Support system, open TBM and open TBM construction method

Abstract

The application provides a support system, an open TBM and an open TBM construction method, and aims to solve the problems of the existing technology that the support components are integrated on the main beam, the main beam is too long, the components affect each other and the support freedom is insufficient. The system changes the structure of the support components and re-plans the installation position, significantly shortens the length of the main beam, and reduces the TBM turning radius. Specifically, the steel arch assembly device is directly installed on the main drive to realize instant support; the L1 area and the L2 area anchor rod drillers are respectively installed on the front and rear parts of the saddle frame, and a multi-joint mechanical arm structure is adopted to realize the release of the main beam space and the normal or nearly normal drilling; the advanced drill device is hung on the main beam through another multi-degree-of-freedom mechanical arm; and an independently movable emergency spraying and mixing system is adopted. The application optimizes the spatial layout, improves the flexibility of the support operation and the reliability of the equipment.

Description

Technical Field

[0001] This invention belongs to the field of full-section tunnel excavation, and specifically relates to a support system, an open-type TBM, and an open-type TBM construction method. Background Technology

[0002] Full-face tunnel boring machines (TBMs), especially open-face TBMs, are key equipment for hard rock tunnel construction. Their construction safety and efficiency are highly dependent on the supporting timely support system, which typically includes steel arch frame assembly machines, anchor drilling rigs, advance drilling rigs, and concrete spraying devices (mixing and spraying devices) to meet the need for timely reinforcement of the surrounding rock after excavation.

[0003] As infrastructure projects extend into complex geographical environments, tunnel engineering faces increasing spatial constraints. In projects such as complex pipeline networks for water diversion in mountainous areas, connecting passages for urban underground transportation systems, and mountain-crossing tunnels constrained by terrain features, small-radius curves are increasingly appearing in tunnel designs. This places stringent requirements on the minimum horizontal turning radius of open-face TBMs. The key structural factor determining the turning radius is the main unit, including the main beam structure, with the length of the main beam having a particularly significant impact.

[0004] To accommodate the various support equipment mentioned above (steel arch frame assemblers, anchor drilling rigs, advanced drilling rigs, and concrete spraying devices, etc.), traditional open-type TBMs generally use a support system mounted on the main beam of the main unit. Each component of the support system can move independently forward and backward on the main beam to meet the requirements of timely support. Furthermore, traditional support systems, especially anchor drilling rigs and advanced drilling rigs, use large annular toothed track mounting, which moves forward and backward on the main beam track to meet the equipment's support requirements. However, the large annular track, the corresponding personnel operating platform, and its drive mechanism itself occupy a significant amount of longitudinal space. Additionally, each annular track needs to move independently forward and backward, with a movement distance of 1-3.5 meters, forcing the main beam to be designed to be extremely long. For example, for a TBM with a diameter of 12 meters, the main beam length would reach 26.3 meters to accommodate the aforementioned support system. This directly results in the theoretical minimum turning radius of the entire machine far exceeding the design radius of small-turn tunnels, making it impossible for the equipment to pass through.

[0005] Furthermore, an excessively long main beam amplifies the vibrations generated between the cutterhead and the tunnel face during excavation, affecting the lifespan of the cutterhead, main drive, main beam, and the support system components mounted on the main beam. The circular track and its auxiliary structures also encroach on the internal space of the main unit, resulting in a narrow operating platform for personnel and extreme inconvenience in the transportation and storage of materials (such as arch frames and anchor bolts), thus hindering overall construction efficiency. For example, actual measurement data shows that in the traditional layout, the effective width available for safe passage in the middle of the main unit is typically compressed to less than 2 meters, and the height to less than 2.5 meters. This not only makes it difficult for operators to move between equipment and inconvenient for inspection and maintenance, but also seriously hinders safe evacuation in emergencies. Core materials required for support operations, such as steel arch frame segments (often 2-6 meters in length), anchor bolts (2-6 meters in length), and steel mesh, need to be transported along the main beam from the rear to the front work point. In the traditional layout, the circular track and its supporting structure act like a roadblock, forcing the material transport channel to become extremely tortuous and narrow.

[0006] Furthermore, the rock bolt drilling rig integrated into the large gear ring track traveling mechanism is usually set to radial extension and circumferential movement, making it difficult to flexibly and accurately adjust to the "normal" or optimal "near normal" drilling angle perpendicular to the rock wall, which directly affects the support effect of the rock bolt.

[0007] To shorten the main beam length, the patent specification with authorization announcement number CN115288714B discloses a compact open-face rock tunnel boring machine with small turning radius. This tunnel boring machine adopts a stepped main beam and arranges some anchor drilling rigs and advance drilling rigs around the support shoe system, achieving initial compactness of the internal space of the main unit. However, its steel arch frame assembly system is still located at the rear, and the core equipment that occupies the largest longitudinal space has not been rearranged, limiting the extent to which the main beam can be shortened.

[0008] Patent specification CN208441879U discloses a tunnel boring machine and its support system, proposing to directly install the steel arch frame assembly ring onto the main drive, achieving a significant forward shift of the support starting point and, to some extent, compressing the length of the main beam. However, this patent primarily addresses the issue of synchronous installation of the steel arch frame and the reinforcing mesh. For other support equipment such as anchor drilling rigs and advanced drilling rigs, a relatively traditional layout is still used, leaving considerable room for compressing the length of the main beam. Summary of the Invention

[0009] The purpose of this invention is to provide a support system to solve the problem of excessively long main beam of tunnel boring machines caused by the excessive size of existing support systems in the tunnel length direction.

[0010] Meanwhile, the present invention also aims to provide an open-type TBM using the above-mentioned support system and an open-type TBM construction method.

[0011] To solve the above problems, the support system of the present invention adopts the following technical solution: The support system for an open-type TBM includes a steel arch frame assembler configured to be installed on the TBM's main drive, an anchor drilling module configured to be installed on the saddle of the TBM's saddle support system, and an advanced drilling device and an emergency jet grouting system configured to be installed on the TBM's main beam. The anchor drilling module includes an anchor drilling manipulator fixed to the saddle and an anchor drilling rig body installed on the anchor drilling manipulator. The anchor drilling manipulator can deploy the anchor drilling rig body to the target borehole location. The advanced drilling device includes an advanced drilling manipulator configured to be side-mounted on the TBM's main beam and an advanced drilling rig. The advanced drilling manipulator can deploy the advanced drilling rig to the target borehole location.

[0012] Furthermore, the anchor drilling robot arm is configured to be fixedly mounted on the end face of the saddle.

[0013] Furthermore, the anchor drilling robot arm includes a base, a main arm assembly and a telescopic arm assembly that together form a universal arm body relative to the base, and an anchor drilling rig attitude adjustment mechanism assembly. A main arm cylinder is provided between the main arm of the main arm assembly and the base. The anchor drilling rig attitude adjustment mechanism assembly includes a universal joint seat connected to the universal arm body, a swing device provided on the universal joint seat, and an end-rotor device located at the end of the swing device near the anchor drilling rig body. The rotation axis of the end-rotor device is perpendicular to the drill rod of the anchor drilling rig body. The swing axis of the swing device is perpendicular to the rotation axis of the end-rotor device and the telescopic arm assembly. A small arm cylinder is provided for the universal joint seat to control its attitude.

[0014] Furthermore, the boom assembly and boom cylinder are each connected to the base via universal joints.

[0015] Furthermore, the universal arm also includes a forearm connected to the telescopic arm assembly, and the universal adapter and the forearm are connected by a universal joint.

[0016] Furthermore, the advanced drilling robotic arm includes a variable-length boom, with a slewing device and a swinging device at the upper and lower ends of the boom. The upper slewing device is connected to a base module, and the lower slewing device is connected to a pitching module. The advanced drilling rig is mounted on the pitching module.

[0017] Furthermore, the boom includes a main boom module and a telescopic module. The main boom module includes a swing arm, and the telescopic module includes an advanced drilling-mounted telescopic arm inserted into the swing arm and a built-in hydraulic cylinder for driving the advanced drilling-mounted telescopic arm. The advanced drilling-mounted telescopic arm is a hollow arm, and the two ends of the built-in hydraulic cylinder are respectively connected to the root of the user swing arm and the end of the advanced drilling-mounted telescopic arm.

[0018] Furthermore, the emergency spray mixing system includes a gear ring, a spray mixing platform, a travel track, a mixing nozzle, and a travel drive device.

[0019] Furthermore, the gear ring includes a side gear ring and a top gear ring, which are detachably connected to each other, and the spray mixing platform is integrated on the side gear ring.

[0020] Furthermore, it also includes a main platform, which includes a front telescopic platform, a front platform telescopic cylinder, a rear telescopic platform, a rear platform telescopic cylinder, and a fixed platform; the front telescopic platform, the rear telescopic platform, and the fixed platform are fixed to the upper part of the main beam; the front telescopic platform achieves front-to-back extension and retraction through the extension and retraction of the front platform telescopic cylinder, and the rear telescopic platform achieves front-to-back extension and retraction through the extension and retraction of the rear platform telescopic cylinder, wherein when the front telescopic platform extends and the rear telescopic platform also extends, the extended parts of the two platforms can overlap.

[0021] Furthermore, the extended portions of the front telescopic platform and the rear telescopic platform are divided into several units in the width direction, and there are also several corresponding telescopic cylinders to achieve local avoidance.

[0022] Beneficial effects of the support system: The support system of this invention is a pioneering invention. Specifically, by designing the installation structure of each part of the support system separately, this invention eliminates the bulky ring track traveling mechanism on the main beam that originally served as the carrier of the support equipment, thereby shortening the size of the TBM main beam, improving its reliability, and reducing its turning radius.

[0023] The open-type TBM of this invention adopts the following technical solution: An open-type TBM includes a main unit and a support system. The support system includes a steel arch frame assembler configured to be installed on the TBM's main drive, an anchor drilling module configured to be installed on the saddle of the TBM's saddle support system, and an advanced drilling device and an emergency jet mixing system configured to be installed on the TBM's main beam. The anchor drilling module includes an anchor drilling manipulator fixed to the saddle and an anchor drilling rig body installed on the anchor drilling manipulator. The anchor drilling manipulator can deploy the anchor drilling rig body to the target borehole location. The advanced drilling device includes an advanced drilling manipulator configured to be side-mounted on the TBM's main beam and an advanced drilling rig. The advanced drilling manipulator can deploy the advanced drilling rig to the target borehole location.

[0024] Furthermore, the anchor drilling robot arm is configured to be fixedly mounted on the end face of the saddle.

[0025] Furthermore, the anchor drilling robot arm includes a base, a main arm assembly and a telescopic arm assembly that together form a universal arm body relative to the base, and an anchor drilling rig attitude adjustment mechanism assembly. A main arm cylinder is provided between the main arm of the main arm assembly and the base. The anchor drilling rig attitude adjustment mechanism assembly includes a universal joint seat connected to the universal arm body, a swing device provided on the universal joint seat, and an end-rotor device located at the end of the swing device near the anchor drilling rig body. The rotation axis of the end-rotor device is perpendicular to the drill rod of the anchor drilling rig body. The swing axis of the swing device is perpendicular to the rotation axis of the end-rotor device and the telescopic arm assembly. A small arm cylinder is provided for the universal joint seat to control its attitude.

[0026] Furthermore, the boom assembly and boom cylinder are each connected to the base via universal joints.

[0027] Furthermore, the universal arm also includes a forearm connected to the telescopic arm assembly, and the universal adapter and the forearm are connected by a universal joint.

[0028] Furthermore, the advanced drilling robotic arm includes a variable-length boom, with a slewing device and a swinging device at the upper and lower ends of the boom. The upper slewing device is connected to a base module, and the lower slewing device is connected to a pitching module. The advanced drilling rig is mounted on the pitching module.

[0029] Furthermore, the boom includes a main boom module and a telescopic module. The main boom module includes a swing arm, and the telescopic module includes an advanced drilling-mounted telescopic arm inserted into the swing arm and a built-in hydraulic cylinder for driving the advanced drilling-mounted telescopic arm. The advanced drilling-mounted telescopic arm is a hollow arm, and the two ends of the built-in hydraulic cylinder are respectively connected to the root of the user swing arm and the end of the advanced drilling-mounted telescopic arm.

[0030] Furthermore, the emergency spray mixing system includes a gear ring, a spray mixing platform, a travel track, a mixing nozzle, and a travel drive device.

[0031] Furthermore, the gear ring includes a side gear ring and a top gear ring, which are detachably connected to each other, and the spray mixing platform is integrated on the side gear ring.

[0032] Furthermore, it also includes a main platform, which includes a front telescopic platform, a front platform telescopic cylinder, a rear telescopic platform, a rear platform telescopic cylinder, and a fixed platform; the front telescopic platform, the rear telescopic platform, and the fixed platform are fixed to the upper part of the main beam; the front telescopic platform achieves front-to-back extension and retraction through the extension and retraction of the front platform telescopic cylinder, and the rear telescopic platform achieves front-to-back extension and retraction through the extension and retraction of the rear platform telescopic cylinder, wherein when the front telescopic platform extends and the rear telescopic platform also extends, the extended parts of the two platforms can overlap.

[0033] Furthermore, the extended portions of the front telescopic platform and the rear telescopic platform are divided into several units in the width direction, and there are also several corresponding telescopic cylinders to achieve local avoidance.

[0034] Furthermore, anchor drilling modules are installed at the front and rear ends of the saddle frame, with the anchor drilling module at the front end being the L1 zone anchor drilling module and the anchor drilling module at the rear end being the L2 zone anchor drilling module.

[0035] Beneficial effects of the open-type TBM: The open-type TBM of this invention is an improved invention. Specifically, this invention improves the structure of the support system by designing the installation structure of each part of the support system separately, thereby eliminating the bulky ring track traveling mechanism on the main beam that originally served as the carrier of the support equipment. This shortens the size of the TBM main beam, improves its reliability, and reduces its turning radius.

[0036] The open-type TBM construction method of the present invention adopts the following technical solution: Open-face TBM construction method, which includes the step of providing support while tunneling: S1: Steel arch support: When the surrounding rock requires arch support, the steel arch is immediately grabbed and assembled behind the cutterhead shield by the steel arch assembler installed on the main drive. S2: L1 Zone Anchor Bolt Drilling Support: Using the anchor bolt drilling robotic arm of the L1 Zone anchor bolt drilling machine installed on the saddle, the anchor bolt drilling machine body is positioned and delivered to the target position on the tunnel arch and the side above, and anchor bolt drilling and installation operations are carried out. S3: Advanced geological drilling: When geological forecasting is required, the advanced drilling rig is positioned and delivered to a predetermined position in front of the tunnel face by the mechanical arm of the advanced drilling rig device that is side-mounted on the main beam. After being adjusted to the design direction, drilling exploration is carried out. S4: L2 Zone Anchor Bolt Drilling Support: Using the L2 zone anchor bolt drilling machine installed at the rear end of the saddle, anchor bolt support operations are carried out on both sides of the tunnel in the normal or near-normal direction. S3: Emergency spraying operation: When local rock needs to be reinforced with sprayed concrete, the emergency spraying system is activated. Its side toothed ring moves along the travel track on the side of the main beam to the work area and sprays the tunnel sidewall through the spraying nozzle. When the arch needs to be sprayed, the top toothed ring is installed so that the spraying nozzle can move circumferentially to the arch area for operation. S4: Platform Clearance and Material Transportation: During the support operation in step S2, the corresponding units of the front telescopic platform and / or rear telescopic platform of the main platform are partially retracted to make way for the anchor drilling robot arm or material transportation; after the operation is completed, the platform returns to the extended state to form a continuous passage, which facilitates personnel passage and material transportation. S5: Repeat S1-S4 until the tunnel excavation is completed.

[0037] The beneficial effects of the open-type TBM construction method of the present invention: The open-type TBM construction method of the present invention is an improved invention. Specifically, by using the open-type TBM of the present invention and designing the installation structure of each part of the support system separately, the method of the present invention eliminates the huge ring track traveling mechanism on the upper part of the main beam as the carrier of the support equipment, thereby shortening the size of the TBM main beam, improving its reliability, and reducing its turning radius, making it suitable for the construction of tunnels with smaller turning radii. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of an embodiment of the open-type TBM of the present invention; Figure 2 yes Figure 1 A schematic diagram of the steel arch frame assembler in the diagram; Figure 3 yes Figure 1 Front view of the anchor drilling rig in zone L1; Figure 4 yes Figure 1 A bottom view of the anchor drilling rig in zone L1; Figure 5 yes Figure 1 Front view of the advanced drilling rig in the middle; Figure 6 yes Figure 1 Left view of the advanced drilling rig in the middle; Figure 7 yes Figure 1 Right view of the emergency spray mixing system in the middle; Figure 8 yes Figure 1 Front view of the emergency spray mixing system; Figure 9 yes Figure 1 The main view of the host platform in the middle; Figure 10 yes Figure 1 A top-down view of the host platform.

[0039] The above figures are only schematic diagrams of important structures, and the technical solution of the present invention should be understood in conjunction with the specific embodiments. In the figures: 1. Cutterhead; 2. Shield; 3. Main drive; 4. Main beam; 5. Steel arch frame assembler; 501. Assembly ring; 502. Assembly ring drive device; 503. Assembly ring support device; 504. Arch frame lifting device; 6. L1 zone anchor drilling rig; 601. Base; 602. Boom connector; 603. Boom cylinder connector; 604. Boom; 605. Boom cylinder; 606. Anchor drilling rig mounting extension. 607. Boom; 608. Boom cylinder; 609. Boom hinge; 610. Boom cylinder hinge; 611. Adapter; 612. Swinging device; 613. End connector; 614. End slewing device; 615. Anchor bolt drilling rig body; 616. Telescopic cylinder; 617. Reinforcing rib; 7. Advanced drilling rig device; 701. Fixed base; 702. Root slewing mechanism; 703. Main boom connector 704. Main boom swing mechanism; 705. Swing arm; 706. Built-in cylinder; 707. Telescopic boom mounted on the advance drill; 708. End swing mechanism; 709. End connector; 710. End rotation mechanism; 711. Support connector; 712. Pitch cylinder; 713. Output connector; 714. Advance drill rig; 8. Emergency spray mixing system; 801. Side gear ring; 802. Spray mixing platform; 803. Travel track; 804. Spray mixing nozzle; 805. Travel drive device; 806. Top gear ring; 9. Propulsion cylinder; 10. Saddle support system; 11. L2 zone anchor bolt drill rig; 12. Rear support; 13. Main platform; 1301. Front telescopic platform; 1302. Front platform telescopic cylinder; 1303. Rear telescopic platform; 1304. Rear platform telescopic cylinder; 1305. Fixed platform. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only for explaining this invention and are not intended to limit this invention.

[0041] In open-face TBMs, the excessive length of the main beam is primarily due to the crude installation method of the support system. Specifically, the anchor drilling rig, advance drilling rig, and jet grouting device of the support system all rely on corresponding ring-rail traveling mechanisms mounted on the main beam to reach the target locations in the tunnel. To support these components, the ring-rail traveling mechanism must have sufficient length and movement space, resulting in a significant space occupation along the tunnel's length, necessitating an extended main beam to meet installation requirements. Furthermore, the method of mounting these components to the main beam via the ring-rail traveling mechanism fails to effectively address issues of interference between components and the limited range of motion paths, thus restricting their individual functionality. For example, in some cases, to maximize the effective drilling depth, the anchor drilling rig needs to be able to drill in the normal or near-normal direction; however, anchor drilling rigs mounted on the ring-rail traveling mechanism often only have pitch, swing, and rotation degrees of freedom, making it difficult to meet these requirements.

[0042] The core inventive concept of this invention to solve the above problems lies in ensuring that each component of the support system can achieve its respective function, while decoupling it from the ring track traveling mechanism and even the main beam. This allows for the redesign of the structure, installation position, and installation structure of each component of the support system, thereby minimizing the encroachment on the tunnel's axial space, shortening the length of the main beam, reducing the turning radius of the TBM, and improving construction safety and equipment reliability.

[0043] Based on the above inventive concept, this invention proposes a support system and a technical solution for an open-type TBM using the support system. The specific implementation of the open-type TBM will be described below first.

[0044] like Figure 1As shown, the open-type TBM of the present invention includes a main unit and a support system. The main unit includes a main beam 4, a saddle support system 10, a rear support 12, and a propulsion cylinder 9. A main drive 3 is installed at the front end of the main beam 4, and a cutterhead 1 is installed on the front side of the main drive 3. In addition, a shield 2 is installed at the front end of the main beam 4, and a main unit platform 13 is installed on the top of the main beam 4. The saddle support system 10 and the rear support 12 are installed on the main beam 4. The saddle support system 10 includes a saddle, a support shoe, and a support shoe cylinder. The propulsion cylinder 9 enables the saddle support system 10 to slide back and forth on the main beam 4. The rear support 12, by cooperating with the saddle support system 10 to change steps, enables the main unit to propel itself in a step-like manner. The structures of the main beam 4, the main drive 3, the cutterhead 1, the shield 2, the saddle support system 10, the propulsion cylinder 9, and the rear support 12, as well as their mutual cooperation structures, are typical structures of existing open-type TBMs, and therefore will not be described in detail. The structure and installation structure of the main platform 13 will be described below. The support system is the core innovation of the open-type TBM of this invention, which includes the steel arch frame assembler 5, the L1 zone anchor drilling rig 6, the advanced drilling rig device 7, the emergency spraying system 8, and the L2 zone anchor drilling rig 11. The structure and working method of each of the above parts of the support system will be described in detail below.

[0045] like Figure 1 , Figure 2 As shown, the steel arch frame assembler 5 is installed on the main drive 3. By installing the steel arch frame assembler 5 on the main drive 3, its axial space occupation on the main beam 4 can be reduced, thus creating conditions for shortening the length of the main beam 4. Since the main drive 3 itself has extremely high strength, installing the steel arch frame assembler 5 on the main drive 3 will not have a negative impact on its normal operation, and can realize immediate support of the shield 2, improving the safety of the construction process. Figure 2 The structure of the steel arch frame assembler 5 is shown. Its main components include an assembly ring 501, an assembly ring drive device 502, an assembly ring support device 503, and an arch frame lifting device 504. The assembly ring support device 503 and the assembly ring drive device 502 are both fixedly installed on the housing of the main drive 3 and are arranged at square intervals along the circumference of the main drive 3.

[0046] like Figure 2 As shown, the assembly ring support device 503 and the assembly ring drive device 502 each include a support wheel and a limiting wheel. The support wheel is a grooved wheel, and the inner ring surface of the assembly ring 501 is embedded in the groove of the support wheel, thereby achieving axial primary positioning. The limiting wheel is located on the front and rear sides of the assembly ring 501 and rolls with the front and rear sides of the assembly ring 501, thereby achieving axial secondary positioning of the assembly ring 501. Figure 2In the illustrated embodiment, two limiting wheels are provided at each position corresponding to the circumference of the assembly ring 501 to obtain higher resistance and thus ensure the reliability of the assembly ring 501 installation. However, those skilled in the art should understand that "two limiting wheels at each position" is not the only option. In other embodiments, only one limiting wheel or three or more limiting wheels can be provided at each position. In some cases, when the support wheel is strong enough and its groove is sufficient to axially limit the assembly ring 501, the limiting wheels can be omitted, and the assembly ring 501 can be installed solely by the support wheel.

[0047] The support wheels and limiting wheels of the assembly ring support device 503 and the assembly ring drive device 502 are mounted on the main drive 3 via their respective supports. The fixing structure between the supports and the main drive 3 can be a detachable fixing structure, such as a bolted connection or a pressure plate fixation, or a permanent fixing structure, such as welding the supports directly to the main drive 3. The assembly ring drive device 502 differs from the assembly ring support device 503 in that, in addition to the support wheels and limiting wheels, it also has an assembly ring drive gear. A toothed structure that meshes with the assembly ring drive gear is provided on the assembly ring 501. This toothed structure can be integrally formed with the assembly ring 501, i.e., directly machined onto the assembly ring 501, or it can be formed from a gear ring mounted on the assembly ring 501. A power device, such as an electric motor or hydraulic motor, is connected to the assembly ring drive gear to achieve rotational drive of the assembly ring 501.

[0048] The function of the assembly ring 501 is to grab and place the steel arch frame by rotating. Therefore, during installation, it is only necessary to ensure that it can rotate stably and centerably. To meet this requirement, the structure of the support wheel and the limiting wheel is obviously not unique. For example, in other embodiments, a circular track can be installed on the main drive 3, and the assembly ring 501 can be directly installed concentrically on the circular track. Although this installation method intersects with... Figure 2 The structure shown will occupy more space and increase material consumption (the annular guide rail consumes more material than the dispersed wheel frame and its support and limit wheels), but it can still meet the requirement of reducing the space occupied by the main beam 4. Furthermore, this installation method will result in higher installation stability of the assembly ring 501 and higher equipment reliability. Regarding the drive of the assembly ring 501, when using the aforementioned annular track, a pinion and a corresponding drive motor can also be installed on the assembly ring 501, with the drive achieved through the interaction of the pinion and the rack structure on the annular track.

[0049] The arch frame grabbing device 504 is mounted on the assembly ring 501. The arch frame grabbing device 504 can grab and lift the steel arch frame, with several arch frame grabbing devices 504 grabbing several sections of the steel arch frame. By rotating the assembly ring 501, different arch frame grabbing devices 504 grab different steel arch sections. Through the rotation of the assembly ring 501, combined with the grabbing and lifting functions of the arch frame grabbing devices 504, the entire arch frame can ultimately be installed. Regarding the steel arch frame assembler 5, the main improvement of this invention is that it is fixed to the main drive 3. The structure of the arch frame grabbing device 504 and its connection structure with the assembly ring 501 can adopt existing robotic arm structures (such as hydraulic arms and hydraulic manipulators), which will not be elaborated here.

[0050] like Figure 1 , Figure 3 , Figure 4 As shown, the L1 zone anchor drilling rig 6 includes an anchor drilling robotic arm and an anchor drilling rig body 615. The anchor drilling robotic arm is fixed to the saddle of the saddle support system 10, specifically installed on the front wall of the saddle. Figure 3 , Figure 4 As shown, the anchor drilling robot arm adopts a multi-joint robot arm structure to achieve precise positioning and attitude adjustment over a wide range and with multiple degrees of freedom. Specifically, it includes a base 601, a main arm assembly, a telescopic arm assembly, and an anchor drilling rig attitude adjustment mechanism assembly. The anchor drilling rig body 615 is mounted on the anchor drilling rig attitude adjustment mechanism assembly.

[0051] The base 601 is fixedly connected to the front of the saddle frame, providing a stable installation foundation for the entire anchor drilling rig. The connection between the base 601 and the saddle frame can be a detachable connection structure such as a threaded connection, or a permanent connection structure such as welding. In the non-operating state, the entire robotic arm is usually in a retracted position, with the boom assembly maintaining a basically horizontal orientation to minimize the occupation of the central passage space of the main unit and ensure smooth passage for personnel and materials. The boom assembly includes a boom 604 and two boom cylinders 605 that drive its movement. The rear end of the boom 604 is connected to the base 601 via a boom connector 602. The connection between the boom connector 602 and the base 601 is hinged, with the hinge axis extending vertically. The boom 604 and the boom connector 602 are hinged together, with the hinge axis perpendicular to the aforementioned hinge axis, thus forming a cross-axis structure at the connection point between the boom 604 and the base 601.

[0052] The cylinder bodies of the two boom cylinders 605 are respectively hinged to two boom cylinder connectors 603 mounted on the base 601. The boom cylinder connectors 603 are also hinged to the base 601 via a vertical hinge axis. The boom 604 and the boom cylinders 605 are hinged to each other via a horizontal hinge axis perpendicular to the vertical hinge axis. The piston rod end of the boom cylinder 605 is hinged to the corresponding position of the boom 604. Specifically, boom cylinder hinge seats are provided on both sides of the boom 604, arranged in a figure-eight shape, so that the hinge axis between the boom cylinders 605 and the boom 604 forms a certain angle with the vertical plane.

[0053] Starting from the initial horizontal position, by independently controlling the extension and retraction of the two boom cylinders 605, the boom 604 can be driven to pitch in the vertical plane, and a certain degree of lateral swing can be achieved through the differential movement of the two boom cylinders 605, thereby quickly lifting the anchor drilling rig body and moving it to the target area of ​​the tunnel arch.

[0054] The telescopic boom assembly mainly includes a telescopic boom 606 mounted on the anchor drilling rig and a telescopic cylinder 616. The telescopic boom 606 mounted on the anchor drilling rig is sleeved inside the boom 604 (e.g., Figure 3 , Figure 4 The telescopic boom 606 can slide along the axial direction of the boom 604, or to one side. In its initial state, the telescopic boom 606 of the anchor drilling rig is typically in the retracted position. The cylinder body of the telescopic cylinder 616 is fixed to the boom 604, and its piston rod is connected to the telescopic boom 606. Controlling the extension of the telescopic cylinder 616 drives the telescopic boom 606 to extend forward along the axial direction of the boom 604, thereby adjusting the working distance between the anchor drilling rig body and the tunnel wall; after operation, it retracts, returning to its compact state.

[0055] The anchor drilling rig attitude adjustment mechanism assembly includes a boom 607, an adapter 611, a boom cylinder 608, a swing device 612, an anchor drilling rig end connector 613, and an end rotation device 614. The boom 607 is installed at the front end of the anchor drilling rig's telescopic boom 606. Specifically, the boom 607 is fixedly connected to the front end of the anchor drilling rig's telescopic boom 606 via a boom connector, and can move back and forth under the drive of the anchor drilling rig's telescopic boom 606, i.e., move synchronously with the anchor drilling rig's telescopic boom 606. The boom connector... Figure 3 , Figure 4 The embodiment shown uses a flange connection structure. Of course, in other embodiments, the forearm 607 and the telescopic boom 606 of the anchor drilling rig can also be directly and permanently fixed by welding or other methods. In order to obtain higher connection strength, a reinforcing rib plate 617 is also provided on the adapter.

[0056] There are two forearm cylinders 608. The cylinder bodies of the two forearm cylinders 608 are hinged to the forearm 607 via forearm hinge seats. The piston rods are connected to the adapter seat via forearm hinge joints 609. The connection structure between the forearm cylinders 608 and the forearm 607 is the same as the connection structure between the boom cylinders 605 and the boom 604. The forearm cylinders 608 and the adapter seat 611 are connected via forearm cylinder hinge joints 610. This connection structure is the same as the connection structure between the boom cylinders 605 and the base 601, and will not be described in detail here. The extension and retraction control of the forearm cylinders 608 can realize the pitch and lateral swing of the adapter seat, for example, to make the adapter seat have a horizontal state and a vertical state (initial state).

[0057] like Figure 3 , Figure 4 As shown, the swing device 612 is fixed on the adapter 611, and is used to realize the clockwise and counterclockwise swing of the front mechanism of the swing device. Figure 3 (as shown in the viewpoint) Figure 3 , Figure 4 In the illustrated embodiment, the swing device 612 is specifically a swing cylinder. The end connector 613 of the anchor drilling rig is connected to the output shaft of the swing device 612, and its other end is connected to the end rotary device 614. The end connector 613 of the anchor drilling rig can specifically be a connecting shaft. The end rotary device 614 is directly mounted on the body of the anchor drilling rig 615.

[0058] This invention utilizes a robotic arm to deploy the anchor drilling rig to the target location, thereby decoupling the anchor drilling rig from the ring track walking mechanism on the main beam 4 and eliminating the corresponding ring track walking mechanism, while increasing the degrees of freedom of the anchor drilling rig. On one hand, it reduces the circumferential dimension occupied by the main beam 4, allowing the main beam 4 to have a shorter length; on the other hand, it also enables the anchor drilling rig 615 to perform normal and near-normal drilling functions. Furthermore, the design of this robotic arm fully considers operation and obstacle avoidance within a compact space. When not in operation, the robotic arm retracts, with the main boom 604 remaining horizontal and all components closely aligned with the main body contour, maximizing the central open passage for the main body platform 13. During operation, the main boom 604 swings upward and laterally from its horizontal position for positioning, the anchor drilling rig with its telescopic arm 606 extends close to the rock wall, and the forearm 607 adjusts to its final angle to complete high-precision drilling. After operation, the arms retract in the reverse order, quickly returning to a horizontal, stowed state, freeing up operating space. Anchor bolts can be supplied to the drilling rig manually.

[0059] The forearm 607 is provided in the above embodiment to expand the support range of the anchor drilling rig. ， However, those skilled in the art, based on Figure 3It should be understood that in other embodiments, the forearm 607 can be omitted. In this case, it is only necessary to transfer the connection point between the forearm cylinder 608 and the forearm 607 to the end of the telescopic boom 606 mounted on the anchor drilling rig, and transfer the connection point between the adapter and the forearm 607 to the telescopic boom 606 mounted on the anchor drilling rig. In fact, in order to decouple the anchor drilling rig from the ring track traveling mechanism on the main beam 4 and cancel the corresponding ring track traveling mechanism, in addition to Figure 3 In addition to the robotic arm shown in the embodiment, robotic arms of any other type or structure can be used.

[0060] The L2 zone anchor drilling rig 11 is basically the same as the L1 zone anchor drilling rig 6, and is fixed at the rear of the saddle support system 10, specifically at the tail end of the saddle. It can meet the needs of normal or near-normal drilling on both sides of the tunnel. Further details about the L2 zone anchor drilling rig 11 will not be provided here.

[0061] like Figure 1 , Figure 5 , Figure 6 As shown, the advanced drilling rig 7 also adopts a multi-degree-of-freedom robotic arm structure to achieve large-scale, multi-angle advanced drilling operations on the geology in front of the tunnel face. This device is installed on the side of the main beam 4 and specifically includes a base module, a main arm module, a telescopic module, an attitude adjustment module, and the advanced drilling rig 714.

[0062] The base module includes a fixed base 701 and a root rotation mechanism 702. The fixed base 701 can be rigidly fixed to a designated position (such as the middle) on the side of the main beam 4 by high-strength bolts, or it can be fixed to the side of the main beam 4 by welding or other methods. The root rotation mechanism 702 (preferably a slewing bearing or a worm gear mechanism, such as a slewing reducer) is mounted on the fixed base 701 and can drive the structure on it to rotate continuously 360°, thereby providing the basic vertical positioning capability for the entire advanced drilling rig device 7.

[0063] The main boom module is a boom connected to the output end of the root slewing mechanism 702, and mainly includes a main boom connector 703, a main boom swing mechanism 704, and a swing arm 705. The main boom connector 703 connects the root slewing mechanism 702 to the main boom swing mechanism 704. The main boom swing mechanism 704 has a swing range of at least 180°, and its output end is fixedly connected to the swing arm 705. By controlling the main boom swing mechanism 704, the swing arm 705 can be driven to perform large-angle lifting or lowering movements in the vertical plane, thereby initially positioning the drilling terminal to the target height area. Figure 5 In the embodiment shown, the main boom swing mechanism 704 is specifically a swing cylinder, while in other embodiments, the main boom swing mechanism 704 may also be in the form of a rotary reducer (worm gear + worm mechanism) or a cylinder.

[0064] The telescopic module mainly includes a telescopic boom 707 mounted on the pre-drilling platform and a built-in hydraulic cylinder 706 for driving the telescopic boom 707 to extend and retract. The telescopic boom 707 is a hollow boom, and the cylinder end of the built-in hydraulic cylinder 706 is hinged to the end of the swing arm 705 near its root, while its piston rod end is connected to the front end of the telescopic boom 707. The telescopic boom 707 is slidably mounted on the swing arm 705. By controlling the extension and retraction of the built-in hydraulic cylinder 706, the telescopic boom 707 can be directly driven to extend or retract along its axial direction, realizing the radial feed and retraction within the tunnel required for drilling operations. In the above embodiments, the drive of the telescopic arm 707 mounted on the advanced drill uses a built-in hydraulic cylinder 706, and the swing arm 705 and the telescopic arm 707 mounted on the advanced drill use a plug-in structure. However, those skilled in the art should understand that the above structure is not unique. For example, the telescopic arm 707 mounted on the advanced drill can also cooperate with a guide rail provided on the outside of the swing arm 705. In this case, the built-in hydraulic cylinder 706 can be replaced by an external hydraulic cylinder. In fact, it is only necessary to ensure that the swing arm 705 and the telescopic arm 707 mounted on the advanced drill can form a telescopic structure with a variable length.

[0065] The attitude adjustment module is installed at the front end of the telescopic boom 707 mounted on the advance drill, and is used to make final adjustments to the spatial attitude of the advance drill 714. It mainly includes an end swing mechanism 708, an end connector 709, an end rotation mechanism 710, a support connector 711, a pitch cylinder 712, and an output connector 713. The end swing mechanism 708 is connected to the front end of the telescopic boom 707. This mechanism also provides an approximately 180° swing range for further adjusting the position of the advance drill within a smaller range. Specifically, it can adopt the same structure as the main boom swing mechanism 704, and its swing axis is parallel to the swing axis of the main boom swing mechanism 704. The end swing mechanism 708 is connected to the end rotation mechanism 710 through the end connector 709. The end rotation mechanism 710 can drive its lower structure to rotate circumferentially to adjust the planar orientation angle of the drill rod. The output end of the end rotation mechanism 710 is fixed to the support connector 711. The support connector 711 is connected to the output connector 713 via a pitch hinge point, and is also connected to the other end of the output connector 713 via a pitch cylinder 712. By controlling the extension and retraction of the pitch cylinder 712, the output connector 713 and its load can be precisely adjusted in pitch around the hinge point.

[0066] The advanced drilling rig 714 is a hydraulic impact drill or rotary drill. Its frame is fixedly installed on the output connection seat 713 and moves with the attitude adjustment module. It is the power component that directly performs drilling operations.

[0067] During advance drilling operations, the main boom swing mechanism 704 activates, raising or lowering the swing boom 705 to the target height range; the root rotation mechanism 702 rotates, adjusting the entire drill arm to the target azimuth angle of the tunnel cross-section; the built-in hydraulic cylinder 706 extends, aligning the drill bit of the advance drilling rig 714 with the vicinity of the predetermined hole position on the tunnel face; through the coordinated actions of the end swing mechanism 708, the end rotation mechanism 710, and the pitch cylinder 712, the axis of the advance drilling rig 714 is precisely adjusted to the designed drilling direction (including inclination and azimuth angle); the advance drilling rig 714 is then started to perform drilling operations. After completion, the mechanisms are retracted in reverse order, restoring the entire device to a compact, stowed state close to the sides of the main beam 4.

[0068] Through the aforementioned multi-degree-of-freedom and modular design, the advanced drilling rig 7 can achieve complex spatial positioning and attitude adjustment within an extremely compact space, meeting the flexibility and accuracy requirements for advanced geological exploration in tunnel construction with small bends.

[0069] Because a multi-degree-of-freedom robotic arm is used, and the advanced drilling rig 7 is directly mounted on the side of the main beam 4, the advanced drilling rig 7 is also decoupled from the ring rail traveling mechanism on the main beam 4, eliminating the corresponding ring rail traveling mechanism. The area occupied by the robotic arm and the main beam 4 is extremely small, thus reducing the length requirement of the main beam 4. To achieve the delivery of the advanced drilling rig 714 to the target location, those skilled in the art should understand that the structure of the robotic arm is not unique; any robotic arm capable of achieving the above functions can be used.

[0070] like Figure 1 , Figure 7 , Figure 8 As shown, the emergency spray mixing system 8 includes a side gear ring 801, a spray mixing platform 802, a travel track 803, a mixing nozzle 804, a travel drive device 805, and a top gear ring 806.

[0071] The traveling track 803 is fixed to the left and right sides of the main beam 4. The side gear ring 801 is guided and engaged with the traveling track 803. The traveling drive device 805 is fixed on the side gear ring 801. Under the action of the traveling drive device 805, the side gear ring 801 can move back and forth on the traveling track 803. The spraying platform 802 is fixed on the side gear ring 801 to enable personnel to carry out construction work under the main platform 13 (mentioned below). The spraying nozzle 804 is connected to the side gear ring 801 and can move circumferentially on the side gear ring 801 to meet the grouting requirements of the rock wall. The top gear ring 806 is detachably connected to the side gear ring 801. It is a detachable gear ring and is only installed together with the side gear ring 801 when the emergency spraying system 8 is at the rear of the steel arch frame assembler 5 and the telescopic platform of the main platform 13 is retracted (described in detail below) to meet the grouting requirements of the spraying nozzle 804 in the tunnel arch area.

[0072] The emergency spraying system 8 here adopts a structure similar to a ring track walking mechanism, but this structure only carries the spraying system itself, and its axial dimension can be compressed to the limit, so it will not cause the main beam 4 to be too long.

[0073] like Figure 1 , Figure 9 , Figure 10 As shown, the main platform 13 includes a front telescopic platform 1301, a front platform telescopic cylinder 1302, a rear telescopic platform 1303, a rear platform telescopic cylinder 1304, and a fixed platform 1305.

[0074] The front telescopic platform 1301, the rear telescopic platform 1303, and the fixed platform 1305 are fixed to the upper part of the main beam 4. The front telescopic platform 1301 achieves front-to-back extension and retraction through the extension and retraction of the front platform telescopic cylinder 1302, and the rear telescopic platform 1303 achieves front-to-back extension and retraction through the extension and retraction of the rear platform telescopic cylinder 1304. When the front telescopic platform 1301 extends and the rear telescopic platform 1303 also extends, the extended parts of the two platforms can overlap. The extended parts of the front telescopic platform 1301 and the rear telescopic platform 1303 are divided into several units in the width direction, and there are also several telescopic cylinders accordingly. When the anchor drilling rig 6 in area L1 is working, the telescopic platform unit occupied by the drilling rig is retracted to meet the working requirements of the anchor drilling rig, while the other platform telescopic units remain in the extended state to meet the requirements of personnel construction and material stacking.

[0075] Such as those that adopt the above structure Figures 1-10 The image shows an open-type TBM with a cutterhead diameter of 12 meters. By adopting the above structure, the length of the main beam 4 of the open-type TBM is significantly shortened. Simulation tests show that the TBM has a smaller turning radius (the turning radius is reduced from 800 meters to 600 meters), and the applicable scenarios are greatly expanded.

[0076] Specific embodiments of the support system of the present invention: The structure, usage, and principle of the support system of the present invention have been described in detail in the specific embodiments of the open-type TBM, and therefore will not be repeated here.

[0077] The open-type TBM construction method of the present invention includes the step of providing support during tunneling: S1: Steel arch support: When the surrounding rock requires arch support, the steel arch assembler 5 installed on the main drive 3 immediately grabs and assembles the steel arch behind the cutterhead 1 and shield 2. S2: L1 Zone Anchor Bolt Drilling Support: The anchor bolt drilling machine 615 body is positioned and delivered to the target position above and to the side of the tunnel arch by the anchor bolt drilling machine 6 installed on the saddle frame, and anchor bolt drilling and installation operations are carried out. S3: Advanced geological drilling: When geological forecasting is required, the advanced drilling rig 714 is positioned and delivered to the predetermined position in front of the tunnel face by the mechanical arm of the advanced drilling rig device 7, which is side-mounted on the main beam 4. After being adjusted to the design direction, drilling exploration is carried out. S4: L2 Zone Anchor Bolt Drilling Support: Using the L2 Zone Anchor Bolt Drilling Machine 11 installed at the rear end of the saddle frame, normal or near-normal anchor bolt support operations are carried out on both sides of the tunnel. S5: Emergency spraying operation: When the surrounding rock needs to be reinforced by spraying concrete, the emergency spraying system 8 is activated. Its side toothed ring 801 moves to the work area along the walking track 803 on the side of the main beam 4, and sprays the tunnel sidewall through the spraying nozzle 804. When the arch needs to be sprayed, the top toothed ring 806 is installed so that the spraying nozzle 804 can move circumferentially to the arch area for operation. S6: Platform Clearance and Material Transportation: During the support operation in step S2, the corresponding units of the front telescopic platform 1301 and / or the rear telescopic platform 1303 of the main platform 13 are partially retracted to make room for the anchor drilling robot arm or material transportation; after the operation is completed, the platform returns to the extended state to form a continuous passage, which facilitates personnel passage and material transportation. S7: Repeat S1-S6 until the tunnel excavation is completed.

[0078] This method can be specifically implemented using the open-type TBM of the present invention.

[0079] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A support system for an open-type TBM, characterized in that, The support system includes a steel arch frame assembler configured to be installed on the TBM main drive, an anchor drilling module configured to be installed on the saddle of the TBM saddle support system, and an advanced drilling device and an emergency jet mixing system configured to be installed on the TBM main beam. The anchor drilling module includes an anchor drilling manipulator fixed to the saddle and an anchor drilling rig body installed on the anchor drilling manipulator. The anchor drilling manipulator can deploy the anchor drilling rig body to the target borehole position. The advanced drilling device includes an advanced drilling manipulator configured to be side-mounted on the TBM main beam and an advanced drilling rig. The advanced drilling manipulator can deploy the advanced drilling rig to the target borehole position.

2. The support system for an open-type TBM according to claim 1, characterized in that, The anchor drilling robot arm is configured to be fixedly mounted on the end face of the saddle.

3. The support system for an open-type TBM according to claim 1 or 2, characterized in that, The anchor drilling robot arm includes a base, a main arm assembly and a telescopic arm assembly that together form a universal arm body relative to the base, and an anchor drilling rig attitude adjustment mechanism assembly. A main arm cylinder is provided between the main arm of the main arm assembly and the base. The anchor drilling rig attitude adjustment mechanism assembly includes a universal joint seat connected to the universal arm body, a swing device provided on the universal joint seat, and an end-rotor device located at the end of the swing device near the anchor drilling rig body. The rotation axis of the end-rotor device is perpendicular to the drill rod of the anchor drilling rig body. The swing axis of the swing device is perpendicular to the rotation axis of the end-rotor device and the telescopic arm assembly. A small arm cylinder is provided for the universal joint seat to control its attitude.

4. The support system for an open-type TBM according to claim 3, characterized in that, The boom assembly and boom cylinder are each connected to the base via universal joints.

5. The support system for an open-type TBM according to claim 3, characterized in that, The universal arm also includes a forearm connected to the telescopic arm assembly, and the universal adapter and the forearm are connected by a universal joint.

6. The support system for an open-type TBM according to claim 1, characterized in that, The advanced drilling robotic arm includes a variable-length boom. The upper and lower ends of the boom are equipped with a slewing device and a swinging device. The upper slewing device is connected to a base module, and the lower slewing device is connected to a pitching module. The advanced drilling rig is mounted on the pitching module.

7. The support system for an open-type TBM according to claim 6, characterized in that, The boom includes a main boom module and a telescopic module. The main boom module includes a swing arm. The telescopic module includes an advanced drilling-mounted telescopic arm that is inserted into the swing arm and a built-in hydraulic cylinder that drives the advanced drilling-mounted telescopic arm. The advanced drilling-mounted telescopic arm is a hollow arm. The two ends of the built-in hydraulic cylinder are respectively connected to the root of the swing arm and the end of the advanced drilling-mounted telescopic arm.

8. The support system for an open-type TBM according to claim 1, characterized in that, The emergency spray mixing system includes a gear ring, a spray mixing platform, a traveling track, a mixing nozzle, and a traveling drive device.

9. The support system for an open-type TBM according to claim 8, characterized in that, The gear ring includes a side gear ring and a top gear ring, which are detachably connected to the side gear ring. The spray mixing platform is integrated on the side gear ring.

10. The support system for an open-type TBM according to claim 1, characterized in that, It also includes a main platform, which includes a front telescopic platform, a front platform telescopic cylinder, a rear telescopic platform, a rear platform telescopic cylinder, and a fixed platform; the front telescopic platform, the rear telescopic platform, and the fixed platform are fixed to the upper part of the main beam; the front telescopic platform achieves front-to-back extension and retraction through the extension and retraction of the front platform telescopic cylinder, and the rear telescopic platform achieves front-to-back extension and retraction through the extension and retraction of the rear platform telescopic cylinder, wherein when the front telescopic platform extends and the rear telescopic platform also extends, the extended parts of the two platforms can overlap.

11. The support system for an open-type TBM according to claim 10, characterized in that, The extended portions of the front and rear telescopic platforms are divided into several units in the width direction, and there are also several corresponding telescopic cylinders to achieve local avoidance.

12. An open-type TBM, including a main unit and a support system, characterized in that, The support system is the support system according to any one of claims 1-11.

13. The open-type TBM according to claim 12, characterized in that, Anchor bolt drilling modules are installed at the front and rear ends of the saddle frame, with the anchor bolt drilling module at the front end being the L1 zone anchor bolt drilling module and the anchor bolt drilling module at the rear end being the L2 zone anchor bolt drilling module.

14. An open-type TBM construction method, characterized in that, The method includes the step of providing support during tunneling: S1: Steel arch support: When the surrounding rock requires arch support, the steel arch is immediately grabbed and assembled behind the cutterhead shield by the steel arch assembler installed on the main drive. S2: L1 Zone Anchor Bolt Drilling Support: Using the anchor bolt drilling robotic arm of the L1 Zone anchor bolt drilling machine installed on the saddle, the anchor bolt drilling machine body is positioned and delivered to the target position on the tunnel arch and the side above, and anchor bolt drilling and installation operations are carried out. S3: Advanced geological drilling: When geological forecasting is required, the advanced drilling rig is positioned and delivered to a predetermined position in front of the tunnel face by the mechanical arm of the advanced drilling rig device that is side-mounted on the main beam. After being adjusted to the design direction, drilling exploration is carried out. S4: L2 Zone Anchor Bolt Drilling Support: Using the L2 zone anchor bolt drilling machine installed at the rear end of the saddle, normal or near-normal anchor bolt support operations are carried out on both sides of the tunnel. S3: Emergency spraying operation: When local rock needs to be reinforced with sprayed concrete, the emergency spraying system is activated. Its side toothed ring moves along the travel track on the side of the main beam to the work area and sprays the tunnel sidewall through the spraying nozzle. When the arch needs to be sprayed, the top toothed ring is installed so that the spraying nozzle can move circumferentially to the arch area for operation. S4: Platform Clearance and Material Transportation: During the support operation in step S2, the corresponding units of the front telescopic platform and / or rear telescopic platform of the main platform are partially retracted to make way for the anchor drilling robot arm or material transportation; after the operation is completed, the platform returns to the extended state to form a continuous passage, which facilitates personnel passage and material transportation. S5: Repeat S1-S4 until the tunnel excavation is completed.

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