A tunneling machine and a tunneling method

Abstract

The present application relates to the field of mechanical construction equipment, and specifically to a tunnel boring machine, and more specifically to a tunnel boring machine and a tunnel boring method, the tunnel boring machine comprising a tunnel boring machine body, a tunnel boring machine control system, and a remote control device in wireless communication with the tunnel boring machine control system, the tunnel boring machine body comprising a chassis, an engine system disposed on the chassis, and a tunneling arm disposed at the front end of the engine system, the tunneling arm comprising a plurality of joints capable of free swinging in up-down, left-right, and front-back directions, and the end of the tunneling arm being provided with a tunneling tooth set driven by a breaking hammer; by adopting the tunneling structure of the tunneling arm cooperating with the breaking hammer and the tunneling tooth, the generation of excessive dust during tunneling is avoided, and further, the crack information and rock strength information of the tunnel face are detected by the ultrasonic sensor, providing a scientific basis for construction and helping to improve the tunneling efficiency.

Description

Technical Field

[0001] This invention relates to the field of mechanical construction equipment, specifically to the design of tunnel boring equipment, and more specifically to a tunneling machine and tunneling method. Background Technology

[0002] Most current tunneling machines break up rock formations by rotating the cutting head, and move the cutting head up and down on the tunnel face by controlling the hydraulic support.

[0003] This type of tunneling method mainly relies on the rotation of the cutting head to drill through the rock. Under this method, the rock strata at the tunnel face are broken into powder by the cutting head, which easily generates a large amount of dust, endangering the safety of the workers. On the other hand, the operator of this equipment is located in the cab, resulting in poor visibility and low construction accuracy during tunnel excavation. Summary of the Invention

[0004] Therefore, the purpose of this invention is to overcome the shortcomings of the prior art and provide a tunneling machine and a tunneling method, which achieves wireless control of the tunneling machine through the cooperation of ultrasonic sensors and remote control equipment, thereby helping to improve construction accuracy.

[0005] According to a first aspect of the present invention, the present invention provides a tunneling machine, including a tunneling machine body, a tunneling machine control system, and a remote control device for wireless communication with the tunneling machine control system. The tunneling machine body includes a chassis, an engine system mounted on the chassis, and a tunneling arm mounted at the front end of the engine system. The tunneling arm includes multiple joints and is capable of free swinging in the up-down, left-right, and forward-backward directions. The end of the tunneling arm is provided with a tunneling tooth assembly driven by a breaker hammer.

[0006] The tunneling machine control system is mounted on the tunneling machine body and includes an ultrasonic sensor located at the front end of the tunneling arm. The ultrasonic sensor is used to scan and detect the tunnel face under the drive of the tunneling arm. It also includes a rock analysis system, which is used to receive the scanning and detection signals from the ultrasonic sensor, analyze the tunnel face based on the scanning and detection signals, and send the analysis results to the remote control device.

[0007] The remote control device is used to visualize the received analysis results, receive external operation commands, and send the operation commands to the tunneling machine control system, which then controls the tunneling machine to perform actions.

[0008] Preferably, the front end of the tunneling arm is provided with a protective component for protecting the ultrasonic sensor. The protective component includes a mounting plate disposed at the front end of the tunneling arm and an arched housing disposed on the mounting plate. The ultrasonic sensor is disposed between the cavity formed by the mounting plate and the arched housing, and the arched housing is open in the direction of tunneling.

[0009] Preferably, an image sensor is also provided between the mounting plate of the protective component and the arched housing. The image sensor is used to collect image signals of the tunneling teeth's movement and send the image signals to the rock strata analysis system. The rock strata analysis system then sends the image signals to a remote control device, which displays the image signals.

[0010] Preferably, after receiving the scanning detection signal from the ultrasonic sensor, the rock stratum analysis system analyzes the crack information and rock stratum strength information of the working face based on the wavelength and wave velocity signals therein. The remote control device displays the crack information according to the crack trajectory and classifies and identifies the rock stratum strength information into strength grades.

[0011] According to a second aspect of the present invention, a tunneling method is provided, comprising the following steps:

[0012] S1. Obtain the contour information of the working face;

[0013] S2. Control the tunneling machine's boom to drive the ultrasonic sensor to scan the tunnel face along the contour information and obtain the ultrasonic scanning information of the tunnel face.

[0014] S3. Analyze the working face based on the ultrasonic scanning information;

[0015] S4. Visualize the analysis results;

[0016] S5. Based on visual presentation, control the tunneling machine to drive the movement of the tunneling arm.

[0017] Preferably, the analysis of the tunnel face based on the ultrasonic scanning information includes: analyzing the crack information and rock strength information of the tunnel face using the wavelength and wave velocity signals collected by the ultrasonic sensor.

[0018] Preferably, the visualization of the analysis results includes: identifying the crack path and the rock stratum strength level in the face contour information.

[0019] This invention, by employing a tunneling arm combined with a hydraulic breaker and tunneling teeth, avoids excessive dust generation during tunnel excavation. Furthermore, it utilizes ultrasonic sensors to detect crack information and rock strength information at the tunnel face, providing a scientific basis for construction and helping to improve tunnel excavation efficiency. Simultaneously, the use of wireless control avoids blind spots in driving operation and allows construction personnel to perform remote construction, effectively improving the safety of tunnel operations. Compared with current cutter-head type tunneling machines, this invention has outstanding substantive features and significant progress. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall architecture of the tunneling machine of the present invention;

[0022] Figure 2 This is a diagram of the tunneling machine control system architecture of the tunneling machine of the present invention;

[0023] Figure 3 This is a schematic diagram of the protective component structure in the tunneling machine of the present invention;

[0024] The components are: 1-Tunneling machine body, 2-Tunneling machine control system, 21-Ultrasonic sensor, 22-Rock stratum analysis system, 23-Image sensor, 3-Remote control equipment, 4-Mounting plate, 5-Arched shell. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the invention.

[0026] This invention provides a tunneling machine, such as... Figure 1 and Figure 2 As shown, the tunneling machine includes a tunneling machine body 1, a tunneling machine control system 2, and a remote control device 3 that communicates wirelessly with the tunneling machine control system 2. The tunneling machine body 1 includes a chassis, an engine system mounted on the chassis, and a tunneling arm mounted at the front end of the engine system. The tunneling arm includes multiple joints and can swing freely in the up-down, left-right, and forward-backward directions. The end of the tunneling arm is equipped with a tunneling tooth assembly driven by a breaker hammer.

[0027] The tunneling machine control system 2 is mounted on the tunneling machine body 1. It includes an ultrasonic sensor 21 installed at the front end of the tunneling arm. The ultrasonic sensor 21 is used to scan and detect the tunnel face under the drive of the tunneling arm. It also includes a rock strata analysis system 22, which is used to receive the scanning and detection signals from the ultrasonic sensor 21, analyze the tunnel face based on the scanning and detection signals, and send the analysis results to the remote control device 3.

[0028] The remote control device 3 is used to visualize the received analysis results, receive external operation commands, and send the operation commands to the tunneling machine control system 2. The tunneling machine control system 2 controls the tunneling machine body 1 to perform actions.

[0029] In this embodiment, to prevent the tunneling machine from generating a large amount of dust during the tunneling process, a structure of a tunneling arm combined with a hydraulic breaker is used instead of the traditional cutter head structure. When breaking the rock strata at the working face, the positioning of the tunneling teeth is achieved by the free swinging of the tunneling arm in the up-down, left-right, and forward-backward directions. After positioning, the hydraulic breaker is used to break the rock strata. After forming a preliminary free face, the remaining rock strata are broken by spalling. Specifically, in the upper area of ​​the free face, the hydraulic breaker combined with the tunneling teeth is used to break the rock strata. Due to gravity, the broken rock strata will fall in block or plate form, avoiding the large amount of dust generated by tunneling with a cutter head.

[0030] Although dust is still generated during this tunneling operation, the amount of dust is significantly controlled compared to tunneling using a cutter head. Furthermore, the tunneling machine uses a water tank mounted on its body and water spray nozzles at the front of the tunneling arm to spray water and suppress dust at the tunneling location.

[0031] In this embodiment, the tunneling machine is also equipped with a tunneling machine control system 2 and a remote control device 3 capable of wireless communication with the tunneling machine control system 2. During construction, the remote control device 3 is held by the construction personnel, who send commands to the tunneling machine control system 2 through the remote control device 3. After receiving the commands, the tunneling machine control system 2 controls the tunneling machine body 1 to perform corresponding mechanical actions. The tunneling machine control system 2 is a system integrating data acquisition, analysis, and mechanical action control. The data acquisition part mainly includes an ultrasonic sensor 21 installed at the front end of the tunneling arm. The data analysis part is a rock stratum analysis system 22. This tunneling machine system uses ultrasonic methods to detect rock strata, mainly to analyze the crack information of the rock strata. The main principle of ultrasonic detection of rock stratum cracks is to use the phase reversal phenomenon or propagation time difference of the first wave at the crack endpoint to determine the crack depth; in addition, it can obtain the density parameters of the rock strata in the detection area based on the attenuation characteristics, frequency change degree, phase reversal, and other characteristics of ultrasonic waves, thereby identifying the strength information of the rock strata, that is, to perform rock stratum crack analysis and rock stratum strength analysis through changes in wavelength and wave velocity. After analyzing the above information, the rock strata analysis system 22 sends it to the remote control device 3.

[0032] The remote control device 3 is equipped with a display screen to visualize the results analyzed by the rock strata analysis system 22. Based on the displayed results, construction personnel select the initial position for tunneling at the face. Typically, the initial position is chosen at the intersection of cracks and where the rock strata strength levels are similar, and it should be as close to the lower part of the face as possible to facilitate the formation of a free face. The remote control device 3 is also equipped with a system for receiving operational commands from the construction personnel, which can be input via keyboard or handwriting. During operation, the operator can stand at a 45-degree angle to the side of the line connecting the tunneling machine and the face to easily observe whether the tunneling machine's position is correct and to make timely error corrections.

[0033] According to one embodiment of the present invention, in order to prevent falling rock strata from damaging the ultrasonic sensor 21 during tunneling, a protective assembly for protecting the ultrasonic sensor 21 is provided at the front end of the tunneling arm. This protective assembly includes a mounting plate 4 disposed at the front end of the tunneling arm. The mounting plate 4 can be fixed by threaded connection, welding, or other means, and is covered with an arched housing. The ultrasonic sensor 21 is installed within the cavity formed by the arched housing 5 and the mounting plate 4, facing the front end of the tunneling arm. Because the arch shape has higher structural strength than other shapes, it can effectively prevent falling rock strata from damaging the ultrasonic sensor 21.

[0034] Furthermore, in this embodiment, such as Figure 3 As shown, an image sensor 23 is also installed inside the arched shell 5. This image sensor 23 collects image signals of the tunneling tooth's movement and sends these signals to the rock strata analysis system 22. The rock strata analysis system 22 then sends these signals to the remote control device 3, which displays the image signals. In this embodiment, the rock strata analysis system 22 employs image overlay technology. The image signal is superimposed onto the visualization interface of rock strata crack information and rock strata strength information at the tunnel face and then sent to the remote control device 3. This has the advantage of allowing construction personnel to more intuitively understand the current position of the tunneling tooth and whether it corresponds to the planned construction position in the visualization interface of rock strata crack information and rock strata strength information. Furthermore, due to the presence of the image sensor 23, construction personnel in this embodiment do not need to stand in front of the tunnel face to observe the construction status and position; instead, they can directly correct construction errors through the image signals transmitted to the remote control device 3, which is more conducive to protecting the safety of construction personnel.

[0035] According to one embodiment of the present invention, the tunneling tooth assembly includes a main tooth disposed in the middle and auxiliary teeth disposed on both sides of the main tooth, wherein the length of the main tooth is greater than that of the auxiliary teeth. When constructing at a crack, the main tooth is first inserted into the corresponding crack, preferably at the intersection of the cracks, as this is often the weakest point, to widen the crack. After the crack width has widened, the tunneling tooth assembly can be controlled to continue moving forward, allowing the auxiliary teeth on both sides to also insert into the crack. Then, the tunneling arm is controlled to exert downward force, making it easier to break through the rock strata along the crack. Furthermore, after reaching the free face, the main tooth and auxiliary teeth simultaneously break through the rock strata, which on the one hand ensures that the rock strata are excavated along their own cracks as much as possible, guaranteeing the sustainability of the construction, and on the other hand, improves the efficiency of the construction work.

[0036] An embodiment of this invention provides a tunneling method, comprising the following steps:

[0037] S1. Obtain the contour information of the working face;

[0038] S2. Control the tunneling arm of the tunneling machine to drive the ultrasonic sensor 21 (21) to scan the face of the tunnel along the contour information and obtain the ultrasonic scanning information of the face of the tunnel.

[0039] S3. Analyze the working face based on the ultrasonic scanning information;

[0040] S4. Visualize the analysis results;

[0041] S5. Based on visual presentation, control the tunneling machine to drive the movement of the tunneling arm.

[0042] In step S1, the contour information of the tunnel face can be obtained using an image sensor 23. This image sensor 23 can be mounted on the tunneling machine or acquired via an external device such as a remote control device 3. After acquiring the contour information of the tunnel face, the tunneling machine's boom is controlled to drive the ultrasonic sensor 21 to scan the tunnel face along the contour information. During the scanning process, the ultrasonic sensor 21 emits ultrasonic waves into the tunnel face, and the changes in the wavelength and velocity of the ultrasonic waves are collected as a basis for analyzing the tunnel face, thereby obtaining information on rock fractures and rock strength at the tunnel face.

[0043] After analyzing the crack information and rock strength information at the tunnel face, the analysis results are visualized as in step S4. Finally, the construction personnel control the tunneling machine's movements based on this visualized information to carry out tunneling.

[0044] In this embodiment, the tunneling machine is controlled by a wireless remote control device 3, which has a display screen to present the analysis results of the tunnel face after ultrasonic scanning.

[0045] This invention, by employing a tunneling structure combining a tunneling arm with a hydraulic breaker and tunneling teeth, avoids excessive dust generation during tunnel excavation. Furthermore, it utilizes an ultrasonic sensor 21 to detect crack information and rock strength information at the tunnel face, providing a scientific basis for construction and helping to improve tunnel excavation efficiency. Simultaneously, the use of wireless control avoids blind spots in driving operation and allows construction personnel to perform remote construction, effectively improving the safety of tunnel operations. Compared with current cutter-type tunneling machines, this invention has outstanding substantive features and significant progress.

[0046] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A heading machine, characterized in that, The tunneling machine body (1) includes a chassis, an engine system arranged on the chassis, and a tunneling arm arranged at the front end of the engine system, the tunneling arm comprising a plurality of joints capable of freely swinging in up-down, left-right, and front-back directions, and the end of the tunneling arm is provided with a tunneling tooth group driven by a breaking hammer; The tunneling machine control system (2) is mounted on the tunneling machine body (1) and comprises an ultrasonic sensor (21) arranged at the front end of the tunneling arm, which is used to scan and detect the tunneling face under the driving of the tunneling arm; and a rock stratum analysis system (22) for receiving the scanning detection signal of the ultrasonic sensor (21), analyzing the tunneling face based on the scanning detection signal, and sending the analysis result to the remote control device (3); The remote control device (3) is used to visually present the received analysis result, receive external operation instructions, and send the operation instructions to the tunneling machine control system (2), and the tunneling machine control system (2) controls the tunneling machine body (1) to act; a protection assembly for protecting the ultrasonic sensor (21) is arranged at the front end of the tunneling arm, the protection assembly comprises a mounting plate (4) arranged at the front end of the tunneling arm, and an arched shell (5) arranged on the mounting plate (4), the ultrasonic sensor (21) is arranged between the cavity formed by the mounting plate (4) and the arched shell (5), and the arched shell (5) is open to the tunneling direction; an image sensor (23) is further arranged between the mounting plate (4) and the arched shell (5) of the protection assembly, the image sensor (23) is used to collect an image signal of the tunneling tooth actuation and send the image signal to the rock stratum analysis system (22), the rock stratum analysis system (22) sends the image signal to the remote control device (3), and the remote control device (3) displays the image signal; after the rock stratum analysis system (22) receives the scanning detection signal of the ultrasonic sensor (21), the crack information and the rock stratum strength information of the tunneling face are analyzed based on the wavelength and the wave speed signal, the remote control device displays the crack information according to the crack trajectory, and the rock stratum strength information is classified and marked according to the strength level; The rock stratum analysis system (22) uses image superposition technology to superimpose the image signal of the tunneling tooth actuation on the visual interface of the crack information and the rock stratum strength information of the tunneling face, and sends it to the remote control device (3).

2. A heading machine according to claim 1, characterised in that The tunneling tooth group comprises a main tooth arranged at the middle and a pair of auxiliary teeth arranged on both sides of the main tooth, and the length of the main tooth is greater than that of the auxiliary teeth.

3. A tunnelling method suitable for a tunnelling machine as claimed in any one of claims 1 - 2, characterised in that, The method comprises the following steps: S1, obtaining the contour information of the tunneling face and the image signal of the tunneling tooth actuation on the tunneling arm; S2, controlling the tunneling arm of the tunneling machine to drive the ultrasonic sensor (21) to scan the tunneling face along the contour information to obtain the scanning detection signal of the tunneling face; S3, analyzing the working face based on the scanning detection signal, including: analyzing the crack information and the rock strength information of the working face based on the wavelength and the wave velocity signal in the scanning detection signal, superimposing the image signal of the action of the cutting teeth to the visualization interface of the crack information and the rock strength information of the working face, and sending to the remote control device; S4, visualizing the analysis result; S5, controlling the action of the tunneling machine based on the visualization.

4. A method of excavation according to claim 3, characterised in that, The visualizing the analysis result includes: identifying the crack path and identifying the rock strength grade in the contour information of the working face.

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