In-situ 3D printing secondary lining and propelling device based on main beam type TBM

Abstract

The invention provides an in-situ 3D printing secondary lining and propelling device based on a main beam type TBM. The device comprises a main beam, a three-dimensional motion module installed at one end of the main beam, a propelling module installed at the other end of the main beam and an in-situ 3D printing module installed on the three-dimensional motion module. The three-dimensional motion module is used for controlling the moving speed of an in-situ 3D printing spray head in the circumferential direction, the radial direction and the axial direction of a tunnel, the in-situ 3D printing module comprises a spray head and a structured light camera, and the structured light camera is used for scanning to generate tunnel wall morphology and providing data support for planning printing process parameters; the secondary lining with high mechanical reliability is manufactured in situ; and the propelling module supports and propels the whole device to advance along the tunnel on the premise of ensuring that the in-situ 3D printing secondary lining is not damaged. The method has great application potential in the aspects of self-adaptive regulation and control of secondary lining construction parameters and intelligent construction.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent manufacturing technology, and specifically relates to an in-situ 3D printing secondary lining and propulsion device based on a main beam TBM. Background Art

[0002] In order to efficiently build tunnels that can withstand long-term loads and external forces such as earthquake shocks, tunnel boring machines (TBMs) are gradually becoming the most widely used excavation equipment. The construction process is roughly divided into four parts: excavation, slag removal, support, and advancement. Among them, lining is a permanent support structure built with reinforced concrete and other materials along the perimeter of the tunnel body to prevent deformation or collapse of the surrounding rock during underground construction. During the support process, different lining support methods will be determined according to the surrounding rock conditions. Lining is divided into primary lining and secondary lining. In TBM construction, the primary lining mainly adopts the method of installing steel arches combined with shotcrete, while the secondary lining mainly adopts the method of assembling prefabricated linings.

[0003] In the actual construction process, the assembly method includes lining hoisting, preliminary positioning, precise adjustment, bolt connection and waterproofing. The whole process requires high-precision control to ensure that the linings are tightly connected and have good waterproof performance. Lining assembly is one of the important processes in tunnel engineering. The prefabricated lining is assembled to form the innermost barrier of the tunnel. The quality of lining assembly directly affects the mechanical stability and durability of the tunnel engineering.

[0004] In the actual construction process, TBM has the typical characteristics of multiple subsystems, multiple tasks and high coordination. In terms of secondary lining construction, it is even more necessary for workers to operate strictly in accordance with the operation sequence. Although the existing secondary lining construction method can achieve long-term stable support, it still has shortcomings in terms of construction cost, construction complexity, and construction quality. Before the final support is formed, the secondary lining needs to go through multiple processes such as production, transportation, and assembly. Among them, the production of secondary lining involves processes such as steel arch assembly, concrete pouring, surface repair, lining maintenance, and strength inspection, and the production cycle is relatively long; in addition to the transportation safety requirements, the transportation of secondary lining also has problems such as highway weight limit and lining transportation damage, and the transportation cost is relatively high; the assembly quality of secondary lining is affected by the operator's proficiency in the operation of assembly equipment. There are problems such as unstable hoisting and bumping against equipment during the hoisting and transportation of the lining, which poses a safety hazard. At the same time, the construction of secondary lining requires the collaboration of multiple systems such as production, transportation, and assembly. An overly complex system will increase the initial development cost and later maintenance cost, and the real-time communication and collaboration problem between the systems is not easy to solve. In addition, during the assembly process of secondary lining components constructed by the TBM method, there may be problems such as lining vault cavities, lining cracks, insufficient lining thickness, lining water leakage, and substrate bulge. The existing lining repair methods have a low degree of automation and mostly rely on manual experience for repair, which requires high labor intensity from workers. Summary of the invention

[0005] In order to solve the problems in the prior art, the present invention proposes an in-situ 3D printing secondary lining and propulsion device based on a main beam TBM.

[0006] The technical solution adopted by the present invention is as follows:

[0007] An in-situ 3D printing secondary lining and propulsion device based on a main beam type TBM, the device comprising a main beam, a three-dimensional motion module installed at one end of the main beam, a propulsion module installed at the other end of the main beam, and an in-situ 3D printing module installed on the three-dimensional motion module;

[0008] The three-dimensional motion module includes an annular support steel plate perpendicular to the axis of the tunnel, a drive motor for driving the support steel plate to rotate around the axis of the tunnel, and a plurality of motion modules installed on the support steel plate, wherein the motion modules are arranged along the circumference of the support steel plate, and each motion module is installed with an in-situ 3D printing module, and the motion module is used to control the movement of the corresponding in-situ 3D printing module along the axial and radial directions of the tunnel;

[0009] The in-situ 3D printing module includes a nozzle and a structured light camera. The nozzle axis intersects and is perpendicular to the tunnel axis. The structured light camera is used to scan and generate the tunnel wall morphology to provide data support for planning printing process parameters.

[0010] The propulsion module is used to propel the entire device forward along the tunnel.

[0011] Furthermore, the three-dimensional motion module also includes planetary gears and an outer ring gear, the output shaft of the drive motor is connected to the planetary gear via a key, the planetary gear and the outer ring gear are meshed with each other, and the outer ring gear is fixedly connected to the support steel plate.

[0012] Furthermore, the motion module includes a sliding column cylinder, a lifting frame, a translation cylinder and a printing support. The lifting frame is connected to the supporting steel plate through the sliding column cylinder, and the sliding column cylinder is used to drive the lifting frame to move radially along the tunnel; a slide rail along the axial direction of the tunnel is fixed on the lifting frame, and a slide seat is slidably connected to the slide rail. The printing support is fixed on the slide seat, and the printing support is used to fix the in-situ 3D printing module; the translation cylinder is installed between the lifting frame and the slide seat, and is used to drive the slide seat to slide along the slide rail.

[0013] Based on the above device, the present invention also proposes an in-situ 3D printing secondary lining and advancement method, including:

[0014] 1) The 3D motion module drives the in-situ 3D printing module to move, and the structured light camera scans along the inner surface of the tunnel to generate the tunnel cross-sectional morphology, and the printing process parameters are planned based on the tunnel cross-sectional morphology;

[0015] 2) According to the planned printing process parameters, the three-dimensional motion module drives the in-situ 3D printing module to move, and the fresh concrete material is extruded from the nozzle. As the in-situ 3D printing module moves, the secondary lining is printed on the scanned inner surface of the tunnel;

[0016] 3) The piston rod of the support shoe cylinder extends to support the support shoe on the printed secondary lining, the piston rod of the rear support cylinder retracts, and the piston rod of the propulsion cylinder extends to drive the entire device forward; the piston rod of the rear support cylinder extends to support the rear support shoe plate on the tunnel arch bottom, and the piston rods of the propulsion cylinder and the support shoe cylinder retract; during the propulsion process, the piston rod of the anti-torque cylinder extends and retracts to adjust the posture of the entire device;

[0017] 4) Repeat steps 1)-3) until the secondary lining of the entire tunnel is printed.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] (1) The present invention integrates an in-situ 3D printing module on the TBM, realizing in-situ manufacturing of the TBM secondary lining, solving the problems of high construction cost and high labor intensity that may be caused by the traditional secondary lining construction due to the need to go through multiple links such as production, transportation, and assembly;

[0020] (2) The present invention arranges multiple in-situ 3D printing nozzles in the circumferential direction of the TBM, solving the problem of low construction efficiency that may be caused by 3D printing concrete layer by layer with single filament printing;

[0021] (3) The in-situ 3D printing secondary lining device is equipped with a three-dimensional motion module that allows the in-situ 3D printing module to move along the circumference, radial direction and axial direction of the tunnel, and can meet the needs of in-situ manufacturing of secondary linings of various sizes;

[0022] (4) The present invention integrates a structured light camera into an in-situ 3D printing nozzle, generates the tunnel cross-sectional morphology by scanning, and adaptively plans the printing process parameters based on the cross-sectional geometric data, thereby realizing the automation of in-situ secondary lining manufacturing of the tunnel.

[0023] (5) The structured light camera of the present invention can scan and detect the surface defects of the lining that occur during the in-situ 3D printing of the secondary lining, and then move the in-situ 3D printing nozzle to the surface defect through the three-dimensional motion module to perform supplementary printing, thereby realizing the intelligent repair of the secondary lining.

[0024] (6) The present invention has good expansibility and can realize the quick disassembly and replacement of printing components, making it convenient to carry out in-situ 3D printing of linings with the newly developed composite nozzle. It has good application prospects in the optimization design of tunnel secondary lining structure stability and the regulation of mechanical properties.

[0025] In summary, the present invention has great application potential in realizing adaptive control of secondary lining construction parameters and intelligent construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is the overall structural diagram of the in-situ 3D printing secondary lining and propulsion device based on the main beam TBM of the present invention;

[0027] Figure 2 It is a general structural diagram of the in-situ 3D printing secondary lining and propulsion device based on the main beam TBM of the present invention from another perspective;

[0028] Figure 3 It is a top view of the in-situ 3D printed secondary lining and propulsion device based on the main beam TBM of the present invention;

[0029] Figure 4 is a structural diagram of a three-dimensional motion module of the present invention;

[0030] Figure 5 is a structural diagram of the three-dimensional motion module of the present invention from another perspective;

[0031] Figure 6 It is a partial structural diagram of the three-dimensional motion module of the present invention;

[0032] Figure 7 is a structural diagram of the in-situ 3D printing module of the present invention;

[0033] Figure 8 is a cross-sectional view of the in-situ 3D printing module of the present invention;

[0034] Fig. 9 It is a structural diagram of the propulsion module of the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described and illustrated below in conjunction with specific embodiments. The embodiments are merely exemplary of the present disclosure and do not define the scope of limitation. The technical features of each embodiment of the present invention may be combined accordingly without conflicting with each other.

[0036] The overall diagram of the in-situ 3D printing secondary lining and propulsion device designed by the present invention based on the main beam TBM is as follows: Figure 1 , 2 As shown, the top view is Figure 3 It mainly includes a shield shell 1, supporting reinforcement 2, H-shaped steel 3, supporting beam 4, main beam 5, three-dimensional motion module 6, in-situ 3D printing module 7, and propulsion module 8.

[0037] The main components of the present invention are a three-dimensional motion module 6, an in-situ 3D printing module 7 and a propulsion module 8. The three-dimensional motion module 6 is composed of a planetary gear 602, a sliding column cylinder 605, and a translation cylinder 607, and is mainly used to control the movement speed of the in-situ 3D printing nozzle in the circumferential, radial and axial directions of the tunnel. The in-situ 3D printing module 7 is composed of a nozzle 710 and a structured light camera 711, and is mainly responsible for scanning and generating the tunnel wall morphology with the help of the structured light camera 711, adaptively planning the printing process parameters according to the tunnel morphology, and then in-situ manufacturing a secondary lining with high mechanical reliability. The propulsion module 8 is composed of a support shoe 801, a propulsion cylinder 803, an anti-torque cylinder 804, a support shoe cylinder 805 and a rear support cylinder 806. On the premise of ensuring that the in-situ 3D printed secondary lining is not damaged, it is responsible for controlling the extension and retraction of the hydraulic cylinder piston rod to push the device forward. In addition, during the overall assembly of the device, the three-dimensional motion module 6 and the propulsion module 8 are connected through the main beam 5, which effectively ensures the rigidity of the in-situ 3D printed secondary lining and propulsion device based on the main beam TBM.

[0038] In a specific embodiment of the present invention, the shield shell 1 of the device is cylindrical and is used to protect the equipment in the shield shell from damage during the construction process, and can also provide a safe and stable working space for operators. A plurality of supporting ribs 2 are fixed along the circumference of the shield shell 1, and the H-shaped steel 3 is connected to the supporting ribs 2 by threads. Threaded holes are opened on the bottom plate of the support beam 4 to realize the connection between the support beam 4 and the H-shaped steel 3, and the main beam 5 is connected to the support beam 4 by threads. The H-shaped steel 3 can not only provide the support points required for carrying the support beam 4 and the main beam 5, but also improve the stability of the overall structure of the device. The three-dimensional motion module 6 relies on the needle bearings along the circumference of the shield shell 1 to achieve the connection with the shield shell 1, the in-situ 3D printing module 7 is directly connected to the three-dimensional motion module 6 by welding, and the propulsion module 8 is connected to the main beam 5 in the form of a hinged slide rail.

[0039] The structural diagram of the designed three-dimensional motion module is shown in Figure 4 , 5 As shown. It mainly includes two driving motors 601, two planetary gears 602, an outer gear ring 603, a support steel plate 604 and five motion modules. The output shafts of the two driving motors 601 are directly connected to the corresponding planetary gears 602 through keys, and the two planetary gears 602 and the outer gear ring 603 are matched through gear meshing. The support steel plate 604 is directly fixed to the outer gear ring 603 and remains relatively still with the outer gear ring 603. The outer gear ring 603 is installed in the shield shell 1 through a needle bearing. The support steel plate 604 is annular in shape and is set perpendicular to the axis of the tunnel.

[0040] Each motion module has the same structure and is arranged circumferentially on the supporting steel plate 604. The structure of a single motion module is as follows: Figure 6As shown, it includes a slide cylinder 605, a lifting frame 606, a translation cylinder 607, a slide seat 608, a slide rail 609 and a printing support 610. The cylinder body of the slide cylinder 605 is connected to the support steel plate 604 by threads. In order to enhance the stability of the motion module on the support steel plate 604, two slide cylinders 605 are provided in each motion module. The lifting frame 606 is hinged on the piston rods of the two slide cylinders 605. The translation cylinder 607 is threadedly connected to the lifting frame 606 through the support seat, and the piston rod of the translation cylinder 607 is hinged to the slide seat 608. The slide seat 608 and the slide rail 609 form a sliding connection in the form of a moving pair, and the slide rail 609 is fixed on the lifting frame 606. The printing support 610 is directly connected to the slide seat 608 by welding.

[0041] The structural diagram of the designed in-situ 3D printing module is shown in Figure 7 As shown, the cross-sectional view is Figure 8 It mainly includes a stepper motor 701, a motor support seat 702, a fixed mounting plate 703, a rigid coupling 704, a spiral extrusion rod 705, a hopper 706, a feed port 707, a pressure-resistant hose 708, a barrel wall scraper 709, a nozzle 710 and a structured light camera 711. The stepper motor 701 is connected to the motor support seat 702 by threads, and its output shaft passes through the fixed mounting plate 703 and is connected to the spiral extrusion rod 705 by a rigid coupling 704; the motor support seat 702, the fixed mounting plate 703 and the hopper 706 are connected by bolts and nuts, and the fixed mounting plate 703 is fixed on the printing support 610; the hopper 706 is cylindrical, and its side opening is used as a feed inlet 707 to connect the pressure-resistant hose 708, and the diameter of the end of the hopper 706 facing the tunnel wall gradually decreases to form a hopper outlet; the spiral extrusion rod 705 is installed vertically downward in the hopper 706, the spiral extrusion rod 705 is coaxial with the hopper 706, and the barrel wall scraper rod 709 is connected to the spiral extrusion rod 705 by welding to scrape off the concrete accumulated on the barrel wall during 3D printing; the nozzle 710 is installed at the hopper outlet of the hopper 706 by internal and external thread connection. The structured light camera 711 is connected to the hopper 706 via a threaded hole on the fixed mounting plate 703 .

[0042] The structural diagram of the designed propulsion module is shown in Fig. 9As shown. It mainly includes a support shoe 801, a saddle 802, a propulsion cylinder 803, an anti-torque cylinder 804, a support shoe cylinder 805, a rear support cylinder 806, a rear support sliding column 807 and a rear support shoe plate 808. There are two support shoes 801, which are arranged on both sides of the saddle. The surface of the support shoe 801 is an arc surface, which is used to support the two sides of the tunnel when the device is propulsed. The cylinder body of the thrust cylinder 803 is hinged to the support shoe 801, and the piston rod of the thrust cylinder 803 is hinged to the main beam 5; the saddle 802 is connected to the main beam 5 through a slide rail, the cylinder body of the anti-torque cylinder 804 is hinged to the saddle 802, and the piston rod of the anti-torque cylinder 804 is hinged to the cylinder body of the support shoe cylinder 805, and the piston rod of the support shoe cylinder 805 is hinged to the support shoe 801, and the cylinder body of the support shoe cylinder 805 is hinged to the piston rod of the anti-torque cylinder 804; the cylinder body of the rear support cylinder 806 is hinged to the main beam 5, and the piston rod of the rear support cylinder 806 is hinged to the rear support slide column 807, and a sliding connection is formed between the rear support slide column 807 and the main beam 5 in the form of a moving pair, and the rear support shoe plate 808 is hinged to the rear support slide column 807.

[0043] The specific method of using the device of the present invention is as follows:

[0044] The driving motor 601 rotates to drive the planetary gear 602 to rotate, and then drives the outer gear ring 603 and multiple in-situ 3D printing modules 7 arranged on the supporting steel plate 604 to rotate, thereby realizing the circumferential movement of the in-situ 3D printing module 7 along the tunnel. The piston rod of the sliding column cylinder 605 is extended and retracted to drive the lifting frame 606 to move radially along the tunnel, and the piston rod of the translation cylinder 607 is extended and retracted to drive the printing support 610 to slide along the slide rail 609, thereby realizing the axial movement of the in-situ 3D printing module 7 along the tunnel.

[0045] The structured light camera 711 scans along the tunnel cross section to generate the tunnel cross section morphology, and adaptively plans the printing process parameters based on the tunnel cross section morphology.

[0046] Fresh concrete material is pumped to the in-situ 3D printing module feed port 707 through a pressure-resistant hose 708, and the spiral extrusion rod 705 rotates under the drive of the stepper motor 701, and its rotation speed is regulated by the control system inputting a signal to the stepper motor 701. Fresh concrete material is extruded from the nozzle 710 onto the tunnel wall, and the extruded concrete forms printing filaments with the movement of the in-situ 3D printing module 7, and forms a secondary lining after being stacked layer by layer.

[0047] Since the secondary lining material uses concrete with sulphoaluminate cement as the cementing material, this kind of concrete is a fast-hardening and quick-drying concrete with high early strength, and its strength can be increased in a short time to meet the support requirements of the propulsion system support shoe 801. The piston rod of the support shoe cylinder 805 extends to support the support shoe 801 on the printed secondary lining, pressurizes and tightens the tunnel wall, thereby ensuring the stability of the machine, the piston rod of the rear support cylinder 806 retracts, and the piston rod of the propulsion cylinder 803 extends, driving the entire device forward. Subsequently, the piston rod of the rear support cylinder 806 extends, the rear support shoe plate 808 is supported on the tunnel arch bottom, and the piston rods of the propulsion cylinder 803 and the support shoe cylinder 805 retract; during the propulsion process, the piston rod of the anti-torque cylinder 804 retracts to drive the saddle 802 to move, and then drives the main beam 5 to change direction, realizes the posture adjustment of the entire device, and thus cooperates with the change of the excavation direction of the external tunnel excavation structure, thus completing a propulsion cycle step.

[0048] The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM proposed in this invention focuses on the core function of the tunnel secondary lining construction process: stable support. This function mainly relies on the error control of the secondary lining construction process, shortening the time and space distance from the production to the assembly of the secondary lining as much as possible, and reducing the intermediate steps from the production to the assembly of the secondary lining.

[0049] The present invention realizes in-situ manufacturing of secondary linings of different shapes and sizes by arranging in-situ 3D printing modules in the circumferential direction, thereby meeting the needs of simplifying the secondary lining construction process and reducing the complexity of the system. The present invention scans the tunnel section through a structured light camera to obtain the geometric information of the tunnel section morphology, and realizes the adaptive planning of the secondary lining printing parameters. In addition, the present invention uses an in-situ 3D printing system to replace the lining trailers, lining cranes, lining assembly machines and other equipment required for traditional secondary lining construction. Under the premise of effectively ensuring the long-term stable support of the tunnel secondary lining, the complexity of the secondary lining from production to assembly system is greatly reduced, and unnecessary energy loss is reduced. At the same time, the present invention provides a good hardware foundation for the in-situ planning of secondary lining design parameters of the tunnel, and provides great help for the efficient and safe operation of secondary lining in actual engineering.

[0050] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. For ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An in-situ 3D printing secondary lining and propulsion device based on a main beam TBM, characterized in that: The device comprises a main beam, a three-dimensional motion module installed at one end of the main beam, a propulsion module installed at the other end of the main beam, and an in-situ 3D printing module installed on the three-dimensional motion module; The three-dimensional motion module includes an annular support steel plate perpendicular to the axis of the tunnel, a drive motor for driving the support steel plate to rotate around the axis of the tunnel, and a plurality of motion modules installed on the support steel plate, wherein the motion modules are arranged along the circumference of the support steel plate, and each motion module is installed with an in-situ 3D printing module, and the motion module is used to control the movement of the corresponding in-situ 3D printing module along the axial and radial directions of the tunnel; The in-situ 3D printing module includes a nozzle and a structured light camera. The nozzle axis intersects and is perpendicular to the tunnel axis. The structured light camera is used to scan and generate the tunnel wall morphology to provide data support for planning printing process parameters. The propulsion module is used to support and propel the entire device to move along the tunnel.

2. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 1 is characterized in that: The device also includes a shield shell, which is cylindrical and surrounds the outer edge of the supporting steel plate. A plurality of supporting ribs are circumferentially fixed on the inner side of the shield shell, and H-shaped steel is fixed between the plurality of supporting ribs. The H-shaped steel is located at the inner center of the shield shell, and a supporting beam is fixed on the H-shaped steel, which is threadedly connected to the main beam.

3. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 1 is characterized in that: The three-dimensional motion module also includes planetary gears and an outer gear ring. The output shaft of the drive motor is connected to the planetary gear via a key. The planetary gear and the outer gear ring are meshed with each other. The outer gear ring is fixedly connected to the support steel plate.

4. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 1 is characterized in that: The motion module includes a sliding column cylinder, a lifting frame, a translation cylinder and a printing support. The lifting frame is connected to the supporting steel plate through a sliding column cylinder, and the sliding column cylinder is used to drive the lifting frame to move radially along the tunnel; a slide rail along the axial direction of the tunnel is fixed on the lifting frame, and a slide seat is slidably connected to the slide rail. The printing support is fixed on the slide seat, and the printing support is used to fix the in-situ 3D printing module; the translation cylinder is installed between the lifting frame and the slide seat, and is used to drive the slide seat to slide along the slide rail.

5. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 4 is characterized in that: Each motion module is provided with two sliding column cylinders.

6. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 1 is characterized in that: The in-situ 3D printing module also includes a stepper motor, a motor support seat, a rigid coupling, a spiral extrusion rod, a hopper and a barrel scraper; the hopper is used to hold fresh concrete materials, the stepper motor is installed at one end of the hopper through the motor support seat, the other end of the hopper gradually shrinks to form a hopper outlet, the hopper outlet is threadedly connected to the nozzle, the side of the hopper is opened to form a feed port, and the feed port is connected to a pressure-resistant hose; the output shaft of the stepper motor is connected to the spiral extrusion rod through a rigid coupling, the spiral extrusion rod is located in the hopper, and is used to extrude the fresh concrete materials in the hopper from the nozzle; the barrel scraper is welded to the spiral extrusion rod, and is used to scrape off materials accumulated on the inner wall of the hopper during the 3D printing process.

7. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 4 is characterized in that: The printing process parameters include the motion planning of the three-dimensional motion module and the rotation speed of the stepper motor in the in-situ 3D printing module.

8. The in-situ 3D printing secondary lining and propulsion device based on the main beam TBM according to claim 1 is characterized in that: The propulsion module includes a support shoe, a saddle and a rear support slide post; The saddle is connected to the main beam through a slide rail, and the sliding direction is parallel to the axis of the tunnel; there are two support shoes, which are arranged on both sides of the saddle, and the surface of the support shoes is an arc surface, which is used to support on both sides of the tunnel when the device is pushed; a support shoe cylinder and an anti-torque cylinder are provided between the support shoe and the saddle, and the piston rod of the support shoe cylinder is hinged to the support shoe, and the cylinder body of the support shoe cylinder is hinged to the piston rod of the anti-torque cylinder; the cylinder body of the anti-torque cylinder is hinged to the saddle, and the piston rod of the anti-torque cylinder is hinged to the cylinder body of the support shoe cylinder; a propulsion cylinder is provided between the support shoe and the main beam, and the cylinder body of the propulsion cylinder is hinged to the support shoe, and the piston rod of the propulsion cylinder is hinged to one end of the main beam close to the three-dimensional motion module; The rear support slide column and the main beam form a sliding connection in the form of a moving pair, and the sliding direction is the vertical direction; a rear support cylinder is provided between the rear support slide column and the main beam, and the cylinder body of the rear support cylinder is hinged to the end of the main beam away from the three-dimensional motion module, and the piston rod of the rear support cylinder is hinged to the rear support slide column; the lower end of the rear support slide column is hinged with a rear support boot plate.

9. An in-situ 3D printing secondary lining and advancement method based on the device of claim 4, characterized in that: The method comprises: 1) The 3D motion module drives the in-situ 3D printing module to move, and the structured light camera scans along the inner surface of the tunnel to generate the tunnel cross-sectional morphology, and the printing process parameters are planned based on the tunnel cross-sectional morphology; 2) According to the planned printing process parameters, the three-dimensional motion module drives the in-situ 3D printing module to move, and the fresh concrete material is extruded from the nozzle. As the in-situ 3D printing module moves, the secondary lining is printed on the scanned inner surface of the tunnel; 3) The piston rod of the support shoe cylinder extends to support the support shoe on the printed secondary lining, the piston rod of the rear support cylinder retracts, and the piston rod of the propulsion cylinder extends to drive the entire device forward; the piston rod of the rear support cylinder extends to support the rear support shoe plate on the tunnel arch bottom, and the piston rods of the propulsion cylinder and the support shoe cylinder retract; during the propulsion process, the piston rod of the anti-torque cylinder extends and retracts to adjust the posture of the entire device; 4) Repeat steps 1)-3) until the secondary lining of the entire tunnel is printed.

10. The method according to claim 9, characterized in that The concrete type of the fresh concrete material is concrete with sulphoaluminate cement as the cementitious material.

Images