A TBM L1 zone support equipment mounting device, support system and TBM

Abstract

The utility model belongs to the field of tunneling equipment, and specifically provides a TBM L1 area supporting equipment carrying device, supporting system and TBM. The carrying device includes a main beam, a saddle frame movable along the main beam is arranged on the main beam, a multi-degree-of-freedom mechanical arm is arranged at the front upper position of the saddle frame, an equipment mounting seat is arranged at the output end of the mechanical arm, the supporting equipment is sent to the working position through the action of the mechanical arm, the equipment mounting seat has a general connecting interface for detachably mounting different supporting equipment, and different supporting equipment is replaced through the general connecting interface. The supporting system includes the above-mentioned carrying device. The TBM includes the above-mentioned supporting system. The utility model can reduce the length of the main beam and the vibration of the main beam in the construction process while meeting the normal work of different supporting equipment.

Description

Technical Field

[0001] This utility model belongs to the field of tunneling equipment, and in particular relates to a TBM L1 zone support equipment mounting device, support system and TBM. Background Technology

[0002] In open-cut TBM construction, tunnels are typically reinforced and supported to ensure safety, with bolt support being a common method. If adverse geological conditions are encountered, advanced support equipment is often required to provide pre-support for the surrounding rock. Therefore, TBMs are generally equipped with various support systems to enhance tunnel excavation safety. For example, TBMs can be equipped with bolt drilling rigs for bolt support, cable drilling rigs for cable support, emergency shotcrete systems for shotcrete support, advanced drilling rigs for pre-geological treatment, and injection molding systems to address the impact of surrounding rock collapse.

[0003] To ensure timely support, the corresponding support equipment is often installed in the L1 zone (the area between the shield and the support shoe). When mounting the support equipment, a separate mounting device is often required on the main beam. This device includes a fixed base, a gear ring, and a movable base that can move along the gear ring. This complex structure occupies a significant amount of space, resulting in a longer main beam. Consequently, the main beam is prone to strong vibrations during tunneling and is detrimental to TBM steering. For example, the TBM disclosed in patent documents with publication numbers CN116044428A and CN113216988A.

[0004] For complex geological conditions, a large number of support equipment are required during construction. Traditional mounting devices are also difficult to meet the needs of different equipment or operations. They can generally only drive the support equipment to rotate circumferentially to different positions, which is not flexible. Utility Model Content

[0005] The purpose of this utility model is to provide a TBM L1 zone support equipment mounting device to solve the technical problems of existing L1 zone mounting devices having complex structures that easily lead to excessively long main beams and poor flexibility. The purpose of this utility model is also to provide a TBM L1 zone support system to solve the same technical problems. Furthermore, the purpose of this utility model is also to provide a TBM to solve the same technical problems.

[0006] To achieve the above objectives, the technical solution of the TBM L1 zone support equipment mounting device provided by this utility model is as follows:

[0007] A TBM L1 zone support equipment mounting device includes a main beam, on which a saddle that can move back and forth is mounted. A multi-degree-of-freedom robotic arm is located at the upper front end of the saddle. The output end of the robotic arm is provided with an equipment mounting seat for installing support equipment, so that the support equipment can be delivered to the working position by the movement of the robotic arm. The equipment mounting seat has a universal connection interface for detachable installation of different support equipment, so that different support equipment can be disassembled and replaced through the universal connection interface.

[0008] As a further improvement, the robotic arm is attached to the front end face of the saddle.

[0009] As a further improvement, two robotic arms are configured, with the two robotic arms positioned on the left and right sides of the front end of the saddle respectively.

[0010] As a further improvement, the robotic arm includes a base fixed on a saddle, on which a telescopic arm that can swing left and right is hinged. The telescopic arm includes a telescopic outer arm hinged to the base and a telescopic inner arm that can extend and retract along the telescopic outer arm. A folding arm is hinged to one end of the telescopic inner arm away from the telescopic outer arm. The hinge axis of the folding arm and the telescopic inner arm is parallel to the hinge axis of the telescopic outer arm and the base. The folding arm constitutes the output end of the robotic arm.

[0011] This utility model is a pioneering invention, and its beneficial effects are as follows: During use, the corresponding support equipment can be mounted on the equipment mounting base at the output end of the robotic arm, and driven by the robotic arm, it can be delivered to the corresponding working position, thus completing the support operation more flexibly. Because the equipment mounting base is equipped with a universal connection interface, different support equipment can be disassembled and replaced according to actual needs to meet the support operation requirements of complex strata.

[0012] Meanwhile, the robotic arm is positioned at the upper front end of the saddle frame, eliminating the need for other mounting structures on the main beam. The robotic arm is located entirely above the main beam, which means that compared to existing technologies, this invention can reduce the space occupied by the support equipment mounting device along the length of the main beam, thereby facilitating the shortening of the main beam length and reducing vibration during construction. This also makes the TBM suitable for tunnel construction with small turning radii.

[0013] To achieve the above objectives, the technical solution of the TBM L1 zone support system provided by this utility model is as follows:

[0014] A TBM L1 zone support system includes a main beam, on which a saddle that can move back and forth is mounted. A multi-degree-of-freedom robotic arm is located at the upper front end of the saddle. An equipment mounting base is provided at the output end of the robotic arm. Support equipment is mounted on the equipment mounting base so that the support equipment can be delivered to the working position by the movement of the robotic arm. The equipment mounting base has a universal connection interface for the detachable installation of different support equipment, so that different support equipment can be disassembled and replaced through the universal connection interface.

[0015] As a further improvement, the robotic arm is attached to the front end face of the saddle.

[0016] As a further improvement, two robotic arms are configured, with the two robotic arms positioned on the left and right sides of the front end of the saddle respectively.

[0017] As a further improvement, the robotic arm includes a base fixed on a saddle, on which a telescopic arm that can swing left and right is hinged. The telescopic arm includes a telescopic outer arm hinged to the base and a telescopic inner arm that can extend and retract along the telescopic outer arm. A folding arm is hinged to one end of the telescopic inner arm away from the telescopic outer arm. The hinge axis of the folding arm and the telescopic inner arm is parallel to the hinge axis of the telescopic outer arm and the base. The folding arm constitutes the output end of the robotic arm.

[0018] As a further improvement, different support equipment includes anchor drilling rigs, advanced drilling rigs, jet grouting robots, and formwork assembly robots.

[0019] This utility model is a pioneering invention, and its beneficial effects are as follows: During use, the corresponding support equipment can be mounted on the equipment mounting base at the output end of the robotic arm, and driven by the robotic arm, it can be delivered to the corresponding working position, thus completing the support operation more flexibly. Because the equipment mounting base is equipped with a universal connection interface, different support equipment can be disassembled and replaced according to actual needs to meet the support operation requirements of complex strata.

[0020] Meanwhile, the robotic arm is positioned at the upper front end of the saddle frame, eliminating the need for other mounting structures on the main beam. The robotic arm is located entirely above the main beam, which means that compared to existing technologies, this invention can reduce the space occupied by the support equipment mounting device along the length of the main beam, thereby facilitating the shortening of the main beam length and reducing vibration during construction. This also makes the TBM suitable for tunnel construction with small turning radii.

[0021] To achieve the above objectives, the technical solution for the TBM provided by this utility model is as follows:

[0022] A TBM has a support system configured in zone L1. The support system includes a main beam, on which a saddle that can move back and forth is configured. A multi-degree-of-freedom robotic arm is located at the upper front end of the saddle. An equipment mounting seat is provided at the output end of the robotic arm. The equipment mounting seat is equipped with support equipment, so that the support equipment can be delivered to the working position by the movement of the robotic arm. The equipment mounting seat has a universal connection interface for the detachable installation of different support equipment, so that different support equipment can be disassembled and replaced through the universal connection interface.

[0023] As a further improvement, the robotic arm is attached to the front end face of the saddle.

[0024] As a further improvement, two robotic arms are configured, with the two robotic arms positioned on the left and right sides of the front end of the saddle respectively.

[0025] As a further improvement, the robotic arm includes a base fixed on a saddle, on which a telescopic arm that can swing left and right is hinged. The telescopic arm includes a telescopic outer arm hinged to the base and a telescopic inner arm that can extend and retract along the telescopic outer arm. A folding arm is hinged to one end of the telescopic inner arm away from the telescopic outer arm. The hinge axis of the folding arm and the telescopic inner arm is parallel to the hinge axis of the telescopic outer arm and the base. The folding arm constitutes the output end of the robotic arm.

[0026] As a further improvement, different support equipment includes anchor drilling rigs, advanced drilling rigs, jet grouting robots, and formwork assembly robots.

[0027] This utility model is an improved invention, and its beneficial effects are: during construction, the corresponding support equipment can be mounted on the equipment mounting base at the output end of the robotic arm, and driven by the robotic arm, it can be sent to the corresponding working position, thus completing the support operation more flexibly. Since the equipment mounting base is equipped with a universal connection interface, different support equipment can be disassembled and replaced according to actual needs to meet the support operation requirements of complex strata.

[0028] Meanwhile, the robotic arm is positioned at the upper front end of the saddle frame, eliminating the need for other mounting structures on the main beam. The robotic arm is located entirely above the main beam, which means that compared to existing technologies, this invention can reduce the space occupied by the support equipment mounting device along the length of the main beam, thereby facilitating the shortening of the main beam length and reducing vibration during construction. This also makes the TBM suitable for tunnel construction with small turning radii. Attached Figure Description

[0029] Figure 1 This is a front view of an embodiment of the TBM L1 zone support system of this utility model (with anchor drilling rig configured).

[0030] Figure 2This is a top view of an embodiment of the TBM L1 zone support system in this utility model (with anchor drilling rig configured).

[0031] Figure 3 This is a front view of an embodiment of the TBM L1 zone support system in this utility model (with advanced drilling rig configured).

[0032] Figure 4 This is a front view of an embodiment of the TBM L1 zone support system of this utility model (configured with a spraying robot).

[0033] Figure 5 This is a top view of the TBM L1 zone support system implementation method of this utility model (configured with a template assembly robot).

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Main beam; 2. Saddle frame; 3. Propulsion cylinder; 4. Robotic arm; 5. Base; 6. Telescopic outer arm; 7. Telescopic cylinder; 8. Telescopic inner arm; 9. Folding arm; 10. Support shoe; 100. Anchor drilling rig; 200. Advanced drilling rig; 300. Mixed spraying robot; 400. Template assembly robot. Detailed Implementation

[0036] In response to the technical problems of complex structure, poor flexibility, and excessive length of main beam in the L1 area support equipment mounting device, the basic technical concept of this utility model is to connect a multi-degree-of-freedom robotic arm to the upper front end of the TBM saddle, and mount the support equipment on the output end of the multi-degree-of-freedom robotic arm so that the robotic arm can deliver the support equipment to a suitable working position to carry out support operations at different positions of the tunnel wall.

[0037] Meanwhile, the connection interface for the support equipment at the output end of the robotic arm is a universal connection interface. During construction, different support equipment can be disassembled and replaced according to actual needs, thereby meeting the support needs of complex strata.

[0038] Based on the above concept, the present invention will be further described in detail below with reference to the embodiments.

[0039] Specific implementation of the TBM L1 zone support system provided by this utility model:

[0040] The TBM L1 zone support system provided in this embodiment includes a mounting device and support equipment mounted on the mounting device, so as to Figure 1 and Figure 2For example, the support equipment can be a bolt drilling rig 100, which can drill bolts into the tunnel wall to achieve bolt support. The structure and operating principle of the bolt drilling rig 100 itself are existing technologies and will not be described in detail here. The following focuses on a detailed description of the mounting device.

[0041] The mounting device includes a main beam 1, which is the main beam 1 of the TBM. A saddle 2 is mounted on the main beam 1 and can move back and forth along the main beam 1. Specifically, a cooperating guide mechanism, such as rollers or guide rails, is provided between the saddle 2 and the main beam 1. Multiple propulsion cylinders 3 are connected between the saddle 2 and the main beam 1, and support shoes 10 are mounted on the saddle 2.

[0042] During TBM construction, the support shoes 10 on the saddle frame 2 extend outwards to brace the tunnel walls on both sides, and the propulsion cylinder 3 extends forward, thereby pushing the main beam 1 and the cutterhead in front to advance the tunnel. After tunneling a certain distance, the support shoes 10 retract, and the propulsion cylinder 3 retracts to pull the saddle frame 2 forward along the main beam 1. This process is consistent with that of a conventional TBM.

[0043] In this embodiment, a robotic arm 4 with multiple degrees of freedom is provided at the upper front end of the saddle 2. The support equipment (such as an anchor drilling rig 100) is installed at the output end of the robotic arm 4. That is, the output end of the robotic arm 4 is provided with a mounting base for installing the support equipment. Driven by the robotic arm 4, the support equipment can be delivered to the working position to meet the support requirements of the tunnel roof during construction.

[0044] Since the initial support for L1 mainly involves the top of the tunnel, the robotic arm 4 should have the freedom to move forward and backward and swing left and right, based on the upper part of the front end of the saddle 2, so that the support equipment can cover different positions in front, back, left and right of L1.

[0045] Depending on the specific support requirements, the equipment mounting base at the output end of the robotic arm 4 can be interchanged with different support equipment. For example, if it is necessary to drill anchor bolts into the tunnel wall, an anchor bolt drilling rig 100 can be installed on the equipment mounting base; if advanced geological treatment is required, an advanced drilling rig 200 can be installed on the equipment mounting base. Figure 3 As shown; if it is necessary to spray concrete onto the tunnel wall, a 300-type spraying robot can be installed on the equipment mounting base, such as... Figure 4 As shown; for poor geological formations, if it is necessary to pour concrete for the tunnel walls, a formwork assembly robot 400 can be installed on the equipment mounting base to assist in assembling and pouring the formwork, such as... Figure 5 As shown.

[0046] The specific structures and working principles of the advanced drilling rig 200, the mixed spraying robot 300, and the template assembly robot 400 are all existing technologies and will not be described in detail here.

[0047] In other words, the equipment mounting base has a universal connection interface that can be used to install and detach different support equipment, and then different support equipment can be installed and replaced through the universal connection interface.

[0048] Specifically, as a relatively simple embodiment, the universal connection interface can be a flange. A flange is configured on the support equipment, and the support equipment can be disassembled and assembled by removing and installing the bolts connecting the flange.

[0049] As an alternative embodiment, the universal connection interface can also adopt a plug-in mating assembly to enable quick plug-in and quick disconnection of the device and the device mounting base.

[0050] Compared with the prior art, this embodiment has at least the following advantages:

[0051] First, driven by the flexible robotic arm 4, the support equipment can cover a certain area, thereby flexibly carrying out support operations in the L1 area.

[0052] Secondly, this embodiment allows for the replacement and installation of different support devices on the equipment mounting base, thereby enabling the selection and installation of corresponding support devices according to actual support needs. It eliminates the need for an independent mounting bracket for each support device, resulting in a simple structure.

[0053] Third, the robotic arm 4 is mounted on the saddle 2. As the saddle 2 is an essential structure of traditional TBMs, there is no need to configure an independent mounting bracket for the support equipment. This reduces the space occupied by the support equipment mounting device in the length direction of the main beam 1, which makes it easier to shorten the length of the main beam 1 and reduce the vibration of the main beam 1 during construction. It also makes the TBM suitable for tunnel construction with small turning radii.

[0054] Based on the above embodiments, preferably, such as Figure 1 and Figure 2 As shown, the robotic arm 4 is connected to the front end face of the saddle 2. This reduces the radial space occupied by the robotic arm 4 in the tunnel and allows the robotic arm 4 to be positioned in front of the saddle 2, facilitating its flexible operation.

[0055] It should be noted that in other alternative embodiments, the robotic arm 4 can also be connected to the front outer peripheral surface of the saddle 2.

[0056] In a preferred embodiment, such as Figure 1 and Figure 2As shown, two robotic arms 4 are configured, and the two robotic arms 4 are respectively arranged on the left and right sides of the front end of the saddle 2. With this design, the two robotic arms 4 can be responsible for the support work of the tunnel walls on the left and right sides respectively, which is convenient and efficient. At the same time, the space between the two robotic arms 4 can form a material transportation channel, which can be used to transport materials (such as arch frames, cutting tools, etc.) during construction.

[0057] It should be noted that in other alternative embodiments, only one robotic arm 4 may be configured, in which case the robotic arm 4 can be installed centered horizontally. During construction, relevant materials can be transported from the bottom of the main beam 1 and the space between the tunnel.

[0058] Regarding the multi-degree-of-freedom robotic arm 4, such as Figure 1 and Figure 2 As shown, in one specific embodiment, the robotic arm 4 includes a base 5 fixed to a saddle 2. A telescopic arm is hinged to the base 5, and the telescopic arm can swing left and right. That is, the hinge axis between the telescopic arm and the base 5 extends vertically. Of course, to realize the left and right swing of the telescopic arm, a driving device is naturally connected between the telescopic arm and the base 5 (or the saddle 2), such as a hydraulic cylinder or an electric push rod. The telescopic arm includes a telescopic inner arm 8 and a telescopic outer arm 6. The telescopic outer arm 6 is hinged to the base 5, and the telescopic inner arm 8 can extend and retract along the telescopic outer arm 6. Naturally, a driving device, such as a telescopic hydraulic cylinder 7 or an electric push rod, is connected between the telescopic inner arm 8 and the telescopic outer arm 6. A folding arm 9 is hinged to the end of the telescopic inner arm 8 away from the telescopic outer arm 6. The hinge axis between the folding arm 9 and the telescopic inner arm 8 is parallel to the hinge axis between the telescopic outer arm 6 and the base 5. Of course, a drive device, such as a hydraulic cylinder or an electric actuator, is also connected between the folding arm 9 and the telescopic inner arm 8 to drive the folding arm 9 to "fold" and swing. The folding arm 9 constitutes the output end of the robotic arm 4 for mounting support equipment.

[0059] During construction, if it is necessary to move the support equipment forward or backward, the telescopic inner boom 8 can be adjusted by extending or retracting. If it is necessary to move the support equipment left or right significantly, the telescopic boom can be swung left or right. If it is necessary to move the support equipment left or right slightly, the folding boom 9 can be swung left or right.

[0060] It should be noted that the specific structure of the robotic arm 4 is not limited to the one described above. In fact, to flexibly deliver the support equipment to different working positions or to flexibly adjust the posture of the support equipment, other embodiments may add a slewing mechanism to the robotic arm 4. The axis of the slewing mechanism extends along the length of the robotic arm 4, thus adjusting the orientation of the support equipment. In some embodiments, the structure of the robotic arm 4 may also refer to the robotic arms 4 equipped on existing construction trolleys such as rock drilling rigs and arch frame rigs. In short, this utility model does not strictly limit the specific structure of the robotic arm 4, as long as its range of motion is sufficient to deliver the support equipment to the working position.

[0061] Regarding the types of support equipment, the support equipment provided above includes anchor drilling rig 100, advanced drilling rig 200, jet grouting robot 300, and formwork assembly robot 400. This is to account for the complexity of the geology and to configure a variety of support equipment accordingly. In other implementation methods, the support equipment is configured as needed and does not necessarily have to include the above four types.

[0062] Specific embodiments of the TBM L1 zone support equipment mounting device provided by this utility model:

[0063] The implementation method of the TBM L1 zone support equipment mounting device is the same as the mounting device described in the above implementation method of the TBM L1 zone support system, and will not be described in detail here.

[0064] Specific embodiments of the TBM provided by this utility model:

[0065] The TBM is equipped with a support system in the L1 zone. The implementation method of the support system is the same as that of the TBM L1 zone support system described above. The other structures of the TBM can be the same as those of a conventional TBM, and will not be described in detail here.

[0066] Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A TBM L1 zone support equipment mounting device, characterized in that, It includes a main beam, on which a saddle that can move back and forth is mounted. A multi-degree-of-freedom robotic arm is located at the upper front end of the saddle. The output end of the robotic arm is equipped with a mounting base for installing support equipment, so that the support equipment can be delivered to the working position by the movement of the robotic arm. The mounting base has a universal connection interface for the detachable installation of different support equipment, so that different support equipment can be disassembled and replaced through the universal connection interface.

2. The TBM L1 zone support equipment mounting device according to claim 1, characterized in that, The robotic arm is attached to the front end face of the saddle.

3. The TBM L1 zone support equipment mounting device according to claim 1 or 2, characterized in that, There are two robotic arms, which are positioned on the left and right sides of the front end of the saddle.

4. The TBM L1 zone support equipment mounting device according to claim 1 or 2, characterized in that, The robotic arm includes a base fixed on a saddle, with a telescopic arm hinged to the base that can swing left and right. The telescopic arm includes a telescopic outer arm hinged to the base and a telescopic inner arm that can extend and retract along the telescopic outer arm. A folding arm is hinged to the end of the telescopic inner arm away from the telescopic outer arm. The hinge axis between the folding arm and the telescopic inner arm is parallel to the hinge axis between the telescopic outer arm and the base. The folding arm constitutes the output end of the robotic arm.

5. A TBM L1 zone support system, characterized in that, It includes a main beam, on which a saddle that can move back and forth is mounted. A multi-degree-of-freedom robotic arm is located at the upper front end of the saddle. An equipment mounting seat is located at the output end of the robotic arm. The equipment mounting seat is equipped with support equipment, which is delivered to the working position by the movement of the robotic arm. The equipment mounting seat has a universal connection interface for the detachable installation of different support equipment, so that different support equipment can be disassembled and replaced through the universal connection interface.

6. The TBM L1 zone support system according to claim 5, characterized in that, The robotic arm is attached to the front end face of the saddle.

7. The TBM L1 zone support system according to claim 5 or 6, characterized in that, There are two robotic arms, which are positioned on the left and right sides of the front end of the saddle.

8. The TBM L1 zone support system according to claim 5 or 6, characterized in that, The robotic arm includes a base fixed on a saddle, with a telescopic arm hinged to the base that can swing left and right. The telescopic arm includes a telescopic outer arm hinged to the base and a telescopic inner arm that can extend and retract along the telescopic outer arm. A folding arm is hinged to the end of the telescopic inner arm away from the telescopic outer arm. The hinge axis between the folding arm and the telescopic inner arm is parallel to the hinge axis between the telescopic outer arm and the base. The folding arm constitutes the output end of the robotic arm.

9. The TBM L1 zone support system according to claim 5 or 6, characterized in that, Different support equipment includes anchor drilling rigs, advanced drilling rigs, spraying robots, and formwork assembly robots.

10. A TBM, characterized in that, a support system is configured in zone L1, wherein, The support system is the TBM L1 zone support system as described in any one of claims 5-9.

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