Shaft sinking machine and method of construction thereof

Abstract

This invention belongs to the field of underground engineering equipment technology, specifically providing a shaft boring machine and its construction method, including a support system. The support system is configured as a ring-shaped support structure, comprising a support body, support arms, and hydraulic cylinders for support shoes. The support body is configured as a ring structure. Both the support arms and hydraulic cylinders for support shoes are arranged in groups along the circumference of the support body. A single set of hydraulic cylinders for support shoes is positioned between two adjacent sets of support arms. One end of a single support arm is fixedly connected to the support body, and the other end extends vertically towards the bottom of the shaft. One end of a single hydraulic cylinder for support shoes is connected to the support body, and the other end extends along the shaft wall, with an arc-shaped support shoe installed on the extended end. This invention, through the support system, allows the vertical weight of the entire shaft boring machine to be directly transferred to the working face by the support base at the bottom of the support arms, rather than being supported by the shaft wall or a ground suspension system.

Description

Technical Field

[0001] This invention belongs to the field of underground engineering equipment technology, specifically relating to a shaft tunneling machine and its construction method for non-drilling and blasting construction. Background Technology

[0002] With the rapid growth in demand for comprehensive utilization of urban underground space and the deepening of deep resource development, higher requirements are being placed on safe, efficient, and environmentally friendly deep shaft construction technologies. Manual excavation or small-scale mechanical excavation is inefficient, labor-intensive, and carries significant risks, making it difficult to meet the comprehensive requirements of modern engineering projects regarding schedule, quality, and safety. Non-drilling and blasting shaft boring machines (MDBs), as large-scale specialized equipment integrating excavation, muck removal, and support, are gradually becoming an important development direction for mechanized deep shaft construction. However, MDBs still face several bottlenecks in practical engineering applications: existing MDB equipment relies on a ground winch system to hoist the main unit as a whole, resulting in a large machine weight, a greater load on the hoisting system, higher energy consumption requirements, and certain safety risks. Furthermore, upgrades to the existing drilling and blasting equipment's derrick and suspension systems are necessary, leading to significantly higher equipment costs and relatively difficult promotion.

[0003] In summary, there is an urgent need for a non-drilling and blasting shaft excavation machine that is structurally sound, functionally integrated, highly adaptable, efficient in operation, and relatively low in cost. This machine would overcome the shortcomings of existing technologies, eliminate the need for derrick modifications, and offer wider and more flexible adaptability. It would enable safer, faster, and more intelligent deep shaft construction, facilitating its rapid deployment. Summary of the Invention

[0004] The present invention aims to provide a shaft tunneling machine suitable for mechanized and automated excavation operations of large-diameter, deeply buried shafts in scenarios such as urban underground space development, mine shaft construction, water conservancy and hydropower projects, transportation tunnel shafts and deep resource development.

[0005] This invention provides a shaft boring machine, including a support system; The support system is configured as a ring-shaped support structure; and the support system includes a support body, a support arm, and a hydraulic cylinder for the support shoe. The supporting main body is configured as a ring structure; The support arm and the support shoe cylinder are both arranged in an array along the circumference of the support body. A set of single-set support shoe cylinders is set between two adjacent sets of support arms; one end of a single-set support arm is fixedly connected to the support body, and the other end of the single-set support arm extends vertically towards the bottom of the tunnel; one end of a single-set support shoe cylinder is connected to the support body, and the other end of the single-set support shoe cylinder extends along the shaft wall, and an arc-shaped support shoe is installed on the extended end of the single-set support shoe cylinder.

[0006] Furthermore, the annular cross-section of the supporting body is smaller than the minimum diameter of the vertical shaft design.

[0007] Furthermore, the support arm is configured as a sleeve-type composite load-bearing structure.

[0008] Furthermore, a single support arm includes an outer sleeve, an inner sleeve, a second telescopic cylinder, and a support base; The outer sleeve and the inner sleeve are nested together, and the outer sleeve and the inner sleeve are connected to each other by a second telescopic cylinder. The second telescopic cylinder drives the inner sleeve to slide relative to the outer sleeve. The end of the outer sleeve away from the inner sleeve is fixedly connected to the support body, and the end of the inner sleeve away from the outer sleeve is connected to the support base.

[0009] Furthermore, the support base is hinged to the end of the inner sleeve away from the outer sleeve, or is movably connected by a spherical structural surface.

[0010] Furthermore, the shaft boring machine also includes an excavation system; The excavation system includes a cutting device and a rotating device; The cutting device includes a cutting drum, a telescopic arm, a fixed arm, and a swing cylinder; one end of the fixed arm is connected to a rotary device, and the other end of the fixed arm is nested with one end of the telescopic arm; the cutting drum is mounted on the other end of the telescopic arm; the cutting drum is driven to rotate by a hydraulic motor, and several wear-resistant cutting teeth are arranged on the outer surface of the uncut drum; one end of the swing cylinder is hinged to the fixed arm, and the other end of the swing cylinder is hinged to the telescopic arm, used to drive the telescopic arm to swing relative to the fixed arm; The slewing device includes a slewing motor, a slewing body, and a slewing gear pair; the fixed end of the slewing motor is fixedly connected to the support system, and the driving end of the slewing motor is connected to the slewing body through the slewing gear pair, for driving the slewing body to rotate around the central axis of the shaft.

[0011] Furthermore, the telescopic arm includes at least two arms that are nested together, and a first telescopic cylinder is provided between two adjacent arms.

[0012] Furthermore, an encoder is built into the rotary motor.

[0013] Furthermore, the shaft boring machine also includes a slag removal system; The slag removal system includes a blower, a wet dust collector, a gravity cyclone dust collector, a storage silo, a distributor, a bucket, a rotary joint, and a slag suction pipe. One end of the slag suction pipe extends to the cutting device and is close to the front edge of the cutting drum. The slag suction pipe extends and retracts synchronously with the cutting through a telescopic sleeve to ensure that the optimal slag suction distance is always maintained. The other end of the suction pipe is connected to the input end of the gravity cyclone dust collector via a rotary joint; The output end of the gravity cyclone dust collector is connected to the input end of the wet dust collector via a pipe, and a fan is installed on the output end of the wet dust collector.

[0014] Furthermore, a sealed temporary storage silo is installed below the gravity cyclone dust collector; A distributor is installed below the storage silo; A bucket is installed below the distributor.

[0015] As a further aspect of the present invention, the present invention also provides a construction method for a vertical shaft tunneling machine, comprising the following steps: Step 1: Preparation; The shaft boring machine, as described above, is installed to the designed starting depth of the shaft; The arc-shaped support shoe extends and fits tightly against the well wall, while the cutting position of the cutting roller is located at the center of the vertical shaft; Step 2: Excavation of the working face; S2.1. The cutting drum starts, the support cylinder extends, and the swing cylinder swings to complete the excavation of the first spoke groove; S2.2 After completion, the cutting drum returns to the center of the shaft and rotates to the next spoke angle through the preset program of the rotary device to continue excavation; S2.3, Repeat S2.1 and S2.2 until the 360° full-section excavation is completed; S2.4 The support cylinder continues to extend, and the next section excavation begins until the preset depth of excavation is completed; Step 3: Simultaneous transfer of construction waste; During the excavation process, the slag removal system operates continuously to remove slag synchronously. The cutting drum cuts the slag and actively sends it to the slag suction pipe under the rotation of the drum. The slag is sucked up through the slag suction pipe and most of the slag is collected by the gravity cyclone dust collector. The material is unloaded based on the synergistic effect of the storage bin, the distributor and the bucket. Step 4: Synchronous support operation; After excavation to the height of a support section, the original drill-and-blast method construction lifting system was used to lower the formwork and support operation platform, and to carry out steel reinforcement and formwork installation operations in preparation for subsequent concrete pouring. Step 5: Lower the entire machine; After excavation is completed, the cutting roller and support shoe cylinder are retracted, and then the support cylinder is retracted. The entire machine descends smoothly under its own weight for one excavation stroke; The hydraulic cylinder for supporting the boot extends again to tighten the hole wall and lock the position; Step 6: Repeat the loop. Return to step two and continue excavating the next face until the designed depth is reached.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention provides a shaft tunneling machine, which, by setting up a support system, allows the vertical self-weight of the entire shaft tunneling machine to be directly supported on the working face by the support base at the bottom of the support arm, rather than by the shaft wall or ground suspension system; and, by setting up a support arm structure including an inner sleeve, an outer sleeve, a first telescopic cylinder and a bottom support base, the support height can be adjusted based on the first telescopic cylinder in the support arm and the vertical load of the entire machine can be borne.

[0017] (2) The present invention provides a support arm and a support shoe cylinder, and both the support arm and the support shoe cylinder are provided with multiple sets arranged in a circumferential array, so that the transverse cutting reaction force is provided by the independently arranged circumferential support shoe cylinder, and the support shoe at the end of the support shoe cylinder applies radial support force in close contact with the well wall; the support arm itself does not contact the well wall and is only responsible for vertical load bearing, so as to realize the separation and transmission of vertical load and transverse reaction force.

[0018] (3) The shaft tunneling machine provided by the present invention has self-supporting and self-propelling capabilities, can realize fully automatic excavation of variable cross-section, and is highly compatible with the existing drill-and-blast shaft construction system. The tunneling machine does not need to rely on the ground hoisting system to suspend the main unit, and can directly utilize existing derricks, buckets, formwork support and other infrastructure, which significantly reduces equipment modification costs and construction risks, and improves the level of mechanized and intelligent construction of deep shafts. The whole machine does not require a special lifting mechanism and can directly utilize the existing derricks, bucket lifting channels and formwork support system; the slag outlet is connected to the standard bucket, and the support operation platform continues to operate independently using the original lifting system, realizing parallel operation of "tunneling-support".

[0019] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a structural schematic diagram of a vertical shaft tunneling machine according to an embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of the excavation system; Figure 3 yes Figure 2 Schematic diagram of the slewing device; Figure 4 yes Figure 1 Schematic diagram of the supporting system; Figure 5 yes Figure 4 Front view diagram; Figure 6 yes Figure 4 Schematic diagram of the middle support arm; Figure 7 yes Figure 1 Schematic diagram of the slag discharge system; Figure 8 This is a schematic diagram of a vertical shaft tunneling machine's support arm avoiding obstacles during the tunneling process, according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the radial automatic excavation movement range of the cutting head in Embodiment 2 of the present invention; Figure 10 This is a schematic diagram of the circumferential movement of the cutting head in Embodiment 2 of the present invention.

[0021] in: 1. Excavation system; 1.1. Cutting device; 1.1.1. Cutting drum; 1.1.2. Telescopic boom; 1.1.3. Fixed boom; 1.1.4. Swing cylinder; 1.2. Rotation device; 1.2.1. Rotation motor; 1.2.2. Rotation body; 1.2.3. Rotation gear pair; 2. Support system, 2.1 Support body, 2.2 Support arm, 2.2.1 Outer sleeve, 2.2.2 Inner sleeve, 2.2.3 Second telescopic cylinder, 2.2.4 Support base, 2.3 Support shoe cylinder, 2.3.1 Arc-shaped support shoe; 3. Auxiliary systems 4. Slag removal system; 4.1. Fan; 4.2. Wet dust collector; 4.3. Gravity cyclone dust collector; 4.4. Storage silo; 4.5. Distributor; 4.6. Bucket; 4.7. Rotary joint; 4.8. Slag suction pipe. 5. Control system. Detailed Implementation

[0022] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the accompanying drawings of the present invention are all in a simplified form and use non-precise proportions, and are only used to facilitate and clearly assist in illustrating the implementation of the present invention; the "several" mentioned in the present invention are not limited to the specific number shown in the examples in the accompanying drawings; the orientations or positional relationships indicated by terms such as "front," "middle," "rear," "left," "right," "up," "down," "top," "bottom," and "center" mentioned in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings of the present invention, and do not indicate or imply that the device or component referred to must have a specific orientation, nor should they be construed as limitations on the present invention.

[0023] Example 1: See Figure 1 As shown, the present invention provides a shaft tunneling machine, which is cylindrical in shape and includes an excavation system 1, a support system 2, an auxiliary system 3, a slag removal system 4 and a control system 5 arranged sequentially from bottom to top along the shaft axis (i.e., the Z-axis direction of the shaft). The excavation system 1 is located at the bottom of the shaft tunneling machine and acts directly on the working face, responsible for cutting the excavation face soil and achieving rock breaking and tunneling; The support system 2 adopts a ring support structure to apply the overall force to the excavation surface, bear the load of the whole machine and provide stable reaction force for tunneling. At the same time, the support system 2 has the function of autonomous downward step-changing tunneling; at the same time, the autonomous step-changing and avoidance function of the support system 2 enables automatic avoidance without interference when the excavation system 1 is cutting the excavation soil. The auxiliary system 3 is arranged above the support system 2 and includes a working platform and a docking interface for the bucket 4.6. The docking interface for the bucket 4.6 is used for conveying the bucket 4.6. The slag removal system 4 is integrated into the excavation system 1, and the core separation and storage unit is located on the auxiliary system 3 platform. The control system 5, with a PLC or industrial computer as its core, is deployed in the ground control room and communicates with the downhole equipment via fiber optic or wireless links.

[0024] As a further solution to this embodiment, see Figure 2 and Figure 3 As shown, the excavation system 1 includes a cutting device 1.1 and a rotating device 1.2; The cutting device 1.1 includes a cutting roller 1.1.1, a telescopic arm 1.1.2, a fixed arm 1.1.3, and a swing cylinder 1.1.4. One end of the fixed arm 1.1.3 is connected to the rotary device 1.2, and the other end of the fixed arm 1.1.3 is nested with one end of the telescopic arm 1.1.2. The cutting roller 1.1.1 is mounted on the other end of the telescopic arm 1.1.2. The cutting roller 1.1.1 is driven to rotate by a hydraulic motor, and several wear-resistant cutting teeth are arranged on the outer surface of the uncut roller. One end of the swing cylinder 1.1.4 is hinged to the fixed arm 1.1.3, and the other end of the swing cylinder 1.1.4 is hinged to the telescopic arm 1.1.2, for driving the telescopic arm 1.1.2 to swing relative to the fixed arm 1.1.3. The rotating device 1.2 includes a rotating motor 1.2.1, a rotating body 1.2.2, and a rotating gear pair 1.2.3; the fixed end of the rotating motor 1.2.1 is fixedly connected to the support system 2, and the driving end of the rotating motor 1.2.1 is connected to the rotating body 1.2.2 through the rotating gear pair 1.2.3, for driving the rotating body 1.2.2 to rotate around the central axis of the vertical shaft; During tunneling, the hydraulic motor drives the cutting drum 1.1.1 to rotate at high speed, and the wear-resistant cutting teeth efficiently break the rock. The telescopic boom 1.1.2 is equipped with a first telescopic cylinder to control the extension and retraction of the cutting drum 1.1.1. The swing motor drives the telescopic boom 1.1.2 to swing, achieving full coverage from the center to the well wall. The rotary device 1.2 drives the gear pair through the rotary motor 1.2.1, which drives the entire cutting device 1.1 to rotate a certain angle at each step. Through multiple swings and rotations, the entire cross-section is excavated without dead angles.

[0025] Preferably, the telescopic arm 1.1.2 includes at least two arms nested together, and a first telescopic cylinder is provided between two adjacent arms, which is driven to extend or retract.

[0026] Preferably, a high-precision absolute encoder is built into the rotary motor 1.2.1 to record and feed back its rotation angle to the control system 5 in real time. .

[0027] As a further solution to this embodiment, see Figures 4 to 6 As shown, the support system 2 includes a support body 2.1, a support arm 2.2, and a support shoe cylinder 2.3; The support body 2.1 is configured as a ring structure, and the ring cross-section of the support body 2.1 is slightly smaller than the minimum diameter of the vertical shaft design; Both the support arm 2.2 and the support shoe cylinder 2.3 are provided with a circular array arranged along the circumference of the support body 2.1. A single set of support shoe cylinders 2.3 is set between two adjacent sets of support arms 2.2; one end of the single set of support arms 2.2 is fixedly connected to the support body 2.1, and the other end of the single set of support arms 2.2 extends vertically towards the bottom of the tunnel; one end of the single set of support shoe cylinders 2.3 is connected to the support body 2.1, and the other end of the single set of support shoe cylinders 2.3 extends along the shaft wall, and an arc-shaped support shoe 2.3.1 is installed on the extended end of the single set of support shoe cylinders 2.3, which is used to keep close to the formed shaft wall during the tunneling process to maintain the stability of the equipment and reduce the vibration of the shaft tunneling machine; Multiple sets of support arms 2.2 bear the entire weight of the shaft tunneling machine, and multiple sets of support shoe cylinders 2.3 closely adhere to the shaft wall during the tunneling process to provide stable reaction force for the shaft tunneling machine.

[0028] Preferably, the specific number of the support arm 2.2 and the support shoe cylinder 2.3 is selected (i.e. The specific values ​​(selected values) are related to the excavation diameter, the overall weight of the equipment, and the size of the excavation webs of the excavation system 1. The larger the excavation diameter, the heavier the overall weight of the equipment, and the greater the weight that the telescopic support arm 2.2 needs to bear. In addition, the larger the excavation diameter, the more excavation webs the cutting drum 1.1.1 has, the more stress zones it has, and the more likely the cutting drum 1.1.1 will need to participate in avoiding the support arm 2.2 during the excavation process. These specific parameters change with the diameter and the weight of the whole machine during the design process.

[0029] Preferably, the support arm 2.2 is configured as a sleeve-type composite load-bearing structure. Specifically, a single support arm 2.2 includes an outer sleeve 2.2.1, an inner sleeve 2.2.2, a second telescopic cylinder 2.2.3, and a support base 2.2.4; The outer sleeve 2.2.1 and the inner sleeve 2.2.2 are nested together, and the outer sleeve 2.2.1 and the inner sleeve 2.2.2 are connected to each other by a second telescopic cylinder 2.2.3. The second telescopic cylinder 2.2.3 drives the inner sleeve 2.2.2 to slide relative to the outer sleeve 2.2.1. The end of the outer sleeve 2.2.1 away from the inner sleeve 2.2.2 is fixedly connected to the support body 2.1, and the end of the inner sleeve 2.2.2 away from the outer sleeve 2.2.1 is hinged to the support base 2.2.4. This application takes into account the possibility that the stroke or force of each support arm 2.2 may be different when multiple support arms 2.2 jointly support the weight of the equipment. The mechanical structure of the outer sleeve 2.2.1 and the inner sleeve 2.2.2 is used to slide back and forth to bear the force. If the load is uneven, the mechanical structure will bear the force to prevent the second telescopic cylinder 2.2.3 from being damaged due to uneven load. In addition, when the shaft tunneling machine is used for excavation, the cutting device 1.1 is controlled by the swing cylinder 1.1.4 to cut the soil. The cut soil is strictly speaking composed of multiple arc surfaces. In order to ensure that the support arm 2.2 is evenly stressed, the support base 2.2.4 is connected to the lower end of the inner sleeve 2.2.2 by hinge or spherical connection so that the support base 2.2.4 can automatically adjust its posture according to the unevenness of the tunnel face to ensure uniform contact surface.

[0030] As a further embodiment, the slag removal system 4 adopts a modular integrated design to facilitate flexible selection of slag removal schemes based on different geological conditions and shaft cross-section sizes. Specifically, in this embodiment, a vacuum slag suction + secondary separation + existing drill-and-blast bucket 4.6 slag removal method can be used.

[0031] Preferred, see Figure 7 As shown, the slag removal system 4 includes a blower 4.1, a wet dust collector 4.2, a gravity cyclone dust collector 4.3, a storage silo 4.4, a distributor 4.5, a bucket 4.6, a rotary joint 4.7, and a slag suction pipe 4.8; One end of the slag suction pipe 4.8 extends to the cutting device 1.1 and is adjacent to the excavation front edge of the cutting drum 1.1.1; the slag suction pipe 4.8 extends and retracts synchronously with the cutting through the telescopic cylinder to ensure that the optimal slag suction distance is always maintained. The other end of the suction pipe 4.8 is connected to the input end of the gravity cyclone dust collector 4.3 via a rotary joint 4.7; The output end of the gravity cyclone dust collector 4.3 is connected to the input end of the wet dust collector 4.2 through a pipe, and a fan 4.1 is installed on the output end of the wet dust collector 4.2.

[0032] Preferably, the gravity cyclone dust collector 4.3 is mounted on the working platform in the auxiliary system 3.

[0033] Preferably, a sealed temporary storage silo 4.4 is provided below the gravity cyclone dust collector 4.3 to temporarily store the amount of slag from more than one working face.

[0034] In a further preferred embodiment, a distributor 4.5 is installed below the storage silo 4.4. When the bucket 4.6 is in place, the material can be quickly unloaded through the distributor 4.5, achieving efficient and continuous operation.

[0035] Example 2: This embodiment of the invention also provides a collaborative construction control method for a vertical shaft tunneling machine. Through deep coupling and intelligent collaboration between the excavation system and the support system, it achieves fully automated variable cross-section vertical shaft tunneling based on a preset excavation radius. Furthermore, it enables dynamic avoidance of the support cylinders and synchronous force control of multiple cylinders under unmanned conditions, ensuring the stability and continuity of construction under complex working conditions. The specific implementation path is as follows: (i) Fully automatic variable cross-section excavation based on excavation radius command; ① By inputting data such as the swing hinge point of the cutting arm, the swing cylinder hinge point, and other components like the pitch circle dimension into the excavation system, and combining this with the cutting arm length and the stroke variation of the first telescopic cylinder, the current position of the cutting drum can be calculated in real time. Simulation calculations are then performed within the shaft boring machine program to generate the current position of the cutting drum in the excavation area. Furthermore, the historical motion trajectory of the swing cylinder is used to simulate the excavated and unexcavated portions, allowing the operator to intuitively perceive the work progress. Similarly, the swing of the cutting drum is determined by a rotary motor and a built-in encoder, which determines the positional relationship of each rotation angle. The specific positional relationship is confirmed by the cutting drum radius and the rotation angle. See Figure 9 As shown, let the distance from point O, the center of the shaft boring machine, to the real-time position of the cutting head be... , The stroke of the first telescopic cylinder and the swing cylinder of the cutting arm can be controlled in real time, and the position sensor value of the cutting arm joint can be monitored in real time. The radius of the shaft to be excavated for the project, which is also the position of the cutting head. The maximum value.

[0036] During the automatic excavation process, when S moves to the maximum position to R, the excavation of that strip is completed. Then, the rotary motor is controlled to rotate. The rotary motor contains an encoder to record and control the rotation angle. The single rotation angle is determined by a preset algorithm in the program.

[0037] Preferred, see Figure 10 As shown, the maximum stroke rotation angle of the swing cylinder is... The expression is as follows: ; in: To ensure the cutting width of the drum and guarantee complete coverage of the maximum excavation diameter area without any blind spots, thus ensuring that there are no under-excavation blind spots at the working face.

[0038] ② Based on this, the control system issues work instructions to the excavation system: The cutting drum starts and reaches the set speed; The first telescopic cylinder extends for one digging stroke, and the subsequent swing cylinder controls the cutting drum to extend from the zero position at a constant speed. Distance; specific Distance equal to excavation radius .

[0039] After reaching the endpoint, the swing cylinder maintains its position, and the cutting drum continues to run for 2-3 seconds to complete the edge trimming; The oscillating cylinder then retracts to the zero position at a constant speed. The rotary motor starts, driving the rotary body to rotate precisely. Stop after adjusting the angle; Repeat the above cycle of "extend - cut - retract - rotate" until the cumulative rotation angle is ≥360°, thus completing the excavation of a complete working face.

[0040] In this embodiment, fully automatic variable cross-section excavation is performed based on the excavation radius command. The entire process requires no manual intervention. Only the excavation radius needs to be input once to automatically complete the excavation of a circular cross-section of any diameter (within the equipment's capacity), adapting to the construction needs of variable cross-section shafts (such as those with a larger top and smaller bottom or segmented diameter changes).

[0041] (ii) Intelligent avoidance of supporting hydraulic cylinders and synchronous force control of multiple cylinders; Each first telescopic cylinder of the support system integrates a pressure sensor and a displacement sensor at its end, and is equipped with an independent electro-hydraulic proportional valve. The control system achieves fully automatic and stable support through the following mechanism: an encoder is installed on the rotary motor, and all cylinders are equipped with stroke sensors. The position of the cutting drum and the relative position between the cutting drum and the support arm can be calculated in real time by measuring the stroke of the swing cylinder, the first telescopic cylinder, and the encoder angle. When the cutting arm rotates to a certain support arm area, the system detects that the distance between the cutting arm and the support arm base has shortened to a certain safe distance. Through the pre-set system, the system can automatically control the support arm to automatically retract to avoid the obstruction, while the other cylinders maintain force to ensure excavation without blind spots. After the excavation of that area is completed and the cutting drum disengages, the support arm automatically extends again.

[0042] Theoretical level: The control system of this invention is based on a three-layer progressive intelligent control theoretical framework, which realizes the leap from passive response to active prediction and from single-point control to global coordination.

[0043] First, at the data perception and position detection layer, the system uses a network of multi-source heterogeneous sensors (pressure, displacement, angle encoders) deeply integrated into each actuator (cutting arm, first telescopic cylinder, support system support arm cylinder, etc.). By collecting real-time stroke data from the swing cylinder and the first telescopic cylinder and fusing physical signals, the system constructs a real-time "digital twin" or high-dimensional state space. This allows for precise and blind-spot-free reconstruction of the dynamic relative positional relationship between the cutting roller and all support arms, providing accurate input for intelligent decision-making.

[0044] Secondly, at the core intelligent prediction and decision-making layer, the system does not react based on simple thresholds, but introduces data-driven predictive control theory. It utilizes real-time state data to run predictive models online, proactively extrapolating the future motion trajectories and interference risks of the cutting roller and support arm. This gives the control decisions "predictability," enabling the optimal avoidance strategy to be planned several control cycles before a potential collision occurs, achieving a fundamental improvement from "reaction control" to "predictive control."

[0045] Finally, at the adaptive collaborative execution layer, the system models the generation of avoidance actions as a constrained multi-objective real-time optimization problem. The optimization objective is to maximize the stability of the overall machine support force and the accuracy of the excavation profile while ensuring safe avoidance. After solving this problem, the system outputs a set of collaborative, adaptive control commands that precisely control the proportional valve of the target support arm to retract and avoid the obstacle, and simultaneously adjust the output of the remaining support arms to dynamically compensate for the stress. This achieves the advanced control objective of "local dynamic avoidance and global stable support," fundamentally resolving the contradiction between blind-zone-free excavation and stable support.

[0046] In summary, this invention proposes an adaptive intelligent control strategy based on multi-source data fusion, state prediction, and constraint optimization. Its theoretical sophistication and innovation significantly surpass traditional logical sequential control or PID control methods. 1. Data and position perception: Fusion of multi-source heterogeneous sensor data and system state reconstruction; pressure, displacement sensors, and encoders form a sensing network to calculate the relative position of the cutting roller and support arm in real time. 2. Intelligent prediction and decision-making layer (core innovation): Constraint optimization control based on a predictive model; predicting the future relative motion trajectory of the cutting roller and support arm based on real-time position data, and planning the optimal avoidance strategy in advance before a collision risk occurs.

[0047] Initial support stage: before excavation. Each support arm extends synchronously until the support shoe contacts the well wall. When all support arms are fully extended, the hydraulic cylinder detection pressure is displayed. The system records the extension displacement of each hydraulic cylinder. This forms the current wellbore profile data.

[0048] Dynamic obstacle avoidance during tunneling: The control system acquires the absolute angle encoder signal of the slewing device in real time. (0°~360°). Based on the preset cylinder azimuth angle. (like , , ..., The position of each support arm is confirmed by the distribution diameter, and the distance between the cutting arm and the base of each support arm is calculated. When this value is less than the preset avoidance threshold... When the cutting arm is about to enter the first stage (e.g., 300mm), it is determined that the cutting arm is about to enter the second stage. In the area of ​​cylinder number [number], the system immediately issues the following command: No. The No. 1 support cylinder retracts rapidly. (e.g., 250mm), avoid the moving envelope of the cutting roller; the remaining The root cylinder maintains its current extension displacement and support pressure, and compensates for the load redistribution caused by the single cylinder's withdrawal through pressure closed-loop control, ensuring that the overall force center offset is ≤5%. After the cutting drum deviates from this area, the first... The support cylinder continues to extend until it reaches the excavation face, and the cylinder's tension is maintained. When the cylinder pressure returns to the same level as in the initial state, it means that the support arm is tightened, and the cylinder automatically extends.

[0049] Multi-cylinder synchronization and load balancing control: In non-avoidance mode, the control system activates master-slave synchronization mode - the cylinder with the highest pressure is the master cylinder and the rest are slave cylinders. The oil supply flow is dynamically adjusted through the electro-hydraulic proportional valve to ensure that the pressure deviation of all cylinders is ≤±0.3MPa, so as to achieve uniform load distribution and stable and controllable attitude of the whole machine.

[0050] After the cycle ends, the entire lowering process begins: After the face excavation is completed, the control system first confirms that the cutting arm has returned to zero and the slewing device has stopped, then retracts the circumferential support shoe and moves downwards to the entire... Each support arm cylinder sends a synchronous retraction command, retracting at the same speed by one excavation stroke height (e.g., 1000mm); after reaching the position, the circumferential support shoe extends again to establish a new layer of support, and the cycle begins.

[0051] (iii) Full-process unmanned operation; All of the above actions are executed automatically by the ground-based remote control system: Excavation parameters (R, d, excavation stroke, etc.) are entered by the operator once. Sensor data (angle, pressure, displacement) is uploaded in real time via downhole industrial Ethernet or fiber optic cable; The control algorithm (avoidance judgment, synchronization adjustment, fault diagnosis) runs within the industrial control computer; The execution commands are precisely driven by the electro-hydraulic servo system to drive each cylinder and motor. The video monitoring system (installed on the cutting arm and support area) provides auxiliary visual feedback but does not rely on manual operation.

[0052] Therefore, from setting the excavation radius to lowering the entire machine, no personnel need to be involved in the underground process, truly realizing fully automated, unmanned, and high-precision mechanized construction of variable cross-section vertical shafts.

[0053] Example 3: This invention also provides a construction method for a vertical shaft tunneling machine, comprising the following steps: Step S1: Initial positioning and support; The entire machine is installed to its designed initial depth; The arc-shaped support shoe extends and fits tightly against the well wall, while the cutting position of the cutting roller is located at the center of the vertical shaft; Step S2: Excavation of the working face; The cutting drum starts, the support cylinder extends 200mm, and the swing cylinder swings to complete the excavation of the first spoke groove; After completion, the cutting drum returns to the center of the shaft and rotates to the next spoke angle through the preset program of the rotary device to continue excavation to a depth of 200mm; Repeat the above process until the 360° full-section excavation is completed; The support cylinder extends another 200mm to begin excavating the next section, until 1000mm of excavation is completed; Step S3: Synchronous transfer of construction waste; During the excavation process, the entire vacuum system (slag removal system) operates continuously and removes slag synchronously. The cutting drum cuts the slag and actively sends it to the vacuum slag suction port under the rotation of the drum. The slag is sucked upward through the slag suction port and most of the slag is collected by gravity + cyclone separator. It is then temporarily discharged to the storage bin and transferred to the bucket through the distribution gate. After the bucket is full, it is lifted upward to the wellhead for unloading. During the operation of the bucket in the well, the material receiving bin temporarily stores the material. Slag is continuously discharged through the bucket to maintain the balance of slag suction-storage-discharge.

[0054] Step S4: Synchronous support operation; After excavation to the height of a support section, the original drill-and-blast method construction lifting system was used to lower the formwork and support operation platform, and to carry out the work of tying steel bars and installing formwork in preparation for subsequent concrete pouring.

[0055] During the support work, the shaft tunneling machine can continue its excavation work simultaneously. Continuing excavation during the support work can significantly reduce the high-excavation time for the next tunneling section, thereby increasing excavation efficiency.

[0056] Step S5: Lower the entire machine; After excavation is completed, the cutting roller and support shoe cylinder are retracted, and then the support cylinder is retracted. The machine descends smoothly by one excavation stroke (1000mm) under its own weight. The hydraulic cylinder for supporting the boot extends again to tighten the hole wall and lock the position.

[0057] Step S6: Repeat in a loop; Return to step S2 and continue excavating the next face until the designed depth is reached.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., 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 vertical shaft tunneling machine, characterized in that, Including the support system (2); The support system (2) is configured as a ring support structure; and the support system (2) includes a support body (2.1), a support arm (2.2) and a support shoe cylinder (2.3). The supporting body (2.1) is configured as a ring structure; Both the support arm (2.2) and the support shoe cylinder (2.3) are provided with a circular array arranged along the circumference of the support body (2.1). A set of single-set support shoe cylinders (2.3) is set between two adjacent sets of support arms (2.2); one end of the single-set support arm (2.2) is fixedly connected to the support body (2.1), and the other end of the single-set support arm (2.2) extends vertically towards the bottom of the tunnel; one end of the single-set support shoe cylinder (2.3) is connected to the support body (2.1), and the other end of the single-set support shoe cylinder (2.3) extends along the vertical shaft wall, and an arc-shaped support shoe (2.3.1) is installed on the extended end of the single-set support shoe cylinder (2.3).

2. The shaft boring machine according to claim 1, characterized in that, The annular cross-section of the supporting body (2.1) is smaller than the minimum diameter of the shaft design.

3. The shaft boring machine according to claim 1, characterized in that, The support arm (2.2) is configured as a sleeve-type composite load-bearing structure.

4. The shaft boring machine according to claim 3, characterized in that, The single support arm (2.2) includes an outer sleeve (2.2.1), an inner sleeve (2.2.2), a second telescopic cylinder (2.2.3), and a support base (2.2.4). The outer sleeve (2.2.1) and the inner sleeve (2.2.2) are fitted together, and the outer sleeve (2.2.1) and the inner sleeve (2.2.2) are connected to each other by a second telescopic cylinder (2.2.3). The second telescopic cylinder (2.2.3) drives the inner sleeve (2.2.2) to slide relative to the outer sleeve (2.2.1). The end of the outer sleeve (2.2.1) away from the inner sleeve (2.2.2) is fixedly connected to the support body (2.1), and the end of the inner sleeve (2.2.2) away from the outer sleeve (2.2.1) is connected to the support base (2.2.4).

5. The shaft boring machine according to claim 4, characterized in that, The support base (2.2.4) and the inner sleeve (2.2.2) are connected by a hinge or a spherical structural surface at the end away from the outer sleeve (2.2.1).

6. The shaft boring machine according to any one of claims 1-5, characterized in that, It also includes the excavation system (1); The excavation system (1) includes a cutting device (1.1) and a rotating device (1.2). The cutting device (1.1) includes a cutting roller (1.1.1), a telescopic arm (1.1.2), a fixed arm (1.1.3), and a swing cylinder (1.1.4). One end of the fixed arm (1.1.3) is connected to the rotary device (1.2), and the other end of the fixed arm (1.1.3) is sleeved with one end of the telescopic arm (1.1.2). The cutting roller (1.1.1) is mounted on the other end of the telescopic arm (1.1.2). The cutting roller (1.1.1) is driven to rotate by a hydraulic motor, and several wear-resistant cutting teeth are arranged on the outer surface of the uncut roller. One end of the swing cylinder (1.1.4) is hinged to the fixed arm (1.1.3), and the other end of the swing cylinder (1.1.4) is hinged to the telescopic arm (1.1.2), and is used to drive the telescopic arm (1.1.2) to swing relative to the fixed arm (1.1.3). The rotary device (1.2) includes a rotary motor (1.2.1), a rotary body (1.2.2), and a rotary gear pair (1.2.3); the fixed end of the rotary motor (1.2.1) is fixedly connected to the support system (2), and the driving end of the rotary motor (1.2.1) is connected to the rotary body (1.2.2) through the rotary gear pair (1.2.3) to drive the rotary body (1.2.2) to rotate around the central axis of the shaft.

7. The shaft boring machine according to claim 6, characterized in that, The telescopic arm (1.1.2) includes at least two arms that are nested together, and a first telescopic cylinder is provided between two adjacent arms.

8. The shaft boring machine according to claim 7, characterized in that, The rotary motor (1.2.1) has a built-in encoder.

9. The shaft boring machine according to claim 7 or 8, characterized in that, It also includes a slag removal system (4); The slag removal system (4) includes a blower (4.1), a wet dust collector (4.2), a gravity cyclone dust collector (4.3), a storage silo (4.4), a distributor (4.5), a bucket (4.6), a rotary joint (4.7), and a slag suction pipe (4.8). One end of the slag suction pipe (4.8) extends to the cutting device (1.1) and is close to the excavation front edge of the cutting drum (1.1.1); the slag suction pipe (4.8) extends and retracts synchronously with the cutting through the telescopic sleeve to ensure that the optimal slag suction distance is always maintained. The other end of the suction pipe (4.8) is connected to the input end of the gravity cyclone dust collector (4.3) via a rotary joint (4.7); The output end of the gravity cyclone dust collector (4.3) is connected to the input end of the wet dust collector (4.2) through a pipe. A fan (4.1) is installed on the output end of the wet dust collector (4.2).

10. The shaft boring machine according to claim 9, characterized in that, A sealed temporary storage silo (4.4) is provided below the gravity cyclone dust collector (4.3). A distributor (4.5) is installed below the storage silo (4.4). A bucket (4.6) is installed below the distributor (4.5).

11. A construction method for a vertical shaft tunneling machine, characterized in that, Includes the following steps: Step 1: Preparation; The shaft boring machine as described in claim 10 is installed to the designed starting depth of the shaft; The arc-shaped support shoe extends and fits tightly against the well wall, while the cutting position of the cutting roller is located at the center of the vertical shaft; Step 2: Excavation of the working face; S2.

1. The cutting drum starts, the support cylinder extends, and the swing cylinder swings to complete the excavation of the first spoke groove; S2.2 After completion, the cutting drum returns to the center of the shaft and rotates to the next spoke angle through the preset program of the rotary device to continue excavation; S2.3, Repeat S2.1 and S2.2 until the 360° full-section excavation is completed; S2.4 The support cylinder continues to extend, and the next section excavation begins until the preset depth of excavation is completed; Step 3: Simultaneous transfer of construction waste; During the excavation process, the slag removal system operates continuously to remove slag synchronously. The cutting drum cuts the slag and actively sends it to the slag suction pipe under the rotation of the drum. The slag is sucked up through the slag suction pipe and most of the slag is collected by the gravity cyclone dust collector. The material is unloaded based on the synergistic effect of the storage bin, the distributor and the bucket. Step 4: Synchronous support operation; After excavation to the height of a support section, the original drill-and-blast method construction lifting system was used to lower the formwork and support operation platform, and to carry out steel reinforcement and formwork installation operations in preparation for subsequent concrete pouring. Step 5: Lower the entire machine; After excavation is completed, the cutting roller and support shoe cylinder are retracted, and then the support cylinder is retracted. The entire machine descends smoothly under its own weight for one excavation stroke; The hydraulic cylinder for supporting the boot extends again to tighten the hole wall and lock the position; Step 6: Repeat the loop. Return to step two and continue excavating the next face until the designed depth is reached.

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