An open type TBM debris cleaning and supporting integrated device suitable for poor geological section

Abstract

The application discloses an open TBM slag cleaning and supporting integrated device suitable for a poor geological section, which comprises a temporary supporting device, an auxiliary conveying device and a slag cleaning operation platform, the auxiliary conveying device is installed on a TBM main beam, the temporary supporting device is installed on the upper portion of the auxiliary conveying device, and the slag cleaning operation platform is installed on the bottom of the auxiliary conveying device. The temporary supporting device comprises a roof, a vertical supporting mechanism and a lateral supporting mechanism, the roof comprises a main shed and a side shed, the slag cleaning operation platform comprises a sliding platform and a slag cleaning mechanical arm, and the slag cleaning mechanical arm is connected with the bottom of the auxiliary conveying device through the sliding platform. The slag cleaning mechanical arm comprises a bottom disc turbine box, a rotating large arm, a motor, a speed reducer, a telescopic large arm, a telescopic small arm, a telescopic arm hydraulic cylinder, a digging arm, a digging arm hydraulic cylinder, a connecting rod, a hinged piece and a shovel. The application can realize the top surrounding rock supporting of a fast anchor rod construction area and the cleaning of the slag accumulated at the bottom of the main beam.

Description

Technical Field

[0001] This invention relates to the field of tunnel boring machine technology, specifically to an integrated device for cleaning and supporting open-type TBMs in adverse geological sections. Background Technology

[0002] Full-face hard rock tunnel boring machines (TBMs) are tunnel construction equipment that simultaneously performs tunneling, support, and muck removal. In recent years, due to their high safety, high tunneling efficiency, and good tunnel quality, they have been increasingly applied to coal mine tunneling operations, solving a key problem in rapid tunneling of coal mine rock tunnels. They utilize the cutting rollers on a rotating cutterhead to shear and break the rock, while the bucket on the cutterhead scoops up the muck, causing it to fall onto the main conveyor belt and be transported outside the tunnel. Simultaneously, anchor bolt drilling rigs provide anchor bolt support, enabling parallel operations of tunneling, support, and muck removal, greatly improving the efficiency of rock tunnel excavation. In adverse geological environments with numerous fractured zones and high ground stress, the dense joints and poor self-stabilizing ability of the surrounding rock make it prone to accidents such as rock bursts, support collapses, and roof falls. Currently, TBM tunneling support has certain limitations in the structure of the TBM main unit. There is a phenomenon of the surrounding rock being exposed in the area between the anchor drilling rig and the shield. In adverse geological environments, the deformation of the surrounding rock may be too large, affecting the safety of construction. Rapid temporary support is required to reduce the gap between the rock and the shield and the time between the rock and the shield. At the same time, a large amount of rock debris and rock blocks accumulate at the bottom of the tunnel, which hinders the subsequent procedures such as the installation of steel arch frames and reduces the continuity and efficiency of tunnel construction. Summary of the Invention

[0003] The purpose of this invention is to provide an integrated device for cleaning and supporting open-type TBMs in adverse geological sections, which can realize the support of the top surrounding rock in the rapid anchor bolt construction area and the cleaning of accumulated debris at the bottom of the main beam, ensuring that the TBM can quickly and safely pass through areas with abnormal surrounding rock.

[0004] To achieve the above objectives, the present invention provides an integrated muck removal and support device for open-type TBMs in adverse geological sections, comprising a temporary support device, an auxiliary conveying device, and a muck removal operation platform. The auxiliary conveying device is installed on the main beam of the TBM, the temporary support device is installed above the auxiliary conveying device, and the muck removal operation platform is installed at the bottom of the auxiliary conveying device.

[0005] The temporary support device includes a canopy, a vertical support mechanism, and a lateral support mechanism. The canopy includes a main canopy and side canopies. The vertical support mechanism is a telescopic structure, with its upper end hinged to the main canopy and its lower end fixedly connected to the top of the auxiliary conveying device. The lateral support mechanism is a telescopic structure, with its upper end hinged to the side canopy and its lower end fixedly connected to the top of the auxiliary conveying device.

[0006] The auxiliary conveying device includes a main slag discharge belt conveyor and a feed inlet. The main slag discharge belt conveyor is located inside the TBM main beam, and the feed inlet is located on both sides of the TBM main beam.

[0007] The slag cleaning operation platform includes a sliding platform and a slag cleaning robotic arm, and the slag cleaning robotic arm is connected to the bottom of the auxiliary conveying device through the sliding platform;

[0008] The slag removal robotic arm includes a chassis turbine housing, a rotating boom, a motor, a reducer, a telescopic boom, a telescopic arm, a telescopic boom hydraulic cylinder, a digging arm, a digging arm hydraulic cylinder, a connecting rod, a hinge, and a bucket. The chassis turbine housing is fixed to the slide platform. The upper end of the rotating boom is fixedly connected to the chassis turbine housing, and the lower end is connected to the telescopic boom via the motor and the reducer. The telescopic boom hydraulic cylinder is fixed to the telescopic boom and the telescopic arm via a pin. The digging arm is fixedly connected to the bottom end of the telescopic arm. The piston rod of the digging arm hydraulic cylinder on the digging arm is hinged to the connecting rod and the hinge, respectively. The other end of the connecting rod is connected to the digging arm, and the other end of the hinge is hinged to the bucket. The bucket is also connected to the end of the digging arm.

[0009] Furthermore, the ceiling is a grid-type ceiling.

[0010] Furthermore, the main shed and the side shed are separate structures.

[0011] Furthermore, the vertical support mechanism includes a driving hydraulic cylinder, a guide rail, a moving platform, a support column, and a swing connector. The driving hydraulic cylinder is fixedly connected to the guide rail, the moving platform is slidably connected to the guide rail, the upper end of the support column is hinged to the main shed, the lower end is hinged to the moving platform, the middle part is hinged to the upper end of the swing connector, and the lower end of the main swing component is hinged to the guide rail.

[0012] Furthermore, the lateral support mechanism includes a swing hydraulic cylinder, a support base, and a lateral support column. The support base is fixedly installed on the auxiliary conveying device, with one end hinged to the swing hydraulic cylinder and the other end hinged to the bottom end of the lateral support column. The piston rod end of the swing hydraulic cylinder is hinged to the middle end of the lateral support column, and the top end of the lateral support column is hinged to the side support.

[0013] Furthermore, four lateral support devices are provided, symmetrically arranged at the four corners of the auxiliary conveying device; two vertical support devices are provided, symmetrically arranged on the axis of the auxiliary conveying device.

[0014] Furthermore, the sliding platform includes a slide table, a slide rail, a slider, a base plate, a stepper motor, a motor drive gear, and a drive rack. The upper part of the base plate is fixedly connected to the bottom of the auxiliary conveying device. The slide rail is fixed to the bottom of the base plate, and the slider is fixed to the slide table. The slider and the slide rail cooperate to form a sliding relationship. The stepper motor is mounted on the slide table. The upper part of the drive rack is fixedly connected to the bottom of the base plate. The motor drive gear is rotatably connected to the stepper motor, and the motor drive gear meshes with the drive rack. The slider is driven by the stepper motor to slide back and forth on the slide rail.

[0015] The beneficial effects of this invention are:

[0016] (1) The present invention adopts a split roof design. By controlling the extension and retraction of the hydraulic telescopic rods in the vertical support mechanism and the lateral support mechanism, independent control of each part of the roof can be achieved, which facilitates rapid and safe support of the surrounding rock of the roadway. The linear mechanism is used as the vertical support mechanism to convert the horizontal movement of the hydraulic piston rod into the vertical movement of the main roof, which can achieve precise control of the roof support stroke. The grid roof design provides construction space for the anchor drilling rig, which facilitates timely anchor support.

[0017] (2) The auxiliary conveying device provided an installation platform for the temporary support device and the slag removal operation platform, which enabled the temporary support at the top of the roadway and the slag removal at the bottom to be carried out simultaneously, reducing the process time and improving the overall propulsion efficiency of the TBM; the slag removal operation platform can flexibly change the working plane and has a wide slag removal range.

[0018] (3) The slag removal robotic arm adapts to the complex tunnel construction environment by rotating in different directions, radii and angles, and has good adaptability. In addition, the auxiliary conveying device can be used with the slag removal platform to clean up the slag at the bottom of the tunnel without the need for secondary belt conveyors or other loading and transport machinery. It has a compact structure and high tunnel space utilization. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an open-type TBM slag removal and support integrated device applicable to adverse geological sections according to the present invention.

[0020] Figure 2 This is a schematic diagram of the temporary support device of the present invention;

[0021] Figure 3 This is a schematic diagram of the vertical support mechanism of the present invention;

[0022] Figure 4 for Figure 2 The main view;

[0023] Figure 5 This is a schematic diagram of the auxiliary conveying device and the mobile platform of the present invention;

[0024] Figure 6 This is a three-dimensional structural diagram of the slag removal platform of the present invention;

[0025] Figure 7 This is a schematic diagram of the structure of the slag removal robotic arm bucket during unloading of materials according to the present invention;

[0026] In the diagram: 1-Temporary support device; 1-1-Roof; 1-1-1-Main canopy; 1-1-2-Side canopy; 1-2-Vertical support mechanism; 1-2-1-Drive hydraulic cylinder; 1-2-2-Guide rail; 1-2-3-Moving platform; 1-2-4-Support column; 1-2-5-Swing connector; 1-3-Lateral support mechanism; 1-3-1-Swing hydraulic cylinder; 1-3-2 Support base; 1-3-3-Lateral support column; 2-Auxiliary conveying device; 2-1-Main slag discharge belt conveyor; 2-2-Feed inlet; 3-Slag cleaning platform; 3-1-Sliding platform; 3-1-1-Slide table; 3-1- 2-Slide rail; 3-1-3-Slider; 3-1-4-Base plate; 3-1-5-Stepper motor; 3-1-6-Motor transmission gear; 3-1-7-Transmission rack; 3-2-Slag removal robotic arm; 3-2-1-Chassis turbine box; 3-2-2-Rotating boom; 3-2-3-Motor; 3-2-4-Reducer; 3-2-5-Telescopic boom; 3-2-6-Telescopic arm; 3-2-7-Telescopic boom hydraulic cylinder; 3-2-8-Digging arm; 3-2-9-Digging arm hydraulic cylinder; 3-2-10-Connecting rod; 3-2-11-Hinge; 3-2-12-Bucket; 4-TBM main beam. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1 and Figure 2 As shown, an integrated muck removal and support device for open-type TBMs in adverse geological sections includes a temporary support device 1, an auxiliary conveying device 2, and a muck removal platform 3. The auxiliary conveying device 2 is installed on the TBM main beam 4, the temporary support device 1 is installed on the upper part of the auxiliary conveying device 2, and the muck removal platform 3 is installed at the bottom of the auxiliary conveying device 2. The temporary support device 1 includes a canopy 1-1, a vertical support mechanism 1-2, and a lateral support mechanism 1-3. The canopy 1-1 includes a main canopy 1-1-1 and side canopies 1-1-2. The vertical support mechanism 1-2 is a telescopic structure, with its upper end hinged to the main canopy 1-1-1 and its lower end fixedly connected to the top of the auxiliary conveying device 2. The lateral support mechanism 1-3 is a telescopic structure, with its upper end hinged to the side canopy 1-1-2 and its lower end fixedly connected to the top of the auxiliary conveying device 2.

[0029] like Figure 3 As shown, the vertical support mechanism 1-2 includes a driving hydraulic cylinder 1-2-1, a guide rail 1-2-2, a moving platform 1-2-3, a support column 1-2-4, and a swing connector 1-2-5. The driving hydraulic cylinder 1-2-1 is fixedly connected to the guide rail 1-2-2, the moving platform 1-2-3 is slidably connected to the guide rail 1-2-2, the upper end of the support column 1-2-4 is hinged to the main shed 1-1-1, the lower end is hinged to the moving platform 1-2-3, and the middle part is hinged to the upper end of the swing connector 1-2-5. The lower end of the main swing connector 1-2-5 is hinged to the guide rail 1-2-2. Two vertical support devices 1-2 are provided, symmetrically arranged on the axis of the auxiliary conveying device 2.

[0030] like Figure 4 As shown, the lateral support mechanism 1-3 includes a swing hydraulic cylinder 1-3-1, a support base 1-3-2, and a lateral support column 1-3-3. The support base 1-3-2 is fixedly installed on the auxiliary conveying device 2, with one end hinged to the swing hydraulic cylinder 1-3-1 and the other end hinged to the bottom end of the lateral support column 1-3-3. The piston rod end of the swing hydraulic cylinder 1-3-1 is hinged to the middle end of the lateral support column 1-3-3, and the top end of the lateral support column 1-3-3 is hinged to the side canopy 1-1-2. Four lateral support devices 1-3 are provided, symmetrically arranged at the four corners of the auxiliary conveying device 2.

[0031] The temporary support device 1, under the action of the drive hydraulic cylinder 1-2-1 and the swing hydraulic cylinder 1-3-1, completes the rapid support of the surrounding rock. Its specific working process is as follows: First, the drive hydraulic cylinder 1-2-1 is started, and the horizontal forward movement of the piston rod is converted into the vertical upward movement of the main canopy 1-1-1 through the linear motion mechanism composed of the support column 1-2-4 and the swing connector 1-2-5, so that the main canopy 1-1-1 first contacts the roadway roof for support. Then, the swing hydraulic cylinder 1-3-1 is started, and the side canopy 1-1-2 is driven to rotate through the lateral support column 1-3-3, gradually fitting into the side surrounding rock for support. After the anchor bolt support is completed, the hydraulic cylinders are controlled to retract, and the roof 1-1 is separated from the surrounding rock. The cycle is repeated for the next tunneling step.

[0032] The canopy 1-1 adopts a split design. Driven by the vertical support mechanism 1-2 and the lateral support mechanism 1-3, it can provide targeted support according to the characteristics of the surrounding rock in the roadway. Compared with traditional support devices, it has stronger adaptability to the geological environment of the roadway. The canopy 1-1 adopts a grid structure, reserving construction space for anchor bolt support, which facilitates permanent support operations by anchor bolt drilling rigs. The vertical support mechanism 1-2 converts the horizontal movement of the driving hydraulic cylinder 1-2-1 into the vertical movement of the main canopy 1-1-1, enabling precise control of the working stroke of the canopy 1-1-1 and improving the support quality of the device. The support mechanism (vertical and lateral) adopts a fully hydraulic drive, which can be centrally controlled and managed, achieving coordinated control of the support mechanism. By controlling the vertical movement of the main canopy 1-1-1 and the rotational movement of the side canopies 1-1-2, real-time and rapid support of the surrounding rock in the roadway is completed.

[0033] like Figure 5 As shown, the auxiliary conveying device 2 includes a main slag discharge conveyor belt 2-1 and a feed inlet 2-2. The main slag discharge conveyor belt 2-1 is located inside the TBM main beam 4, and the feed inlet 2-2 is located on both sides of the TBM main beam 4. The auxiliary conveying device 2 provides an installation platform for the temporary support device 1 and the slag removal operation platform 3, enabling the temporary support of the roof and the removal of rock debris and gravel at the bottom of the tunnel to be carried out simultaneously. This results in high space utilization and improves the overall propulsion efficiency of the TBM.

[0034] like Figure 5 As shown, the sliding platform 3-1 includes a slide table 3-1-1, a slide rail 3-1-2, a slider 3-1-3, a base plate 3-1-4, a stepper motor 3-1-5, a motor drive gear 3-1-6, and a drive rack 3-1-7. The upper part of the base plate 3-1-4 is fixedly connected to the bottom of the auxiliary conveying device 2. The slide rail 3-1-2 is fixed to the bottom of the base plate 3-1-4, and the slider 3-1-3 is fixed on the slide table 3-1-1. The slider 3-1-3 and the slide rail 3-1-2 cooperate to form a sliding relationship. The stepper motor 3-1-5 is mounted on the slide table 3-1-1 through a housing. The upper part of the drive rack 3-1-7 is fixedly connected to the bottom of the base plate 3-1-4. The motor drive gear 3-1-6 is rotatably connected to the stepper motor 3-1-5, and the motor drive gear 3-1-6 meshes with the drive rack 3-1-7. The slider 3-1-3 is driven by the stepper motor 3-1-5 and slides back and forth on the slide rail 3-1-2.

[0035] The feed inlet 2-2 assists in the falling of rock debris into the main discharge conveyor belt 2-1, reducing the rotation angle required for the telescopic boom 3-2-5 to cooperate with the unloading of the bucket 3-2-12 and the extension required for the telescopic arm 3-2-6, thus shortening the movement stroke of the cleaning robot arm 3-2 and improving the cleaning efficiency.

[0036] like Figure 6As shown, the slag-cleaning robotic arm 3-2 is connected to the bottom of the auxiliary conveying device 2 via a sliding platform 3-1. The slag-cleaning robotic arm 3-2 includes a chassis turbine housing 3-2-1, a rotating boom 3-2-2, a motor 3-2-3, a reducer 3-2-4, a telescopic boom 3-2-5, a telescopic arm 3-2-6, a telescopic boom hydraulic cylinder 3-2-7, an excavating arm 3-2-8, an excavating arm hydraulic cylinder 3-2-9, a connecting rod 3-2-10, a hinge 3-2-11, and a bucket 3-2-12. The chassis turbine housing 3-2-1 is fixed on the sliding platform 3-1-1. The upper end of the rotating boom 3-2-2 is fixedly connected to the chassis turbine housing 3-2-1, and the lower end is connected to the telescopic boom 3-2-5 via the motor 3-2-3 and the reducer 3-2-4. The telescopic boom hydraulic cylinder 3-2-7 is fixed to the telescopic boom 3-2-5 and the telescopic arm 3-2-6 via a pin. The excavating arm 3-2-8 is fixedly connected to the bottom end of the telescopic boom 3-2-6. The piston rod of the hydraulic cylinder 3-2-9 on the excavating arm 3-2-8 is hinged to the connecting rod 3-2-10 and the hinge 3-2-11 respectively. The other end of the connecting rod 3-2-10 is connected to the excavating arm 3-2-8, and the other end of the hinge 3-2-11 is hinged to the bucket 3-2-12. The bucket 3-2-12 is also connected to the end of the excavating arm 3-2-8.

[0037] The specific working process of the slag removal robotic arm 3-2 is as follows: The stepper motor 3-1-5 is started, causing the sliding platform 3-1 to move horizontally above the slag to be cleaned. The motor 3-2-3, through the reducer 3-2-4, drives the telescopic boom 3-2-5 to rotate, while simultaneously retracting the piston rod of the telescopic boom hydraulic cylinder 3-2-7 to retract the telescopic arm 3-2-6, positioning the bucket 3-2-12 above and to the left of the slag to be cleaned. The motor 3-2-3 is started again to control the telescopic boom 3-2-5 to rotate counterclockwise, while simultaneously advancing the piston rod of the hydraulic cylinder 3-2-9 on the digging arm 3-2-8, allowing the bucket 3-2-12 to scoop up the slag at the bottom of the tunnel. Simultaneously, the piston rod of the telescopic boom hydraulic cylinder 3-2-7 is advanced to extend the telescopic arm 3-2-6, ensuring the bucket remains close to the lower surface of the tunnel during the scooping process. The loading stroke is considered complete when the bucket 3-2-12 detaches from the accumulated slag at the bottom. Next, lifting operations are required. Continue rotating the telescopic boom 3-2-5 counterclockwise, controlling the extension of the piston rod of the telescopic boom hydraulic cylinder 3-2-7 to prevent the bucket 3-2-12 from colliding with the right wall of the tunnel. Simultaneously, control the extension of the piston rod of the excavator arm hydraulic cylinder 3-2-9 to maintain a proper pitch posture for the bucket 3-2-12 during lifting, preventing rock debris from falling. Figure 7 As shown, when the bucket 3-2-12 approaches the feed inlet 2-2 of the auxiliary conveying device 2, the bucket 3-2-12 is tilted to unload the material. The rock slag can slide through the feed inlet 2-2 onto the slag discharge conveyor belt 2-1. After unloading, the telescopic boom 3-2-5 rotates clockwise to the upper left of the bottom rock slag, thus completing one work cycle.

[0038] The muck-clearing platform 3 uses electric motors and hydraulic cylinders as power components, combining the advantages of high precision driven by electric motors and the ability to withstand large loads with hydraulic drives. During loading and transportation, the power required for bucket loading and extension of the robotic arm is provided by the hydraulic cylinders, while the electric motor drives the robotic arm to rotate and swing at large angles. The muck-clearing platform 3 has multiple degrees of freedom; the sliding platform 3-1 can move arbitrarily along the tunnel axis. The rotating boom 3-2-2, telescopic boom 3-2-5, and telescopic arm 3-2-6 allow the muck-clearing robotic arm 3-2 to flexibly change its normal working plane, telescopic arm rotation angle, and telescopic arm rotation radius during the loading and lifting of rock debris, adapting to complex and narrow tunnel working environments. Its variable-length telescopic boom 3-2-5 and telescopic boom 3-2-6 can adapt to tunnels of different radii, demonstrating strong versatility. This muck-clearing platform 3 can independently complete muck-clearing operations at the bottom of the tunnel without the need for a secondary belt conveyor or other loading and transport machinery. It has a compact structure, saves tunnel space, is highly mobile, adaptable, and easy to operate.

[0039] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes that can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention are all within the protection scope of the claims of the present invention.

Claims

1. A TBM integrated cleaning and support device suitable for open-type geological sections, characterized in that, The system includes a temporary support device (1), an auxiliary conveying device (2), and a slag removal platform (3). The auxiliary conveying device (2) is installed on the TBM main beam (4), the temporary support device (1) is installed on the upper part of the auxiliary conveying device (2), and the slag removal platform (3) is installed at the bottom of the auxiliary conveying device (2). The temporary support device (1) includes a canopy (1-1), a vertical support mechanism (1-2), and a lateral support mechanism (1-3). The canopy (1-1) includes a main canopy (1-1-1) and a side canopy (1-1-2). The vertical support mechanism (1-2) is a telescopic structure, with its upper end hinged to the main canopy (1-1-1) and its lower end fixedly connected to the top of the auxiliary conveying device (2). The lateral support mechanism (1-3) is a telescopic structure, with its upper end hinged to the side canopy (1-1-2) and its lower end fixedly connected to the top of the auxiliary conveying device (2). The auxiliary conveying device (2) includes a main slag discharge belt conveyor (2-1) and a feed inlet (2-2). The main slag discharge belt conveyor (2-1) is located inside the TBM main beam (4), and the feed inlet (2-2) is located on both sides of the TBM main beam (4). The slag cleaning operation platform (3) includes a sliding platform (3-1) and a slag cleaning robotic arm (3-2), and the slag cleaning robotic arm (3-2) is connected to the bottom of the auxiliary conveying device (2) through the sliding platform (3-1); The slag removal robotic arm (3-2) includes a chassis turbine housing (3-2-1), a rotating boom (3-2-2), a motor (3-2-3), a reducer (3-2-4), a telescopic boom (3-2-5), a telescopic arm (3-2-6), a telescopic boom hydraulic cylinder (3-2-7), an excavating arm (3-2-8), an excavating arm hydraulic cylinder (3-2-9), a connecting rod (3-2-10), a hinge (3-2-11), and a bucket (3-2-12). The chassis turbine housing (3-2-1) is fixed on a slide (3-1-1), and the upper end of the rotating boom (3-2-2) is connected to the chassis turbine housing (3-2-1). The lower end is connected to the telescopic boom (3-2-5) via the motor (3-2-3) and the reducer (3-2-4). The telescopic boom hydraulic cylinder (3-2-7) is fixed to the telescopic boom (3-2-5) and the telescopic arm (3-2-6) by a pin. The digging arm (3-2-8) is fixedly connected to the bottom end of the telescopic boom (3-2-6). The piston rod of the digging arm hydraulic cylinder (3-2-9) on the digging arm (3-2-8) is hinged to the connecting rod (3-2-10) and the hinge (3-2-11) respectively. The other end of the connecting rod (3-2-10) is connected to the digging arm (3-2-8), and the other end of the hinge (3-2-11) is hinged to the bucket (3-2-12). The bucket (3-2-12) is also connected to the end of the digging arm (3-2-8).

2. The integrated TBM slag removal and support device suitable for open-type geological sections according to claim 1, characterized in that, The ceiling (1-1) is a grid-type ceiling.

3. The integrated TBM slag removal and support device suitable for open-type geological sections according to claim 2, characterized in that, The main shed (1-1-1) and the side shed (1-1-2) are separate structures.

4. The integrated TBM slag removal and support device suitable for open-type geological sections according to claim 3, characterized in that, The vertical support mechanism (1-2) includes a driving hydraulic cylinder (1-2-1), a guide rail (1-2-2), a moving platform (1-2-3), a support column (1-2-4), and a swing connector (1-2-5). The driving hydraulic cylinder (1-2-1) is fixedly connected to the guide rail (1-2-2), and the moving platform (1-2-3) is slidably connected to the guide rail (1-2-2). The upper end of the support column (1-2-4) is hinged to the main canopy (1-1-1), the lower end is hinged to the moving platform (1-2-3), and the middle part is hinged to the upper end of the swing connector (1-2-5). The lower end of the swing connector (1-2-5) is hinged to the guide rail (1-2-2).

5. The integrated TBM slag removal and support device suitable for open-type geological sections according to claim 1, characterized in that, The lateral support mechanism (1-3) includes a swing hydraulic cylinder (1-3-1), a support base (1-3-2), and a lateral support column (1-3-3). The support base (1-3-2) is fixedly installed on the auxiliary conveying device (2). One end of the base is hinged to the swing hydraulic cylinder (1-3-1), and the other end is hinged to the bottom end of the lateral support column (1-3-3). The piston rod end of the swing hydraulic cylinder (1-3-1) is hinged to the middle end of the lateral support column (1-3-3), and the top end of the lateral support column (1-3-3) is hinged to the side shed (1-1-2).

6. The integrated TBM slag removal and support device suitable for open-type geological sections according to claim 1, characterized in that, Four lateral support mechanisms (1-3) are provided, symmetrically arranged at the four corners of the auxiliary conveying device (2); two vertical support mechanisms (1-2) are provided, symmetrically arranged on the axis of the auxiliary conveying device (2).

7. The integrated TBM slag removal and support device suitable for open-type geological sections according to claim 1, characterized in that, The sliding platform (3-1) includes a slide table (3-1-1), a slide rail (3-1-2), a slider (3-1-3), a base plate (3-1-4), a stepper motor (3-1-5), a motor transmission gear (3-1-6), and a transmission rack (3-1-7). The upper part of the base plate (3-1-4) is fixedly connected to the bottom of the auxiliary conveying device (2). The slide rail (3-1-2) is fixed to the bottom of the base plate (3-1-4). The slider (3-1-3) is fixed on the slide table (3-1-1). The slider (3-1-3) is connected to the slide rail (3-1-1). The rail (3-1-2) is fitted to form a sliding relationship; the stepper motor (3-1-5) is mounted on the slide table (3-1-1); the upper part of the transmission rack (3-1-7) is fixedly connected to the bottom of the base plate (3-1-4); the motor transmission gear (3-1-6) is rotatably connected to the stepper motor (3-1-5); the motor transmission gear (3-1-6) meshes with the transmission rack (3-1-7); the slider (3-1-3) is driven by the stepper motor (3-1-5) and slides back and forth on the slide rail (3-1-2).

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