TBM spraying device

Abstract

This invention discloses a TBM shotcrete device, comprising: a shotcrete bridge disposed downstream of the equipment bridge of the TBM machine, the shotcrete bridge being equipped with a concrete pump; a track frame distributed circumferentially at 270° around the outer periphery of the shotcrete bridge, the track frame being movable back and forth relative to the shotcrete bridge, and a pair of tracks provided on the outer periphery of the track frame; and a shotcrete structure comprising: a housing slidably disposed on the pair of tracks, the housing having an opening; a shotcrete assembly comprising a concrete box and a shotcrete pipe; and a hydraulic cylinder assembly comprising a first hydraulic cylinder, a first jacking block, a second hydraulic cylinder, and a second jacking block. This invention can increase the shotcrete area and improve shotcrete efficiency, effectively and efficiently improving the support effect of fractured surrounding rock.

Description

Technical Field

[0001] This invention relates to the field of full-face hard rock tunnel boring machine (TBM) technology. More specifically, this invention relates to a TBM shotcrete device. Background Technology

[0002] TBMs generally refer to full-face hard rock tunnel boring machines, which have advantages such as fast excavation speed, environmental friendliness, and high overall efficiency. They can achieve rapid construction in complex terrains and long-term freezing conditions that are difficult to achieve with traditional drill-and-blast methods. In TBM shotcrete support operations, to improve construction efficiency and reduce labor intensity, automated shotcrete machines are generally used to replace manual spraying of concrete onto the tunnel walls. When the shotcrete machine rotates along the track frame, the nozzle itself cannot rotate. This means that relying on impact force, concrete can only be sprayed onto a limited area of ​​the tunnel wall. Furthermore, some of the sprayed concrete may bounce off the tunnel wall and fall back down, forming debris that is difficult to clean. Manual debris removal or operating protective covers is difficult, labor-intensive, and detrimental to construction safety and efficiency. Summary of the Invention

[0003] This invention provides a TBM shotcrete device that can increase the shotcrete area and improve shotcrete efficiency, thereby effectively and efficiently improving the support effect of fractured surrounding rock.

[0004] To achieve these objectives and other advantages according to the present invention, a TBM shotcrete apparatus is provided, comprising:

[0005] A shotcrete bridge, located downstream of the equipment bridge of the TBM machine, is equipped with a concrete pump.

[0006] A track frame is arranged in a 270° circumference around the outer periphery of the spray mixing bridge. The track frame can move back and forth relative to the spray mixing bridge. A pair of tracks are provided on the outer periphery of the track frame.

[0007] Shotcrete structure, comprising:

[0008] A housing slidably disposed on a pair of tracks, the housing having an opening;

[0009] The shotcrete assembly includes a concrete box and a shotcrete pipe. The concrete box is a cylindrical chamber. A rotating shaft is provided at the eccentric part of the concrete box and is rotatably connected to the housing through a bearing. A feed pipe is provided inside the rotating shaft. The concrete box is connected to the concrete pump through the feed pipe. The concrete box is connected to the shotcrete pipe. The shotcrete pipe extends out of the opening and faces the inner wall of the tunnel to be tunneled.

[0010] The hydraulic cylinder assembly includes a first hydraulic cylinder, a first push block, a second hydraulic cylinder, and a second push block. The first and second hydraulic cylinders are symmetrically arranged with respect to the rotating shaft, and the rotating shaft is located on the extension line of the telescopic rods of the first and second hydraulic cylinders. The telescopic rods of the first and second hydraulic cylinders are respectively connected to the first and second push blocks. The telescopic rods of the first and second hydraulic cylinders extend and retract alternately, so that the first and second push blocks push the concrete box at all times, driving the concrete box to rotate and causing the grouting pipe to spray grout within the opening range.

[0011] Preferably, the shotcrete structure further includes a pair of guide components, each guide component including a guide rail and a limiting block. The guide rail is arranged parallel to the telescopic rod of the first or second hydraulic cylinder, and the limiting block is disposed at the beginning of the guide rail. The first or second pushing block is slidably disposed on the guide rail. When the first or second pushing block slides to the beginning of the guide rail, the first or second pushing block abuts against the limiting block.

[0012] Preferably, the width of the opening is set such that when the telescopic rod of the first hydraulic cylinder is extended to its limit and the telescopic rod of the second hydraulic cylinder is retracted to its limit, the rotational stroke of the spraying pipe is limited to one side wall of the opening; when the telescopic rod of the first hydraulic cylinder is retracted to its limit and the telescopic rod of the second hydraulic cylinder is extended to its limit, the rotational stroke of the spraying pipe is limited to the other side wall of the opening.

[0013] Preferably, the number of track frames and shotcrete structures is one pair, arranged one in front of the other on the shotcrete bridge, and the pair of track frames can be close to or far away from the shotcrete bridge.

[0014] Preferably, it further includes a pair of slag collection structures symmetrically arranged below the spray mixing bridge, the slag collection structures comprising:

[0015] A mounting bracket that is movable back and forth relative to the spray mixing bridge, the mounting bracket extending downward from the bottom of the spray mixing bridge;

[0016] A robotic arm assembly includes a first robotic arm, a second robotic arm, and a third robotic arm. The upper end of the first robotic arm is hinged to the upper end of the fixed frame, the upper middle part of the second robotic arm is hinged to the lower end of the fixed frame, the lower middle part of the third robotic arm is hinged to the lower end of the first robotic arm, and the lower end of the third robotic arm is hinged to the lower end of the second robotic arm. The second robotic arm rotates around the hinge point under power drive.

[0017] The slag collection plate is located at the upper end of the third robotic arm. The slag collection plate is a bamboo-joint telescopic panel. When the slag collection plate is extended to its limit, it is 3-5 cm away from the inner wall of the tunnel.

[0018] Preferably, the two ends of the track frame are slidably mounted on the bottom rail of the sprayed concrete bridge via columns, a pair of columns are fixedly connected by a horizontal column, a pair of fixed frames are slidably mounted on the horizontal column, and two robotic arm assemblies can extend through the two ends of the track frame toward the inner wall of the tunnel.

[0019] The present invention has at least the following beneficial effects:

[0020] First, this invention expands the spraying area by moving the track frame back and forth relative to the sprayed concrete bridge, moving the sprayed structure up and down relative to the track frame, and moving the sprayed pipe back and forth relative to the sprayed structure, thereby improving the spraying efficiency and quickly spraying concrete onto the tunnel wall, which can effectively and efficiently improve the support effect of the fractured surrounding rock.

[0021] Secondly, the concrete pump equipped with the sprayed concrete bridge of the present invention is preferably 20m³ / h. 3 A concrete pump with a rated capacity of / h has a track frame mounted on the outer perimeter of the shotcrete bridge. The track frame moves back and forth relative to the bridge via wireless remote control. The track frame consists of a pair of frames connected by multiple reinforcing rods, with a pair of tracks on each frame. Wireless remote control allows for 270° circumferential movement of the shotcrete structure relative to the bridge. The shotcrete structure includes a shell, shotcrete components, and hydraulic cylinder components. The shell houses the components and provides sliding connections. An opening in the shell allows the shotcrete pipe to pass through, and the opening length matches the rotation range of the shotcrete pipe. The concrete tank is connected to the concrete pump for refueling; concrete is delivered from the rear-mounted equipment or bridge section to the shotcrete pipe via the shotcrete pump. The concrete tank's rotating shaft is positioned eccentrically, causing the concrete tank to swing irregularly and significantly. An inlet pipe is installed inside the rotating shaft to prevent the large swing of the concrete tank from causing leakage. Due to material shortages, the first and second hydraulic cylinders generate a pushing force. During shotcreting, the first and second pushing blocks constantly push the concrete box. Due to the large swing of the concrete box, the pushing position is not fixed. The telescopic rods of the first and second hydraulic cylinders extend and retract alternately. When the first hydraulic cylinder extends to its limit, the second hydraulic cylinder retracts to its limit, sending the concrete box to the beginning of the track. When the first hydraulic cylinder retracts to its limit, the second hydraulic cylinder extends to its limit, sending the concrete box to the end of the track. The shotcreting pipe swings in the opening area as the concrete box rotates. Compared with the existing fixed-position shotcreting, it can achieve small-amplitude swing shotcreting, thereby improving shotcreting efficiency. During operation, the spraying angle and spraying position of the shotcreting pipe are adjusted by the drive assembly and hydraulic cylinders according to the spraying volume and its rebound, so as to reinforce the concrete.

[0022] Third, the present invention uses a guide rail to achieve a guiding function, pulling the first or second push block to move along a predetermined straight trajectory. The limiting block forms a limiting surface for the first or second push block, which plays a protective role. The length setting of the opening further restricts the swing of the shotcrete pipe and protects the internal components of the shell. The track frames are set one in front of the other, and the pair of track frames can be moved closer or further away by wireless remote control to perform shotcrete synchronously, thereby improving shotcrete efficiency.

[0023] Fourth, this invention symmetrically arranges a pair of slag collection structures to facilitate the collection of accumulated slag during the oscillating spraying of the spray pipe. The fixed frame moves back and forth relative to the spray bridge, cooperating with the back and forth movement of the spraying assembly. Both the fixed frame and the robotic arm assembly can be panel structures or multiple rod-like structures connected by reinforcing ribs. The fixed frame provides stable support. The second robotic arm is a power arm with its upper end as the drive end. The rotation of the second robotic arm drives the rotation of the third robotic arm, causing it to change its angle from retracted to extended. The first robotic arm provides pivotal connection and support. The slag collection plate is an extension of the third robotic arm. The bamboo-joint telescopic panel facilitates the retraction of multiple sections into the third robotic arm. The width after retraction and folding is no greater than the length of the third robotic arm. Retraction can be achieved through wireless remote control. The upper end of the third robotic arm can be equipped with wheels to enhance the stability of the slag collection plate. When slag collection is required, the third robotic arm is rotated to the appropriate angle, and the slag collection plate is unfolded to form an upward slag collection surface. After slag collection, the rebound material can be flipped onto a horizontal belt conveyor and then transported out by a vertical conveyor.

[0024] Fifth, this invention features rails on the bottom surface of the shotcrete bridge, with columns cooperating with the rails to facilitate stable movement of the track frame. A pair of columns are connected by horizontal columns, and grooves are further provided on the horizontal columns to cooperate with the fixed frames, facilitating stable movement of the fixed frames. When slag collection is required, the pair of fixed frames move outward, allowing the robotic arm assembly to pass through the track frame. When slag collection is not required, the pair of fixed frames move inward, allowing the robotic arm assembly to return to the area below the shotcrete bridge, ensuring slag collection below the shotcrete operation and improving the degree of automation.

[0025] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of one technical solution of the present invention;

[0027] Figure 2 This is a schematic diagram of the shotcrete structure described in this invention;

[0028] Figure 3 This is a schematic diagram of the structure of one technical solution of the present invention;

[0029] Figure 4 This is a schematic diagram of the slag collection structure described in this invention. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0031] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0032] It should be noted that, unless otherwise specified, the experimental methods described in the following embodiments are conventional methods, and the reagents and materials mentioned are commercially available. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to fixed connection or setting, detachable connection or setting, or integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0033] like Figure 1-2 As shown, the present invention provides a TBM shotcrete device, comprising:

[0034] Shotcrete bridge 1, which is located downstream of the equipment bridge of the TBM machine, is equipped with a concrete pump;

[0035] The track frame 2 is distributed in a 270° circumference around the outer periphery of the spray mixing bridge 1. The track frame 2 can move back and forth relative to the spray mixing bridge 1. A pair of tracks are provided on the outer periphery of the track frame 2.

[0036] Shotcrete structure 3, which includes:

[0037] A housing 31, which is slidably disposed on a pair of tracks, the housing 31 having an opening;

[0038] The shotcrete assembly includes a concrete box 32 and a shotcrete pipe 33. The concrete box 32 is a cylindrical chamber. A rotating shaft is provided at the eccentric part of the concrete box 32 and is rotatably connected to the housing 31 through a bearing. A feed pipe is provided inside the rotating shaft. The concrete box 32 is connected to the concrete pump through the feed pipe. The concrete box 32 is connected to the shotcrete pipe 33. The shotcrete pipe 33 extends out of the opening and faces the inner wall of the tunnel to be tunneled.

[0039] The hydraulic cylinder assembly includes a first hydraulic cylinder 34, a first push block 35, a second hydraulic cylinder 36, and a second push block 37. The first hydraulic cylinder 34 and the second hydraulic cylinder 36 are symmetrically arranged with respect to the rotating shaft. Viewed from a horizontal projection, the center of the rotating shaft lies on the extension line of the telescopic rods of the first hydraulic cylinder 34 and the second hydraulic cylinder 36. The telescopic rods of the first hydraulic cylinder 34 and the second hydraulic cylinder 36 are respectively connected to the first push block 35 and the second push block 37. The telescopic rods of the first hydraulic cylinder 34 and the second hydraulic cylinder 36 extend and retract alternately, causing the first push block...

[0040] 35. At any moment, the second jacking block 37 pushes the concrete box 32, causing the concrete box 32 to rotate so that the spraying pipe 33 sprays grout within the opening range.

[0041] In the above technical solution, the present invention expands the spraying area by moving the track frame 2 back and forth relative to the sprayed concrete bridge 1, moving the sprayed concrete structure 3 up and down relative to the track frame 2, and moving the sprayed concrete pipe 33 back and forth relative to the sprayed concrete structure 3, thereby improving the spraying efficiency and quickly spraying concrete onto the tunnel wall, which can effectively and efficiently improve the support effect of the fractured surrounding rock.

[0042] The concrete pump equipped with the sprayed concrete bridge 1 is preferably 20m³ / h. 3A concrete pump with a flow rate of / h has a track frame 2 mounted on the outer periphery of the sprayed concrete bridge 1. The track frame 2 moves back and forth relative to the sprayed concrete bridge 1 via wireless remote control. The track frame 2 consists of a pair of frames connected by multiple reinforcing rods, with a pair of tracks on each frame. The sprayed concrete structure 3 moves 270° circumferentially relative to the sprayed concrete bridge 1 via wireless remote control. The sprayed concrete structure 3 includes a housing 31, sprayed concrete components, and a hydraulic cylinder assembly. The housing 31 serves to house the components and provide sliding connections. An opening in the housing 31 allows the sprayed concrete pipe 33 to pass through, and the opening length matches the rotation range of the sprayed concrete pipe 33. A concrete tank 32 is connected to the concrete pump for material replenishment; concrete is delivered from the TBM machine's downstream components or equipment bridge section to the sprayed concrete pipe 33 via the sprayed concrete pump. The rotating shaft of the concrete tank 32 is positioned eccentrically, causing the concrete tank 32 to swing irregularly and significantly. An inlet pipe is installed inside the rotating shaft to prevent the large swing of the concrete tank 32 from causing leakage. Due to material shortages, the first hydraulic cylinder 34 and the second hydraulic cylinder 36 generate a pushing force. During shotcreting, the first pushing block 35 and the second pushing block 37 constantly push the concrete box 32. Due to the large swing of the concrete box 32, the pushing position is not fixed. The telescopic rods of the first hydraulic cylinder 34 and the second hydraulic cylinder 36 extend and retract alternately. When the first hydraulic cylinder 34 extends to its limit, the second hydraulic cylinder 36 retracts to its limit, sending the concrete box 32 to the beginning of the track. When the first hydraulic cylinder 34 retracts to its limit, the second hydraulic cylinder 36 extends to its limit, sending the concrete box 32 to the end of the track. The shotcreting pipe 33 swings in the opening area as the concrete box 32 rotates. Compared with the existing fixed-position shotcreting, it can achieve small-amplitude swing shotcreting, thereby improving shotcreting efficiency. During operation, the spraying angle and spraying position of the shotcreting pipe 33 are adjusted by the drive assembly and hydraulic cylinders according to the spraying volume and its rebound, so as to reinforce the concrete.

[0043] In another technical solution, the shotcrete structure 3 further includes a pair of guiding components. Each guiding component includes a guide rail 38 and a limiting block 39. The guide rail 38 is arranged parallel to the telescopic rod of the first hydraulic cylinder 34 or the second hydraulic cylinder 36. The limiting block 39 is located at the beginning of the guide rail 38. The first pushing block 35 or the second pushing block 37 is slidably disposed on the guide rail 38. When the first pushing block 35 or the second pushing block 37 slides to the beginning of the guide rail 38, it abuts against the limiting block 39. The guide rail 38 provides guidance, pulling the first pushing block 35 or the second pushing block 37 along a predetermined straight trajectory. The limiting block 39 forms a limiting surface for the first pushing block 35 or the second pushing block 37, providing protection.

[0044] In another technical solution, the width of the opening is set such that when the telescopic rod of the first hydraulic cylinder 34 is extended to its limit and the telescopic rod of the second hydraulic cylinder 36 is retracted to its limit, the rotational stroke of the spraying pipe 33 is limited to one side wall of the opening; when the telescopic rod of the first hydraulic cylinder 34 is retracted to its limit and the telescopic rod of the second hydraulic cylinder 36 is extended to its limit, the rotational stroke of the spraying pipe 33 is limited to the other side wall of the opening. The length of the opening further restricts the swinging of the spraying pipe 33 while protecting the internal components of the housing 31.

[0045] In another technical solution, the track frame 2 and the shotcrete structure 3 are arranged in pairs, one in front of the other on the shotcrete bridge 1. The pair of track frames 2 can move closer to or further away from the shotcrete bridge 1. The track frames 2 are arranged one in front of the other, and the movement of the pair of track frames 2 can be controlled wirelessly to synchronize shotcreting and improve shotcreting efficiency.

[0046] like Figure 3-4 As shown, in another technical solution, a pair of slag collection structures 4 are also included, which are symmetrically arranged below the spray mixing bridge 1. The slag collection structure 4 includes:

[0047] A fixing frame 41 is movable back and forth relative to the spray mixing bridge 1, and the fixing frame 41 extends downward from the bottom of the spray mixing bridge 1.

[0048] The robotic arm assembly includes a first robotic arm 42, a second robotic arm 43, and a third robotic arm 44. The upper end of the first robotic arm 42 is hinged to the upper end of the fixed frame 41, the upper middle part of the second robotic arm 43 is hinged to the lower end of the fixed frame 41, the lower middle part of the third robotic arm 44 is hinged to the lower end of the first robotic arm 42, and the lower end of the third robotic arm 44 is hinged to the lower end of the second robotic arm 43. The second robotic arm 43 rotates around the hinge point under power drive.

[0049] The slag collection plate 45 is located at the upper end of the third robotic arm 44. The slag collection plate 45 is a bamboo-joint telescopic panel. When the slag collection plate 45 is extended to its limit, it is 3-5 cm away from the inner wall of the tunnel.

[0050] In the above technical solution, a pair of slag collection structures 4 are symmetrically arranged to facilitate the collection of accumulated slag when the shotcrete pipe 33 swings during shotcreting. The fixed frame 41 moves back and forth relative to the shotcrete bridge 1, cooperating with the back and forth movement of the shotcrete assembly. Both the fixed frame 41 and the robotic arm assembly can be panel structures or multiple rod-like structures connected by reinforcing ribs. The fixed frame 41 provides stable support. The second robotic arm 43 is a power arm, with its upper end being the drive end. The rotation of the second robotic arm 43 drives the rotation of the third robotic arm 44, causing it to change its angle from retracted to extended. The first robotic arm 42 is a pivot arm. The slag collection plate 45 serves as a connecting support and is an extension of the third robotic arm 44. The bamboo-joint telescopic panel allows for multiple sections to be retracted into the third robotic arm 44. The width after retraction and folding is no greater than the length of the third robotic arm 44. Retraction can be achieved through wireless remote control. The upper end of the third robotic arm 44 can be equipped with wheels to increase the stability of the slag collection plate 45. When slag collection is required, the third robotic arm 44 is rotated to the appropriate angle, and the slag collection plate 45 is unfolded to form an upward slag collection surface. After slag collection is completed, the rebound material can be flipped onto a horizontal belt conveyor and then transported out by a vertical conveyor.

[0051] In another technical solution, the two ends of the track frame 2 are slidably mounted on the bottom rail of the sprayed concrete bridge 1 via columns, a pair of columns are fixedly connected by horizontal columns, a pair of fixing frames 41 are slidably mounted on the horizontal columns, and two robotic arm assemblies can extend through the two ends of the track frame 2 toward the inner wall of the tunnel.

[0052] In the above technical solution, rails are installed on the bottom surface of the sprayed concrete bridge 1, and the columns cooperate with the rails to facilitate the stable movement of the track frame 2. A pair of columns are connected by horizontal columns, and a sliding groove is further installed on the horizontal columns to cooperate with the fixed frame 41 to facilitate the stable movement of the fixed frame 41. When slag collection is required, the pair of fixed frames 41 move outward to allow the robotic arm assembly to pass through the track frame 2. When slag collection is not required, the pair of fixed frames 41 move inward to allow the robotic arm assembly to return to the bottom of the sprayed concrete bridge 1, ensuring slag collection below the sprayed concrete operation and improving the degree of automation.

[0053] The number of devices and processing scale described herein are for the purpose of simplifying the description of the invention. Applications, modifications, and variations of the invention will be readily apparent to those skilled in the art.

[0054] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A TBM shotcrete device, characterized in that, include: A shotcrete bridge, located downstream of the equipment bridge of the TBM machine, is equipped with a concrete pump. A track frame is arranged in a 270° circumference around the outer periphery of the spray mixing bridge. The track frame can move back and forth relative to the spray mixing bridge. A pair of tracks are provided on the outer periphery of the track frame. Shotcrete structure, comprising: A housing slidably disposed on a pair of tracks, the housing having an opening; The shotcrete assembly includes a concrete box and a shotcrete pipe. The concrete box is a cylindrical chamber. A rotating shaft is provided at the eccentric part of the concrete box and is rotatably connected to the housing through a bearing. A feed pipe is provided inside the rotating shaft. The concrete box is connected to the concrete pump through the feed pipe. The concrete box is connected to the shotcrete pipe. The shotcrete pipe extends out of the opening and faces the inner wall of the tunnel. The hydraulic cylinder assembly includes a first hydraulic cylinder, a first push block, a second hydraulic cylinder, and a second push block. The first and second hydraulic cylinders are symmetrically arranged with respect to the rotating shaft, and the rotating shaft is located on the extension line of the telescopic rods of the first and second hydraulic cylinders. The telescopic rods of the first and second hydraulic cylinders are respectively connected to the first and second push blocks. The telescopic rods of the first and second hydraulic cylinders extend and retract alternately, so that the first and second push blocks push the concrete box at all times, driving the concrete box to rotate and causing the grouting pipe to spray grout within the opening range. The shotcrete structure also includes a pair of guide components, each guide component including a guide rail and a limiting block. The guide rail is arranged parallel to the telescopic rod of the first or second hydraulic cylinder. The limiting block is located at the beginning of the guide rail. The first or second pushing block is slidably arranged on the guide rail. When the first or second pushing block slides to the beginning of the guide rail, the first or second pushing block abuts against the limiting block. The width of the opening is set such that when the telescopic rod of the first hydraulic cylinder is extended to its limit and the telescopic rod of the second hydraulic cylinder is retracted to its limit, the rotational stroke of the spraying pipe is limited to one side wall of the opening; when the telescopic rod of the first hydraulic cylinder is retracted to its limit and the telescopic rod of the second hydraulic cylinder is extended to its limit, the rotational stroke of the spraying pipe is limited to the other side wall of the opening.

2. The TBM shotcrete device as described in claim 1, characterized in that, The number of track frames and shotcrete structures is one pair, one in front of the other on the shotcrete bridge, and the pair of track frames can be close to or far away from the shotcrete bridge.

3. The TBM shotcrete device as described in claim 2, characterized in that, It also includes a pair of slag collection structures, symmetrically arranged below the spray mixing bridge, the slag collection structures comprising: A mounting bracket that is movable back and forth relative to the spray mixing bridge, the mounting bracket extending downward from the bottom of the spray mixing bridge; A robotic arm assembly includes a first robotic arm, a second robotic arm, and a third robotic arm. The upper end of the first robotic arm is hinged to the upper end of the fixed frame, the upper middle part of the second robotic arm is hinged to the lower end of the fixed frame, the lower middle part of the third robotic arm is hinged to the lower end of the first robotic arm, and the lower end of the third robotic arm is hinged to the lower end of the second robotic arm. The second robotic arm rotates around the hinge point under power drive. The slag collection plate is located at the upper end of the third robotic arm. The slag collection plate is a bamboo-joint telescopic panel. When the slag collection plate is extended to its limit, it is 3-5 cm away from the inner wall of the tunnel.

4. The TBM shotcrete device as described in claim 3, characterized in that, The two ends of the track frame are slidably mounted on the bottom rail of the sprayed concrete bridge via columns. A pair of columns are fixedly connected by a horizontal column, and a pair of fixed frames are slidably mounted on the horizontal column. Two robotic arm assemblies can extend through the two ends of the track frame toward the inner wall of the tunnel.

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