Annular trench widening equipment for underground space construction

Abstract

This invention discloses a ring-shaped excavation equipment for underground space construction, used in an excavated central pilot tunnel. It includes a slewing support system, a main drive system, a support shoe system, a cutterhead excavation system, and a cutterhead propulsion system. The slewing support system is coaxially mounted on the front end of the main beam. At least two sets of cutterhead systems are symmetrically arranged circumferentially on the front face of the slewing support. Each cutterhead system includes a cutterhead, a slewing drive, and a slewing support shaft. The cutterhead can simultaneously rotate on its own axis and revolve around the tunnel axis, with the cutting trajectory of the roller cutter covering the annular area surrounding the central pilot tunnel. The propulsion cylinder of the cutterhead propulsion system is supported between the support shoe reaction frame and the cutterhead, rotating synchronously with the slewing support and relative to the support shoe system. This invention fully utilizes the free face of the central pilot tunnel to reduce rock-breaking resistance and uses a small-sized cutterhead composite cutting method instead of a large, integral cutterhead. This allows for high-precision and high-efficiency excavation shaping of the tunnel's annular cross-section while reducing equipment size and manufacturing costs.

Description

Technical Field

[0001] This invention belongs to the field of tunnel widening equipment technology, specifically relating to a ring widening excavation equipment for underground space construction. Background Technology

[0002] With the rapid development of railways, highways, urban rail transit, and underground space development, the demand for large-section tunnel construction and the expansion and renovation of existing tunnels is increasing. How to achieve precise tunnel cross-section shaping while ensuring construction efficiency and economy has become a crucial problem that urgently needs to be solved in the field of mechanized tunnel construction.

[0003] Currently, tunnel excavation construction mainly adopts two methods: drill and blast method and mechanical tunneling method.

[0004] Drill-and-blast method remains important in many hard rock tunnel constructions due to its low equipment investment, flexible construction organization, and strong adaptability to geological formations. However, this method relies primarily on blasting to break the rock mass, and the quality of the tunnel profile is greatly affected by blasting parameters, surrounding rock conditions, and construction experience. Factors such as blasting vibration, errors in borehole layout, and the development of fissures in the surrounding rock can easily lead to deviations in the excavation profile, resulting in over-excavation or under-excavation. Over-excavation increases the amount of shotcrete, lining, and backfilling work, raising construction costs; under-excavation requires secondary adjustments, reducing construction efficiency. Therefore, the drill-and-blast method is difficult to meet the requirements for high-precision cross-section formation.

[0005] Mechanical tunneling methods enable continuous excavation and high-precision cross-section control by directly cutting rock with cutting tools. Among them, full-face tunnel boring machines (TBMs) have advantages such as low disturbance and high tunnel quality. However, for the construction of large-section tunnels, using a full-face TBM that matches the design cross-section size not only results in a large equipment diameter and complex structure, but also requires a high-power main drive system and a high-capacity propulsion system, leading to a significant increase in equipment manufacturing, transportation, and construction costs.

[0006] To reduce the cost of mechanized construction of large-section tunnels, a construction approach of "central pilot tunnel first, followed by enlargement" has been proposed. This involves first constructing a central pilot tunnel using a small-diameter TBM or other methods, and then enlarging the area surrounding the central pilot tunnel. This method can utilize the construction space provided by the central pilot tunnel, but existing enlargement methods still have certain shortcomings.

[0007] Existing mechanical enlargement equipment mainly uses an integral cutterhead for enlargement. Because the cutterhead needs to act on a large area of ​​rock simultaneously, it experiences significant axial cutting resistance and propulsion reaction during rock breaking. Therefore, it requires a large drive torque and propulsion system, resulting in large equipment size and high manufacturing costs. Furthermore, existing cutterhead enlargement methods still rely on integral section cutting, failing to fully utilize the free surface advantage formed by the central guide tunnel. Local enlargement methods typically depend on complex telescopic mechanisms, which are structurally complex and have limited efficiency in cutting hard rock.

[0008] In summary, existing tunnel widening technologies mainly suffer from the following problems: Drill and blast method has lower construction costs, but insufficient tunnel outline control precision, which easily leads to over-excavation and under-excavation; Traditional full-face mechanical widening methods require cutting a large amount of rock mass as a whole, resulting in high propulsion demand, large equipment size, and high manufacturing costs; Existing cutterhead widening methods still involve whole-face cutting and do not fully utilize the advantages of the free surface formed by the central pilot tunnel; Local widening methods usually rely on complex telescopic mechanisms, which are structurally complex and have limited efficiency in cutting hard rock.

[0009] Therefore, there is an urgent need for a new type of tunnel excavation equipment. The central pilot tunnel can be excavated using a full-face tunnel boring machine or drill-and-blast method. Then, by making full use of the free face of the central pilot tunnel, a diameter-expanding equipment with a small-sized cutterhead can be used to achieve efficient cutting of the outer annular area. This will reduce the equipment thrust requirements and manufacturing costs while improving the accuracy of tunnel cross-section forming and construction efficiency.

[0010] It should be noted that the analysis of the above technical information is the result of creative labor. The detailed description of it in the background section is only intended to deepen the understanding of the non-obviousness of the overall background of this application by those skilled in the art, and should not be regarded as an admission or in any form an implication that the above technical information constitutes prior art known to those skilled in the art. Summary of the Invention

[0011] To address the aforementioned deficiencies and technical biases in existing technologies, this technical solution proposes a ring-shaped excavation equipment for underground space construction. The technical problems to be solved are: difficulty in edge control and serious over- and under-excavation during the drill-and-blast method for diameter expansion. At the same time, it overcomes the shortcomings of existing full-section mechanical diameter expansion equipment, such as high thrust requirements, high equipment costs, and complex structures, as well as the problems of cumbersome and inefficient two-step construction procedures.

[0012] The technical solution of this invention is as follows:

[0013] A ring-shaped excavation equipment for underground space construction, used for an excavated central pilot tunnel, is characterized by comprising a main beam, a slewing support system, a main drive system, a support shoe system, a cutterhead excavation system, a cutterhead propulsion system, and a muck removal system; the slewing support system is coaxially mounted on the front end of the main beam; the main drive system drives the slewing support system to rotate around the tunnel axis; the support shoe system includes a support shoe and a cutterhead propulsion cylinder reaction frame, wherein the support shoe radially supports the central pilot tunnel wall and cyclically advances along the tunnel axis; the cutterhead excavation system... The system comprises several independently rotating cutterhead systems, which are arranged circumferentially on the front face of the rotary support system and revolve with it. The cutting trajectory of the roller cutters on the cutterhead systems covers the annular area from the outer edge of the central guide tunnel to the designed tunnel outline. The cutterhead propulsion system includes several propulsion cylinders, which are supported between the cutterhead propulsion cylinder reaction frame and the cutterhead excavation system. They rotate synchronously with the rotary support system and relative to the support shoe system, and are used to provide axial tunneling thrust for the cutterhead excavation system.

[0014] Furthermore, each of the cutter head systems includes a cutter head, a rotary drive, and a rotary support shaft. The rotary drive is fixed to the rotary support system and is connected to the cutter head via the rotary support shaft. The cutter head rotates around its own axis.

[0015] Furthermore, the cutter head is a planar circular cutter head or a conical cutter head; the conical cutter head has a conical structure with the tip outside, and the hobbing cutters are arranged along the conical inclined surface.

[0016] Furthermore, the main structure of the rotary support system is a straight line, a star-shaped or cross-shaped structure, or a ring with a crossbeam, and the plurality of cutterhead systems are symmetrically or evenly distributed along the front end face of the rotary support system.

[0017] Furthermore, the plurality of propulsion cylinders are arranged circumferentially and are axially aligned with the cutter head system.

[0018] Furthermore, the front end of the propulsion cylinder is rigidly connected to the rotary support system, and the rear end is abutted against the reaction frame of the cutter head propulsion cylinder. The reaction frame of the cutter head propulsion cylinder is rotatably connected to the support shoe system through a bearing structure.

[0019] Furthermore, the support shoe system also includes a support shoe track and a support shoe step-changing cylinder. The support shoe track extends along the axial direction of the main beam, and the support shoe and the cutter head propulsion cylinder reaction frame move along the axial direction of the support shoe track. The support shoe step-changing cylinder is connected between the support shoe track and the support shoe.

[0020] Furthermore, the main drive system includes a slewing bearing, a drive motor, and a transmission gear. The drive motor drives the inner or outer ring of the slewing bearing to rotate through the transmission gear, thereby driving the slewing support system to rotate.

[0021] Furthermore, the slag discharge system is located at the bottom of the machine, and the slag discharge system is a planetary shovel conveyor or a belt conveyor. The main beam is also equipped with a tail stabilizing support.

[0022] Furthermore, it also includes an intelligent control system, which comprises a multi-source sensing unit, a data processing unit, and a control execution unit. The multi-source sensing unit is arranged in the cutter head system, the main drive system, the cutter head propulsion system, and the main beam, and is used to collect operating status parameters in real time. The data processing unit is signal-connected to the multi-source sensing unit and is used to perform data fusion processing on the collected operating status parameters to identify the cutter head cutting state. The control execution unit is signal-connected to the data processing unit and is control-connected to the cutter head system, the main drive system, and the cutter head propulsion system, and dynamically matches and adjusts the cutter head rotation speed, the overall machine revolution speed, the propulsion speed, and the drive power according to the identified cutter head cutting state.

[0023] Furthermore, the intelligent control system, through multi-source sensing units installed in the cutterhead, rotary drive system, and propulsion system, collects operating parameters in real time, such as cutterhead rotation torque, drive current, propulsion pressure, propulsion speed, vibration characteristics, and cutterhead cutting status. It utilizes a data fusion algorithm to identify the load state during the excavation process in real time, establishing a mapping relationship between the cutterhead cutting state and control parameters. Based on the real-time monitoring of cutterhead load changes, an adaptive control algorithm based on load feedback is used to dynamically match and adjust the cutterhead rotation speed, propulsion speed, and rotary drive power. When an increase in cutterhead cutting load is detected, the rotation speed is reduced, the propulsion speed is adjusted, or the drive output is optimized to avoid tool overload and equipment impact; when a decrease in cutting load is detected, the propulsion efficiency is increased, ensuring the equipment remains in a highly efficient and stable cutting state. This invention can employ intelligent adjustment strategies based on fuzzy control, adaptive control, model predictive control, or reinforcement learning optimization algorithms to achieve autonomous optimization of cutterhead operating parameters under different surrounding rock conditions, improving the stability and economy of the excavation process.

[0024] To address the shortcomings of the aforementioned background technology, this invention provides a ring-shaped excavation equipment for underground space construction. It aims to solve the problems of difficult edge control and severe over- and under-excavation during drill-and-blast tunneling, while overcoming the drawbacks of existing full-face mechanical tunneling equipment, such as high thrust requirements, high equipment costs, and complex structures, as well as the cumbersome and inefficient two-step construction process. Furthermore, this invention introduces intelligent sensing, decision-making, and control technologies. By monitoring the cutterhead load, it adaptively matches and controls the cutterhead cutting rotation speed and the rotation drive rotation speed, constructing an integrated intelligent ring-shaped tunneling system encompassing "sensing-decision-execution-feedback." This fundamentally distinguishes it from the traditional tunneling construction mode that relies on operator experience, achieving a unified approach to economy, precision, efficiency, and intelligence in tunnel tunneling construction.

[0025] This invention can be applied to the large-section widening and shaping of newly constructed tunnels such as railway tunnels, highway tunnels, subway tunnels, and municipal utility tunnels. It can also be applied to the widening and reconstruction of existing tunnels, and in the "tunnel-first, station-later" station construction scenario where the tunnel cross-section is converted to the station cross-section. Compared with existing technologies, it has the following advantages:

[0026] (1) Fully utilize the free face of the central guide tunnel to significantly reduce the resistance to breaking the ring-shaped rock mass. In this invention, a central guide tunnel is first formed, and then the cutter head cuts the rock ring around the central guide tunnel, so that the rock mass to be cut has a free face on the side facing the central guide tunnel. The cracks formed after the cutter head is pressed into the rock mass are more likely to extend and penetrate to the free face, which can reduce the propulsion force, cutting torque and rock breaking energy consumption required per unit advance.

[0027] (2) A composite cutting method combining the rotation of a small-sized roller cutter head with the revolution of the whole machine is adopted, eliminating the need for an integral cutter head with the same diameter as the final tunnel cross section. A single roller cutter head only undertakes the cutting task of a local arc segment. It is driven by the rotary support system to revolve around the tunnel axis in a circumferential direction, thereby covering the entire annular area, reducing the size of the main drive system and lowering the costs of equipment manufacturing, transportation, assembly and maintenance.

[0028] (3) The conical cutter head adopts a hollow conical structure, and the cutters are arranged along the conical inclined surface, which can form a progressive cutting from the outer edge of the central guide tunnel to the designed contour during the advancement process. Compared with the planar integral extrusion cutting, it can improve the cutting conditions of the cutter entering the rock, reduce the instantaneous impact load, and facilitate the accumulation of rock debris in the central guide tunnel and the lower part of the equipment.

[0029] (4) The number of roller cutterheads can be modularly configured according to the tunnel diameter, surrounding rock strength, equipment power and construction efficiency requirements. When two or more roller cutterheads are set, each cutterhead is arranged symmetrically or evenly along the circumference, which can balance the eccentric load and overturning moment, improve the stress stability of the slewing support system and the main structure, and facilitate the adaptation to different excavation diameters by adding or removing cutterhead modules.

[0030] (5) The support shoe system, the cutterhead propulsion cylinder reaction frame, the cutterhead propulsion system and the support shoe step-changing cylinder together constitute a "support-cutting-retraction-step-changing" cyclic propulsion mechanism. During tunneling, the support shoe transmits the propulsion reaction force to the central guide tunnel wall. After completing one cycle, the reaction frame can be moved forward without the need for overall traction of the host machine, which helps to shorten the auxiliary operation time and improve the continuous construction capability.

[0031] (6) By coordinating the rotation speed of the hob head with the revolution speed of the rotary support system, the combined cutting speed and the spacing between adjacent cutting trajectories of hobs at different radial positions can be controlled, reducing repeated cutting, missed cutting and local overload, keeping the hob within a suitable range of penetration depth and cutting speed, and improving tool utilization and cross-section forming accuracy.

[0032] (7) Set up a multi-source sensing unit and an intelligent control system, which can identify in real time the states such as low load high efficiency cutting, normal stable cutting, high load overload risk, abnormal impact or tool failure, and dynamically adjust the tool head rotation speed, revolution speed, feed speed and drive power according to the load change trend, so as to realize the transformation from experience operation to state perception, load prediction and parameter adaptive optimization.

[0033] (8) The ring area adopts continuous mechanical cutting, and the design contour is directly constrained by the equipment movement trajectory. This can reduce over-excavation, under-excavation and surrounding rock disturbance caused by drilling and blasting to expand the diameter, and reduce the amount of subsequent finishing, shotcreting, lining and backfilling work. It is especially suitable for the expansion and renovation of existing tunnels and urban underground projects that are sensitive to blasting vibration.

[0034] (9) In the construction of ultra-large diameter tunnels, full-face tunneling machines are no longer required, thus eliminating the need for ultra-large diameter main bearings, which reduces equipment and engineering costs.

[0035] (10) This invention can be connected with the construction of the central pilot tunnel formed by small diameter TBM or drill-and-blast method. While retaining the investment advantages of the central pilot tunnel equipment, it can complete the large-section mechanized excavation. It can be used for cross-section expansion and conversion in compressed air energy storage tunnels, railway tunnels, highway tunnels, subway tunnels, municipal pipe corridors and "tunnel first, station later" construction, and has strong engineering adaptability. Attached Figure Description

[0036] To more clearly illustrate the embodiments of this technical solution, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this technical solution. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1This is a schematic diagram of the overall structure of a ring-shaped excavation equipment for underground space construction according to an embodiment of the present invention:

[0038] The cutter head advance cylinder retracts and the support shoe step-changing cylinder extends;

[0039] Figure 2 This is a schematic diagram of the overall structure of a ring-shaped excavation equipment for underground space construction according to an embodiment of the present invention:

[0040] The cutter head advance cylinder extends and the support shoe step-changing cylinder retracts.

[0041] Figure 3 This is an assembly diagram of the cutterhead excavation system and the rotary support system according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the main drive system, support shoe track, and tail stabilizing support according to an embodiment of the present invention.

[0043] Figure 5 This is a schematic diagram of the support shoe system and the reaction frame of the cutter head propulsion cylinder according to an embodiment of the present invention;

[0044] Figure 6 This is a cross-sectional schematic diagram of the boot support system according to an embodiment of the present invention;

[0045] Figure 7 This is a schematic diagram of the preset trajectory for the circular excavation in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of the cutterhead excavation trajectory according to an embodiment of the present invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] 1-Rock mass, 2-Excavated pilot tunnel, 3-Cutterhead excavation system, 4-Support shoe system, 5-Main drive system, 6-Slag removal system, 7-Main beam, 8-Cutterhead, 9-Slewing drive, 10-Cutterhead propulsion cylinder, 11-Slewing support shaft, 12-Slewing support system, 13-Slewing support connecting bolt, 14-Machine slewing bearing, 15-Machine slewing drive, 16-Support shoe rail, 17-Main beam connecting flange, 18-Tail stabilizing support, 19-Support shoe step-changing cylinder, 20-Support shoe, 21-Cutterhead propulsion cylinder reaction frame, 22-Support shoe guide rail, 23-Support shoe radial cylinder, 24-Slide mounting platform, 25-Circular excavation preset trajectory, 26-Machine rotation center, 27-Cutterhead excavation trajectory. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the core concept of the present invention and the following embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0051] It should be noted that techniques, methods and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods and equipment should be considered part of the instruction manual.

[0052] Overall structure of ring-shaped excavation equipment for underground space construction

[0053] like Figure 1 and Figure 2 As shown in the figure, the ring-shaped excavation equipment for underground space construction described in this embodiment mainly includes a main beam 7, a slewing support system 12, a main drive system 5, a support shoe system 4, a cutterhead excavation system 3, a cutterhead propulsion system, a slag removal system 6, and an intelligent control system.

[0054] Preferably, in some embodiments, the main beam 7 is integrally installed within the excavated central guide tunnel 2, with the main beam's axis coinciding with the tunnel's design axis. The front end of the main beam 7 is coaxially connected to the slewing support system 12 via a slewing bearing 14, and the slewing support system 12 rotates relative to the main beam via a slewing drive 15. A tail stabilizing support 18 is provided at the tail end of the main beam 7 to maintain the stability of the main beam's tail during tunneling and prevent radial displacement of the main beam.

[0055] Preferably, in some embodiments, such as Figure 7 and Figure 8 As shown, the slewing support system 12 has a main structure that is linear, star-shaped, cross-shaped, or ring-shaped with crossbeams, and is coaxially mounted on the front end of the main beam 7. The edge of the front face of the slewing support system 12 is used to mount the cutterhead excavation system 3, and the center of the rear face is connected to the slewing bearing 14 of the main drive system 5. The slewing support system 12 provides rotational and forward support for the cutterhead excavation system 3, enabling the cutterhead excavation system 3 to rotate around the tunnel axis together with the slewing support system 12.

[0056] Preferably, in some embodiments, such as Figure 4 As shown, the main drive system 5 includes a slewing bearing 14, a slewing drive 15, and transmission gears. The slewing drive 15 uses a hydraulic motor or a variable frequency motor and is fixedly mounted on the front end housing of the main beam 7. A transmission pinion is mounted on the output shaft of the slewing drive 15, and the transmission pinion meshes with the outer ring gear of the slewing bearing 14. The inner ring of the slewing bearing 14 is fixed to the front end of the main beam 7 by slewing bearing connecting bolts 13, and the outer ring is connected to the slewing support system 12 by slewing bearing connecting bolts 13. During operation, the slewing drive 15 drives the outer ring of the slewing bearing 14 to rotate through the transmission gears, thereby driving the slewing support system 12 fixed on the outer ring to perform slewing motion around the tunnel axis. The drive power and torque of the main drive system 5 are designed to match the requirements of the excavation diameter, surrounding rock strength, and cutting efficiency.

[0057] Preferably, in some embodiments, such as Figure 5 and Figure 6 As shown, the support shoe system 4 is arranged in the outer area of ​​the main beam 7, and mainly includes support shoe 20, cutterhead propulsion cylinder reaction frame 21, support shoe track 16, and support shoe step-changing cylinder 19. The support shoe track 16 extends along the axial direction of the main beam 7 and is fixedly installed on the outer wall of the main beam 7 through the slide mounting platform 24. The support shoe 20 is provided with a support shoe guide rail 22 adapted to the support shoe track 16, and the support shoe 20 can slide along the axial direction of the support shoe track 16. The support shoe 20 is radially extended and retracted by the support shoe radial cylinder 23. When the support shoe radial cylinder 23 extends, it pushes the support shoe 20 to move radially outward, so that the outer surface of the support shoe 20 is pressed against the tunnel wall after the central guide tunnel 2 has been enlarged. One end of the support shoe step-changing cylinder 19 is hinged to the main beam via the main beam connecting flange 17, and the other end is hinged to the support shoe 20. The support shoe step-changing cylinder 19 is arranged axially and is used to push the support shoe 20 together with the cutter head propulsion cylinder reaction frame 21 to move axially along the support shoe track 16.

[0058] Preferably, in some embodiments, such as Figure 3 As shown, the cutterhead excavation system 3 includes several cutterhead systems. In this embodiment, two sets of cutterhead systems are provided. The two sets of cutterhead systems are symmetrically fixed and installed on the front end face of the rotary support system 12 along the circumference, and the central angle between the two sets of cutterhead systems is 180 degrees. Figure 3As shown, each cutterhead system includes a cutterhead 8, a rotary drive 9, and a rotary support shaft 11. The rotary drive 9 is fixedly mounted on the rotary support system 12. The rotary drive 9 uses a hydraulic motor or a variable frequency motor, and its output shaft is the rotary support shaft 11. The rotary support shaft 11 is rotatably supported on the main structure of the rotary support system 12 through a bearing assembly, and the other end of the rotary support shaft 11 is fixedly connected to the cutterhead 8. Several hobs are mounted on the front face of the cutterhead 8, and the hobs are arranged in a spiral or annular pattern along the radial direction of the cutterhead 8. During operation, the rotary drive 9 drives the cutterhead 8 to rotate around its own axis through the rotary support shaft 11; at the same time, the entire cutterhead excavation system 3 revolves around the tunnel axis with the rotary support system 12. Under the combined motion of rotation and revolution, the hobs on the cutterhead 8 form a continuous cutting trajectory on the annular rock surface, completely covering the annular rock mass 1 between the outer edge of the central pilot tunnel 2 and the designed tunnel outline.

[0059] Preferably, in some embodiments, the cutter head 8 is a planar circular cutter head or a conical cutter head. When a conical cutter head is used, the cutter head 8 has a hollow conical structure, with the cone tip pointing towards the center of the working face, and the cutters are arranged in a spiral or ring shape along the conical inclined surface. During the advance of the conical cutter head, the cutters begin to enter the rock from a position close to the central guide hole 2, and gradually expand the cutting outward as the axial advance occurs, forming a progressive rock breaking process. Compared with a planar cutter head, the conical structure improves the initial rock entry conditions of the cutters, avoids excessive instantaneous impact load caused by the entire cutter head contacting the rock surface simultaneously, and can effectively reduce the risk of cutter impact damage. At the same time, the conical inclined surface can guide the cut rock debris to slide towards the center, making it easier for the rock debris to collect in the lower slag discharge system 6, improving slag discharge efficiency.

[0060] Preferably, in some embodiments, the cutterhead propulsion system includes a plurality of cutterhead propulsion cylinders 10, which are arranged circumferentially and axially corresponding to the cutterhead system. The cylinder body of each cutterhead propulsion cylinder 10 is fixed to the cutterhead propulsion cylinder reaction frame 21, and the piston rod end abuts against the back of the cutterhead excavation system 3. Since the cutterhead excavation system 3 remains stationary on the tunnel wall during excavation due to being fixed by the support shoe 20, and rotates synchronously with the slewing support system 12, a bearing structure serving as a slewing support is provided between the cutterhead propulsion cylinder reaction frame 21 and the support shoe system 4. This allows the cutterhead propulsion cylinder 10 to rotate synchronously with the slewing support system 12 and relative to the support shoe system 4. During excavation, the piston rod of the cutterhead propulsion cylinder 10 extends, supporting the cutterhead excavation system 3 and providing axial thrust for the roller cutter to break the rock. Several cutter head propulsion cylinders 10 are evenly arranged circumferentially and correspond to the axial direction of the cutter head system, which ensures the uniformity of thrust distribution and the stability of equipment operation during the propulsion process.

[0061] Preferably, in some embodiments, the slag removal system 6 is located at the lower part of the machine to promptly discharge the rock slag generated during cutting from the working face. The slag removal system 6 employs a planetary shovel conveyor or a belt conveyor. When a planetary shovel conveyor is used, it can scoop up the rock slag at the bottom of the working face and transport it to the conveying channel inside the main machine; when a belt conveyor is used, it is fixedly installed at the lower part of the main machine, and the rock slag falls onto the belt conveyor under gravity and is continuously transported to the rear of the main machine. The conveying capacity of the slag removal system 6 is designed to match the cutting efficiency and the amount of rock slag generated, ensuring that there is no slag accumulation at the working face and guaranteeing continuous cutting operations.

[0062] Preferably, in some embodiments, the intelligent control system includes a multi-source sensing unit, a data processing unit, and a control execution unit. The multi-source sensing units are respectively arranged at key locations such as the main shaft of the cutterhead 8, the motor of the rotary drive 9, the hydraulic circuit of the cutterhead propulsion cylinder 10, the overall machine rotary drive 15, and the frame of the main beam 7, for real-time acquisition of various operating status parameters during the excavation process. The data processing unit is signal-connected to the multi-source sensing units, performs fusion processing on the acquired multi-source parameters, and determines the current cutting state of the cutterhead through a state recognition algorithm. The control execution unit is signal-connected to the data processing unit and is control-connected to the cutterhead system, the main drive system, and the cutterhead propulsion system. Based on the identified cutting state, it dynamically adjusts the cutterhead rotation speed, the overall machine revolution speed, the propulsion speed, and the drive power to ensure that the equipment always maintains a highly efficient and stable cutting state.

[0063] Step-by-step cyclical advancement of work process

[0064] This embodiment, in conjunction with the accompanying drawings, illustrates the step-by-step cyclic propulsion process of a ring-shaped excavation equipment used for underground space construction. The support shoe system 4, the cutterhead propulsion cylinder reaction frame 21, the cutterhead propulsion cylinder 10, and the support shoe step-changing cylinder 19 together constitute a "support-cutting-retraction-step-changing" cyclic propulsion mechanism, enabling the equipment to achieve continuous step-by-step excavation without the need for an overall traction host.

[0065] like Figure 1 As shown, this is the state where the cutterhead propulsion cylinder is retracted and the support shoe step-changing cylinder is extended, which is the initial state after the step change is completed and the next tunneling cycle is about to begin. At this time, the cutterhead propulsion cylinder 10 is in the fully retracted state; the support shoe step-changing cylinder 19 is in the fully extended state, and the cutterhead propulsion cylinder reaction frame 21 together with the support shoe 20 is located at the foremost position of the support shoe track 16.

[0066] At the start of the tunneling cycle, the radial cylinder 23 of the support shoe is first extended, pushing the support shoe 20 radially outward, so that the outer surface of the support shoe 20 presses against the already enlarged tunnel wall of the central guide tunnel 2. After the support shoe 20 presses against the tunnel wall, the reaction frame 21 of the cutterhead propulsion cylinder is fixed at its current axial position by the friction between the support shoe 20 and the tunnel wall, providing stable reaction support for the cutterhead propulsion cylinder 10.

[0067] Subsequently, the slewing drive 9 is started, driving the cutterhead 8 to start rotating around its own axis; at the same time, the whole machine slewing drive 15 is started, driving the slewing support system 12 to start rotating around the tunnel axis through the main drive system 5, and the cutterhead excavation system 3 revolves around the tunnel axis together with the slewing support system 12.

[0068] After the cutterhead 8 reaches its set rotational and revolution speeds, the piston rod of the cutterhead propulsion cylinder 10 slowly extends, pushing the cutterhead excavation system 3 forward axially. The roller cutters on the cutterhead 8 continuously cut the annular rock mass 1 surrounding the central guide tunnel 2 under the combined motion of rotation and revolution. The rock debris generated during cutting falls under gravity to the slag removal system 6 at the bottom of the machine, and is continuously transported to the rear of the main unit.

[0069] During the cutting and tunneling process, the multi-source sensing unit of the intelligent control system collects various operating parameters in real time. The data processing unit fuses and processes the collected parameters to identify the current cutting state of the cutterhead. When an increase in the cutting load of the cutterhead is detected, the control execution unit reduces the rotation speed of the cutterhead, adjusts the feed speed, or optimizes the drive output to avoid tool overload and equipment impact. When a decrease in the cutting load is detected, the feed speed is appropriately increased to keep the equipment in a highly efficient and stable cutting state.

[0070] When the cutterhead advance cylinder 10 is fully extended, that is, after completing one tunneling cycle, the slewing drive 9 is turned off first, and the cutterhead 8 stops rotating; then the whole machine slewing drive 15 is turned off, the slewing support system 12 stops the whole machine slewing, and the cutterhead excavation system 3 stops revolving.

[0071] like Figure 2 As shown, the cutter head push cylinder 10 is fully extended and the support shoe step-changing cylinder 23 is retracted, that is, the cutter head push cylinder 10 is extended to its stroke limit and is about to perform the step-changing of the support shoe system 4.

[0072] First, the piston rod of the cutterhead advance cylinder 10 is retracted, causing the cutterhead excavation system 3 to move axially backward to its final position. After the cutterhead advance cylinder 10 is fully retracted, the support shoe radial cylinder 23 is retracted, causing the support shoe 20 to move radially inward, so that the outer surface of the support shoe 20 detaches from the wall of the central guide tunnel 2.

[0073] After the support shoe 20 detaches from the tunnel wall, the piston rod of the support shoe step-changing cylinder 19 extends, pushing the cutter head propulsion cylinder reaction frame 21, together with the support shoe 20, to move forward along the support shoe guide rail 22. After the support shoe step-changing cylinder 19 is fully extended, the cutter head propulsion cylinder reaction frame 21, together with the support shoe 20, moves to the foremost position of the support shoe track 16, thus completing one step change.

[0074] After the change of pace is completed, the equipment returns to normal. Figure 1 The initial state is shown, and then the above-described cycle of "tightening—cutting—retraction—step change" is repeated to achieve continuous step-by-step tunneling. Throughout the tunneling process, the main beam 7 maintains radial stability through the tail stabilizing support 18. The main machine itself does not require axial traction; the continuous forward propulsion of the entire machine can be achieved solely through the stepping action of the support shoe system 4.

[0075] The advantages of the aforementioned stepping cycle propulsion mechanism are as follows: the tunneling reaction force is transmitted to the tunnel wall by the support shoe 20, eliminating the need for a complex traction system behind the main unit; after completing one tunneling cycle, stepping can be achieved simply by extending and retracting the support shoe step-changing cylinder 19, resulting in short auxiliary operation time and strong continuous construction capability; the support shoe 20 has a large contact area with the tunnel wall, resulting in low pressure per unit area and minimal disturbance to the surrounding rock of the central guide tunnel 2, making it suitable for various surrounding rock conditions.

[0076] Preferably, in some embodiments, the intelligent control system collects the operating status parameters during the excavation process in real time through multi-source sensing units, uses data fusion algorithms to identify the load status in real time, and dynamically matches and adjusts the cutterhead operating parameters according to the identification results, thus constructing an integrated intelligent control closed loop of "perception-decision-execution-feedback".

[0077] I. Collection of Operating Parameters

[0078] Multiple types of sensors are arranged in the structural frame of the cutterhead 8, cutterhead rotation drive 9, cutterhead propulsion cylinder 10, whole machine rotation drive 15, and main beam 7 to collect real-time operating status parameters during the excavation process. The collected parameters mainly include the following five categories:

[0079] (1) Cutting load parameters of the cutter head:

[0080]

[0081] in, This refers to the cutting torque of the cutter head;

[0082] (2) Tool head drive parameters:

[0083]

[0084] in, For the drive motor current, This is the rotational speed of the cutter head;

[0085] (3) Propulsion status parameters:

[0086]

[0087] in, For propulsion, To accelerate;

[0088] (4) Structural vibration parameters:

[0089]

[0090] in, These represent vibration accelerations in three directions, respectively.

[0091] (5) Surrounding rock and cutting condition parameters:

[0092]

[0093] in, This represents the equivalent rock mass cutting impedance calculated based on the characteristics of the cutterhead load variation.

[0094] The real-time state vector of the excavation equipment is established using the above parameters:

[0095]

[0096] 2. Cutterhead cutting state recognition algorithm: Since the cutterhead only cuts the rock ring area around the central guide tunnel during the ring excavation process, its cutting state has obvious nonlinear characteristics as the surrounding rock changes. Therefore, a cutterhead state recognition model based on fuzzy clustering is established.

[0097] First, the collected data is normalized:

[0098]

[0099] Establish the state sample matrix:

[0100]

[0101] The cutting state is classified using the fuzzy C-means clustering algorithm (FCM):

[0102] The objective function is:

[0103]

[0104] in:

[0105] Let be the membership degree of the i-th sample belonging to the j-th state;

[0106] It is the state center of the j-th class;

[0107] This is the fuzzy index.

[0108] After training, the operating states of the cutter head are divided into:

[0109]

[0110] in:

[0111] Low-load, high-efficiency cutting condition;

[0112] : Normal and stable cutting state;

[0113] High load overload risk state;

[0114] Abnormal impact or tool failure condition. The controller calculates based on real-time acquired data:

[0115]

[0116] Obtain the current working status of the tool turret.

[0117] 3. Cutterhead Load Prediction Algorithm: To avoid the lag caused by traditional control methods adjusting parameters only based on the current load, this invention establishes a cutting load prediction model based on Long Short-Term Memory (LSTM) network.

[0118] Input the historical state sequence:

[0119]

[0120] Establish a load forecasting model:

[0121]

[0122] in

[0123]

[0124] This indicates the predicted cutting torque of the cutterhead within a future time period.

[0125] The internal calculation process of LSTM is as follows:

[0126]

[0127]

[0128]

[0129] The combined results are:

[0130]

[0131] Final output:

[0132]

[0133]

[0134] By predicting future load changes, the operating parameters of the cutterhead can be adjusted in advance.

[0135] 4. Adaptive control algorithm based on predicted load

[0136] Establish tool turret control variables

[0137]

[0138] in, : Cutter head rotation speed;

[0139] : Propulsion speed;

[0140] Drive power.

[0141] Establish the objective function:

[0142]

[0143] in: To achieve the optimal cutting torque;

[0144] Energy consumption per unit volume of rock crushing;

[0145] , , These are the weighting coefficients.

[0146] The control parameters are obtained through gradient optimization:

[0147]

[0148] in: To control the learning rate.

[0149] 5. Cutterhead Rotation-Revolution Coordinated Control Algorithm

[0150] Since this invention adopts a composite motion mode in which the cutterhead rotates around its own axis and revolves around the tunnel axis, a cutterhead motion matching model is established.

[0151] set up:

[0152] Cutter head rotation angular velocity:

[0153]

[0154] Overall rotational angular velocity:

[0155]

[0156] Overall rotational angular velocity:

[0157]

[0158] in: The radius of the hob from the center of the cutter head;

[0159] The distance between the hobbing cutter and the rotation center of the machine is the radius.

[0160] Based on the target cutting speed:

[0161]

[0162] Establish speed matching relationship:

[0163]

[0164] when:

[0165]

[0166] Increase the rotation speed of the cutter head:

[0167]

[0168] when:

[0169]

[0170] Reduce the rotation speed of the cutter head:

[0171]

[0172] This ensures that the hob is always within the optimal cutting speed range.

[0173] Through the aforementioned rotation-revolution coordinated control, the hobs at different radial positions on the cutter head are always kept within the optimal cutting speed range, reducing repeated cutting, missed cutting, and local overload, thereby improving tool utilization and cross-section forming accuracy. Simultaneously, by controlling the matching relationship between the cutter head's rotation speed and the machine's overall revolution speed, the spacing between adjacent cutting trajectories can be precisely controlled, ensuring the cutting coverage and forming quality of the annular rock surface.

[0174] like Figure 7 and Figure 8The diagram shows the cutterhead excavation trajectory. The machine's rotation center 26 is located on the tunnel axis, and the pre-set annular excavation trajectory 25 is the annular area between the designed tunnel outline and the outer edge of the central guide tunnel. Under the combined motion of rotation and revolution, the cutterhead 8's cutting trajectory 27 forms a continuous spiral or annular line on the annular rock surface, completely covering the entire pre-set annular excavation trajectory 25. Through coordinated rotation-revolution control, the spacing between adjacent cutting trajectories is uniform, with no obvious missed or repeated cutting areas, ensuring cross-section forming accuracy and cutting efficiency.

[0175] The annular excavation equipment of this invention for underground space construction can also be applied to cross-sectional diameter expansion and conversion in compressed air energy storage tunnels, highway tunnels, subway tunnels, municipal utility tunnels, and "tunnel-first, station-later" construction, demonstrating strong engineering adaptability. In the construction of ultra-large diameter tunnels, the equipment of this invention eliminates the need for ultra-large diameter main bearings, further reducing equipment and engineering costs.

[0176] All aspects not detailed in this invention are conventional technical means known to those skilled in the art.

[0177] The above content shows and describes the basic principles, main features, and beneficial effects of this technical solution. The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of this technical solution. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this technical solution should be included within the protection scope of this technical solution.

Claims

1. A ring-shaped excavation device for underground space construction, used for an already excavated central pilot tunnel, characterized in that, It includes the main beam, slewing support system, main drive system, support shoe system, cutterhead excavation system, cutterhead propulsion system, and muck removal system; The slewing support system is coaxially mounted on the front end of the main beam; the main drive system drives the slewing support system to rotate around the tunnel axis; the support shoe system includes support shoes and a cutterhead propulsion cylinder reaction frame, the support shoes are used to radially support the central guide tunnel wall and cyclically advance along the tunnel axis; the cutterhead excavation system includes several independently rotating cutterhead systems, the cutterhead systems are arranged circumferentially on the front end face of the slewing support system and revolve with it, the cutting trajectory of the roller cutters on the cutterhead systems covers the annular area between the outer edge of the central guide tunnel and the designed tunnel outline; the cutterhead propulsion system includes several propulsion cylinders, the propulsion cylinders are supported between the cutterhead propulsion cylinder reaction frame and the cutterhead excavation system, and rotate synchronously with the slewing support system and relative to the support shoe system, to provide axial tunneling thrust for the cutterhead excavation system.

2. The ring-shaped excavation equipment for underground space construction according to claim 1, characterized in that, Each cutter head system includes a cutter head, a rotary drive, and a rotary support shaft. The rotary drive is fixed to the rotary support system and is connected to the cutter head via the rotary support shaft. The cutter head rotates around its own axis.

3. The ring-shaped excavation equipment for underground space construction according to claim 2, characterized in that, The cutter head is a planar circular cutter head or a conical cutter head; the conical cutter head has a conical structure with the tip outside, and the hobbing cutters are arranged along the conical inclined surface.

4. The annular excavation equipment for underground space construction according to any one of claims 1-3, characterized in that, The main structure of the rotary support system is a straight line, a star-shaped or cross-shaped structure, or a ring with a crossbeam. The plurality of cutterhead systems are symmetrically or evenly distributed along the front end face of the rotary support system.

5. The ring-shaped excavation equipment for underground space construction according to claim 4, characterized in that, The plurality of propulsion cylinders are arranged circumferentially and are axially corresponding to the cutter head system.

6. The annular excavation equipment for underground space construction according to any one of claims 1-3 and 5, characterized in that, The front end of the propulsion cylinder is rigidly connected to the rotary support system, and the rear end is abutted against the reaction frame of the cutter head propulsion cylinder. The reaction frame of the cutter head propulsion cylinder is rotatably connected to the support shoe system through a bearing structure.

7. The ring-shaped excavation equipment for underground space construction according to claim 6, characterized in that, The support shoe system also includes a support shoe track and a support shoe step-changing cylinder. The support shoe track extends along the axial direction of the main beam. The support shoe and the cutter head propulsion cylinder reaction frame move along the axial direction of the support shoe track. The support shoe step-changing cylinder is connected between the support shoe track and the support shoe.

8. The annular excavation equipment for underground space construction according to any one of claims 1-3, 5, and 7, characterized in that, The main drive system includes a slewing bearing, a drive motor, and a transmission gear. The drive motor drives the inner or outer ring of the slewing bearing to rotate through the transmission gear, thereby driving the slewing support system to rotate.

9. The ring-shaped excavation equipment for underground space construction according to claim 8, characterized in that, The slag removal system is located at the bottom of the machine. The slag removal system is a planetary shovel conveyor or a belt conveyor. The main beam is also equipped with a tail stabilizing support.

10. The annular excavation equipment for underground space construction according to any one of claims 1-3, 5, 7, and 9, characterized in that, It also includes an intelligent control system, which comprises a multi-source sensing unit, a data processing unit, and a control execution unit. The multi-source sensing unit is arranged in the cutter head system, main drive system, cutter head propulsion system, and main beam to collect operating status parameters in real time. The data processing unit is signal-connected to the multi-source sensing unit and is used to perform data fusion processing on the collected operating status parameters to identify the cutter head cutting status. The control execution unit is signal-connected to the data processing unit and is control-connected to the cutter head system, main drive system, and cutter head propulsion system to dynamically match and adjust the cutter head rotation speed, overall machine revolution speed, propulsion speed, and drive power according to the identified cutter head cutting status.

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