Shaft and tunnel excavation spray-mixing system and control method

Abstract

The present invention relates to the field of shaft and tunnel excavation construction equipment, and discloses a shaft and tunnel excavation spray mixing system and control method. Among them. The shaft and tunnel excavation spray mixing system includes: a spray mixing trolley; a spraying machine, which is installed on the spray mixing trolley; a nozzle clamp, which is used to clamp the nozzle of the spraying machine; a circular track, including a gear ring and a clamp; the gear ring is clamped and fixed by the clamps located on its two end faces; a protective cover, which is located on both sides of the circular track and is fixedly installed on both sides of the spray mixing trolley; a circumferential drive assembly, which is used to drive the spray mixing trolley to slide along the circular track; a linear drive assembly, which includes a track, a wheel seat slidably connected to the track, and a drive part for driving the wheel seat to slide along the track. Through the above technical solution, the problems of large eccentric load on the cylinder, bulky spray mixing system, low efficiency, inconvenient operation, and unsuitability for arrangement on excavation equipment for excavating small diameter tunnels can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of shaft and tunnel excavation construction equipment, and in particular to a shaft and tunnel excavation spray-mixing system and a control method. Background Art

[0002] As a common underground engineering project, shaft and tunnel excavation is usually constructed using mechanical equipment. Its high efficiency and safety are the most important factors. Especially when passing through unstable strata, the equipment's passability and the stability of the excavation surface are issues that must be addressed.

[0003] Tunnel excavation equipment primarily consists of a traveling mechanism, a working mechanism, a supporting mechanism, a loading mechanism, and a transfer mechanism. Vertical shaft excavation also utilizes similar equipment. As the traveling mechanism advances, the cutting head in the working mechanism continuously crushes and removes the rock fragments. When encountering unstable terrain, such as fractured rock formations or mixed geology, spraying concrete and cement slurry onto the unstable rock face after excavation is necessary for reinforcement. This system is referred to in the industry as a spray-mix system.

[0004] The spray-mix system is a key component of the support mechanism. It primarily consists of a shotcrete machine, a spray-mix support device, and a protective cover. It is responsible for evenly spraying the concrete slurry onto the newly excavated rock face to ensure tunnel stability.

[0005] Traditional shotcrete systems typically feature a shotcrete support device and protective cover fixed to the tunneling equipment support frame. If the spraying range exceeds the protective cover, the cover must be manually moved. The shotcrete head is fixed to the piston end of a rectangular cylinder, which is controlled by piston extension and retraction. The rectangular cylinder is mounted on a trolley. When spraying sideways, the rectangular cylinder must withstand the gravitational force generated by the offset center of gravity of the shotcrete head. This requires a relatively large cylinder, bearing the heavy weight of the head and susceptible to damage over time. The trolley rotates circumferentially along two large ring gears fixed to the main beam of the tunneling equipment via several sets of sliding bearings, providing a circumferential spray coverage. Due to the large front-to-back range of the shotcrete and the long extension of the cylinder, the offset loads encountered during side spraying are increased, necessitating the use of bulky rectangular cylinders or even two shotcrete systems. Smaller diameter tunnels leave little room between the shotcrete nozzle and the tunnel wall. Since the shotcrete support device and protective cover are fixed to the tunneling equipment support frame, their length must be increased to ensure a sufficient coverage range. Generally speaking, traditional spray-mix systems are bulky, inefficient, inconvenient to operate, and unsuitable for deployment on excavation equipment for small-diameter tunnels.

[0006] In addition, the radial and axial movement of traditional spray mixing equipment mainly relies on manual control, and the changes in movement area and speed often lead to uneven spray mixing and low efficiency. Summary of the Invention

[0007] The purpose of the present invention is to provide a shaft and tunnel excavation spray mixing system to solve the problem of large eccentric load on the oil cylinder in the prior art; to solve the problem that the spray mixing system in the prior art is bulky, inefficient, inconvenient to operate, and not suitable for arrangement on excavation equipment for digging small diameter tunnels.

[0008] In order to achieve the above-mentioned object, the present invention provides a first aspect of a shaft and tunnel excavation spray mixing system, wherein the shaft and tunnel excavation spray mixing system comprises:

[0009] Spray mixing trolley;

[0010] A shotcrete machine, installed on the spray-mixing trolley;

[0011] A nozzle fixture is provided on the spraying machine or the spray-mixing trolley and is used to clamp the nozzle of the spraying machine;

[0012] The circular track comprises a gear ring and a clamping plate; the gear ring is clamped and fixed by the clamping plates located at its two end surfaces;

[0013] Protective covers are located on both sides of the circular track and are fixedly installed on both sides of the spray mixing trolley;

[0014] A circumferential drive assembly, used for driving the spray mixing trolley to slide along the circular track;

[0015] A linear drive assembly comprises a track, a wheel seat slidably connected to the track, and a driving part for driving the wheel seat to slide along the track.

[0016] The above technical solution can effectively solve the problems in the prior art such as the large eccentric load on the oil cylinder, the bulky spray mixing system, low efficiency, inconvenient operation, and unsuitability for arrangement on excavation equipment for digging small diameter tunnels.

[0017] Furthermore, the driving unit includes a spray mixing driving cylinder whose telescopic direction is the same as the moving direction of the spray mixing trolley.

[0018] Furthermore, the outer end surfaces of the two side clamping plates of the gear ring are formed with annular tracks that conform to the trajectory of the circular track and are concentric with the circular track;

[0019] The spray mixing trolley includes a vehicle body and a guide wheel arranged at the bottom of the vehicle body and capable of moving along a circular track; the guide wheel includes a bolt-type cam bearing and a guide wheel; the bolt-type cam bearing is used to prevent the vehicle body from moving radially on the circular track; the guide wheel is used to prevent the vehicle body from moving axially on the circular track.

[0020] Furthermore, the bolt-type cam bearings include three pairs, which are arranged opposite to each other on both sides of the circular track; wherein, the outer rings of the bearings of two pairs of bolt-type cam bearings run on the outer ring end faces of the circular track, and the outer rings of the bearings of the other pair of bolt-type cam bearings run on the inner ring end faces of the circular track; the guide wheels run on the end face of the side of the circular track facing away from the clamping plate.

[0021] Furthermore, the circumferential drive assembly includes:

[0022] Reducer hydraulic motor;

[0023] A driven gear is provided in the inner cavity of the spray mixing trolley and meshes with the ring gear;

[0024] The driving gear is fixedly sleeved on the output shaft of the reduction hydraulic motor and meshes with the driven gear.

[0025] Further, the gear ring includes a first gear ring and a second gear ring connected to each other;

[0026] The splint is composed of a left splint, an upper left splint, a right splint and an upper right splint connected in sequence;

[0027] The clamping plate and the gear ring are fixedly connected via an internal thread cylindrical pin.

[0028] Furthermore, the shaft and tunnel excavation spray mixing system further includes a controller, an angular displacement sensor, and a displacement sensor; the shaft and tunnel excavation spray mixing system and the circumferential drive assembly, the linear drive assembly, the angular displacement sensor, and the displacement sensor are all electrically connected to the controller;

[0029] The angular displacement sensor is used to detect the rotation angle of the spray mixing trolley; the displacement sensor is used to detect the position of the spray mixing trolley in the length direction of the track.

[0030] A second aspect of the present invention provides a control method for executing the above-mentioned shaft and tunnel excavation spray-mixing system, the control method comprising:

[0031] The circumferential drive assembly drives the spray-mixing trolley together with the shotcrete machine and the protective cover to slide along the circular track, and the shotcrete machine sprays the shotcrete material on the rock surface;

[0032] The spraying trolley, together with the spraying machine and the protective cover, is driven by a linear drive assembly to move along the track to adjust the spraying position.

[0033] Furthermore,

[0034] Define initial position information;

[0035] The displacement sensor detects the extension and contraction length of the spray-mixing drive cylinder in real time and controls the axial spraying position of the spray-mixing trolley based on the feedback information.

[0036] The angular displacement sensor detects the position of the spray-mixing trolley on the circumference of the circular track in real time and controls the spraying angle based on its feedback information.

[0037] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a structural diagram of an embodiment of a shaft and tunnel excavation spray-mixing system of the present invention;

[0039] Figure 2 yes Figure 1 Cross-sectional view along AA;

[0040] Figure 3 yes Figure 2 The enlarged view of Part I;

[0041] Figure 4 yes Figure 3 Cross-sectional view along BB;

[0042] Figure 5 yes Figure 1 Schematic diagram of the middle C perspective;

[0043] Figure 6 yes Figure 2 Schematic diagram of part II. DETAILED DESCRIPTION

[0044] The following is a detailed description of the specific embodiments of the present invention. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0045] In the present invention, unless otherwise specified, directional terms such as "upper" and "lower" generally refer to directions in the assembled state. "Inside" and "outside" refer to inside and outside relative to the outline of each component itself.

[0046] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate for the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatuses.

[0047] The present invention provides a tunnel excavation spray mixing system, such as Figures 1-6 As shown, the shaft and tunnel excavation spray-mixing system includes a spray-mixing trolley 4, a shotcrete machine 2, a nozzle fixture 3, a circular track, a protective cover 1, a circumferential drive assembly and a linear drive assembly.

[0048] The shotcrete machine 2 is installed on the spray-mixing trolley 4. The nozzle clamp 3 is arranged on the shotcrete machine 2 or the spray-mixing trolley 4, and is used to clamp the nozzle of the shotcrete machine 2. The circular track includes a gear ring and a clamping plate, and the gear ring is clamped and fixed by the clamping plates located at its two end faces. Specifically, the gear ring and the clamping plate can be positioned and fixed by an internal threaded cylindrical pin 21. That is to say, the two clamping plates are arranged opposite to each other and form a accommodating space therebetween, and the gear ring is located in the accommodating space. In a preferred embodiment, the teeth on the gear ring are located outside the accommodating space, that is, the teeth of the gear ring are located at the most circumferential edge of the circular track. The purpose of this arrangement is to facilitate the engagement between the gear ring and the spray-mixing trolley 4.

[0049] The circumferential drive assembly is used to drive the spray mixing trolley 4 to slide along the circular track. The specific structure of the circumferential drive assembly will be described in detail later.

[0050] like Figure 2 and Figure 6 As shown, the linear drive assembly includes a track 14, a wheel seat 9 and a wheel seat 15 slidably connected to the track 14, and a drive unit for driving the wheel seat to slide along the track 14. The track 14 is mounted on a support frame. The protective cover 1 is located on both sides of the circular track and is fixedly mounted on both sides of the spray mixing trolley. In other words, the protective cover 1 moves and rotates with the spray mixing trolley 4.

[0051] like Figure 1 As shown, the driving part includes a spray mixing driving cylinder 5 whose telescopic direction is the same as the moving direction of the spray mixing trolley 4. Of course, other telescopic mechanisms can also be used, such as pneumatic cylinders, electric push rods, etc.

[0052] like Figure 3As shown, the outer end surfaces of the two side plates of the ring gear are formed with an annular track 100 that conforms to and is concentric with the circular track. The annular track 100 protrudes from the two side end surfaces of the circular track. The spray mixing trolley 4 includes a body and guide wheels disposed at the bottom of the body and capable of traveling along the annular track 100.

[0053] like Figure 3 and Figure 4 As shown, the guide wheel includes a bolt-type cam bearing 20 and a guide wheel 22. The bolt-type cam bearing 20 is used to prevent the vehicle body from moving radially in the circular track 100. Figure 3 The guide wheel 22 is used to prevent the vehicle body from moving axially on the circular track 100. Figure 3 Under the combined action of the bolt-type cam bearing 20 and the guide wheel 22, the vehicle body can only slide along the circular track relative to the circular track without any other degree of freedom.

[0054] In a preferred embodiment, the bolt-type cam bearings 20 are arranged in three pairs, each pair including two bolt-type cam bearings 20 arranged opposite to each other on both sides of the circular track. The outer rings of two pairs of bolt-type cam bearings 20 run on the outer end faces of the circular track 100, while the outer rings of the other pair of bolt-type cam bearings 20 run on the inner end face of the circular track 100. The guide wheel 22 runs on the end face of the circular track 100 facing away from the clamping plate. With this arrangement, Figure 3 Taking the state shown as an example, the vehicle body can only walk along the track of the circular track / annular track 100. This prevents the vehicle body from tilting or even leaving the circular track / annular track 100.

[0055] like Figure 4 As shown, the circumferential drive assembly includes a reduction hydraulic motor 16, a driven gear 17 and a driving gear. Among them, the driven gear 17 is installed in the inner cavity of the spray mixing trolley 4 through the driven gear wear-resistant sleeve 18 and the driven gear pin 19, and is meshed with the ring gear. The driving gear fixed sleeve is arranged on the output shaft of the reduction hydraulic motor 16 and meshes with the driven gear 17, that is, the driving gear is coaxial with the output shaft of the reduction hydraulic motor 16 and is fixedly connected. The reduction hydraulic motor 16 drives the driving gear to rotate, and then drives the driven gear 17 to rotate, so that the vehicle body can travel on the circular track / annular track 100.

[0056] The gear ring includes a first gear ring 6 and a second gear ring 10 connected to each other. The clamping plate is composed of a left clamping plate 7, an upper left clamping plate 11, a right clamping plate 8 and an upper right clamping plate 12 connected in sequence. The clamping plate and the gear ring are fixedly connected by an internally threaded cylindrical pin 21.

[0057] It should be noted that the gear ring can be a full-circle gear ring or a non-full-circle gear ring with a gap at the bottom (such as Figure 2 The structure of the splint is similar to that of the gear ring and can be a full-circle splint or a non-full-circle splint.

[0058] In the prior art, the shotcrete head is fixed to the end of the cylinder piston, with the piston's extension and retraction controlling the forward and backward movement of the shotcrete head. This structure, on the one hand, requires the cylinder to withstand the gravitational force component generated by the shift in the shotcrete head's center of gravity. The longer the cylinder is extended, the greater the deflection load it bears, making it susceptible to damage over time. On the other hand, because the rectangular cylinder must withstand the gravitational force component generated by the shift in the shotcrete head's center of gravity, this requires a relatively large rectangular cylinder, and even the use of two spray-mixing systems. If a tunnel with a smaller diameter is excavated, there is little room between the shotcrete nozzle and the tunnel wall. Since the spray-mixing support device and protective cover are fixed to the tunnel boring machine support frame, their length must be increased to ensure a protective range. Furthermore, in the prior art, the protective cover is fixed to the tunnel boring machine support frame. The movement of the protective cover and the spray-mixing trolley is not synchronized. When the spray-mixing range exceeds the protective cover, the protective cover must be pre-moved to the spray-mixing position before the spray-mixing trolley can be moved there. This significantly increases the workload and reduces spray-mixing efficiency.

[0059] In the technical solution of the present application, the protective cover 1, the spraying machine and the spraying head are installed on the spray-mixing trolley 4, and the spray-mixing drive cylinder 5 serves as a component that drives the vehicle body to move along the track 14, rather than a component that drives the spray-mixing head to move. In other words, in the technical solution of the application, the spray-mixing drive cylinder 5 does not need to bear the gravity component generated by the offset of the center of gravity of the spray-mixing head. This effectively solves the problem in the prior art that the cylinder needs to bear the gravity component generated by the offset of the center of gravity of the spray-mixing head, bear a larger nozzle gravity, and the longer the cylinder extends, the greater the deflection load it bears, and it is easy to be damaged over time. In addition, in the case where the spray-mixing drive cylinder 5 does not need to bear the offset load, it is not required to be equipped with a large rectangular cylinder. Therefore, the spray-mixing system is simplified as a whole, the volume of the spray-mixing system is reduced, and more operating space is reserved for spray-mixing operations. The equipment has also been greatly improved in terms of applicability and can be used to excavate small-diameter tunnels.

[0060] In the technical solution of the present application, the protective cover 1 is installed on the spray mixing trolley 4, rather than being fixedly installed on the support frame. The protective cover 1 can rotate circumferentially and move axially along with the spray mixing trolley 4, that is, the movement of the protective cover 1 and the spray mixing trolley 4 is synchronized. Therefore, there is no need to move the protective cover 1 and the spray mixing trolley 4 to the predetermined spray mixing position one after another, which reduces the workload and improves the spray mixing efficiency. In addition, since the protective cover 1 and the spray mixing trolley 4 move synchronously, no matter where the spraying operation is carried out, the protective cover 1 can always play a protective role against the spraying falling.

[0061] Therefore, the technical solution of the present application can effectively solve the problems of large eccentric load on the oil cylinder, bulky spray mixing system, low efficiency, inconvenient operation, and unsuitability for arrangement on tunneling equipment for digging small diameter tunnels.

[0062] In addition, traditional spray-mixing equipment relies primarily on manual control for radial and axial movement, and variations in movement area and speed often lead to uneven spray-mixing and low efficiency. To address this technical problem, an embodiment is provided. Specifically, a shaft and tunnel excavation spray-mixing system further includes a controller, an angular displacement sensor, and a displacement sensor. The shaft and tunnel excavation spray-mixing system, the circumferential drive assembly, the linear drive assembly, the angular displacement sensor, and the displacement sensor are all electrically connected to the controller. The angular displacement sensor is used to detect the rotation angle of the spray-mixing trolley 4. The displacement sensor is used to detect the position of the spray-mixing trolley 4 along the length of the track 14.

[0063] Furthermore, the deceleration hydraulic motor 16 and the spray mixing drive cylinder 5 are electrically connected to a controller. The controller controls the deceleration hydraulic motor 16 and the spray mixing drive cylinder 5 to control the position of the spray mixing trolley 4 on the circular track and the track 14. This solves the problem of conventional spray mixing equipment, where radial and axial movement relies primarily on manual control, resulting in uneven spray mixing and low efficiency due to variations in movement range and speed.

[0064] The second aspect of the present invention provides a control method for executing the shaft and tunnel excavation spray mixing system, which includes driving the spray mixing trolley 4 together with the spraying machine 2 and the protective cover 1 to slide along the circular track through the circumferential drive component, and spraying the spraying material on the rock surface through the spraying machine 2; and driving the spray mixing trolley 4 together with the spraying machine 2 and the protective cover 1 along the track 14 through the linear drive component to adjust the spraying position.

[0065] Furthermore, the initial position information is defined. The displacement sensor detects the telescopic length of the spray-mixing drive cylinder 5 in real time, and controls the axial spraying position of the spray-mixing trolley 4 based on its feedback information. The angular displacement sensor detects the circumferential position of the spray-mixing trolley 4 on the circular track in real time, and controls the spraying angle based on its feedback information. This technical solution can effectively solve the problem that the radial and axial movement of traditional spray-mixing equipment mainly relies on manual control, and the changes in movement area and speed often lead to uneven spray mixing and low efficiency.

[0066] It should be noted that the extended length of the spray mixing driving cylinder 5 is zero, and the position directly above the axis of the spray mixing trolley 4 is used as the initial position information.

[0067] The preferred embodiments of the present invention are described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

[0068] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0069] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A tunnel excavation spray-mixing system, characterized in that: The shaft and tunnel excavation spray-mixing system includes: Spray mixing trolley (4); A shotcrete machine (2) is mounted on the spray-mixing trolley (4); A nozzle clamp (3), arranged on the spraying machine (2) or the spray-mixing trolley (4), and used for clamping the nozzle of the spraying machine (2); The circular track comprises a gear ring and a clamping plate; the gear ring is clamped and fixed by the clamping plates located at its two end surfaces; Protective covers (1) are located on both sides of the circular track and are fixedly mounted on both sides of the spray mixing trolley; A circumferential drive assembly, used for driving the spray mixing trolley (4) to slide along the circular track; A linear drive assembly comprises a track (14), a wheel seat (9) and a wheel seat (15) slidably connected to the track (14), and a drive unit for driving the wheel seat (9) and the wheel seat (15) to slide along the track (14); the drive unit comprises a spray mixing drive cylinder (5) whose telescopic direction is the same as the moving direction of the spray mixing trolley (4); The outer end surfaces of the two side plates of the gear ring are formed with an annular track (100) that conforms to the trajectory of the circular track and is concentric with the circular track; The spray mixing trolley (4) comprises a vehicle body and a guide wheel arranged at the bottom of the vehicle body and capable of moving along a circular track (100); the guide wheel comprises a bolt-type cam bearing (20) and a guide wheel (22); the bolt-type cam bearing (20) is used to prevent the vehicle body from moving radially on the circular track (100); the guide wheel (22) is used to prevent the vehicle body from moving axially on the circular track (100); The gear ring comprises a first gear ring (6) and a second gear ring (10) connected to each other; The splint is composed of a left splint (7), an upper left splint (11), a right splint (8) and an upper right splint (12) connected in sequence; The clamping plate and the gear ring are fixedly connected via an internally threaded cylindrical pin (21).

2. The tunnel excavation spray-mixing system according to claim 1, characterized in that: The bolt-type cam bearings (20) include three pairs, which are arranged opposite to each other on both sides of the circular track; wherein, the outer rings of the bearings of two pairs of bolt-type cam bearings (20) run on the outer ring end faces of the annular track (100), and the outer rings of the bearings of the other pair of bolt-type cam bearings (20) run on the inner ring end face of the annular track (100); the guide wheel (22) runs on the end face of the annular track (100) on one side facing away from the clamping plate.

3. The tunnel excavation spray-mixing system according to claim 1, characterized in that: The circumferential drive assembly comprises: reduction hydraulic motor (16); A driven gear (17) is disposed in the inner cavity of the spray mixing trolley (4) and meshes with the ring gear; A driving gear is fixedly sleeved on the output shaft of the reduction hydraulic motor (16) and meshes with the driven gear (17).

4. The tunnel excavation spray-mixing system according to claim 1, characterized in that: The shaft and tunnel excavation spray mixing system further includes a controller, an angular displacement sensor, and a displacement sensor; the shaft and tunnel excavation spray mixing system and the circumferential drive assembly, the linear drive assembly, the angular displacement sensor, and the displacement sensor are all electrically connected to the controller; The angular displacement sensor is used to detect the rotation angle of the spray mixing trolley (4); and the displacement sensor is used to detect the position of the spray mixing trolley (4) in the length direction of the track (14).

5. A control method for executing the shaft and tunnel excavation spray-mixing system according to claim 4, characterized in that: The control method includes: The circumferential drive assembly drives the spray-mixing trolley (4) together with the spraying machine (2) and the protective cover (1) to slide along the circular track, and the spraying machine (2) sprays the spray material onto the rock surface; the linear drive assembly drives the spray-mixing trolley (4) together with the spraying machine (2) and the protective cover (1) to move along the track (14) to adjust the spraying position.

6. The control method of the shaft and tunnel excavation spray-mixing system according to claim 5, characterized in that: Define initial position information; The displacement sensor detects the telescopic length of the spray-mixing driving cylinder (5) in real time, and controls the axial spraying position of the spray-mixing trolley (4) according to the feedback information; The angular displacement sensor detects the position of the spray-mixing trolley (4) on the circumference of the circular track in real time, and controls the spraying angle according to the feedback information.

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