Rescue tunneling machine and method for backing up thereof

Abstract

The present application belongs to the technical field of rescue devices in mines or tunnels, and specifically provides a rescue tunneling machine and a back-off method thereof. The back-off method of the rescue tunneling machine comprises the following steps: removing at least one ring pipe section in the front end of a shield; controlling part or all of the pushing oil cylinders to be elongated backward and connected with the rear pipe section; then controlling the pushing oil cylinders to be retracted to pull the main machine of the rescue tunneling machine to back off; in the process, the shield covers the at least one ring pipe section again; next, the connection between the pushing oil cylinders and the pipe section is released, and the at least one ring pipe section in the front end of the shield is removed; the above process is repeated until the main machine of the rescue tunneling machine backs off to a target position. The rescue tunneling machine can be used to realize the back-off method. In the implementation of the present application, no other independent anti-pulling device needs to be added, and no excessive cost is increased. Meanwhile, the present application does not need to use a starting shaft as a foundation, and is suitable for the back-off of the rescue tunneling machine.

Description

Technical Field

[0001] This invention belongs to the technical field of rescue devices in mines or tunnels, and in particular relates to a rescue tunneling machine and its retraction method. Background Technology

[0002] Tunnel collapses, especially those involving the tunnel entrance closing, are one of the main risks during tunnel construction. After an accident, rapid rescue of trapped personnel is crucial. Rescue operations require excavating the collapsed soil to create a rescue passage. Currently, two common methods for excavating rescue passages are the pilot tunnel method and the pipe jacking method. The pilot tunnel method involves manually excavating a small pilot tunnel with a triangular or trapezoidal cross-section in the loose collapsed soil and using wooden planks for temporary support. This method suffers from insufficient support stability. The pipe jacking method uses a full-face pipe jacking machine to excavate the collapsed soil, directly creating a rescue passage supported by tunnel segments. However, this method is slower, less efficient, and difficult to implement for rapid rescue.

[0003] Chinese patent document CN114033477A discloses a safety rescue method that utilizes a self-propelled rescue tunnel safety rescue device (tunneling machine). This device includes a jacking reaction frame, a jacking head (main unit), and jacking rails. The jacking head comprises a cylindrical casing (shield), a circular slide (top ring), four hydraulic jacks (propulsion cylinders), and a hydraulic pump station. The front end of the cylindrical casing has a beveled opening. The two ends of the hydraulic jacks are connected between the cylindrical casing and the circular slide, respectively. The hydraulic pump station provides hydraulic power for the extension and retraction of the hydraulic jacks. At the start of the operation, the jacking reaction frame provides reaction support for the forward propulsion of the cylindrical casing. Under the action of the hydraulic jacks, the cylindrical casing can advance forward and penetrate the soil in front, allowing rescue personnel to perform excavation work inside the cylindrical casing. As excavation progresses, a new pipe segment needs to be assembled after each excavation stage. The newly assembled pipe segment is connected to the pipe segment at its rear end. At least one pipe segment at the front end is located inside the shield shell, and the last pipe segment is connected to the jacking reaction frame. The space inside the pipe segment forms a rescue channel.

[0004] For rescue tunnels, the tunnel sections do not necessarily form a permanent support system, and grouting is not required around the sections during assembly. Therefore, recovering the tunnel sections and the tunnel boring machine (TBM) for reuse is crucial for reducing operating costs. In underground tunnel engineering, such as traffic engineering, there are launching shafts and receiving shafts. The TBM starts tunneling from the launching shaft and continues until it reaches the receiving shaft, where it can be recovered, leaving the tunnel sections in the tunnel to form permanent support. However, for rescue tunnels, there is no receiving shaft. If the tunnel sections and TBM need to be recovered, the only option is to retract them.

[0005] Chinese patent document CN112412470A discloses a method for retracting a pipe jacking machine and pipe sections. The retraction requires a pulling mechanism, which includes a pulling jack (pulling cylinder). In use, the fixed end of the pulling jack is installed on the wall of the working shaft (starting shaft), and the movable end of the pulling jack is connected to a pulling assembly. The pulling assembly is connected to the rear housing (shield) of the pipe jacking machine. The movement of the movable end of the pulling jack pushes the pulling assembly backward, thereby pulling the pipe jacking machine and pipe sections back. After the last pipe section is retracted into the working shaft, it is removed, and then the retraction and removal process continues ring by ring to complete the recovery operation.

[0006] The aforementioned retraction method requires a separate pulling mechanism, which pulls all the pipe sections and the tunnel jacking machine. Therefore, the pulling jacks used in this mechanism cannot be too small. Understandably, the pulling mechanism is relatively expensive, increasing the overall cost of the rescue tunneling machine. Furthermore, unlike pipe jacking construction, rescue missions typically involve constructing a rescue passage behind the collapse site, which may be far from the starting shaft. In reality, even with a pulling mechanism, the aforementioned retraction method lacks a foundation to secure the pulling jacks behind the collapse site. In other words, the rescue tunneling machine still faces difficulties in recovering the main unit and pipe sections. Summary of the Invention

[0007] The purpose of this invention is to provide a method for retracting a rescue tunneling machine, thereby solving the technical problem of difficulty in recovering the main body and tunnel sections of a rescue tunneling machine in the prior art. Another purpose of this invention is to provide a method for retracting a rescue tunneling machine, thereby solving the same technical problem.

[0008] To achieve the above objectives, the technical solution of the rescue tunneling machine retraction method provided by the present invention is as follows:

[0009] A method for retracting a rescue tunneling machine involves dismantling at least one ring of pipe sections located inside the shield shell at the front end, controlling some or all of the propulsion cylinders to extend backward and connect with the subsequent pipe sections, then controlling the propulsion cylinders to retract to pull the main body of the rescue tunneling machine back. During this process, the shield shell re-covers at least one ring of pipe sections. Next, the connection between the propulsion cylinders and the pipe sections is released, and at least one ring of pipe sections located inside the shield shell at the front end is dismantled. The above process is repeated until the main body of the rescue tunneling machine retracts to the target position.

[0010] As a further improvement, when the propulsion cylinder is in the extended state, the propulsion cylinder is connected to the pipe section closest to the propulsion cylinder. After the propulsion cylinder retracts one stroke, the connection between the propulsion cylinder and the pipe section is released, and the pipe section is removed.

[0011] As a further improvement, the propulsion cylinders are connected to the tube section via a top ring, allowing each cylinder to extend and retract synchronously.

[0012] The beneficial effects are as follows: This invention is a pioneering invention, specifically providing a method for retracting a rescue tunneling machine (TBM) using a propulsion cylinder. When the rescue mission is completed and the TBM and its pipe sections need to be retrieved, workers can manually remove the pipe sections located inside the shield shell, allowing the propulsion cylinder to extend backward. Then, with the propulsion cylinder extended, it is connected to the pipe section, using the pipe section as a fixed base. The retraction of the propulsion cylinder pulls the TBM backward, and the disassembled pipe section can be directly retrieved. After the shield shell retracts one stroke, it will cover the pipe section again. Then, the connection between the shield shell and the pipe section is released, and the pipe section inside the shield shell is removed again. The pipe section is then connected to the propulsion cylinder again, pulling the TBM back. This process of removing the pipe section and pulling the TBM back is repeated until the TBM reaches the target position. This invention does not require additional independent reverse-pull devices, thus avoiding excessive costs. Furthermore, it does not require the use of the launching shaft as a foundation, making it suitable for retracting rescue TBMs.

[0013] To achieve the above objectives, the technical solution for the rescue tunneling machine provided by this invention is as follows:

[0014] A rescue tunneling machine includes a shield shell with multiple propulsion cylinders connected inside. Each propulsion cylinder is equipped with a power system that controls its extension and retraction. At least some of the propulsion cylinders have a connection structure at their rear ends for connecting with pipe sections. After at least one ring of pipe sections located in the shield shell at the front end is removed, the extension of the propulsion cylinder connects it to the pipe section behind it, and the retraction of the propulsion cylinder pulls the main body of the rescue tunneling machine back.

[0015] As a further improvement, the connection structure includes a top ring that is connected to the rear end of each propulsion cylinder. The top ring is in a front-to-back movable fit with the inner wall of the shield shell, and the top ring is provided with an adapter structure for connecting and fitting with the pipe section.

[0016] As a further improvement, the top ring is provided with through holes for connecting bolts to pass through, and the through holes constitute the aforementioned adapter structure.

[0017] As a further improvement, the tail end of the shield is equipped with a cutting tool structure for removing soil when the rescue tunneling machine retracts.

[0018] As a further improvement, the rescue tunneling machine also includes a movable segment transport vehicle, which includes a frame with a segment transport section at the top for supporting at least one segment.

[0019] As a further improvement, the frame is also equipped with a segment assembly mechanism for grabbing and assembling segments.

[0020] As a further improvement, the front end of the shield is equipped with a cutting structure for cutting into the soil as the rescue tunneling machine advances forward.

[0021] The beneficial effects are as follows: This invention improves upon existing rescue tunneling machines. Specifically, a connecting structure is provided at the rear end of the propulsion cylinder. When the propulsion cylinder is in its extended rearward state, it can be connected to the pipe section via this connecting structure. When the rescue mission is completed and the main body of the rescue tunneling machine and the pipe section need to be retrieved, the workers can manually remove the pipe section located inside the shield shell to allow the propulsion cylinder to extend rearward. Then, with the propulsion cylinder extended, it is connected to the pipe section, using the pipe section as a fixed base. The retraction of the propulsion cylinder pulls the main body of the tunneling machine backward, and the disassembled pipe section can be directly retrieved. After the shield shell retracts one stroke, it will cover the pipe section again. Then, the connection between the shield shell and the pipe section is released, and the pipe section inside the shield shell is removed again. The pipe section is then connected to the propulsion cylinder again, pulling the main body of the tunneling machine backward. This process of removing the pipe section and pulling the main body of the tunneling machine backward is repeated until the main body of the tunneling machine is pulled to the target position. This invention does not require additional independent reverse pulling devices during implementation, thus avoiding excessive costs. Furthermore, it does not require the use of the starting well as a foundation, making it suitable for the retraction of rescue tunneling machines. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the rescue tunneling machine embodiment of the present invention during construction;

[0023] Figure 2 for Figure 1 Schematic diagram of the middle shield shell;

[0024] Figure 3 for Figure 1 A cross-sectional view of the middle section of the shield shell;

[0025] Figure 4 for Figure 1 A magnified view of a section at point A (the tail end of the shield);

[0026] Figure 5 for Figure 1 A magnified view of the front end of the shield shell.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Shield shell; 2. Propulsion cylinder; 3. Top ring; 4. Segment transport vehicle; 5. Dump truck; 6. Segment; 7. Rear support device; 101. Front shield; 102. Tail shield; 103. Insertion structure; 104. Cutting structure; 105. Pump station; 106. Lighting device; 107. Control system; 601. Segment. Detailed Implementation

[0029] After the rescue mission is completed, the recovery and reuse of the rescue tunneling machine main unit and pipe sections can reduce the operating costs of each piece of equipment. To achieve the recovery of the rescue tunneling machine main unit and pipe sections, the basic technical concept of this invention is to use a propulsion cylinder to connect the pipe sections and pull the tunneling machine main unit back. Specifically, when recovery is needed, workers can remove one or more rings of pipe sections inside the shield shell, allowing the propulsion cylinder to be in a rearward extended state. The propulsion cylinder is then connected to the pipe sections, and the retraction of the propulsion cylinder pulls the rescue tunneling machine main unit back. During this process, the removed pipe sections can be directly recovered. When the tunneling machine main unit retracts, the propulsion cylinder provides the pulling force, with the pipe sections and the connecting support serving as a foundation. No additional counter-pull device is needed, and the entire process requires minimal modification to the construction site, thus completing the recovery of the rescue tunneling machine main unit.

[0030] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings.

[0031] Specific embodiments of the rescue tunneling machine provided by this invention:

[0032] The rescue tunneling machine provided in this embodiment is as follows: Figure 1 As shown, the system includes a main unit, a dump truck 5, a rear support device 7, etc. The main unit includes a shield shell 1, which is an open structure, allowing workers to excavate the collapsed soil inside the shield shell 1. Figure 2 As shown, the shield 1 mainly consists of two parts: a front shield 101 and a rear shield 102. The front shield has a propulsion cylinder 2 inside. The front end of the propulsion cylinder 2 is connected to the shield 1, and the rear end is connected to a top ring 3 that moves back and forth with the inner wall of the shield 1. When the propulsion cylinder 2 extends rearward, the top ring 3 moves synchronously to push the tube section 6, thus pushing the shield 1 forward into the soil. To ensure sufficient and balanced thrust, multiple propulsion cylinders 2 are provided; for example, four propulsion cylinders 2 can be provided. The rear end of each propulsion cylinder 2 is connected to the same top ring 3. Figure 3 As shown, the shield shell 1 also houses a power system for the propulsion cylinder 2. Specifically, the power system includes a pump station 105 and a control system 107. The propulsion cylinder 2 is connected to the pump station 105 via hydraulic lines, and the control system 107 controls the movement of the propulsion cylinder 2. Additionally, the shield shell 1 is equipped with a lighting device 106, which facilitates excavation work in the dark environment inside the tunnel. Specifically, in this embodiment, the excavation process of the rescue tunneling machine is consistent with existing technologies, involving manual excavation. The excavated soil can be transported out by dump trucks 5.

[0033] The pipe section 6 is assembled from multiple pipe segments. This embodiment also includes a pipe segment transport vehicle 4 for transporting pipe segments 601, such as... Figure 1As shown, specifically, the segment transport vehicle 4 includes a frame, a traveling mechanism on the frame, and a segment carrying section at the top of the frame, which can support one or more segments 601 at a time. The specific structure of the segment carrying section is not limited, as long as it can support the segments 601. During excavation, the segment transport vehicle 4 can move inside the segment 6 via the traveling mechanism on the frame, transporting the segments 601 to the assembly position.

[0034] In addition, the frame is equipped with a segment assembly mechanism, which is used to grasp and assemble segment 601. In other words, the segment transport vehicle 4 in this embodiment integrates the functions of segment 601 transportation and segment 601 assembly. Specifically, the segment assembly mechanism includes a movable assembly robotic arm. More specifically, analysis of the segment 601 assembly principle shows that the assembly robotic arm should have at least rotational and radial extension degrees of freedom. For example, as a simple implementation, a rotation drive device can be installed at the front end of the frame, and a radially extendable assembly robotic arm can be installed on the rotation drive device. The segment 601 can be connected to the assembly robotic arm, and the specific connection method can be existing technologies such as grippers or vacuum suction cups. Of course, in other implementations, the assembly robotic arm can also be a multi-degree-of-freedom robotic arm. After the segment 601 is connected to the assembly robotic arm, the rotation of the assembly robotic arm can drive the segment 601 to move synchronously to different positions in the circumference. The extension of the assembly robotic arm can push the segment 601 to the assembly position, and the workers can use connecting bolts and other connecting parts to connect two adjacent segments 601 in the circumference to form a ring segment 6, and connect two adjacent segments 6 in the axial direction to form a complete rescue channel.

[0035] In the final rescue channel, at least one ring segment 6 at the front end is located inside the shield shell 1 (specifically the tail shield 102), adjacent segments 6 are connected in the front-to-back direction, and the last segment 6 is connected to the rear support device 7.

[0036] After the rescue mission is completed, dismantling and recovery work is required. Specifically, in this embodiment, the dismantling and recovery process mainly includes: first, removing the foremost ring section 6 inside the shield shell 1 so that the propulsion cylinder 2 can be in the extended state of being extended backward; pushing the top ring 3 backward and connecting the top ring 3 with the pipe section 6 that is closest to the top ring 3 (propulsion cylinder 2) at this time; using the remaining pipe section 6 and the rear support device 7 as a basis, retracting the propulsion cylinder 2 and pulling the main unit backward by one stroke; after the main unit has retracted by one stroke, the foremost ring section 6 is covered by the shield shell 1 again; then, disconnecting the top ring 3 from the pipe section 6 and removing the pipe section 6; then controlling the propulsion cylinder 2 to extend backward and connecting the top ring 3 with the pipe section 6 that is closest to the top ring 3 (propulsion cylinder 2) at this time; using the remaining pipe section 6 and the rear support device 7 as a basis, retracting the propulsion cylinder 2 and pulling the main unit backward by one stroke; repeating the above process until the main unit returns to the target position, completing the recovery of the main unit and pipe section 6.

[0037] Unlike existing technologies, this embodiment does not rely on external reverse pull devices or require a starting well. Instead, it uses the rear section 6 and the rear support device 7 as a base, and utilizes the propulsion cylinder 2 to pull back the main unit. The dismantled section 6 can be directly recovered.

[0038] Analysis of the main unit's reverse pull-back process reveals that the top ring 3 serves to connect the propulsion cylinder 2 and the pipe section 6. Naturally, the top ring 3 should have an adapter structure for connecting and mating with the pipe section 6. As a convenient and low-cost method, a through hole can be provided on the top ring 3 for the connecting bolt to pass through. In use, the connecting bolt can be passed through the top ring 3 and the pipe section 6 and tightened with a connecting nut. In other words, the through hole for the connecting bolt to pass through forms the adapter structure.

[0039] Of course, in other embodiments, the connection between the top ring 3 and the pipe section 6 can also be achieved using a socket-type segment joint, as is the case in the prior art. After the rescue mission is completed, the segment joint can be installed on the top ring 3, which serves as an adapter structure.

[0040] like Figure 1 , Figure 2 and Figure 4 As shown, to prevent collapsed soil from preventing the shield shell 1 from retracting, the tail end of the shield shell 1 is also equipped with a cutting tool structure 103. During the retraction process, the cutting tool structure 103 can remove the soil that is obstructing the retraction of the shield shell 1. Specifically, the cutting tool structure 103 includes multiple carbide teeth or diamond teeth welded or bolted to the tail end of the shield shell 1.

[0041] Similarly, in order to reduce resistance during the tunneling process, such as Figure 1 , Figure 2 and Figure 5As shown, the front end of the shield shell 1 is provided with a cutting structure 104. Specifically, the cutting structure 104 includes a plurality of carbide teeth or diamond teeth welded or bolted to the front end of the shield shell.

[0042] The top ring 3 enables synchronous extension of each cylinder, and also supports the propulsion cylinder 2 as it moves along the inner wall of the shield shell 1. In other embodiments, the top ring 3 may be omitted, and a push plate or similar structure may be installed at the rear end of the propulsion cylinder 2. The push plate can be an arc-shaped plate, ensuring a large pushing contact area between the propulsion cylinder 2 and the pipe section 6 as the rescue tunneling machine advances. The connection method between the push plate and the pipe section 6 can be the same as the connection method between the top ring 3 and the pipe section 6, such as using a segment joint or connecting bolts. In this embodiment, the push plate forms the connection structure at the rear end of the propulsion cylinder 2 for connecting with the pipe section 6.

[0043] Based on the aforementioned use of a pusher plate as the connecting structure, when the rescue tunneling machine retracts, it is not necessary for all the propulsion cylinders 2 to extend backward; only some propulsion cylinders, such as two propulsion cylinders 2, need to extend backward. Unlike general pipe jacking machines or TBMs, the main body of the rescue tunneling machine has an open structure and does not have a main drive, cutterhead, or other similar structures, making it lighter in weight. In fact, the retraction of the main body can also be achieved by having some of the propulsion cylinders 2 pull back on the main body.

[0044] In other embodiments, the tail shield 102 is longer, and the axial length of the tube section 6 is shorter. The maximum stroke of the propulsion cylinder 2 is adapted to the axial length of the two-ring tube section 6. Two-ring tube sections 6 can be installed inside the shield shell 1. In this case, two rings of tube sections 6 can be removed at once. After the propulsion cylinder 2 retracts one stroke, two rings of tube sections 6 will be re-covered by the shield shell 1. Similarly, if the maximum stroke of the propulsion cylinder 2 is sufficient, three or even more rings of tube sections 6 can be removed at once.

[0045] In other embodiments, the pipe section 6 connected to the propulsion cylinder 2 may not be the pipe section 6 closest to the propulsion cylinder 2. In this case, a longer connecting bracket can be used to connect the propulsion cylinder 2 to the pipe section 6 behind the pipe section 6 closest to the propulsion cylinder 2. The connecting bracket has two or more connection points connected to the pipe section 6. In use, the connecting bracket passes through the inside of the pipe section 6 and connects to the pipe section 6 from the inner circumference of the pipe section 6. The connection points are connected to different positions on the circumference of the pipe section 6.

[0046] Specific embodiments of the rescue tunneling machine retraction method in this invention:

[0047] The embodiment of the rescue tunneling machine retraction method is the retraction method or process of the rescue tunneling machine described in the above embodiment of the rescue tunneling machine, and will not be described in detail here.

[0048] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for retracting a rescue tunneling machine, characterized in that the rescue... The tunneling machine includes a shield shell, inside which are connected multiple propulsion cylinders. The propulsion cylinders are equipped with a power system to control their extension and retraction. At least some of the propulsion cylinders have a connection structure at their rear end for connecting with pipe sections. At least one ring of pipe sections located in the shield shell at the front end is removed. Some or all of the propulsion cylinders are controlled to extend backward and connect with the subsequent pipe sections. Then, the propulsion cylinders are controlled to retract, and based on the remaining pipe sections and the rear support device, the main body of the rescue tunneling machine is pulled back. During this process, the shield shell covers at least one ring of pipe sections again. Next, the connection between the propulsion cylinders and the pipe sections is released, and at least one ring of pipe sections located in the shield shell at the front end is removed. The above process is repeated until the main body of the rescue tunneling machine retracts to the target position.

2. The method for retracting a rescue tunneling machine according to claim 1, characterized in that, in With the propulsion cylinder extended, connect the propulsion cylinder to the pipe section closest to it. After the propulsion cylinder retracts one stroke, disconnect the propulsion cylinder and the pipe section, and then remove the pipe section.

3. The method for retracting a rescue tunneling machine according to claim 2, characterized in that, The propulsion cylinders are connected to the tube section via top rings, allowing each cylinder to extend and retract synchronously.

4. The method for retracting a rescue tunneling machine according to any one of claims 1-3, characterized in that, The connection structure includes a top ring that is connected to the rear end of each propulsion cylinder. The top ring is in a front-to-back movable fit with the inner wall of the shield shell, and the top ring is provided with an adapter structure for connecting and fitting with the pipe section.

5. The method for retracting a rescue tunneling machine according to claim 4, characterized in that, The top ring has through holes for connecting bolts to pass through, and the through holes constitute the adapter structure.

6. The method for retracting a rescue tunneling machine according to claim 4, characterized in that, The rear end of the shield is equipped with a cutting tool structure for removing soil when the rescue tunneling machine retracts.

7. The method for retracting a rescue tunneling machine according to claim 4, characterized in that, the rescue... The tunneling machine also includes a movable segment transport vehicle, which includes a frame and a segment transport section at the top of the frame for supporting at least one segment.

8. The method for retracting a rescue tunneling machine according to claim 7, characterized in that, The frame is also equipped with a segment assembly mechanism for grabbing and assembling segments.

9. The method for retracting a rescue tunneling machine according to claim 4, characterized in that, The front end of the shield is equipped with a cutting structure for cutting into the soil as the rescue tunneling machine advances forward.

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