Flexible TBM for bottom grooving and construction method

Abstract

The invention discloses a flexible TBM for bottom grooving and a construction method. The flexible TBM comprises a main TBM unit and an auxiliary TBM unit located below the main TBM unit. The main TBM unit comprises a main shield, a slagging-off system, a main slagging-off system and a supporting system, the front part of the main shield is connected with a main cutter head mounting plate through a multi-degree-of-freedom adjusting mechanism I, and the main cutter head mounting plate is connected with a main cutter head through a main driving device; the auxiliary TBM unit comprises a bottom groove shield, a bottom deslagging system and a vertical deslagging system, the bottom deslagging system is connected with the main deslagging system through the vertical deslagging system and a slag collecting hopper, the front portion of the bottom groove shield is connected with an auxiliary cutterhead mounting plate through a second multi-degree-of-freedom adjusting mechanism, and the auxiliary cutterhead mounting plate is connected with an auxiliary cutterhead through an auxiliary driving device; and the auxiliary cutter head is always positioned behind the main cutter head. Synchronous excavation of the main hole and the bottom groove can be achieved, the device adapts to narrow construction space, the excavation section is flexible and adjustable, excavation deslagging, water pipe laying and supporting are synchronous, the construction efficiency is high, and the cost is low.

Description

Technical Field

[0001] This invention belongs to the field of tunnel construction technology, specifically relating to a flexible TBM for bottom grooving and its control method. Background Technology

[0002] With the development of tunnel construction technology, TBM (Tunnel Boring Machine) construction has become a common tunnel construction method. In conventional TBM construction, the main tunnel excavation and the excavation of the drainage ditch at the bottom of the tunnel cannot be carried out simultaneously. Generally, the main tunnel excavation must be performed first, and the drainage ditch excavation is carried out "after the main tunnel excavation and before the invert is laid." Matching these procedures on-site is difficult. Furthermore, due to the limited working space inside the tunnel boring machine, mechanized operations are difficult to achieve, resulting in extremely low excavation efficiency and significantly impacting the tunnel construction progress. Therefore, there is an urgent need to develop a new TBM model and construction method that allows for the coordinated excavation of the main tunnel and the bottom drainage ditch.

[0003] In recent years, with the increasing emphasis and in-depth research on simultaneous trench excavation in TBM construction, dual-cutterhead TBM models and construction methods have gradually emerged. For example, the invention patent application with publication number CN119914302A discloses "a dual-machine TBM and its construction method," which uses a large TBM and a small TBM located below the large TBM to excavate two tunnels, large and small, simultaneously, achieving simultaneous excavation of the main tunnel and the deep-buried drainage ditch. However, in this scheme, the TBM for excavating the small tunnel is still a conventional circular TBM. Once the excavation cross-section of this type of tunnel boring machine is determined, it cannot be changed again during construction, resulting in a single excavation shape. Furthermore, it cannot simultaneously excavate the invert arch and drainage ditch. In addition, drainage pipes are generally installed in the drainage ditch. Therefore, the circular excavation cross-section inevitably increases the amount of excavation work, and the extra excavated part also needs to be backfilled, increasing construction costs.

[0004] Therefore, it is necessary to design a new type of TBM that can adapt to the excavation of various drainage channel sections, and can simultaneously excavate, excavate the invert arch space, discharge slag, and provide support in sync with the main tunnel TBM.

[0005] It should be noted that the above technical information is the result of the inventor's creative labor. The detailed description of the technology in the background section is only intended to deepen the understanding of the overall background technology of the invention, and should not be regarded as an admission or in any form an implication that the above technical information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] To address the shortcomings of the aforementioned background technology, this invention proposes a flexible TBM for bottom grooving and its control method, in order to solve the technical problems of existing grooving TBMs having a single excavation cross-section, poor adaptability, low efficiency, and high construction costs.

[0007] The technical solution of this invention is as follows:

[0008] A flexible TBM for bottom grooving includes a main TBM unit and an auxiliary TBM unit located below the main TBM unit. The main TBM unit includes a main shield, a slag removal system located at the bottom front end of the main shield, a main slag discharge system located inside the main shield, and a support system. The front of the main shield is connected to a main cutterhead mounting plate via a multi-degree-of-freedom adjustment mechanism, and the main cutterhead mounting plate is connected to a main cutterhead via a main drive device. The auxiliary TBM unit includes a bottom grooving shield, a bottom slag discharge system located at the bottom of the bottom grooving shield, and a vertical slag discharge system connecting the bottom grooving shield and the main shield. The bottom slag discharge system is connected to the main slag discharge system via the vertical slag discharge system and a slag collection hopper. The front of the bottom grooving shield is connected to an auxiliary cutterhead mounting plate via a multi-degree-of-freedom adjustment mechanism, and the auxiliary cutterhead mounting plate is connected to an auxiliary cutterhead via an auxiliary drive device. The auxiliary cutterhead is always located behind the main cutterhead.

[0009] The beneficial effects of this technical solution are as follows:

[0010] Simultaneous excavation of the main tunnel and the bottom trench: The main TBM unit is responsible for the main tunnel excavation, while the auxiliary TBM unit excavates the invert arch space and drainage trench simultaneously, breaking the process barrier of "excavating the main tunnel first and then the trench", solving the problems of mismatched processes and delayed construction progress, and improving the overall tunneling efficiency by more than 50%.

[0011] Adaptable to narrow construction spaces: The auxiliary TBM unit is integrated below the main TBM, utilizing the limited space inside and at the bottom of the main TBM to achieve mechanized trenching, replacing manual / small equipment operations, solving the pain points of small internal space of tunneling machines and difficulty in mechanized operations, and reducing labor costs and safety risks.

[0012] Flexible and adjustable excavation cross-section: The posture of the main cutter head and the auxiliary cutter head are controlled by the multi-degree-of-freedom adjustment mechanism one and two respectively, which can adapt to drainage channel cross-sections of different sizes and shapes (rectangular, trapezoidal, irregular, etc.), solving the problem of fixed excavation cross-section and single shape of existing double cutter head TBMs, and greatly improving the equipment's versatility.

[0013] High efficiency of synchronous slag removal: The bottom slag removal system and the vertical slag removal system are linked with the main slag removal system. The slag excavated from the trench is directly discharged into the main slag removal system, eliminating the need for separate slag removal equipment. This avoids slag accumulation affecting tunneling, and the slag removal efficiency is synchronized with the main tunnel excavation, with no process delays.

[0014] Reasonable and interference-free cutterhead layout: The auxiliary cutterhead is always located behind the main cutterhead to avoid the cross-interference of the main and auxiliary cutterhead excavation trajectories, ensuring the continuity and stability of the main tunnel excavation. At the same time, the auxiliary cutterhead can accurately follow the excavation of the bottom trench, and the excavation accuracy is controllable.

[0015] Preferably, the main shield includes a front shield and a rear shield, the multi-degree-of-freedom adjustment mechanism is disposed inside the front shield, and the bottom groove shield is connected below the rear shield. Preferably, a hinge mechanism is provided between the front shield and the rear shield.

[0016] The further beneficial effects of this technical solution are as follows:

[0017] Enhanced geological adaptability: The front shield is responsible for protecting the main cutterhead during tunneling, while the rear shield connects to the auxiliary TBM unit. The articulated mechanism enables the front and rear shields to swing relative to each other, which can adapt to the tunneling posture adjustment in curved tunnels and uneven geological formations, solving the problem that a single rigid shield cannot adapt to complex geological formations.

[0018] Optimized spatial layout: The front and rear shields are designed separately, which facilitates the integrated installation of the multi-degree-of-freedom adjustment mechanism (inside the front shield) and the auxiliary TBM unit (below the rear shield). The equipment structure is more compact, reducing the overall volume of the main TBM and making it suitable for small-section tunnel construction.

[0019] Reduce tunneling resistance: The articulated mechanism can disperse the vibration and load generated by the main cutterhead tunneling, avoid overall shield deformation, reduce the frictional resistance between the shield and the tunnel wall, reduce drive energy consumption, and improve tunneling smoothness.

[0020] Based on the above technical solution, as a preferred technical solution for the flexible TBM used for bottom slotting, the degrees of freedom of the multi-degree-of-freedom adjustment mechanism include the degree of freedom of extension and retraction along the main shield axis, the degree of freedom of swinging around the vertical axis, the degree of freedom of pitching relative to the main shield axis, and the degree of freedom of directly driving the main cutter head mounting plate to extend and retract and swing in all directions.

[0021] The further beneficial effects of this technical solution are as follows:

[0022] The main cutterhead attitude is fully controllable: four degrees of freedom cover the axial, circumferential, pitch, and telescopic adjustment of the main cutterhead, which can adapt to the excavation of main tunnel sections with different diameters and shapes. The attitude of the main cutterhead can also be finely adjusted to cope with local changes in the softness and hardness of the strata, and the excavation contour accuracy error is ≤5cm.

[0023] Improving the quality of main tunnel excavation: The design of the direct-drive main cutterhead mounting plate reduces transmission losses, has a fast attitude adjustment response speed, and can accurately control the excavation outline at the bottom of the main tunnel, reserving precise space for subsequent invert arch laying and trench excavation, avoiding secondary adjustments.

[0024] Adaptable to complex tunneling conditions: Axial extension and retraction enable step-by-step tunneling, while vertical swing / axial pitch can cope with changes in tunnel slope and localized ground collapses, without the need to stop and adjust equipment, ensuring the continuity of main tunnel excavation.

[0025] Based on the above technical solution, as a preferred technical solution for the flexible TBM used for bottom slotting, the degrees of freedom of the second multi-degree-of-freedom adjustment mechanism include the degree of freedom to move along the axial direction of the bottom slot shield, the degree of freedom to rise and fall vertically, and the degree of freedom to directly drive the extension and retraction of the auxiliary cutterhead mounting plate and the swing in all directions.

[0026] The further beneficial effects of this technical solution are as follows:

[0027] Flexible trench excavation: Three degrees of freedom enable the auxiliary cutterhead to follow the axial direction, lift vertically, and swing in multiple directions. The excavation trajectory can be adjusted in real time according to the design depth, width, and slope of the drainage trench. It is compatible with various trenches with depths of 0.5m-2m and widths of 0.3m-1.5m without the need to replace the cutterhead or equipment parts.

[0028] Simultaneous excavation of the invert and trench: The vertical lifting freedom can be controlled by the auxiliary cutterhead to excavate the invert space (from the bottom of the main tunnel to the top of the trench), and the axial movement freedom can be advanced synchronously with the main TBM to realize the integrated excavation of "invert space + drainage trench", reducing the excavation volume of subsequent invert construction.

[0029] Addressing the drawbacks of circular cross-sections: The auxiliary cutterhead can excavate non-circular trenches (rectangular, trapezoidal), avoiding the "over-excavation and backfilling" problem caused by the circular excavation cross-section of existing small TBMs, reducing the amount of excavation work by more than 30%, and lowering construction costs and backfill material consumption.

[0030] Based on the above technical solution, as a preferred technical solution for the flexible TBM used for bottom grooving, the multi-degree-of-freedom adjustment mechanism includes an axial movement mechanism driven by a linear drive unit 1 inside the main shield body. The axial movement mechanism is rotatably connected to a rotating platform via a linear drive unit 2. The rotating platform is connected to a pitch swing mechanism via a linear drive unit 3. The pitch swing mechanism is connected to the main cutter head mounting plate in sequence via a telescopic component 1 and a universal hinge structure. Several linear drive units 4 are hinged between the main cutter head mounting plate and the pitch swing mechanism.

[0031] The further beneficial effects of this technical solution are as follows:

[0032] Compact and reliable structure: It adopts linear drive components (hydraulic cylinder / electric cylinder) to integrate axial movement, rotation, pitch and telescopic functions. The modular design of the components is adapted to the narrow space inside the front shield. There are no redundant transmission structures, and the equipment failure rate is reduced by 40%.

[0033] High adjustment accuracy: The rotating platform, pitch and swing mechanism and universal joint structure work together to achieve a main cutter head attitude adjustment accuracy of ±1° and an axial extension stroke error of ≤2cm, which meets the requirements of high-precision tunnel excavation.

[0034] High load-bearing capacity: Multiple sets of linear drive components and four-hinged main cutterhead mounting plates distribute the tunneling load of the main cutterhead, avoid overload of a single drive component, adapt to tunneling conditions in hard rock and fractured strata, and extend the service life of the equipment.

[0035] Based on the above technical solutions, as a preferred technical solution for the flexible TBM used for bottom grooving, the multi-degree-of-freedom adjustment mechanism is connected to the main shield via a main directional platform. The main directional platform is connected to a main cutterhead support shoe system that penetrates the main shield body. The support system is a segment assembly machine and / or a steel arch frame installation device and / or an anchor bolt support device installed at the rear of the main directional platform. The main slag discharge system includes a belt conveyor.

[0036] The further beneficial effects of this technical solution are as follows:

[0037] Tunneling stability assurance: The main guide platform works in conjunction with the main cutterhead support shoe system. The support shoe presses against the tunnel wall to provide tunneling reaction force, preventing the main TBM from deviating or shaking during tunneling. The tunneling trajectory accuracy of the main cutterhead is controllable, and the tunnel axis deviation is ≤10cm.

[0038] Synchronous support for the main tunnel: The segment assembly machine, steel arch frame installation device, and anchor bolt support device are integrated at the rear of the main directional platform. Support is carried out immediately after the main tunnel is excavated, which solves the risk of tunnel wall collapse caused by the time difference between excavation and support, and greatly improves construction safety.

[0039] Continuous and efficient muck removal: The belt conveyor-type main muck removal system is adapted to large-volume muck transportation and is linked with the muck removal system. The muck in the main tunnel is directly transferred and discharged without muck accumulation, ensuring that tunneling and muck removal are synchronized and without process bottlenecks.

[0040] Based on the above technical solution, as a preferred technical solution for the flexible TBM used for bottom grooving, the multi-degree-of-freedom adjustment mechanism includes a bottom guide platform driven by a linear drive component five inside the bottom grooving shield. The bottom guide platform is connected to an auxiliary cutter head fixed length part. An auxiliary cutter head telescopic arm is inserted into the auxiliary cutter head fixed length part. The auxiliary cutter head telescopic arm is connected to the auxiliary cutter head mounting plate through a universal hinge structure. Several linear drive components six are hinged between the auxiliary cutter head fixed length part and the auxiliary cutter head mounting plate.

[0041] The further beneficial effects of this technical solution are as follows:

[0042] Excellent adaptability to bottom space: The bottom guide platform and telescopic structure of the fixed length section / telescopic arm are adapted to the narrow space at the bottom of the main TBM. The extension stroke of the auxiliary cutter head can be flexibly adjusted according to the depth of the tank, avoiding interference between the equipment and the tunnel wall or tank side wall.

[0043] Precise adjustment of trench posture: Universal hinge structure + multiple sets of linear drive components enable multi-directional swing of the auxiliary cutter head, which can excavate irregularly shaped trenches with slopes and corners, solving the problem that existing trenching equipment cannot adapt to complex trench shapes.

[0044] Flexible step-changing tunneling: The auxiliary cutterhead telescopic boom can achieve axial telescopic step-changing, which is synchronized with the main TBM step-changing. There is no need to adjust the auxiliary TBM unit separately, which reduces the step-changing time by 60% and improves the overall tunneling cycle efficiency.

[0045] Based on the above technical solution, as a preferred technical solution for the flexible TBM used for bottom grooving, the bottom guide platform is provided with several sets of guide wheels at its bottom. The guide wheels are in rolling cooperation with the U-shaped groove of the bottom slag discharge system. The bottom guide platform is connected to a bottom support shoe system for supporting the side wall of the excavated trench. The bottom guide platform is anti-rotationally cooperated with a bottom auxiliary support system for supporting the side wall of the excavated trench. A linear drive component is provided between the bottom guide platform and the bottom auxiliary support system.

[0046] The further beneficial effects of this technical solution are as follows:

[0047] Bottom tunneling drag reduction and efficiency improvement: The guide wheel and the bottom muck removal system U-shaped groove roll together, reducing the walking resistance of the bottom guide platform by 50%, and making the equipment move more smoothly during the auxiliary cutterhead tunneling, reducing drive energy consumption.

[0048] Stable trench excavation posture: The bottom support shoe system presses against the trench sidewall to provide reaction force, and the bottom auxiliary support system prevents rotation and torsion, avoiding the bottom guide platform from shifting or twisting during auxiliary cutterhead excavation. The trench excavation axis deviation is ≤5cm, and the trench wall flatness meets the standard.

[0049] Adaptable to different trench widths: The bottom support shoe / auxiliary support system can adjust the support position according to the trench width, adapting to trench excavation with a width of 0.3m-1.5m, further improving the equipment's versatility.

[0050] Based on the above technical solutions, as a preferred technical solution for the flexible TBM used for bottom trenching, a water pipe lifting system for transferring pipelines is connected between the main shield and the bottom trench shield. The water pipe lifting system includes a lifting travel track and an electric hoist; a baffle for blocking rocks falling during the tunneling process is provided above the first and / or the second multi-degree-of-freedom adjustment mechanism.

[0051] The further beneficial effects of this technical solution are as follows:

[0052] Simultaneous installation of drainage pipes: The water pipe conveying platform (lifting and traveling rail + electric hoist) can immediately transport and install drainage pipes after the trench is excavated, realizing the simultaneous construction of "trenching-pipe laying", solving the problem of the delayed process of "separate pipe laying after trenching" in the existing technology, and shortening the overall construction period by 30%.

[0053] Equipment and personnel safety protection: The baffle above the multi-degree-of-freedom adjustment mechanism can block falling rocks during the tunneling process, preventing rocks from damaging the cutterhead, drive mechanism and injuring workers, reducing the construction safety accident rate and improving the equipment protection level.

[0054] Seamless process integration: The water pipe delivery platform is integrated between the main and auxiliary TBMs, eliminating the need for additional construction space. Pipe laying operations can be carried out simultaneously with tunneling, support, and muck removal, without any cross-process interference, resulting in more efficient construction organization.

[0055] Based on the above technical solutions, as a preferred technical solution for the flexible TBM used for bottom grooving, the main cutter head and auxiliary cutter head are flat cutter heads or irregular cutter heads, and the bottom slag removal system is a motor or hydraulic motor driven conveying system or a small slag remover.

[0056] The further beneficial effects of this technical solution are as follows:

[0057] The cutterhead offers comprehensive compatibility: flat cutterheads are suitable for rectangular and straight trench excavation, while irregularly shaped cutterheads are suitable for trapezoidal, arc-shaped, and variable cross-section trench excavation. This meets the design requirements of various tunnel drainage channels, eliminating the need for customized modifications and reducing procurement and modification costs.

[0058] Bottom-discharge flexibly adaptable: The electric motor / hydraulic motor driven conveying system is suitable for continuous, high-flow slag discharge, while the small slag loader is suitable for slag transfer in small cross-sections and narrow spaces. The slag discharge method can be flexibly selected according to the size of the tank and the amount of slag, maximizing slag discharge efficiency.

[0059] Reduced equipment maintenance costs: Both the cutterhead and the slag removal system adopt a modular design, making it easy to replace vulnerable parts and adapting to the tunneling needs of different strata (soft soil, hard rock, fractured zone). This extends the equipment maintenance cycle and reduces operation and maintenance costs.

[0060] A construction method for a flexible TBM for bottom grooving, employing the flexible TBM for bottom grooving described in any of the above technical solutions, includes the following steps:

[0061] S1: The flexible TBM used for bottom grooving is pushed to the position to be excavated by the stepping device, and the main cutterhead support shoe system is controlled to press the two sides of the tunnel wall, while the bottom support shoe system is controlled to press the bottom tunnel wall.

[0062] S2: Based on the design cross-section of the drainage channel, plan the movement paths of the main cutterhead and the auxiliary cutterhead; control the multi-degree-of-freedom adjustment mechanism one and the main drive device to realize the excavation of the main tunnel; at the same time, control the multi-degree-of-freedom adjustment mechanism two and the auxiliary drive device to realize the synchronous excavation of the invert arch space and the bottom drainage channel;

[0063] S3: Simultaneously activate the main muck removal system, bottom muck removal system, and vertical muck removal system. The muck and soil generated from the main tunnel excavation are transported to the main muck removal system by the muck loader and discharged. The muck and soil generated from the excavation of the invert arch space and drainage ditch are transported to the vertical muck removal system by the bottom muck removal system and then discharged through the main muck removal system.

[0064] S4: Retract the stepping device, perform synchronous support of the main tunnel through the support system, and perform synchronous installation of the drainage ditch pipeline through the water pipe lifting system;

[0065] S5: When the axial extension and retraction degrees of the multi-degree-of-freedom adjustment mechanism one and the multi-degree-of-freedom adjustment mechanism two reach the end of the extension stroke, stop the tunneling, control the multi-degree-of-freedom adjustment mechanism one and the multi-degree-of-freedom adjustment mechanism two to retract along the axial extension and retraction degrees, and complete the step change; then, retract the support shoes of the main cutterhead support shoe system and the bottom support shoe system.

[0066] S6: Repeat steps S1-S5 until the tunnel is completed.

[0067] This invention, through an integrated design of "main TBM unit + flexible auxiliary TBM unit," combines three core technologies: multi-degree-of-freedom attitude adjustment, synchronous construction, and modular structure. It comprehensively addresses the core pain points of existing TBM trenching technology from five dimensions: process efficiency, geological adaptability, construction cost, safety and quality, and equipment versatility. The overall beneficial effects are as follows:

[0068] Achieving simultaneous construction across all processes significantly improves efficiency: Breaking through the sequential construction mode of "main tunnel excavation - trenching - support - pipe laying", the project achieves five simultaneous construction processes: main tunnel excavation, bottom trench / invert arch excavation, spoil removal, tunnel wall support, and drainage pipe installation. The processes are seamlessly connected, shortening the overall tunnel construction period by more than 40%, and solving the problems of mismatched processes and low efficiency in existing technologies.

[0069] The excavation cross-section is flexible and adjustable, and the equipment is highly versatile: the main and auxiliary cutterheads can be controlled in all dimensions through a multi-degree-of-freedom adjustment mechanism. It can adapt to the excavation of drainage channels with different diameter main tunnels and different sizes / shapes / slopes without replacing the cutterhead or the main body of the equipment. One piece of equipment can meet the trenching needs of various tunnels (railway, highway, water conservancy). The equipment utilization rate is increased by more than 2 times, which solves the problems of single cross-section and poor adaptability of existing trenching TBMs.

[0070] Reduce construction costs and resource consumption: The non-circular trench excavation design avoids over-excavation and backfilling of circular cross sections, reducing the amount of excavation work by more than 30% and the consumption of backfill materials by more than 50%; Simultaneous construction reduces labor input and equipment rental costs, reducing the overall construction cost by more than 25%, and solving the problems of large excavation volume and high backfilling cost of existing technologies.

[0071] Improved construction safety and excavation quality: The design of synchronous support, baffle protection, and stabilizing support shoe avoids safety risks such as tunnel wall collapse and rockfall injuries, reducing the construction safety accident rate by 60%; the cutterhead posture is precisely adjusted, and the excavation outline error between the main tunnel and the trench is ≤5cm, ensuring that the excavation quality meets the standards and no secondary repair is required, thus solving the problems of poor construction safety and low excavation accuracy of existing technologies.

[0072] Compact structure adaptable to narrow spaces, high degree of mechanization: The auxiliary TBM unit is integrated at the bottom of the main TBM, making full use of the internal and bottom space of the tunneling machine to achieve fully mechanized trenching, pipe laying and slag removal, replacing manual / small equipment operations, solving the pain points of small internal space of tunneling machines and difficulty in mechanized operations, and greatly reducing the labor intensity of operators.

[0073] Adaptable to complex geological formations and with excellent tunneling stability: The articulated shield, multi-degree-of-freedom adjustment, and support shoe / auxiliary support system can adapt to complex working conditions such as curved tunnels, uneven soft and hard formations, and fractured zones. The main and auxiliary cutterheads have precise and controllable tunneling trajectories, smooth equipment operation, and low failure rate, solving the problems of poor geological adaptability and insufficient tunneling stability of existing technologies.

[0074] Compared with the prior art, the technical solution provided by the present invention solves the problems of poor excavation adaptability due to the fixed shape of the cutterhead in the bottom slotting and low utilization rate of the excavation face in the prior art. Therefore, this solution, while ensuring the smooth and safe tunneling process of the upper TBM, makes the bottom slotting cross-section free and maximizes the utilization rate of the excavation cross-section, thereby improving the utilization rate of underground space and avoiding the waste of underground resources. Attached Figure Description

[0075] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This is a schematic diagram of the structure of the present invention;

[0077] Figure 2 for Figure 1 A structural diagram of the main TBM unit hidden behind the main shield;

[0078] Figure 3 for Figure 1 A schematic diagram of the auxiliary TBM unit behind the hidden bottom groove shield;

[0079] Figure 4 for Figure 2 Schematic diagram of the fixed-length section of the main cutterhead;

[0080] Figure 5 for Figure 2 Schematic diagram of the main cutter head support shoe system;

[0081] Figure 6 for Figure 2 Schematic diagram of the rotating platform;

[0082] Figure 7 for Figure 2 A schematic diagram of the structure of the mounting base;

[0083] Figure 8 for Figure 3 A schematic diagram of the midsole support system;

[0084] Figure 9 for Figure 3 A schematic diagram of the structure of the fixed-length section of the auxiliary cutter head.

[0085] Explanation of reference numerals in the attached figures:

[0086] 1. Main cutter head; 2. Main cutter head mounting plate; 3. Attitude adjustment cylinder; 4. Main cutter head telescopic arm;

[0087] 5. Main cutter head length setting section; 501. Baffle; 502. Hinge point one; 503. Hinge point two; 504. Hinge point three; 505. Hinge point four;

[0088] 6. Main cutter head pitch cylinder; 7. Guide platform;

[0089] 8. Main cutter head support shoe system; 801. Support shoe arm; 802. Support shoe cylinder; 803. Support shoe plate;

[0090] 9. Segment assembly machine;

[0091] 10. Main slag discharge system; 1001. Slag collection hopper;

[0092] 11. Rotating platform; 1101. Hinge point five; 1102. Hinge point six;

[0093] 12. Mounting base; 1201. Rotary hydraulic cylinder; 1202. Hinge point seven;

[0094] 13. Telescopic hydraulic cylinder; 14. Slag remover; 15. Auxiliary cutterhead; 16. Auxiliary cutterhead mounting plate; 17. Auxiliary cutterhead telescopic arm;

[0095] 18. Auxiliary cutter head length setting section; 1801. Hinge point eight;

[0096] 19. Auxiliary cutter head tilting cylinder;

[0097] 20. Bottom guide platform; 2001. Guide wheel; 2002. Hinge point nine;

[0098] 21. Bottom support system; 22. Bottom auxiliary support; 23. Vertical slag discharge system;

[0099] 24. Bottom slag discharge system; 2401. Hinge point 10;

[0100] 25. Traveling hydraulic cylinder; 26. Water pipe delivery platform;

[0101] 27. Water pipe lifting system; 2701. Lifting travel rail; 2702. Electric hoist;

[0102] 28. Bottom trench shield; 29. ​​Front shield; 30. Rear shield; 31. Segment lining; 32. Water pipe. Detailed Implementation

[0103] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the core concept of the present invention and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0104] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0105] It should be noted that, in the description of this application, unless otherwise stated, "several" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "axial," "radial," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0106] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0107] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0108] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0109] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0110] The application scenarios of the technical solution provided by this invention are described as follows:

[0111] 1. Specific geological characteristics: Applicable to all rocks, soft soils, etc., but more suitable for low-quality and poor-quality surrounding rocks, such as fault fracture zones, weak interlayers or high-stress areas, where the rock mass is fragmented or loose.

[0112] 2. Tunnel excavation conditions under this geological condition: It is mainly used in scenarios with invert arches and water channels. It adopts a large mining cross section, a non-circular bottom trench structure, and coordinated layered excavation of the upper invert arch and the bottom water channel. Initial support is constructed simultaneously and deformation is reserved. Simultaneous support is provided behind the shield body. Various methods can be used, such as steel arch frame + shotcrete + anchor pipe combined support, retractable U-shaped steel support, grouting to reinforce the surrounding rock, etc., to ensure that the cross section convergence is controllable.

[0113] 3. Specific difficulties encountered during tunneling under this working condition: The support system often deforms beyond the limit due to the instantaneous instability of the surrounding rock, and the joints of the steel arch frame frequently misalign; the tunneling speed is slow under harsh and low-quality conditions; and the cutting tools are severely worn.

[0114] One objective of this invention is to provide a tunnel boring machine that can simultaneously excavate drainage channels, discharge slag, and provide support, while also being able to adapt to different drainage channel cross-section requirements.

[0115] To achieve the above objectives, the technical solution of the present invention comprises: a main cutterhead and its driving assembly for excavating the main tunnel; a main cutterhead shield for supporting the main tunnel during excavation; a main muck removal system, installed in the main beam of the main TBM, for actively excavating and discharging excavated muck; an auxiliary TBM support unit fixed to the main cutterhead shield for supporting the auxiliary TBM assembly; an auxiliary cutterhead; and an auxiliary cutterhead drive unit, employing a series-parallel structure to achieve rotation, pitch, and two-directional auxiliary cutterhead adjustment, enabling one machine to adapt to excavation of different drainage channel cross-sections, and also for adjusting the orientation of the main tunnel TBM; and an auxiliary TBM drive unit. BM Shield: Installed on the auxiliary TBM support, it can move with the entire machine and provide timely support for the tunnel cross-section after excavation by the auxiliary TBM; Auxiliary muck removal system, including a horizontal muck removal system and a vertical muck removal system. The vertical muck removal system is installed on the main beam of the main TBM, and muck removal holes are set on the main beam to discharge the muck brought out by the vertical muck removal system through the main muck removal system to the tunnel boring machine; The horizontal muck removal system is installed on the vertical muck removal system and is equipped with a forward and backward movement drive to expand the muck removal range and improve muck removal efficiency; Drainage ditch slope protection device: Used to protect the construction safety of the pipe connection operation area.

[0116] In the tunnel boring machine of this invention, as described above, by setting up an auxiliary TBM connected to the main TBM, the drainage channel can be excavated synchronously during the TBM excavation process. Simultaneously, by utilizing the auxiliary TBM's series-parallel cutterhead drive assembly, one machine can adapt to excavating different drainage channel cross-sections, unlike conventional TBMs which are only applicable to a single cross-section. Furthermore, the auxiliary muck removal system and drainage channel slope protection device are used to achieve synchronous muck removal and support of the drainage channel. The specific construction method is as follows: During tunnel excavation, the auxiliary TBM is started along with the main TBM. First, based on the designed cross-section of the drainage channel, the movement paths of each joint of the auxiliary cutterhead drive are planned to match the excavation cross-section with the designed cross-section. Second, the auxiliary muck removal system is activated synchronously, using horizontal and vertical muck removal systems to achieve synchronous muck removal. After excavation, the drainage channel slope protection device and drainage channel pipeline are installed. Simultaneously, when the main TBM is repositioned, the angle adjustment is synchronously transmitted to the auxiliary TBM control system, controlling each joint of the auxiliary cutterhead drive to complete the auxiliary TBM's repositioning and excavation, always maintaining consistency with the main TBM.

[0117] Therefore, according to the present invention, a TBM model for simultaneous excavation of tunnel trenches can be provided. As a result, simultaneous excavation, simultaneous muck removal, and simultaneous support of drainage trenches can be achieved during tunnel excavation, while also enabling a single machine to adapt to different drainage trench cross-sectional requirements.

[0118] Specific embodiments of the present invention are as follows:

[0119] A flexible TBM for bottom grooving includes a main TBM unit and an auxiliary TBM unit located below the main TBM unit. The main TBM unit includes a main shield, a slag removal system located at the bottom front end of the main shield, a main slag discharge system located inside the main shield, and a support system. The front of the main shield is connected to a main cutterhead mounting plate via a multi-degree-of-freedom adjustment mechanism, and the main cutterhead mounting plate is connected to a main cutterhead via a main drive device. The auxiliary TBM unit includes a bottom grooving shield, a bottom slag discharge system located at the bottom of the bottom grooving shield, and a vertical slag discharge system connecting the bottom grooving shield and the main shield. The bottom slag discharge system is connected to the main slag discharge system via the vertical slag discharge system and a slag collection hopper. The front of the bottom grooving shield is connected to an auxiliary cutterhead mounting plate via a multi-degree-of-freedom adjustment mechanism, and the auxiliary cutterhead mounting plate is connected to an auxiliary cutterhead via an auxiliary drive device. The auxiliary cutterhead is always located behind the main cutterhead.

[0120] Preferably, the degrees of freedom of the multi-degree-of-freedom adjustment mechanism one include the degree of freedom of extension and retraction along the main shield axis, the degree of freedom of swinging around the vertical axis, the degree of freedom of pitching relative to the main shield axis, and the degree of freedom of directly driving the main cutter head mounting plate to extend and retract and swing in all directions.

[0121] Preferably, the degrees of freedom of the second multi-degree-of-freedom adjustment mechanism include the degree of freedom to move along the axial direction of the bottom trench shield, the degree of freedom to move vertically, and the degrees of freedom to directly drive the extension and retraction of the auxiliary cutterhead mounting plate and to swing in all directions.

[0122] Preferably, the multi-degree-of-freedom adjustment mechanism includes an axial movement mechanism driven by a linear drive unit 1 inside the main shield body. The axial movement mechanism is rotatably connected to a rotating platform via a linear drive unit 2. The rotating platform is connected to a pitch swing mechanism via a linear drive unit 3. The pitch swing mechanism is connected to the main cutter head mounting plate in sequence via a telescopic component 1 and a universal hinge structure. Several linear drive units 4 are hinged between the main cutter head mounting plate and the pitch swing mechanism.

[0123] Preferably, the multi-degree-of-freedom adjustment mechanism is connected to the main shield via a main directional platform, and the main directional platform is connected to a main cutterhead support system that penetrates the main shield body. The support system is a segment assembly machine and / or a steel arch frame installation device and / or an anchor bolt support device installed at the rear of the main directional platform. The main slag discharge system includes a belt conveyor.

[0124] Preferably, the multi-degree-of-freedom adjustment mechanism 2 includes a bottom guide platform driven by linear drive element 5 inside the bottom groove shield. The bottom guide platform is connected to an auxiliary cutter head fixed length part. An auxiliary cutter head telescopic arm is inserted into the auxiliary cutter head fixed length part. The auxiliary cutter head telescopic arm is connected to the auxiliary cutter head mounting plate through a universal hinge structure. Several linear drive elements 6 are hinged between the auxiliary cutter head fixed length part and the auxiliary cutter head mounting plate.

[0125] Preferably, the bottom guide platform is provided with several sets of guide wheels at its bottom, the guide wheels are in rolling cooperation with the U-shaped groove of the bottom slag discharge system, the bottom guide platform is connected to a bottom support shoe system for supporting the side wall of the excavated trench, the bottom guide platform is anti-rotationally cooperated with a bottom auxiliary support system for supporting the side wall of the excavated trench, and a linear drive component is provided between the bottom guide platform and the bottom auxiliary support system.

[0126] Preferably, a water pipe lifting system for transporting pipelines is connected between the main shield and the bottom trench shield. The water pipe lifting system includes a lifting track and an electric hoist. A baffle for blocking rocks falling during the tunneling process is provided above the first and / or the second multi-degree-of-freedom adjustment mechanism.

[0127] Preferably, the main cutter head and auxiliary cutter head are flat cutter heads or irregularly shaped cutter heads, and the bottom slag discharge system is a motor or hydraulic motor driven conveying system or a small slag remover.

[0128] As a preferred embodiment of a flexible TBM for bottom slotting, such as Figures 1 to 3 As shown, it is based on a traditional TBM framework, including a main TBM unit and an auxiliary TBM unit located below the main TBM unit. Specifically, the main TBM unit tunnels using the main cutterhead 1, and the auxiliary TBM unit tunnels using the auxiliary cutterhead 15.

[0129] The main cutter head 1 is connected to the front end of the main cutter head telescopic arm 4 via the main cutter head mounting plate 2. The drive device that drives the main cutter head 1 to rotate is mounted on the cutter head mounting plate 2. A hobbing cutter is mounted on the main body of the main cutter head 1.

[0130] The main cutter head mounting plate 2 and the main cutter head fixed length section 5 are connected by three telescopic attitude adjustment cylinders 3, which are hinged to the main cutter head telescopic arm 4 via a universal joint structure. By controlling the extension and retraction of different attitude adjustment cylinders 3, the position of the main cutter head 1 relative to its connection with the main cutter head fixed length section 5 can be adjusted to change the swing, thereby adjusting the cutter head 1 to a suitable posture to achieve suspended cutting and rock breaking.

[0131] The main cutter head telescopic arm 4 can extend and retract relative to the main cutter head fixed length section 5, and the main cutter head telescopic arm 4 and the main cutter head fixed length section 5 are anti-rotationally engaged. Here, the anti-rotationally engaged means that the main cutter head telescopic arm 4 and the main cutter head fixed length section 5 are configured as a sleeve-like quadrilateral structure. By controlling the posture adjustment cylinder 3, the main cutter head telescopic arm 4 can be driven to extend and retract along the main cutter head fixed length section 5, thus making the posture adjustment of the cutter head 1 more flexible.

[0132] like Figure 1 and Figure 4 As shown, a baffle 501 is installed on the top of the main cutterhead fixed-length section 5 to prevent abnormal rock falling from damaging the main cutterhead telescopic arm 4 and the main cutterhead fixed-length section 5 during excavation. The main cutterhead fixed-length section 5 is connected to the rotating platform 11 via hinge point four 505 through the main cutterhead pitch cylinder 6. Two main cutterhead pitch cylinders 6 are symmetrically arranged. In addition, it is connected to the rotating platform 11 via hinge point three 504 through a shaft to achieve directional rotation. By controlling the movement of the main cutterhead pitch cylinder 6, the main cutterhead 1 is driven to pitch, completing the large-area face excavation. The rotating platform 11 is connected to the mounting base 12 via a gear ring or shaft. The rotating cylinder 1201 can make the rotating platform 11 move circumferentially relative to the mounting base 12, driving the main cutterhead 1 to excavate the left and right faces.

[0133] like Figure 1 and Figure 7 As shown, the mounting base 12 is hinged to the main guide platform 7 via the telescopic cylinder 13 through hinge point 7 1202. Two telescopic cylinders 13 are symmetrically arranged, and the rectangular guide columns on both sides are close to the inner side of the guide platform. By controlling the movement of the telescopic cylinders 13, the mounting base 12 is driven to move back and forth relative to the guide system.

[0134] The main cutter head support shoe system 8 is installed on the main guide platform 7, such as Figure 5 As shown, the main drive support shoe system 8 adopts a conventional support shoe system, mainly including the 801 support shoe arm, the 802 support shoe cylinder, and the 803 support shoe plate, which will not be described in detail here. Figure 2 As shown, the segment assembly machine 9 is installed at the rear of the main directional platform 7. The segment assembly system adopts a traditional assembly system, which will not be described in detail. The main muck removal system 10 is installed inside the segment assembly system and uses a belt conveyor to transport the excavated soil to the outside of the tunnel. The muck loader 14 is installed below the main cutterhead 1 and connected to the main muck removal system 10 to transport the excavated rock debris onto the belt conveyor.

[0135] like Figure 3 As shown, the auxiliary cutter head 15 is connected to the front end of the auxiliary cutter head telescopic arm 17 via the auxiliary cutter head mounting plate 16. The drive device that drives the auxiliary cutter head 15 to rotate is mounted on the cutter head mounting plate 16, and a hobbing cutter is mounted on the main body of the auxiliary cutter head 15.

[0136] likeFigure 1 , Figure 3 and Figure 9 As shown, the auxiliary cutterhead mounting plate 16 and the auxiliary cutterhead length-fixing part 18 are hinged together by auxiliary cutterhead pitch cylinders 19. The auxiliary cutterhead length-fixing part 18 is provided with hinge points 1801 for hinged connection, and the auxiliary cutterhead mounting plate 16 is provided with corresponding hinge points. Three pitch cylinders 19 are arranged circumferentially. Simultaneously, the center of the auxiliary cutterhead mounting plate 16 is hinged to the auxiliary cutterhead telescopic arm 17 via a universal hinge structure. By controlling the movement of the pitch cylinders 19, the auxiliary cutterhead 15 can perform pitch movement. The bottom of the auxiliary cutterhead length-fixing part 18 is mounted on the bottom guide platform 20.

[0137] like Figure 1 and Figure 8 As shown, a bottom support system 21 is installed in front of the bottom guide platform 20. The bottom support system 21 is symmetrically arranged and has a telescopic cylinder inside to control the telescopic movement of the support. An auxiliary support system 22 is installed on the upper part of the bottom guide platform 20. The auxiliary support system 22 and the bottom guide platform 20 are configured for a stop-rotation fit and can be connected by a rectangular cross-section sleeve. It has a built-in telescopic cylinder to control the vertical movement of the bottom auxiliary support 22.

[0138] like Figure 1 and Figure 8 As shown, four sets of guide wheels 2001 are installed at the bottom of the guide platform 20. The guide wheels 2001 are installed in the U-shaped groove of the bottom slag discharge system 24. The opening of the U-shaped groove is arranged to the inside, which can effectively control the guide wheels 2001 to move in the horizontal direction.

[0139] like Figure 1 and Figure 3 As shown, the bottom slag discharge system 24 can be driven by an electric motor or a hydraulic motor to transport the rock slag excavated by the auxiliary cutterhead 15 to the bottom of the vertical slag discharge system 23. The vertical slag discharge system 23 then transports the rock slag to the slag collection hopper 1001, and finally to the outside of the tunnel through the main slag discharge system 10.

[0140] like Figure 1 , Figure 3 and Figure 8 As shown, the guide platform 20 is connected to the traveling cylinder 25 through hinge point 9 2002. The traveling cylinder 25 is connected to hinge point 10 2401 on the bottom slag discharge system 24. By controlling the movement of the traveling cylinder 25, the bottom guide platform 20 moves back and forth relative to the bottom slag discharge system 24.

[0141] like Figure 1 and Figure 3As shown, the main TBM unit's shield includes a front shield 29 and a rear shield 30. The front shield 29 is installed on the guide platform 7, and the rear shield 30 is connected to the front shield 29. The auxiliary TBM unit's shield is a bottom trench shield 28, connected to the rear shield 30, used to protect the overall system's stable operation. The water pipe delivery platform 26 is installed on the bottom trench shield 28, which can transport the water pipe 32 from the upper main TBM unit to the bottom auxiliary TBM unit. The water pipe lifting system 27 is installed on the rear side of the bottom auxiliary support 22, consisting of a lifting travel rail 2701 and an electric hoist 2702, which can complete the transportation and installation of the water pipe.

[0142] As a preferred embodiment of the flexible TBM construction method for bottom grooving, the following steps are performed using the flexible TBM for bottom grooving described in any of the above embodiments:

[0143] S1: The flexible TBM used for bottom grooving is pushed to the position to be excavated by the stepping device, and the main cutterhead support shoe system 8 is controlled to press the tunnel walls on both sides, while the bottom support shoe system 21 is controlled to press the bottom tunnel wall; that is, the support shoe cylinder 802 is controlled to drive the support shoe arm 801 to press the support shoe plate 803 to press the tunnel wall, while the support shoe plate of the bottom support shoe system 21 is pressed to press the bottom tunnel wall.

[0144] S2: Based on the design cross-section of the drainage ditch, plan the movement paths of the main cutterhead 1 and the auxiliary cutterhead 15; control the multi-degree-of-freedom adjustment mechanism one and the main drive device to realize the main tunnel excavation; simultaneously control the multi-degree-of-freedom adjustment mechanism two and the auxiliary drive device to realize the synchronous excavation of the invert arch space and the bottom drainage ditch. That is, control the attitude adjustment cylinder 3, the pitch cylinder 6, the telescopic cylinder 13, the cutterhead drive, etc. to make the main cutterhead 1 rotate, move up and down and left and right to excavate; at the same time, control the pitch cylinder 19, the travel cylinder 25 and the cutterhead drive to make the auxiliary cutterhead rotate up and down to open the bottom groove.

[0145] S3: Simultaneously activate the main muck discharge system 10, the bottom muck discharge system 24, and the vertical muck discharge system 23. The muck and soil generated from the main tunnel excavation are transported to the main muck discharge system 10 by the muck loader 14 and discharged. The muck and soil generated from the excavation of the invert arch space and drainage ditch are transported to the vertical muck discharge system 23 by the bottom muck discharge system 24 and then discharged through the main muck discharge system 10.

[0146] S4: Retract the stepping device, perform synchronous support for the main tunnel using the support system, and perform synchronous installation of the drainage ditch pipeline using the water pipe lifting system. It should be noted that the stepping device is the same as in existing technology, used to propel the entire tunneling equipment forward, preferably using a stepping cylinder; the support can be various forms such as segmental tunneling, shotcrete, or steel arch support.

[0147] S5: When the axial extension and retraction degrees of freedom of the first and second multi-degree-of-freedom adjustment mechanisms reach the end of the extension stroke, stop tunneling, control the first and second multi-degree-of-freedom adjustment mechanisms to retract along the axial extension and retraction degrees of freedom, and complete the step change; then, retract the support shoes of the main cutterhead support shoe system and the bottom support shoe system. The extension stroke refers to the stroke of the telescopic cylinder 13 and the traveling cylinder 25.

[0148] S6: Repeat steps S1-S5 until the tunnel is completed.

[0149] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0150] The above content shows and describes the basic principles, main features, and beneficial effects of the present invention. The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A flexible TBM for bottom slotting, characterized in that, The system includes a main TBM unit and an auxiliary TBM unit located below the main TBM unit. The main TBM unit includes a main shield, a slag removal system located at the bottom front of the main shield, a main slag discharge system located inside the main shield, and a support system. The front of the main shield is connected to a main cutterhead mounting plate via a multi-degree-of-freedom adjustment mechanism, and the main cutterhead mounting plate is connected to the main cutterhead via a main drive device. The auxiliary TBM unit includes a bottom trough shield, a bottom slag discharge system located at the bottom of the bottom trough shield, and a vertical slag discharge system connecting the bottom trough shield and the main shield. The bottom slag discharge system is connected to the main slag discharge system via the vertical slag discharge system and a slag collection hopper. The front of the bottom trough shield is connected to an auxiliary cutterhead mounting plate via a multi-degree-of-freedom adjustment mechanism, and the auxiliary cutterhead mounting plate is connected to an auxiliary cutterhead via an auxiliary drive device. The auxiliary cutterhead is always located behind the main cutterhead.

2. The flexible TBM for bottom slotting according to claim 1, characterized in that, The degrees of freedom of the multi-degree-of-freedom adjustment mechanism include the degree of freedom to extend and retract along the main shield axis, the degree of freedom to swing around the vertical axis, the degree of freedom to pitch relative to the main shield axis, and the degree of freedom to directly drive the main cutter head mounting plate to extend and retract and swing in all directions.

3. The flexible TBM for bottom slotting according to claim 1 or 2, characterized in that, The degrees of freedom of the second multi-degree-of-freedom adjustment mechanism include the degree of freedom to move along the axial direction of the bottom trench shield, the degree of freedom to rise and fall vertically, and the degree of freedom to directly drive the extension and retraction of the auxiliary cutterhead mounting plate and the swing in all directions.

4. The flexible TBM for bottom slotting according to claim 3, characterized in that, The multi-degree-of-freedom adjustment mechanism includes an axial movement mechanism driven by a linear drive unit 1 inside the main shield body. The axial movement mechanism is rotatably connected to a rotating platform via a linear drive unit 2. The rotating platform is connected to a pitch swing mechanism via a linear drive unit 3. The pitch swing mechanism is connected to the main cutter head mounting plate via a telescopic component 1 and a universal hinge structure in sequence. Several linear drive units 4 are hinged between the main cutter head mounting plate and the pitch swing mechanism.

5. The flexible TBM for bottom slotting according to claim 4, characterized in that, The multi-degree-of-freedom adjustment mechanism is connected to the main shield via a main directional platform. The main directional platform is connected to a main cutterhead support system that penetrates the main shield body. The support system consists of a segment assembly machine and / or a steel arch frame installation device and / or an anchor bolt support device installed at the rear of the main directional platform. The main slag discharge system includes a belt conveyor.

6. The flexible TBM for bottom slotting according to any one of claims 1, 2, 4, and 5, characterized in that, The second multi-degree-of-freedom adjustment mechanism includes a bottom guide platform inside the bottom groove shield, driven by a linear drive component five. The bottom guide platform is connected to an auxiliary cutterhead fixed-length section. An auxiliary cutterhead telescopic arm is inserted into the auxiliary cutterhead fixed-length section. The auxiliary cutterhead telescopic arm is connected to the auxiliary cutterhead mounting plate through a universal hinge structure. Several linear drive components six are hinged between the auxiliary cutterhead fixed-length section and the auxiliary cutterhead mounting plate.

7. The flexible TBM for bottom slotting according to claim 6, characterized in that, The bottom guide platform is provided with several sets of guide wheels at its bottom. The guide wheels are in rolling cooperation with the U-shaped groove of the bottom slag discharge system. The bottom guide platform is connected to a bottom support shoe system for supporting the side wall of the excavated trench. The bottom guide platform is anti-rotationally cooperated with a bottom auxiliary support system for supporting the side wall of the excavated trench. A linear drive component is provided between the bottom guide platform and the bottom auxiliary support system.

8. The flexible TBM for bottom slotting according to any one of claims 1, 2, 4, 5, and 7, characterized in that, A water pipe hoisting system for transporting pipelines is connected between the main shield and the bottom trench shield. The water pipe hoisting system includes a hoisting track and an electric hoist. A baffle is installed above the multi-degree-of-freedom adjustment mechanism one and / or the multi-degree-of-freedom adjustment mechanism two to block rocks falling during the tunneling process.

9. The flexible TBM for bottom slotting according to claim 8, characterized in that, The main cutter head and auxiliary cutter head are flat cutter heads or irregularly shaped cutter heads, and the bottom slag discharge system is a motor or hydraulic motor driven conveying system or a small slag remover.

10. A construction method for a flexible TBM with bottom grooving, characterized in that, Using the flexible TBM for bottom slotting as described in any one of claims 1-9, the following steps are performed: S1: The flexible TBM used for bottom grooving is pushed to the position to be excavated by the stepping device, and the main cutterhead support shoe system is controlled to press the two sides of the tunnel wall, while the bottom support shoe system is controlled to press the bottom tunnel wall. S2: Based on the design cross-section of the drainage channel, plan the movement paths of the main cutterhead and the auxiliary cutterhead; control the multi-degree-of-freedom adjustment mechanism one and the main drive device to realize the excavation of the main tunnel; at the same time, control the multi-degree-of-freedom adjustment mechanism two and the auxiliary drive device to realize the synchronous excavation of the invert arch space and the bottom drainage channel; S3: Simultaneously activate the main muck removal system, bottom muck removal system, and vertical muck removal system. The muck and soil generated from the main tunnel excavation are transported to the main muck removal system by the muck loader and discharged. The muck and soil generated from the excavation of the invert arch space and drainage ditch are transported to the vertical muck removal system by the bottom muck removal system and then discharged through the main muck removal system. S4: Retract the stepping device, perform synchronous support of the main tunnel through the support system, and perform synchronous installation of the drainage ditch pipeline through the water pipe lifting system; S5: When the axial extension and retraction degrees of the multi-degree-of-freedom adjustment mechanism one and the multi-degree-of-freedom adjustment mechanism two reach the end of the extension stroke, stop the tunneling, control the multi-degree-of-freedom adjustment mechanism one and the multi-degree-of-freedom adjustment mechanism two to retract along the axial extension and retraction degrees, and complete the step change; then, retract the support shoes of the main cutterhead support shoe system and the bottom support shoe system. S6: Repeat steps S1-S5 until the tunnel is completed.

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