels, urban rails, municipal transportation and railway tunnels. As a typical tunnel boring machine, TBM (full-section hard rock tunnel boring machine) is often accompanied by rock bursts, top collapse and block falling during the tunneling process, resulting in serious slag accumulation at the bottom of the tunnel. If the slag and stones are not cleaned up in time, the processes such as arch frame assembly, invert blocks and track laying will be delayed, which will restrict the construction progress and affect the support quality.

[0003] At present, there are two main ways to clean up the accumulated slag at the bottom of the tunnel: manually bagging the accumulated slag with a shovel and a woven bag, manually operating semi-automatic equipment to collect the slag, and finally transporting it out with a slag truck, or placing it on a belt conveyor and transporting it out with the belt conveyor. The above-mentioned semi-automatic equipment is disclosed in the patent application specification with application publication number CN110552713A and application publication date December 10, 2019, the patent specification with publication number CN209483367U and publication date October 11, 2019, and the patent application specification with application publication number CN103266897A and publication date August 28, 2013.

[0004] Among them, the patent application specification with application publication number CN110552713A and application publication date December 10, 2019 discloses a device for cleaning accumulated slag at the bottom of a hard rock tunnel boring machine. The device includes a slide rail, a mechanical arm, an end effector, a slide rail, a main beam, and a slide rail cylinder. The mechanical arm is suspended on the main beam through a horizontal slide rail. One end of the slide rail cylinder is hinged to the main beam, and the other end is hinged to the base of the mechanical arm. It can drive the mechanical arm to translate along the tunnel excavation direction. The base rotary cylinder can drive the entire mechanical arm to rotate. The shoulder joint pitch swing cylinder drives the upper arm to rotate, the elbow joint pitch cylinder drives the forearm to rotate, and the wrist joint pitch cylinder drives the end effector to rotate. The end effector drives the swing cylinder to control the opening and closing action of the end effector. The end effector can cover most working conditions through opening and closing actions, and clean up accumulated slag of different particle sizes. When in use, the robotic arm carries the slag and transports it to the slag discharge trolley located at the rear and lower part of the main beam to complete a slag removal operation, and then continues to work until the accumulated slag at the bottom of the tunnel is cleared to meet the TBM construction track laying and arch erection indicators.

[0005] The patent specification with announcement number CN209483367U and announcement date October 11, 2019 discloses a multi-mode tunnel bottom slag cleaning robot suitable for TBM, which includes a drive system and a terminal slag cleaning actuator, and a mechanical arm is arranged between the drive system and the terminal slag cleaning actuator; the drive system and the terminal slag cleaning actuator are both connected to the control system, and a high-speed camera is also arranged connected to the control system, and the high-speed camera is connected to the image acquisition system, and the image acquisition system is connected to the control system, and the high-speed camera is arranged on the terminal slag cleaning actuator. The terminal slag cleaning actuator includes a gripper, a spiral blade bucket and a square bucket, and the gripper, the spiral blade bucket and the square bucket are evenly arranged under the turntable. When in use, the image acquisition system is used to identify the position of the slag and determine the type of the slag, and then the mechanical arm is driven to drive one of the gripper, the spiral blade bucket and the square bucket to take the slag. However, the patent specification does not introduce how to further process the obtained slag.

[0006] The patent application specification with application publication number CN103266897A and publication date August 28, 2013 discloses a tunnel boring machine slag bucket, which can transfer the slag in the hopper to the belt conveyor on the main beam of the tunnel boring machine through the hopper, rotating arm, connecting rod assembly, etc., but the collection of the slag still needs to be done manually.

[0007] In summary, the current slag cleaning equipment has not yet achieved full automation and usually requires secondary transportation. It has disadvantages such as high labor intensity, high labor cost for slag cleaning, and low degree of automation, which seriously restricts the rapid excavation of tunnels. Summary of the invention

[0008] The purpose of the present invention is to provide a slag cleaning device for a roadheader, so as to solve the technical problems in the prior art that the slag cleaning device for a roadheader has a low degree of automation and requires manual cooperation when working, resulting in high labor intensity, high labor cost and slow slag cleaning speed. The purpose of the present invention is also to provide a roadheader using the above-mentioned slag cleaning device for a roadheader, so as to solve the technical problem in the prior art that the roadheader has a slow excavation speed due to the low degree of automation of the slag cleaning device.

[0009] To achieve the above purpose, the technical solution of the slag cleaning device for a roadheader provided by the present invention is:

[0010] A slag cleaning device for a tunnel boring machine comprises a slag cleaning mechanical arm and a slag cleaning bucket, the slag cleaning mechanical arm comprises a connecting seat for connecting to a main beam and / or an equipment bridge and a movable arm hinged to the connecting seat, the movable arm comprises at least two arm sections hinged to each other in sequence, and driving devices for driving the corresponding arm sections to unfold and fold are respectively provided between the arm sections and the connecting seat and between the arm sections. The slag cleaning bucket is connected to the arm section of the last stage and is an active slag cleaning bucket that can actively take slag under the drive of the slag cleaning mechanical arm. The slag cleaning bucket has the function of putting the acquired slag into the slag unloading position of the slag conveyor of the tunnel boring machine under the drive of the slag cleaning mechanical arm, and a unloading door and a corresponding unloading driving device are provided on the slag cleaning bucket, or a material unloading driving device for driving the slag cleaning bucket to pour out the slag is provided between the slag cleaning bucket and the slag cleaning mechanical arm.

[0011] The beneficial effect is that the slag cleaning bucket is an active slag cleaning bucket that can actively remove slag under the drive of the slag cleaning mechanical arm. In this way, when cleaning slag, the movable arm can move under the drive of the corresponding driving device and drive the slag cleaning bucket to dig up the slag at the bottom of the tunnel and move it to the slag unloading position. After moving to the slag unloading position, the corresponding driving device drives the unloading door to open or drives the slag cleaning bucket to perform the material pouring action, and pours the slag onto the slag conveyor, realizing fully automated slag cleaning without relying on manual assistance, reducing the labor workload of slag cleaning work while achieving efficient slag cleaning.

[0012] As a further improvement, the connecting seat is a rotating seat and is equipped with a rotating drive device. The connecting seat includes a connecting arm hinged to a movable arm. When the connecting seat is installed on the main beam of the tunnel boring machine, the distance between the hinge point where the connecting arm is hinged to the movable arm and the rotation center of the connecting seat is greater than the distance between the side wall of the main beam and the rotation center of the connecting seat.

[0013] The beneficial effect is: a connecting arm is arranged on the connecting seat to connect the movable arm. Compared with the movable arm being directly hinged on the connecting seat, the number of hinge points can be reduced, the structure of the slag cleaning mechanical arm can be simplified, and the probability of failure can be reduced, thereby ensuring that the slag cleaning device of the tunnel boring machine has reliable working performance.

[0014] As a further improvement, the arm sections of the slag cleaning robot arm include a first arm section hinged to the rotating seat and a second arm section hinged to the end of the first arm section, and at least one of the first arm section and the second arm section is a telescopic arm section.

[0015] The beneficial effects are: the telescopic boom section is arranged so that the single boom section can be adaptively extended and shortened, and when taking slag, it is in a retracted state to ensure that the slag cleaning bucket does not interfere with the tunnel wall, and when unloading slag, it is extended to send the slag cleaning bucket to a higher height, ensuring that the slag cleaning bucket can reach the slag unloading position with a simpler structure and control.

[0016] As a further improvement, an end of the first arm section close to the second arm section and / or an end of the second arm section close to the first arm section is provided with an elbow, so that the first arm section and the second arm section are hinged on the elbow and can be completely folded.

[0017] The beneficial effect is that an elbow is provided at the end of the boom section so that two adjacent boom sections can be completely folded, avoiding the situation where the two adjacent boom sections still have an angle after being folded, causing the movable arm to occupy too much space after being folded and affecting the movement of the corresponding tunnel boring machine.

[0018] As a further improvement, the telescopic arm section includes a fixed section, a telescopic section and a driving cylinder connecting the fixed section and the telescopic section, and the driving cylinder is arranged in an inner cavity formed after the telescopic section and the fixed section are inserted.

[0019] The beneficial effect is that the telescopic boom section adopts a telescopic structure driven by a driving cylinder, and the driving cylinder that provides the telescopic power can be arranged in the boom section to protect the driving cylinder and prevent the falling slag during the slag cleaning process from causing damage to the telescopic cylinder of the boom section, thereby ensuring that the boom section has better protection performance, and thus ensuring that the slag cleaning device of the tunnel boring machine can work reliably.

[0020] As a further improvement, a self-lubricating plate is provided between the wall surfaces of the insertion point between the fixed section and the telescopic section.

[0021] The beneficial effect is that the self-lubricating plate is provided to ensure that the fixed section and the telescopic section of the telescopic boom section can be smoothly telescoped and adjusted.

[0022] As a further improvement, the self-lubricating plate is limited by a top screw installed on one of the fixed section and the telescopic section located on the outer layer.

[0023] The beneficial effect is: by limiting the position through the top screw, after the self-lubricating plate is worn, the position of the self-lubricating plate can be adjusted in time by adjusting the screw-in amount of the top screw, thereby improving the convenience of adjusting the position of the self-lubricating plate. At the same time, the top screw is set on one of the fixed section and the telescopic section located on the outer layer, so that maintenance personnel can directly adjust the position of the self-lubricating plate without disassembling the movable arm, thereby improving the convenience of maintenance of the movable arm.

[0024] As a further improvement, the end of the arm section located in the last section of each arm section is equipped with a swivel seat that can rotate around the axis of the arm section and a driving mechanism configured for the swivel seat. The slag cleaning bucket is swingably installed on the swivel seat, and a driving device for driving the slag cleaning bucket to swing is provided between the swivel seat. The swing axis of the slag cleaning bucket at this location is parallel to the hinge axis between the two adjacent arm sections.

[0025] The beneficial effect is: by arranging a swivel seat on the last arm section and arranging the slag cleaning bucket on the swivel seat, after the movable arm lifts the slag cleaning bucket to the highest position, the position of the slag cleaning bucket can be adjusted to the side of the slag conveyor by rotating the swivel seat, so that the position of the slag cleaning bucket can be smoothly adjusted, avoiding the slag cleaning bucket from tilting during position adjustment and causing slag to spill.

[0026] As a further improvement, the slag cleaning bucket includes a bucket seat and a bucket body. The bucket seat is connected to the swivel seat to realize the swing installation of the slag cleaning bucket on the swivel seat. The bucket body and the bucket seat are rotationally matched and are equipped with a driving mechanism for driving the bucket body to rotate. The rotation axis of the bucket body is perpendicular to the swing axis of the bucket seat.

[0027] The beneficial effect is that after the slag cleaning bucket reaches the slag unloading position, the slag can be dumped out more reliably by driving the bucket body to rotate.

[0028] As a further improvement, the connecting seat is provided with a track extending along the travel direction of the tunnel boring machine.

[0029] The beneficial effect is that while the slag cleaning bucket moves synchronously with the tunnel boring machine to clean the slag at the bottom of the tunnel, the track extending along the traveling direction of the tunnel boring machine arranged on the connecting seat can adjust the position of the slag cleaning bucket relative to the tunnel boring machine, that is, the position of the slag cleaning bucket can be adjusted in two levels in the traveling direction of the tunnel boring machine. In this way, the position of the slag cleaning bucket and the slag cleaning robot arm can be adjusted in a targeted manner according to the actual accumulation position of the slag at the bottom of the tunnel, thereby improving the convenience of using the slag cleaning device of the tunnel boring machine.

[0030] As a further improvement, the connection seat is provided with an image acquisition device for acquiring the slag accumulation condition at the bottom of the tunnel.

[0031] The beneficial effect is that the image acquisition device can be set to determine the accumulation of debris at the bottom of the tunnel in real time and accurately, and then the accumulated debris can be removed accurately.

[0032] As a further improvement, the tunnel boring machine slag cleaning device also includes an automatic cleaning nozzle for cleaning the transparent protective cover at the front end of the image acquisition device.

[0033] The beneficial effect is: due to the harsh working environment in the tunnel and the large amount of dust, dust is easily accumulated on the transparent protective cover at the front end of the image acquisition device and affects the accuracy of the image captured by the image acquisition device. In view of this, an automatic cleaning nozzle is set. When dust accumulates on the transparent protective cover, the transparent protective cover can be cleaned to ensure that the image acquisition device works stably and reliably for a long time.

[0034] To achieve the above purpose, the technical solution of the tunnel boring machine provided by the present invention is:

[0035] A tunneling machine comprises a cutter disc, a main beam connected to the cutter disc, an equipment bridge located at the rear side of the main beam, and a slag conveyor for conveying the slag excavated by the cutter disc backwards, the main beam and / or the equipment bridge being installed with a slag cleaning device, the slag cleaning device comprising a slag cleaning mechanical arm and a slag cleaning bucket, the slag cleaning mechanical arm comprising a connecting seat for connecting to the main beam and a movable arm hinged to the connecting seat, the movable arm comprising at least two arm sections hinged to each other in sequence, and a driving device for driving the corresponding arm section to unfold and fold is respectively provided between the arm section and the connecting seat and between the arm sections, the slag cleaning bucket is connected to the arm section of the last stage, and is an active slag cleaning bucket that can actively take slag under the drive of the slag cleaning mechanical arm, the slag cleaning bucket has a slag unloading position of the slag conveyor on the main beam of the tunneling machine under the drive of the slag cleaning mechanical arm, a unloading door and a corresponding unloading driving device are provided on the slag cleaning bucket, or a material dumping driving device for driving the slag cleaning bucket to dump out the slag is provided between the slag cleaning bucket and the slag cleaning mechanical arm.

[0036] The beneficial effect is that the slag cleaning bucket is an active slag cleaning bucket that can actively remove slag under the drive of the slag cleaning mechanical arm. In this way, when cleaning slag, the movable arm can move under the drive of the corresponding driving device and drive the slag cleaning bucket to dig up the slag at the bottom of the tunnel and move it to the slag unloading position. After moving to the slag unloading position, the corresponding driving device drives the unloading door to open or drives the slag cleaning bucket to perform the material pouring action, and pours the slag onto the slag conveyor, realizing fully automated slag cleaning without relying on manual assistance, reducing the labor workload of slag cleaning work, and realizing efficient slag cleaning, avoiding affecting the tunnel excavation speed and project construction period due to untimely slag cleaning.

[0037] As a further improvement, the connecting seat is a rotating seat and is equipped with a rotating drive device. The connecting seat includes a connecting arm hinged to a movable arm. When the connecting seat is installed on the main beam of the tunnel boring machine, the distance between the hinge point where the connecting arm is hinged to the movable arm and the rotation center of the connecting seat is greater than the distance between the side wall of the main beam and the rotation center of the connecting seat.

[0038] The beneficial effect is: a connecting arm is arranged on the connecting seat to connect the movable arm. Compared with the movable arm being directly hinged on the connecting seat, the number of hinge points can be reduced, the structure of the slag cleaning mechanical arm can be simplified, and the probability of failure can be reduced, thereby ensuring that the slag cleaning device of the tunnel boring machine has reliable working performance.

[0039] As a further improvement, the arm sections of the slag cleaning robot arm include a first arm section hinged to the rotating seat and a second arm section hinged to the end of the first arm section, and at least one of the first arm section and the second arm section is a telescopic arm section.

[0040] The beneficial effects are: the telescopic boom section is arranged so that the single boom section can be adaptively extended and shortened, and when taking slag, it is in a retracted state to ensure that the slag cleaning bucket does not interfere with the tunnel wall, and when unloading slag, it is extended to send the slag cleaning bucket to a higher height, ensuring that the slag cleaning bucket can reach the slag unloading with a simpler structure and control.

[0041] As a further improvement, an end of the first arm section close to the second arm section and / or an end of the second arm section close to the first arm section is provided with an elbow, so that the first arm section and the second arm section are hinged on the elbow and can be completely folded.

[0042] The beneficial effect is that an elbow is provided at the end of the boom section so that two adjacent boom sections can be completely folded, avoiding the situation where the two adjacent boom sections still have an angle after being folded, causing the movable arm to occupy too much space after being folded and affecting the movement of the corresponding tunnel boring machine.

[0043] As a further improvement, the telescopic arm section includes a fixed section, a telescopic section and a driving cylinder connecting the fixed section and the telescopic section, and the driving cylinder is arranged in an inner cavity formed after the telescopic section and the fixed section are inserted.

[0044] The beneficial effect is that the telescopic boom section adopts a telescopic structure driven by a driving cylinder, and the driving cylinder that provides the telescopic power can be arranged in the boom section to protect the driving cylinder and prevent the falling slag during the slag cleaning process from causing damage to the telescopic cylinder of the boom section, thereby ensuring that the boom section has better protection performance, and thus ensuring that the slag cleaning device of the tunnel boring machine can work reliably.

[0045] As a further improvement, a self-lubricating plate is provided between the wall surfaces of the insertion point between the fixed section and the telescopic section.

[0046] The beneficial effect is that the self-lubricating plate is provided to ensure that the fixed section and the telescopic section of the telescopic boom section can be smoothly telescoped and adjusted.

[0047] As a further improvement, the self-lubricating plate is limited by a top screw installed on one of the fixed section and the telescopic section located on the outer layer.

[0048] The beneficial effect is: by limiting the position through the top screw, after the self-lubricating plate is worn, the position of the self-lubricating plate can be adjusted in time by adjusting the screw-in amount of the top screw, thereby improving the convenience of adjusting the position of the self-lubricating plate. At the same time, the top screw is set on one of the fixed section and the telescopic section located on the outer layer, so that maintenance personnel can directly adjust the position of the self-lubricating plate without disassembling the movable arm, thereby improving the convenience of maintenance of the movable arm.

[0049] As a further improvement, the end of the arm section located in the last section of each arm section is equipped with a swivel seat that can rotate around the axis of the arm section and a driving mechanism configured for the swivel seat. The slag cleaning bucket is swingably installed on the swivel seat, and a driving device for driving the slag cleaning bucket to swing is provided between the swivel seat. The swing axis of the slag cleaning bucket at this location is parallel to the hinge axis between the two adjacent arm sections.

[0050] The beneficial effect is: by arranging a swivel seat on the last arm section and arranging the slag cleaning bucket on the swivel seat, after the movable arm lifts the slag cleaning bucket to the highest position, the position of the slag cleaning bucket can be adjusted to the side of the slag conveyor by rotating the swivel seat, so that the position of the slag cleaning bucket can be smoothly adjusted, avoiding the slag cleaning bucket from tilting during position adjustment and causing slag to spill.

[0051] As a further improvement, the slag cleaning bucket includes a bucket seat and a bucket body. The bucket seat is connected to the swivel seat to realize the swing installation of the slag cleaning bucket on the swivel seat. The bucket body and the bucket seat are rotationally matched and are equipped with a driving mechanism for driving the bucket body to rotate. The rotation axis of the bucket body is perpendicular to the swing axis of the bucket seat.

[0052] The beneficial effect is that after the slag cleaning bucket reaches the slag unloading position, the slag can be dumped out more reliably by driving the bucket body to rotate.

[0053] As a further improvement, the connecting seat is provided with a track extending along the travel direction of the tunnel boring machine.

[0054] The beneficial effect is that while the slag cleaning bucket moves synchronously with the tunnel boring machine to clean the slag at the bottom of the tunnel, the track extending along the traveling direction of the tunnel boring machine arranged on the connecting seat can adjust the position of the slag cleaning bucket relative to the tunnel boring machine, that is, the position of the slag cleaning bucket can be adjusted in two levels in the traveling direction of the tunnel boring machine. In this way, the position of the slag cleaning bucket and the slag cleaning robot arm can be adjusted in a targeted manner according to the actual accumulation position of the slag at the bottom of the tunnel, thereby improving the convenience of using the slag cleaning device of the tunnel boring machine.

[0055] As a further improvement, the connection seat is provided with an image acquisition device for acquiring the slag accumulation condition at the bottom of the tunnel.

[0056] The beneficial effect is that the image acquisition device can be set to determine the accumulation of debris at the bottom of the tunnel in real time and accurately, and then the accumulated debris can be removed accurately.

[0057] As a further improvement, the slag cleaning device also includes an automatic cleaning nozzle for cleaning the transparent protective cover at the front end of the image acquisition device.

[0058] The beneficial effect is: due to the harsh working environment in the tunnel and the large amount of dust, dust is easily accumulated on the transparent protective cover at the front end of the image acquisition device and affects the accuracy of the image captured by the image acquisition device. In view of this, an automatic cleaning nozzle is set. When dust accumulates on the transparent protective cover, the transparent protective cover can be cleaned to ensure that the image acquisition device works stably and reliably for a long time.

[0059] As a further improvement, a slag cleaning device is installed on the main beam, and a slag throwing port is provided on the side wall of the main beam. The height of the slag throwing port is higher than the height of the slag conveyor, and the slag unloading position of the slag cleaning bucket of the slag cleaning device is located at the slag throwing port.

[0060] The beneficial effect is that the slag throwing port is arranged on the side wall of the main beam, which has a lower height requirement for the slag clearing bucket at the slag unloading position, and thus has a lower length requirement for the movable arm, thereby ensuring that the movable arm has a reliable structural strength.

[0061] As a further improvement, the slag outlet is provided with a slag chute for guiding the slag to the slag conveyor.

[0062] The beneficial effect is that a slag chute is provided to connect the slag cleaning bucket to guide the slag material to the slag conveyor, and there is no need to move the slag cleaning bucket directly to the top of the slag conveyor. The movement stroke of the movable arm and the slag cleaning bucket can be shortened, making the structure of the slag cleaning device simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a structural schematic diagram of a part of the structure of Example 1 of the roadheader of the present invention;

[0064] Figure 2 It is a schematic structural diagram of a portion of a slag cleaning device of Example 1 of a roadheader in the present invention;

[0065] Figure 3 This is a schematic structural diagram of a connecting seat of a slag cleaning device of a roadheader embodiment 1 of the present invention;

[0066] Figure 4 It is a structural schematic diagram of a connecting seat of a slag cleaning device of a roadheader embodiment 1 of the present invention from another perspective;

[0067] Figure 5 It is a schematic diagram of the state of the slag cleaning device of the roadheader embodiment 1 of the present invention when it is retracted;

[0068] Figure 6 for Figure 5 Right view of;

[0069] Figure 7 It is a schematic cross-sectional structural diagram of the second arm section of the slag cleaning device of the roadheader embodiment 1 of the present invention;

[0070] Figure 8 for Figure 7 A partial enlarged view of point B in the middle;

[0071] Fig. 9 for Figure 1 A partial enlarged view of the middle part;

[0072] Fig.10 It is a structural schematic diagram of the image acquisition device assembly of Example 1 of the roadheader in the present invention;

[0073] Fig.11 This is a state diagram of the slag cleaning bucket of the slag cleaning device of the roadheader embodiment 1 of the present invention when it is in the slag unloading position;

[0074] Fig.12 It is a principle block diagram of the slag cleaning device of the roadheader embodiment 1 of the present invention;

[0075] Description of reference numerals:

[0076] 1. Cutter head; 2. Main beam; 3. Slag cleaning device; 4. Slag cleaning bucket; 5. Connecting seat; 6. Movable arm; 7. Hanging beam track; 8. Driving wheel set; 9. General mounting plate; 10. Travel driving motor; 11. Inner ring; 12. Rotary driving motor; 13. Driving gear; 14. Outer ring; 15. Mounting plate; 16. Connecting arm; 17. First arm section; 18. Second arm section; 19. Rotating seat; 20. First rotary reducer; 21. Bucket seat; 22. Bucket body; 23. Second rotary reducer; 24. Fixed section; 25. Telescopic section; 26. Driving cylinder; 27. Top screw; 28. Image acquisition device assembly; 29. ​​Protective shell; 30. Transparent protective cover; 31. Automatic cleaning nozzle; 32. Slag feeding port; 33. Slag chute plate; 34. Self-lubricating plate; 35. Mounting bracket. DETAILED DESCRIPTION

[0077] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0078] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0079] It should be noted that relational terms such as "first" and "second" that may appear are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, elements defined by the sentence "including a...", etc., do not exclude the process or method that includes the elements.

[0080] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" that may appear should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0081] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "provided with" that may appear should be understood in a broad sense. For example, the object "provided with" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or an inseparable connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0082] The present invention is further described in detail below in conjunction with embodiments.

[0083] The specific embodiment 1 of the tunnel boring machine provided by the present invention, in this embodiment, the tunnel boring machine is a TBM (full-section hard rock tunnel boring machine), and its specific structure is as follows:

[0084] Part of the structure of the tunnel boring machine provided in this embodiment is as follows Figure 1 As shown, the tunnel boring machine comprises a cutter disc 1 and a main beam 2 arranged at the rear side of the cutter disc 1. A slag conveyor is arranged on the main beam 2 for conveying the soil and rocks excavated by the cutter disc backward (the direction of tunnel boring by the tunnel boring machine is defined as forward). In order to clear the soil and rocks accumulated at the bottom of the tunnel to the slag conveyor, the tunnel boring machine further comprises a slag cleaning device 3 arranged on the main beam 2. In this embodiment, the slag conveyor is a belt conveyor. In other embodiments, the slag conveyor can also be a bucket conveyor. In addition, the tunnel boring machine further comprises an equipment bridge located at the rear side of the main beam 2.

[0085] The specific structure of the slag cleaning device 3 is as follows: Figure 2 As shown, it includes a slag cleaning mechanical arm and a slag cleaning bucket 4. The slag cleaning mechanical arm specifically includes a connecting seat 5 and a movable arm 6 hinged to the connecting seat 5. Among them, the partial structure of the connecting seat 5 is as shown in FIG. Figure 3 and Figure 4 As shown, it includes a hanging beam rail 7 and a general mounting plate 9 movably mounted on the lower side of the hanging beam rail 7 by a driving wheel group 8, and the hanging beam rail 7 and the driving wheel group 8 constitute a traveling mechanism. The hanging beam rail 7 is specifically an I-shaped structure, and is arranged along the excavation direction of the tunnel boring machine. The upper end is used to connect with the main beam 2. The roller of the driving wheel group 8 is set in the groove of the hanging beam rail 7 and cooperates with the lower side wing plate of the hanging beam rail 7 of the I-shaped structure. A traveling driving motor 10 for driving the driving wheel group 8 to rotate is arranged on the general mounting plate 9, so that the slag cleaning mechanical arm and the slag cleaning bucket can move long distances along the excavation direction. In this embodiment, two hanging beam rails 7 are arranged in parallel, and correspondingly, two groups of driving wheel groups 8 and a traveling driving motor 10 are arranged on the general mounting plate 9 to form an assembly.

[0086] A slewing support is fixed on the lower side of the general installation plate 9. The slewing support is specifically a bearing-type structure, having an inner ring 11 and an outer ring 14 that can rotate relatively. The slewing support is fixed on the general installation plate 9 through one of the inner ring 11 and the outer ring 14. In this embodiment, the slewing support is fixed on the lower side of the general installation plate 9 through the outer ring 14. The inner ring 11 is a gear ring-shaped structure with teeth on the inner circumference. Correspondingly, a slewing drive motor 12 is fixed on the upper plate surface of the general installation plate 9. A driving gear 13 driven to rotate by the slewing drive motor 12 is provided on the lower side of the general installation plate 9. The driving gear 13 is meshed with the inner ring 11 of the slewing support, thereby the inner ring 11 of the slewing support can be driven to rotate by the slewing drive motor 12. A mounting plate 15 is fixed on the lower side of the inner ring 11 of the slewing support. The slewing support, the slewing drive motor 12 and the driving gear 13 constitute a slewing mechanism.

[0087] like Figure 2As shown, the connecting seat 5 also includes a connecting arm 16 fixedly connected to the mounting plate 15, and the movable arm 6 is hinged on the connecting arm 16. The length of the connecting arm 16 satisfies that the horizontal distance between the hinge point where it is hinged to the movable arm 6 and the center of the slewing support is greater than the horizontal distance between the side wall on the same side of the main beam 2 and the center of the slewing support. Specifically, the movable arm 6 includes a first arm section 17 as a boom and a second arm section 18 as a forearm. One end of the first arm section 17 is hinged to the connecting arm 16, and the hinge axis extends horizontally. A driving device for driving the first arm section 17 to swing up and down relative to the connecting arm 16 is provided at the hinge of the two. In this embodiment, the driving device is a boom swing cylinder. The other end of the first arm section 17 is hinged to the second arm section 18, and a driving device for driving the second arm section 18 to swing up and down relative to the first arm section 17 is provided at the hinge of the two. In this embodiment, the driving device is a forearm swing cylinder. The driving device for driving the boom and forearm to swing can also be a motor in other embodiments.

[0088] In this embodiment, in order to ensure that the slag cleaning device 3 does not occupy too much space when it is not in use, the first arm section 17 and the second arm section 18 are hinged at one end with an elbow structure, so that the first arm section 17 is an L-shaped structure as a whole, so that when the movable arm 6 is folded, it can be achieved as follows: Figure 5 and Figure 6 The completely retracted state prevents the slag cleaning device 3 from occupying too much space when in the retracted state, and does not affect the subsequent transportation and laying of the arch block of the tunnel bottom arch. In other embodiments, the end of the second arm section connected to the first arm section can also be set as an elbow structure. Of course, the end of the first arm section connected to the second arm section and the end of the second arm section connected to the first arm section can also be set as elbow structures at the same time.

[0089] like Figure 2 As shown, a swivel seat 19 is provided at one end of the second arm section 18 away from the connecting seat 5, and the swivel seat 19 rotates around the central axis of the second arm section 18. In order to drive the swivel seat 19 to rotate, a driving mechanism is provided corresponding to the swivel seat 19. In this embodiment, the driving mechanism is specifically a wrist rotary reducer 20. In other embodiments, the driving mechanism can be any driving mechanism that can drive the swivel seat to rotate, such as a motor driving mechanism.

[0090] The slag cleaning bucket 4 includes a bucket seat 21 and a bucket body 22. The bucket seat 21 is hinged on the rotating seat 19, and the hinge axis is parallel to the hinge axis between the first arm section 17 and the second arm section 18. A driving device for driving the bucket seat 21 to swing is provided between the bucket seat 21 and the rotating seat 19. In this embodiment, the driving device is a hand swing cylinder. In other embodiments, the driving device can also be a motor driving device. The bucket body 22 is rotatably mounted on the bucket seat 21, and the rotation axis is perpendicular to the axis of the bucket seat 21 hinged on the rotating seat 19. In order to drive the bucket body 22 to rotate, a driving mechanism is provided corresponding to the bucket body 22. In this embodiment, the driving mechanism is a hand rotary reducer 23. In other embodiments, the driving mechanism can be any driving mechanism that can drive the bucket body to rotate relative to the bucket seat, such as a motor driving mechanism.

[0091] In order to ensure that the movable arm 6 can move the slag cleaning bucket 4 to the set position, the second arm section 18 is set as a telescopic arm section in this embodiment. Figure 7 As shown, the second boom section 18 includes a fixed section 24 and a telescopic section 25. The fixed section 24 is hinged to the first boom section 17. The telescopic section 25 is inserted in the fixed section 24. A small arm telescopic cylinder 26 is arranged in the chamber surrounded by the fixed section 24 and the telescopic section 25. One end of the small arm telescopic cylinder 26 is connected to the fixed section, and the other end is connected to the telescopic section 25. The extension and contraction of the small arm telescopic cylinder 26 drives the second boom section 18 to extend and shorten. Figure 8 As shown, in order to ensure the smoothness of the extension and retraction of the second arm section 18, a self-lubricating plate 34 is provided at the plug-in fitting of the fixed section 24 and the telescopic section 25, and the self-lubricating plate 34 is limited by a top screw 27 screwed on the fixed section 24. In other embodiments, the fixed section can be inserted into the telescopic section, and in this case, the top screw is set on the telescopic section located on the outside. Of course, the top screw can also be set on the one located on the outside of the plug-in fitting fixed section and the telescopic section.

[0092] like Fig. 9 As shown, in order to accurately know the accumulation of slag at the bottom of the tunnel, the slag cleaning device also includes a visual recognition system, and the visual recognition system includes an image acquisition device assembly 28 arranged on the connecting seat. Fig.10As shown, the image acquisition device assembly 28 includes an image acquisition device, and also includes a mounting bracket 35 for mounting the image acquisition device on a connecting seat, a protective shell 29 for protecting the rear side of the image acquisition device, and a transparent protective cover 30 for protecting the front side of the image acquisition device. In this embodiment, the transparent protective cover 30 is specifically glass. In addition, due to the dusty working environment, an automatic cleaning nozzle 31 is also integrated on the slag cleaning device 3. The automatic cleaning nozzle 31 faces the transparent protective cover 30 and sprays cleaning liquid on the transparent protective cover 30 regularly or at any time according to instructions. In this embodiment, two automatic cleaning nozzles 31 are provided, one connected to the liquid pipeline and the other connected to high-pressure air. In this embodiment, the image acquisition device is an industrial camera. In addition, a sensor is provided at each corresponding movable mechanism to identify the amount of movement of each movable mechanism.

[0093] In order to enable the slag cleaning device 3 to shovel the slag material onto the slag conveyor, Figure 1 and Fig.11 As shown, a slag discharge port 32 is provided on the side wall of the main beam 2 , and an inclined slag chute plate 33 is provided at the slag discharge port 32 .

[0094] The action control principle block diagram of the slag cleaning device is as follows: Fig.12 As shown, the specific working process is as follows:

[0095] In the first step, the robot arm and the slag cleaning bucket are moved forward along the hanging beam rail 7 according to the set step length through the walking mechanism. After each forward step length, the visual recognition system is used to identify whether there is slag accumulation at the bottom of the tunnel and the slag accumulation situation;

[0096] In the second step, the rotary mechanism moves so that the slag cleaning bucket 4 reaches a position aligned with the accumulated slag;

[0097] The third step is to shovel the slag. Specifically, the upper arm swing cylinder drives the first arm section 17 to move so that the movable arm 6 carries the slag cleaning bucket 4 to shovel the slag along the tunnel wall in the arc direction of the tunnel section. During this process, the hand swing cylinder synchronously adjusts the posture of the slag cleaning bucket 4, and gradually makes the slag cleaning bucket 4 reach a posture where the bucket mouth is in a horizontal position to shovel the slag. During this process, since the slag cleaning bucket 4 is not freely hinged on the movable arm 6, but can move according to the set posture under the constraints and drive of various installation structures, drive devices, and drive mechanisms, the slag cleaning bucket 4 is an active slag cleaning bucket, so that the movable arm 6 can drive the slag cleaning bucket 4 to actively remove slag through its own movement;

[0098] The fourth step is to transport the slag to the slag unloading position by extending the movable arm. Specifically, the second arm section 18 is driven to expand relative to the first arm section 17 by the telescopic cylinder of the small arm to lift the slag cleaning bucket 4 upward. During this process, the hand swing cylinder synchronously adjusts the posture of the slag cleaning bucket 4 to prevent the slag in the slag cleaning bucket 4 from spilling. After the movable arm is straightened upward, the second arm section 18 is extended. Fig.11 As shown, after the slag cleaning bucket 4 is lifted to a position higher than the slag sliding plate 33, the slag cleaning bucket 4 is located on the side of the movable arm 6 facing away from the main beam 2, and the bucket mouth faces upward;

[0099] The fifth step is to transfer the slag to the slag unloading position. Specifically, the control system controls the wrist rotary reducer to drive the rotating seat 19 to rotate, so that the slag cleaning bucket 4 rotates to the top of the slag chute 33 and reaches the slag unloading position;

[0100] The sixth step is to pour the slag. The control system controls the hand rotary reducer 23 to drive the bucket body 22 to rotate relative to the bucket seat 21, and pour the slag onto the slag sliding plate 33, and the slag slides along the slag sliding plate 33 to the slag conveyor.

[0101] The above actions are repeated in this way to complete the cleaning of the slag at the bottom of the tunnel.

[0102] In this embodiment, a full-section hard rock tunnel boring machine is taken as an example to introduce the structure and working mode of the tunnel boring machine in the present invention. In other embodiments, the tunnel boring machine can be any tunnel boring machine that needs to clear the slag at the bottom of the tunnel.

[0103] The specific embodiment 2 of the tunnel boring machine provided by the present invention is different from the embodiment 1 mainly in that: in the embodiment 1, the slag cleaning bucket pours out the slag at the slag unloading position. In this embodiment, a discharge door is provided at the bottom of the slag cleaning bucket, and a driving device for driving the discharge door to open and close is provided. When the slag cleaning bucket reaches the unloading position, the control system controls the driving device to drive the discharge door to open to realize unloading.

[0104] The specific embodiment 3 of the tunnel boring machine provided by the present invention is different from the embodiment 1 mainly in that: in the embodiment 1, the connecting seat is a rotating seat that is partially fixed relative to the main beam and partially can rotate relative to the main beam, so that the position adjustment of the slag cleaning bucket is more flexible and convenient. In this embodiment, under the premise that the slag cleaning bucket of the slag cleaning device can be accurately moved to the position where the slag is located by moving with the tunneling, the connecting seat may not be a rotating seat, that is, the whole is a fixed structure.

[0105] The specific embodiment 4 of the tunnel boring machine provided by the present invention is different from the embodiment 1 mainly in that: in the embodiment 1, the movable arm is composed of two arm sections. In this embodiment, the movable arm is composed of three arm sections. Of course, in other embodiments, the number of arm sections of the movable arm can be greater than three.

[0106] The specific embodiment 5 of the roadheader provided by the present invention is different from the embodiment 1 mainly in that: in the embodiment 1, the movable arm is composed of two arm sections, one of which is a telescopic arm section. In this embodiment, both arm sections of the movable arm are telescopic. Of course, in other embodiments, under the premise that the slag bucket can be removed and the movement to the unloading position can be satisfied without telescoping, all arm sections of the movable arm can be non-telescopic arm sections.

[0107] The specific embodiment 6 of the tunnel boring machine provided by the present invention is different from the embodiment 1 mainly in that: in the embodiment 1, the telescopic boom section's telescopic power is provided by a drive cylinder. In the present embodiment, a pulling wire rope is provided in the telescopic boom section, and the telescopic boom is extended and shortened by the wire rope in cooperation with a corresponding drive device. The specific structure thereof can refer to the telescopic boom structure of a crane in the prior art.

[0108] The specific embodiment 7 of the tunnel boring machine provided by the present invention is mainly different from the embodiment 1 in that: in the embodiment 1, a swivel seat is provided on the last section of the movable arm, and the slag cleaning bucket is provided on the swivel seat, and the slag cleaning bucket is moved to the slag unloading position by rotating the swivel seat. In this embodiment, a fork-shaped mounting structure is provided at the end of the movable arm away from the connecting seat, and the fork-shaped mounting structure has two vertical arms arranged at intervals in front and behind, and the slag cleaning bucket is provided between the two vertical arms and is hinged to the vertical arms, and a driving device is provided between the slag cleaning bucket and the vertical arms to prevent the slag cleaning bucket from rotating freely relative to the vertical arms and can only rotate under the drive of the driving device, so that the slag cleaning bucket is an active slag cleaning bucket and can be moved to the slag unloading position under the drive of the driving device.

[0109] The specific embodiment 8 of the tunnel boring machine provided by the present invention is different from the embodiment 1 mainly in that: in the embodiment 1, the slag opening is arranged on the side wall of the main beam, and a slag chute plate is arranged corresponding to the slag opening. In this embodiment, the slag opening is arranged on the upper part of the main beam and directly faces the slag conveyor, so the slag chute plate can be eliminated.

[0110] The specific embodiment 9 of the tunnel boring machine provided by the present invention is mainly different from the embodiment 1 in that: in the embodiment 1, the slag throwing port is arranged on the side wall of the main beam, and a slag chute plate is arranged corresponding to the slag throwing port. In this embodiment, the slag throwing port is arranged on the side wall of the main beam, but a slag chute plate is not arranged, and the slag cleaning bucket is directly moved to the inner side of the side wall of the main beam by rotating the swivel seat, and reaches directly above the slag conveyor.

[0111] The specific embodiment 10 of the tunnel boring machine provided by the present invention is mainly different from the embodiment 1 in that: in the embodiment 1, the slag cleaning device is arranged on the main beam. In this embodiment, the slag cleaning device is arranged on the equipment bridge. Of course, in other embodiments, for a tunnel boring machine with only one slag cleaning device, the one slag cleaning device can be connected to the main beam and the equipment bridge at the same time. Of course, more than two slag cleaning devices can be arranged on a tunnel boring machine, in which case, some of the slag cleaning devices can be arranged on the main beam, and some of the slag cleaning devices can be arranged on the equipment bridge.

[0112] Embodiment of the slag cleaning device for a roadheader in the present invention:

[0113] The embodiment of the slag cleaning device of the tunnel boring machine is the slag cleaning device described in any one of the embodiments 1 to 10 of the tunnel boring machine described above, and will not be described in detail here.

[0114] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A slag cleaning device for a roadheader, comprising a slag cleaning mechanical arm and a slag cleaning bucket, wherein the slag cleaning mechanical arm comprises a connecting seat for connecting to a main beam and / or an equipment bridge and a movable arm hinged to the connecting seat, wherein the movable arm comprises at least two arm sections hinged to each other in sequence, and a driving device for driving the corresponding arm section to unfold and fold is respectively provided between the arm section and the connecting seat and between the arm sections, wherein the slag cleaning bucket is connected to the last-stage arm section and is an active slag cleaning bucket that can actively remove slag under the drive of the slag cleaning mechanical arm, and is characterized in that: The slag cleaning bucket has a slag unloading position that can drop the obtained slag into the slag conveyor of the tunnel boring machine under the drive of the slag cleaning mechanical arm. The slag unloading position is located at the slag throwing port opened on the side wall of the main beam of the tunnel boring machine. The slag cleaning bucket is provided with a unloading door and a corresponding unloading driving device, or a unloading driving device for driving the slag cleaning bucket to pour out the slag is provided between the slag cleaning bucket and the slag cleaning mechanical arm. The connecting seat is a rotating seat and is equipped with a rotating driving device. The connecting seat includes a connecting arm hinged to the movable arm. When the connecting seat is installed on the main beam of the tunnel boring machine, the distance between the hinge point where the connecting arm and the movable arm are hinged and the rotation center of the connecting seat is greater than the distance between the side wall of the main beam and the rotation center of the connecting seat.

2. The slag cleaning device for a roadheader according to claim 1, characterized in that: The arm sections of the slag cleaning mechanical arm include a first arm section hinged to the rotating seat and a second arm section hinged to the end of the first arm section, and at least one of the first arm section and the second arm section is a telescopic arm section.

3. The slag cleaning device for a roadheader according to claim 2, characterized in that: An end of the first arm section close to the second arm section and / or an end of the second arm section close to the first arm section is provided with an elbow, so that the first arm section and the second arm section are hinged at the elbow and can be completely folded.

4. The slag cleaning device for a roadheader according to claim 2 or 3, characterized in that: The telescopic arm section comprises a fixed section, a telescopic section and a driving cylinder connecting the fixed section and the telescopic section. The driving cylinder is arranged in an inner cavity formed after the telescopic section and the fixed section are plugged together.

5. The slag cleaning device for a roadheader according to claim 4, characterized in that: A self-lubricating plate is provided between the wall surfaces of the insertion portion between the fixed section and the telescopic section.

6. The slag cleaning device for a roadheader according to claim 5, characterized in that: The self-lubricating plate is limited by a top screw installed on one of the fixed section and the telescopic section located on the outer layer.

7. The slag cleaning device for a roadheader according to any one of claims 1 to 3, characterized in that: The end of the arm section located in the last section of each arm section is equipped with a swivel seat that can rotate around the axis of the arm section and a driving mechanism configured for the swivel seat. The slag cleaning bucket is swingably installed on the swivel seat, and a driving device for driving the slag cleaning bucket to swing is provided between the swivel seat. The swing axis of the slag cleaning bucket at this location is parallel to the hinge axis between the two adjacent arm sections.

8. The slag cleaning device for a roadheader according to claim 7, characterized in that: The slag cleaning bucket includes a bucket seat and a bucket body. The bucket seat is connected to the swivel seat to realize the swing installation of the slag cleaning bucket on the swivel seat. The bucket body and the bucket seat are rotationally matched and are equipped with a driving mechanism for driving the bucket body to rotate. The rotation axis of the bucket body is perpendicular to the swing axis of the bucket seat.

9. The slag cleaning device for a roadheader according to any one of claims 1 to 3, characterized in that: The connecting seat is provided with a track extending along the traveling direction of the tunnel boring machine.

10. The slag cleaning device for a roadheader according to any one of claims 1 to 3, characterized in that: The connection seat is provided with an image acquisition device for acquiring the slag accumulation situation at the bottom of the tunnel.

11. The slag cleaning device for a roadheader according to claim 10, characterized in that: The roadheader slag cleaning device also includes an automatic cleaning nozzle for cleaning the transparent protective cover at the front end of the image acquisition device.

12. A roadheader, comprising a cutterhead, a main beam connected to the cutterhead, an equipment bridge located at the rear side of the main beam, and a slag conveyor for conveying slag excavated by the cutterhead backwards, wherein a slag cleaning device is installed on the main beam and / or the equipment bridge, characterized in that: The slag cleaning device is the slag cleaning device for a roadheader as described in any one of claims 1-11.

13. The tunnel boring machine according to claim 12, characterized in that: A slag cleaning device is installed on the main beam, and a slag throwing port is provided on the side wall of the main beam. The height of the slag throwing port is higher than the height of the slag conveyor, and the slag unloading position of the slag cleaning bucket of the slag cleaning device is located at the slag throwing port.

14. The tunnel boring machine according to claim 13, characterized in that: The slag outlet is provided with a slag chute for guiding the slag to the slag conveyor.

Images