Full-automatic installation and recovery method and device for TBM construction microseismic sensor

Abstract

The invention discloses a TBM construction micro-seismic sensor full-automatic installation and recovery method and device, and the device comprises a micro-seismic sensor moving base, a micro-seismic sensor arrangement arch support, an arch support moving guide rail, an automatic cable winding and unwinding device, an electric lifting rod, a rod camera and a laser calibration device. The micro-seismic sensor moving base can move on the micro-seismic sensor arrangement arched support and comprises a base power and control box, moving wheels, an electric lifting rod, a vacuum sponge suction cup adsorption device and a micro-seismic sensor magnetic clamp. And the base power and control box can control the movement of the micro-seismic sensor moving base and provide power. The vacuum sponge suction cup adsorption device comprises sponge, a suction cup base and an air suction port, the suction cup base is provided with a cylindrical groove of the sensor, a hole is dug in the sponge so that the micro-seismic sensor can make direct contact with the rock wall conveniently, and the micro-seismic sensor is fixed in the groove in a fixing mode. And the sponge sucker is adsorbed on the surface of the rock wall by using the air pressure difference between the inside and outside of the sponge sucker. According to the method, operators do not need to enter a hole to disassemble and assemble on site, and compared with traditional manual measurement, higher precision is achieved while automation is achieved, so that the precision of micro-seismic monitoring and rockburst early warning is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of microseismic monitoring, and relates to a method and a device for fully automatic installation and recovery of microseismic sensors for TBM construction, which is suitable for the microseismic monitoring process during TBM construction of underground rock mass engineering. Background Art

[0002] As a highly integrated and mechanized rock tunnel excavation equipment, the full-face tunnel boring machine (TBM) is increasingly widely used in modern underground engineering construction. However, in deep underground environments, rock excavation leads to the redistribution of ground stress, which is prone to rock burst disasters. At the least, rock blocks will fall off and affect the lining effect. At the worst, flying rocks will injure people and damage equipment, and may even cause TBM jams and local collapses, seriously affecting the safety of personnel and equipment and the normal progress of the project.

[0003] Microseismic monitoring technology can achieve relatively accurate rockburst warning by monitoring the elastic waves released by rock fractures in the surrounding rock and analyzing its time, space, energy level and other information. During the construction of TBM tunnels, the microseismic monitoring system focuses on the surrounding area of ​​the tunnel face, requiring the arrangement of sensors to change with the position of the tunnel face. This requires frequent removal and installation of sensors according to the tunneling distance. The workers take a long time to remove and install sensors and rewire, posing a serious safety threat. In addition, during the period of sensor removal and installation, microseismic monitoring cannot be carried out effectively, resulting in a microseismic monitoring warning window period, which has an adverse impact on the overall safety monitoring of the tunnel. Therefore, it is necessary to find a method that can avoid frequent manual removal and installation of sensors and shorten the microseismic warning window period. Summary of the invention

[0004] In view of the existing technical problems, the present invention provides a method and device for fully automatic installation and recovery of microseismic sensors in TBM construction.

[0005] The present invention is achieved through the following technical solutions:

[0006] A fully automatic installation and recovery device for microseismic sensors in TBM construction comprises a microseismic sensor mobile base, an arch support for arranging the microseismic sensor, a movable guide rail for the arch support, an automatic cable retracting and releasing device, an electric lifting rod, a rod camera and a laser calibration device.

[0007] The microseismic sensor mobile base can move on the microseismic sensor arrangement arch bracket, which includes a base power and control box, moving wheels, an electric lifting rod, a vacuum sponge suction cup adsorption device and a microseismic sensor magnetic clamp.

[0008] The base power and control box can control the movement of the microseismic sensor mobile base and provide power. Above the moving wheels is a tray of the microseismic sensor mobile base, on which an electric lifting rod, a sponge suction cup fixing device and a microseismic sensor magnetic clamp are arranged.

[0009] The vacuum sponge suction cup adsorption device mainly includes a sponge, a suction cup base and an air suction port. The suction cup base is provided with a cylindrical groove of the sensor. The sponge is also dug with holes to facilitate the microseismic sensor to directly contact the rock wall. The microseismic sensor is fixed in the groove in a fixed manner, and the sponge suction cup is adsorbed on the rock wall surface by utilizing the air pressure difference between the inside and outside of the sponge suction cup.

[0010] The microseismic sensor magnetic fixture comprises an electromagnet and a sensor fixture. The sensor fixture has a strong magnetic shielding layer for the sensor and can fix the sensor. When the electromagnet is energized, the sensor fixture and the sensor can be fixed on the iron anchor rod.

[0011] Two electric lifting rods are set on the mobile base of the microseismic sensor. Among them, a sponge suction cup is fixed on the end of one electric lifting rod, which can fix the vacuum sponge suction cup adsorption device. The electric lifting rod moves up and down to complete the adsorption and separation of the vacuum sponge suction cup adsorption device and the rock wall. In addition, a positive and negative pressure converter is also set on the mobile base of the microseismic sensor to convert the positive air pressure provided by the TBM into negative air pressure to provide an air pressure difference for the sponge suction cup. An electromagnet is provided at the end of the other electric lifting rod, which fixes the magnetic clamp of the microseismic sensor on the lifting rod when powered on. Due to different rock wall conditions, in some areas where the surrounding rock is broken, sponge suction cups cannot be used for adsorption, so the sensor can be fixed on the anchor rod by magnetic suction.

[0012] A camera and a laser calibration device are also installed on the tray of the microseismic sensor mobile base to assist the electric lifting rod in docking and lifting.

[0013] The arch support for the microseismic sensor arrangement is set in the upper space of the TBM, and moving devices are set at both ends of the arch support for the microseismic sensor arrangement, including moving wheels and power motors, and an automatic cable retracting device is set. The moving track of the microseismic sensor base is set on the arch support for the microseismic sensor arrangement. The arch support for the microseismic sensor arrangement is required to be set above the protective shed at the front end of the TBM and have a sufficient distance from the rock wall. Several microseismic sensor bases can move on the arch support for the microseismic sensor arrangement, and the microseismic sensors can be successfully installed.

[0014] Arched bracket moving rails are set on both sides of the TBM middle partition. The length is the distance for the TBM microseismic sensor to change its position once. The arched bracket moving rails can ensure that the arched bracket for the microseismic sensor can move forward and backward and will not collapse. An automatic cable retraction device is also set at the end of the moving rail of the arched bracket for the microseismic sensor, and the cable is retracted and released as the arched bracket for the microseismic sensor moves.

[0015] The automatic cable retracting and releasing device is provided with an electric wheel. As the microseismic sensor base moves on the microseismic sensor arrangement arch bracket, the electric wheel rotates accordingly to automatically retract and release the cable.

[0016] The above-mentioned fully automatic installation and recovery method of microseismic sensors in TBM construction includes the following steps:

[0017] Step 1: Microseismic sensor disassembly stage:

[0018] Step 1.1: Before disassembling the microseismic sensor, move and adjust the microseismic sensor mobile base to align the microseismic sensor with the position;

[0019] Step 1.2, send a remote command to the microseismic sensor mobile base to raise the electric lifting rod;

[0020] Step 1.3: If the sensor is fixed by a vacuum sponge suction cup adsorption device, after the end of the electric lifting rod is attached to the vacuum sponge suction cup adsorption device, gradually reduce the airflow of the vacuum sponge suction cup adsorption device and increase the airflow of the sponge suction cup on the lifting rod. When the sensor is fixed by a micro-seismic sensor magnetic clamp, reduce the current of the electromagnet on the micro-seismic sensor magnetic clamp and increase the current of the electromagnet on the lifting rod;

[0021] Step 1.4: After the vacuum sponge suction cup adsorption device is separated from the rock wall or the microseismic sensor magnetic clamp is separated from the anchor rod, the electric lifting rod is lowered.

[0022] Step 2: Microseismic sensor installation phase:

[0023] Step 2.1, move the arch bracket for arranging the microseismic sensor to the front of the guide rail, adjust the positions of the arch bracket for arranging the microseismic sensor and the mobile base of the microseismic sensor to find a suitable position for installing the microseismic sensor, and during the movement of the arch bracket for arranging the microseismic sensor and the sensor base, the automatic cable retracting device also retracts and releases the cable;

[0024] Step 2.2, raise the electric lifting rod, and after the vacuum sponge suction cup adsorption device is attached to the rock wall, turn on the airflow switch of the vacuum sponge suction cup adsorption device, and gradually turn off the airflow of the sponge suction cup at the end of the electric lifting rod. When the airflow drops to a certain level, slowly lower the electric lifting rod to check whether the vacuum sponge suction cup adsorption device is firmly attached to the rock wall. If not, re-adsorb or change the position to install the microseismic sensor. When using the microseismic sensor magnetic clamp, turn on the current switch of the microseismic sensor magnetic clamp, and then turn off the current switch of the electromagnet on the electric lifting rod;

[0025] Step 2.3: After confirming that the microseismic sensor is fixed, lower the electric lifting rod.

[0026] Step 3: Microseismic monitoring phase:

[0027] Step 3.1, the microseismic sensor is fixed at the monitoring position and separated from the microseismic sensor mobile base, and the cable of the microseismic signal is fixedly connected through the microseismic sensor mobile base;

[0028] Step 3.2: As the TBM advances forward, the arch bracket for arranging the microseismic sensor moves on the arch bracket moving guide rail, keeping the spatial relative position of the microseismic sensor and the microseismic sensor arch bracket unchanged. During the movement, the automatic cable retraction and release device at the end of the arch bracket moving guide rail retracts and releases the cable according to the moving distance of the microseismic sensor arch bracket.

[0029] Step 3.3, calculate the real-time coordinates of the microseismic sensor, analyze and process the monitored microseismic signal in combination with the real-time coordinates of the microseismic sensor, and output the analysis and processing results to the TBM main console and the central control console;

[0030] Step 3.4: Determine whether the TBM excavation progress is greater than or equal to the excavation spacing for re-disassembling the sensor. If so, trigger the automatic disassembly and assembly process of the microseismic sensor again and repeat steps 1 to 3; otherwise, continue to analyze and process the microseismic signal.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. It can realize the automatic remote control disassembly and assembly of microseismic sensors, without the need for operators to enter the cave for on-site disassembly and assembly, thus ensuring personnel safety and reducing labor costs;

[0033] 2. It can realize automatic retracting and releasing of the line, which greatly reduces the time required for sensor disassembly and installation, and ensures the time continuity of microseismic monitoring;

[0034] 3. It can realize the automatic intelligent correction of microseismic sensor coordinates. Compared with traditional manual measurement, it has higher accuracy while realizing automation, thereby improving the accuracy of microseismic monitoring and rock burst warning;

[0035] 4. It can realize automated microseismic monitoring and improve the mechanization and automation level of TBM construction operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A cross-sectional view showing a typical arrangement of microseismic monitoring equipment of the apparatus of the present invention;

[0037] Figure 2 A front view of a mobile base of a microseismic sensor of the device of the present invention;

[0038] Figure 3 It is a left side view of a typical arrangement of microseismic monitoring equipment of the apparatus of the present invention;

[0039] Figure 4 A top view of the vacuum sponge suction cup adsorption device of the present invention;

[0040] Figure 5 It is a flow chart of fixing a sensor by the vacuum sponge suction cup adsorption device of the present invention;

[0041] Figure 6 This is a flow chart of fixing the sensor by the magnetic clamp of the microseismic sensor of the present invention;

[0042] Figure 7 It is a flow chart of the present invention.

[0043] In the figure: 1 TBM shed; 2-arch bracket for arranging microseismic sensors; 3 arch bracket moving guide rail; 4 microseismic sensor moving base;

[0044] 5 surrounding rock; 6 vacuum sponge suction cup adsorption device; 7 microseismic sensor; 8 electric lifting rod sponge suction cup; 9 positive and negative pressure converter; 10 cable;

[0045] 11 Electric lifting rod; 12 Lifting rod control system and motor; 13 Electric lifting rod electromagnet; 14 Micro-seismic sensor magnetic clamp;

[0046] 15TBM cutterhead; 16Automatic cable retracting and releasing device; 17Anchor rod; 18Electric wheel. DETAILED DESCRIPTION

[0047] In order to facilitate those skilled in the art to understand and implement the present invention, the present invention is further described in detail below in conjunction with embodiments. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0048] Example 1: A fully automatic installation and recovery device for microseismic sensors in TBM construction

[0049] Figure 1This is a cross-sectional layout diagram of the equipment for the fully automatic installation and recovery device of the microseismic sensor under TBM construction conditions. The microseismic sensor arrangement arch support 2 is located in the upper half of the TBM body, and the microseismic sensor mobile base 4 is located on the microseismic sensor arrangement arch support 2. It is required that the microseismic sensor arrangement arch support 2 is located above the shed 1 and a certain space is reserved to ensure the normal movement of the microseismic sensor arrangement arch support 2 and the microseismic sensor mobile base 4, and the height space can be less than the maximum height of the microseismic sensor mobile base 4 and greater than the minimum height of the microseismic sensor mobile base 4. The arch support moving guide rail 3 is set on the leftmost and rightmost sides of the TBM body. The end position of the arch support moving guide rail 3 is generally set to the maximum distance of the sensor required for TBM microseismic monitoring, and the arch support moving guide rail 3 is provided with a dust cover to ensure cleanliness and firmness, so that the microseismic sensor arrangement arch support 2 can move smoothly.

[0050] Figure 3 This is a side layout diagram of the equipment for the fully automatic installation and recovery device of the microseismic sensor. The arch support moving guide rail 3 is arranged behind the TBM cutter head 15 and at a certain distance. An automatic cable retraction device 16 is arranged at the end of the arch support moving guide rail 3. The microseismic sensor arrangement arch support 2 is required to have a suitable height and cannot be stuck by the anchor rod 17 during the movement. In the arrangement of the TBM microseismic monitoring sensor, the microseismic sensors are required to be distributed at different cross-sectional positions. Therefore, multiple sections of arch support moving guide rails 3 and multiple microseismic sensor arrangement arch supports 2 can be arranged.

[0051] Figure 2 It is a cross-sectional view of the microseismic sensor mobile base. The microseismic sensor mobile base 3 is located on the microseismic sensor arrangement arch support 2. It is required to provide a guide rail on the microseismic sensor arrangement arch support 2 to ensure that the microseismic sensor mobile base 3 can move on the microseismic sensor arrangement arch support 2. At the same time, a signal transmission part is set, and the overall position information, attitude information and control information of the microseismic sensor mobile base 3 are interacted with the TBM microseismic monitoring control cabinet in real time through wireless transmission.

[0052] like Figure 4As shown, the vacuum sponge suction cup adsorption device 6 includes a microseismic sensor 7. A groove is set on the suction cup base of the vacuum sponge suction cup adsorption device 6 to ensure that the microseismic sensor 7 fits better with the rock wall, and the microseismic sensor 7 has a stable fit with the sponge suction cup to ensure that it will not fall. The lifting rod control system and the motor 13 are responsible for the lifting and lowering of the electric lifting rod 11. There is also an electric lifting rod sponge suction cup 8 at the end of the electric lifting rod 11. Its function is to firmly adsorb the sponge suction cup where the sensor is located when the sensor stops monitoring, that is, the vacuum sponge suction cup adsorption device 6. There are two cables on the sponge suction cup, namely the microseismic signal cable and the air pipe. The cables have a sufficient margin to meet the length of the lifting rod to be fully raised. The microseismic signal line passes through the microseismic sensor mobile base 4 and the microseismic sensor arrangement arch bracket 2 and finally connects to the TBM microseismic system control cabinet. The TBM's air valve provides positive air pressure. The air pipe passes through the microseismic sensor arrangement arch bracket 2 and the microseismic sensor mobile base 4 and finally connects to the positive and negative pressure converter 9. This device uses the Bernoulli principle to convert positive pressure into negative pressure to provide negative pressure for the sponge suction cup. The lifting rod control system and motor are responsible for the lifting and lowering of the lifting rod. A camera and a laser calibration device are also set on the tray of the microseismic sensor mobile base 4 to provide position information for the disassembly and assembly of the microseismic sensor.

[0053] The microseismic sensor mobile base 4 also includes another electric lifting rod. The difference from the previous electric lifting rod is that there is no sponge suction cup at the end of the lifting rod but an electric lifting rod electromagnet 13. After power is turned on, magnetic force is generated to completely absorb the microseismic sensor magnetic clamp 14 to ensure that it will not fall. The microseismic sensor magnetic clamp 14 also includes an electromagnet, which is tightly fixed to the sensor housing. After the electromagnet on the sensor is powered on, magnetic force is generated to absorb the sensor on the iron anchor rod. In order to prevent the influence of the magnetic field on microseismic monitoring, a magnetic shielding layer is set inside the sensor.

[0054] During the monitoring process, the microseismic sensor arrangement arch support 2 moves in the opposite direction on the arch support moving guide rail 3 as the TBM advances, and remains relatively motionless with the microseismic sensor adsorbed on the rock wall or fixed on the anchor. The TBM microseismic system control cabinet receives the excavation displacement information from the TBM control room. The microseismic sensor arrangement arch support 2 receives the control signal from the TBM microseismic system control cabinet in real time during the movement. At the same time, the automatic cable retracting and releasing device 16 also receives the corresponding displacement information to rotate the electric wheel 18 to automatically retract and release the cable.

[0055] Example 2: A fully automatic installation and recovery method for microseismic sensors in TBM construction

[0056] Combination Figure 5 , Figure 6 and Figure 7 , including the following steps:

[0057] Step 1: Microseismic sensor disassembly stage:

[0058] Step 1.1, before starting to disassemble the microseismic sensor 7, move and adjust the microseismic sensor mobile base 4 to align the position of the microseismic sensor;

[0059] Step 1.2, sending a remote command to the microseismic sensor mobile base 4 to raise the electric lifting rod 11;

[0060] Step 1.3, if the micro-seismic sensor is fixed by the vacuum sponge suction cup adsorption device 6, after the end of the electric lifting rod 11 is attached to the vacuum sponge suction cup adsorption device 6, gradually reduce the airflow of the sponge suction cup adsorption device 6, and increase the airflow of the electric lifting rod sponge suction cup 8 on the electric lifting rod 11. When the micro-seismic sensor magnetic clamp 14 is used to fix the micro-seismic sensor, reduce the current of the electromagnet on the micro-seismic sensor magnetic clamp 14, and increase the current of the electromagnet 13 on the electric lifting rod;

[0061] Step 1.4: After the vacuum sponge suction cup adsorption device 6 is separated from the rock wall or the microseismic sensor magnetic clamp 14 is separated from the anchor rod 17, the electric lifting rod 11 is lowered.

[0062] Step 2: Microseismic sensor installation phase:

[0063] Step 2.1, move the microseismic sensor arrangement arch support 2 to the front of the arch support moving guide rail 3, adjust the positions of the microseismic sensor arrangement arch support 2 and the microseismic sensor moving base 4 to find a suitable position where the vacuum sponge suction cup adsorption device 6 or the microseismic sensor magnetic clamp 14 can be adsorbed, and during the movement of the microseismic sensor arrangement arch support 2 and the microseismic sensor moving base 4, the cable automatic retracting device 16 also retracts and releases the cable;

[0064] Step 2.2, raise the electric lifting rod 11, make the vacuum sponge suction cup adsorption device 6 fit against the rock wall, then turn on the airflow switch of the vacuum sponge suction cup adsorption device 6, gradually turn off the airflow of the electric lifting rod sponge suction cup 8, and when the airflow drops to a certain level, slowly lower the electric lifting rod 11 to check whether the vacuum sponge suction cup adsorption device 6 fits firmly against the rock wall. If not, re-adsorb or change the position to install the sensor. When using the micro-seismic sensor magnetic clamp 14, turn on the current switch of the electromagnet on the micro-seismic sensor magnetic clamp 14, and then turn off the current switch of the lifting rod electromagnet 13;

[0065] Step 2.3: After confirming that the sensor is fixed, lower the electric lifting rod 11.

[0066] Step 3: Microseismic monitoring phase:

[0067] Step 3.1, the microseismic sensor 7 is fixed at the monitoring position by means of a suction cup or magnetic attraction, and is separated from the microseismic sensor mobile base 4, and the cable 10 of the microseismic signal is fixedly connected through the microseismic sensor mobile base 4;

[0068] Step 3.2, as the TBM advances forward, the microseismic sensor arrangement arch support 2 moves on the arch support moving guide rail 3, keeping the spatial relative position of the sensor 7 and the microseismic sensor arrangement arch support 2 unchanged. During the movement, the automatic cable retraction device 16 at the end of the guide rail retracts and releases the cable according to the moving distance of the microseismic sensor arrangement arch support 2.

[0069] Step 3.3, calculate the real-time coordinates of the microseismic sensor, analyze and process the monitored microseismic signal in combination with the real-time coordinates of the microseismic sensor 7, and output the analysis and processing results to the TBM main console and the central control console;

[0070] Step 3.4: Determine whether the TBM excavation progress is greater than or equal to the excavation spacing for re-disassembling the sensor. If so, trigger the automatic disassembly and assembly process of the microseismic sensor again and repeat steps 1 to 3; otherwise, continue to analyze and process the microseismic signal.

Claims

1. A fully automatic installation and recovery device for microseismic sensors in TBM construction, characterized in that: Includes a microseismic sensor mobile base; The microseismic sensor mobile base can move on the microseismic sensor arrangement arch bracket, which includes a base power and control box, moving wheels, an electric lifting rod, a vacuum sponge suction cup adsorption device and a microseismic sensor magnetic clamp; The base power and control box can control the movement of the microseismic sensor mobile base and provide power; above the moving wheels is a tray for the microseismic sensor mobile base, on which an electric lifting rod, a sponge suction cup fixing device and a microseismic sensor magnetic clamp are arranged; The vacuum sponge suction cup adsorption device mainly includes a sponge, a suction cup base and an air suction port. The suction cup base is provided with a cylindrical groove of the sensor. The sponge is also dug with holes to facilitate the microseismic sensor to directly contact the rock wall. The microseismic sensor is fixed in the groove by a fixing method, and the sponge suction cup is adsorbed on the surface of the rock wall by using the air pressure difference between the inside and outside of the sponge suction cup; The microseismic sensor magnetic fixture comprises an electromagnet and a sensor fixture. The sensor fixture has a strong magnetic shielding layer for the sensor and can fix the sensor. When the electromagnet is energized, the sensor fixture and the sensor can be fixed on the iron anchor rod.

2. According to claim 1, a fully automatic installation and recovery device for microseismic sensors in TBM construction, characterized in that: It also includes an arch bracket for arranging microseismic sensors; the arch bracket for arranging microseismic sensors is arranged in the upper half of the TBM space, moving devices are arranged at both ends of the arch bracket for arranging microseismic sensors, including moving wheels and a power motor, and an automatic cable retraction and release device is arranged; a moving track for a microseismic sensor base is arranged on the arch bracket for arranging microseismic sensors, and the arch bracket for arranging microseismic sensors is required to be arranged on the top of the protective shed at the front end of the TBM and have a sufficient distance from the rock wall, so that several microseismic sensor bases can be moved on the arch bracket for arranging microseismic sensors, and the microseismic sensors can be successfully installed.

3. A fully automatic installation and recovery device for microseismic sensors for TBM construction according to claim 1 or 2, characterized in that: It also includes an arch support moving guide rail; an arch support moving guide rail is set on both sides of the TBM middle partition, and the length of the arch support moving guide rail is the distance for the TBM microseismic sensor to change its position once. The arch support moving guide rail can ensure that the arch support for the microseismic sensor arrangement moves forward and backward and does not collapse; an automatic cable retraction and release device is also set at the end of the arch support moving guide rail, and the cable is retracted and released as the arch support for the microseismic sensor arrangement moves.

4. The fully automatic installation and recovery device for microseismic sensors in TBM construction according to claim 3 is characterized in that: It also includes an automatic cable retracting and releasing device; the automatic cable retracting and releasing device is provided with an electric wheel, and as the microseismic sensor base moves on the microseismic sensor arrangement arch bracket, the electric wheel rotates accordingly to automatically retract and release the cable.

5. A fully automatic installation and recovery device for microseismic sensors for TBM construction according to claim 1, 2 or 4, characterized in that: It also includes an electric lifting rod, a camera and a laser calibration device; two electric lifting rods are arranged on the mobile base of the microseismic sensor; among them, a sponge suction cup is fixed on the end of one electric lifting rod, which can fix the vacuum sponge suction cup adsorption device, and the electric lifting rod moves up and down to complete the adsorption and separation of the vacuum sponge suction cup adsorption device and the rock wall; in addition, a positive and negative pressure converter is also arranged on the mobile base of the microseismic sensor, which converts the positive air pressure provided by the TBM into negative air pressure and provides an air pressure difference for the sponge suction cup; an electromagnet is arranged at the end of the other electric lifting rod, which fixes the magnetic clamp of the microseismic sensor on the lifting rod when power is turned on.

6. A fully automatic installation and recovery device for microseismic sensors in TBM construction according to claim 5, characterized in that: It also includes a camera and a laser calibration device; a camera and a laser calibration device are also arranged on the tray of the microseismic sensor mobile base to assist the electric lifting rod in docking and lifting.

7. A method for using the fully automatic installation and recovery device for microseismic sensors in TBM construction according to any one of claims 1 to 5, characterized in that it comprises the following steps: Step 1: Microseismic sensor disassembly stage: Step 1.1: Before disassembling the microseismic sensor, move and adjust the microseismic sensor mobile base to align the microseismic sensor with the position; Step 1.2, send a remote command to the microseismic sensor mobile base to raise the electric lifting rod; Step 1.3: If the sensor is fixed by a vacuum sponge suction cup adsorption device, after the end of the electric lifting rod is attached to the vacuum sponge suction cup adsorption device, gradually reduce the airflow of the vacuum sponge suction cup adsorption device and increase the airflow of the sponge suction cup on the lifting rod; when the sensor is fixed by a micro-seismic sensor magnetic clamp, reduce the current of the electromagnet on the micro-seismic sensor magnetic clamp and increase the current of the electromagnet on the lifting rod; Step 1.4: After the vacuum sponge suction cup adsorption device is separated from the rock wall or the microseismic sensor magnetic clamp is separated from the anchor rod, the electric lifting rod is lowered; Step 2: Microseismic sensor installation phase: Step 2.1, move the arch bracket for arranging the microseismic sensor to the microseismic sensor installation area, adjust the positions of the arch bracket for arranging the microseismic sensor and the mobile base of the microseismic sensor to find a suitable position for installing the microseismic sensor, and during the movement of the arch bracket for arranging the microseismic sensor and the sensor base, the automatic cable retracting device also retracts and releases the cable; Step 2.2, raise the electric lifting rod, after the vacuum sponge suction cup adsorption device is attached to the rock wall, turn on the airflow switch of the vacuum sponge suction cup adsorption device, gradually turn off the airflow of the sponge suction cup at the end of the electric lifting rod, and when the airflow drops to a certain level, slowly lower the electric lifting rod to check whether the vacuum sponge suction cup adsorption device is firmly attached to the rock wall. If not, re-adsorb or change the position to install the microseismic sensor; when using the microseismic sensor magnetic clamp, turn on the current switch of the microseismic sensor magnetic clamp, and then turn off the current switch of the electromagnet on the electric lifting rod; Step 2.3: After confirming that the microseismic sensor is fixed, lower the electric lifting rod; Step 3: Microseismic monitoring phase: Step 3.1, the microseismic sensor is fixed at the monitoring position and separated from the microseismic sensor mobile base, and the cable of the microseismic signal is fixedly connected through the microseismic sensor mobile base; Step 3.2, as the TBM advances forward, the microseismic sensor arrangement arch support moves on the arch support moving guide rail, keeping the spatial relative position of the microseismic sensor and the microseismic sensor arrangement arch support unchanged, and during the movement, the cable automatic retracting and releasing device at the end of the arch support moving guide rail retracts and releases the cable according to the moving distance of the microseismic sensor arrangement arch support; Step 3.3, calculate the real-time coordinates of the microseismic sensor, analyze and process the monitored microseismic signal in combination with the real-time coordinates of the microseismic sensor, and output the analysis and processing results to the TBM main console and the central control console; Step 3.4: Determine whether the TBM excavation progress is greater than or equal to the excavation spacing for re-disassembling the sensor. If so, trigger the automatic disassembly and assembly process of the microseismic sensor again and repeat steps 1 to 3; otherwise, continue to analyze and process the microseismic signal.

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