CN-121976808-A - Walking type heading machine and control method

CN121976808ACN 121976808 ACN121976808 ACN 121976808ACN-121976808-A

Abstract

The embodiment of the application provides a walking type heading machine and a control method, and relates to the technical field of heading equipment. The walking type tunneling machine comprises a main machine body, a main beam, a first pushing support structure and a second pushing support structure, wherein the main beam is connected with the main machine body, the first pushing support structure and the second pushing support structure comprise a plurality of groups of pushing support assemblies, the pushing support assemblies of the first pushing support structure and the second pushing support structure are alternately arranged along the circumferential direction of the main beam, each group of pushing support assemblies comprises pushing members and supporting shoe groups, the supporting shoe groups move relative to the main beam to be tightly supported on surrounding rocks, the pushing members are used for providing tunneling thrust for the main beam when the supporting shoe groups are tightly supported on the surrounding rocks, the pushing support assemblies of the first pushing support structure and the second pushing support structure are configured to alternately support on the surrounding rocks along the tunneling moving direction of the main beam, and provide tunneling thrust for the main beam, so that step-changing operation is carried out in the tunneling process, the tunneling motion is not required to be stopped, the continuous tunneling operation is ensured, and continuous tunneling operation is realized.

Inventors

HOU KUNZHOU
Ren sainan
HUANG CHUNXIA
WANG PENGCHAO
FANG SIYUAN
DING BINBIN
QI ZHAN
WU CHANGJUN
XU SHU

Assignees

中国铁建重工集团股份有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (10)

1. A walking heading machine, comprising: -a main machine (500), the main machine (500) for breaking rock; A main beam (100), the main beam (100) being connected with the main machine (500); -a first propulsion support structure (210) and a second propulsion support structure (220), each of the first propulsion support structure (210) and the second propulsion support structure (220) comprising a plurality of sets of propulsion support assemblies (300), the propulsion support assemblies (300) of the first propulsion support structure (210) and the second propulsion support structure (220) being alternately arranged along the circumference of the main girder (100); each group of the propulsion support assemblies (300) comprises a propulsion piece (310) and a supporting shoe group (320), one end of the propulsion piece (310) is connected with the main beam (100), the other end of the propulsion piece (310) is connected with the supporting shoe groups (320), the supporting shoe groups (320) move relative to the main beam (100) to be supported on surrounding rocks (900), and the propulsion piece (310) is used for providing tunneling thrust for the main beam (100) when the supporting shoe groups (320) are supported on the surrounding rocks (900); the propulsion support assemblies (300) of the first propulsion support structure (210) and the second propulsion support structure (220) are configured to alternately tighten on the surrounding rock (900) along the direction of the main beam (100) tunneling movement and provide a tunneling thrust to the main beam (100).
2. The walk-behind heading machine of claim 1 further comprising a controller (400), the controller (400) being electrically connected to each of the plurality of sets of propulsion support assemblies (300), the controller (400) being configured to control each set of propulsion support assemblies (300) individually.
3. The walking heading machine of claim 1 wherein said stay shoe set (320) includes a telescoping arm (321) and a stay shoe plate (322), one end of said telescoping arm (321) being connected to said main beam (100), the other end of said telescoping arm (321) being connected to said stay shoe plate (322), said telescoping arm (321) moving relative to said main beam (100) to drive said stay shoe plate (322) to stay against said surrounding rock (900).
4. A walking heading machine as claimed in claim 3 wherein each set of said propulsion support assemblies (300) further comprises a first link (330), a second link (340) and a third link (350); The first connecting piece (330) is arranged on the shoe supporting plate (322), and the first connecting piece (330) is hinged with the pushing piece (310) and the telescopic arm (321) respectively; the second connecting piece (340) is arranged on the main beam (100), and the second connecting piece (340) is hinged with one end of the telescopic arm (321) far away from the shoe supporting plate (322); the third connecting piece (350) is arranged on the main beam (100), and the third connecting piece (350) is hinged with one end, far away from the shoe supporting plate (322), of the propelling piece (310).
5. A walking tunneling machine according to claim 3, characterized in that the surface of said shoe plate (322) facing away from said telescopic arm (321) is provided with a projection (323); the telescopic arm (321) is a telescopic oil cylinder, and the propelling piece (310) is a propelling oil cylinder.
6. The walking tunneling machine according to any of claims 1-5, wherein said host machine (500) comprises a cutterhead (510) and a drive motor (520), said drive motor (520) is disposed on said main beam (100), said drive motor (520) is connected to said cutterhead (510), said cutterhead (510) is connected to said main beam (100), and said drive motor (520) is used to drive said cutterhead (510) to rotate relative to said main beam (100).
7. The walking tunneling machine of claim 6, further comprising a support device (600), said support device (600) being slidably connected to said main beam (100), said support device (600) being adapted to abut said surrounding rock (900), a plurality of sets of said propulsion support assemblies (300) being each located between said cutterhead (510) and said support device (600).
8. The walking heading machine of claim 6 further comprising a plurality of sets of shield plates (700), each set of shield plates (700) comprising a shield plate (710) and a shield pusher (720), the shield plates (710) and shield pusher (720) each being circumferentially distributed along the main beam (100), the shield plates (710) being connected to the main beam (100) by the shield pusher (720), the shield pusher (720) being configured to drive the shield plates (710) toward or away from the main beam (100), the drive motor (520) being located between the shield plates (710) and the main beam (100).
9. The walk-behind heading machine of any one of claims 1-5 further including a rear mating system (800), the rear mating system (800) being connected to the main beam (100).
10. A walking tunnel boring machine control method, characterized in that a walking tunnel boring machine according to any one of claims 1-9 is used, comprising a main machine (500), a main beam (100), a first propulsion support structure (210) and a second propulsion support structure (220), the first propulsion support structure (210) and the second propulsion support structure (220) each comprising a plurality of sets of propulsion support assemblies (300), each set of propulsion support assemblies (300) comprising a propulsion member (310) and a stay shoe set (320), the control method comprising the steps of: Step S1, controlling the shoe group (320) in the propulsion support assembly (300) of one of the first propulsion support structure (210) and the second propulsion support structure (220) to move relative to the main girder (100) and to tighten the shoe group (320) against a surrounding rock (900); Controlling the main machine (500) to crush rocks, controlling the propelling piece (310) correspondingly connected with the supporting shoe group (320) to provide tunneling thrust for the main beam (100), judging whether the main beam (100) is tunneling forwards, and if yes, entering the next step S2; Step S2, controlling the propelling piece (310) to continuously push the main beam (100) to tunnel forwards, judging whether the propelling stroke of the propelling piece (310) reaches a preset threshold value, if not, controlling the propelling piece (310) to continuously push the main beam (100) to tunnel forwards, and if so, entering step S3; step S3, the propulsion stroke of the propulsion piece (310) reaches a preset threshold value, and simultaneously the props (320) in the propulsion support assembly (300) of the other of the first propulsion support structure (210) and the second propulsion support structure (220) are controlled to move relative to the main beam (100), and the props (320) are propped against the surrounding rock (900); And controlling the propulsion piece (310) correspondingly connected with the supporting shoe group (320) to provide tunneling thrust for the main beam (100), judging whether the main beam (100) is tunneling forward, if yes, entering the next step S5; Step S4 of controlling the retraction of the shoe set (320) and the propulsion member (310) in the propulsion support assembly (300) in step S1 while the propulsion member (310) provides a driving thrust to the main beam (100) in step S3; And S5, controlling the propelling piece (310) to continuously push the main beam (100) to tunnel forward, judging whether the propelling stroke of the propelling piece (310) reaches a preset threshold value, if not, controlling the propelling piece (310) to continuously push the main beam (100) to tunnel forward, if so, repeating the operations from the step S1 to the step S4, and simultaneously controlling the supporting shoe group (320) and the propelling piece (310) in the propelling support assembly (300) in the step S3 to retract after the step S1 is completed.

Description

Walking type heading machine and control method Technical Field The application relates to the technical field of tunneling equipment, in particular to a walking type tunneling machine and a control method. Background The tunnel boring machine (Tunnel Boring Machine, TBM) can be used for construction procedures such as tunneling, supporting, slag discharging and the like and continuous operation, and is widely applied to tunnel construction under complex geological conditions in the fields of railways, hydropower, traffic, mines, municipal administration and the like. In the related art, the tunnel boring machine comprises a main machine, a main beam and a propulsion supporting system, wherein the main beam is connected with the main machine, the main machine is used for crushing rocks to form a tunnel, the propulsion supporting system comprises a propulsion oil cylinder, a supporting shoe structure and rear supporting legs, the propulsion oil cylinder and the supporting shoe structure are symmetrically arranged on two sides of the main beam, and the rear supporting legs are connected with the main beam. When the step change is carried out, the rear supporting leg stretches out to be tightly supported on the surrounding rock, then the supporting shoe structure is retracted, so that the pushing oil cylinder is moved forward to the parallel tunneling position along with the main beam to carry out the next tunneling action, and then the pushing oil cylinder, the supporting shoe structure and the rear supporting leg work cooperatively to finish tunneling. However, when the step-changing operation is performed, the thrust cylinder and the shoe structure are retracted, the tunneling operation is stopped, and continuous tunneling operation cannot be realized. Disclosure of Invention The embodiment of the application provides a walking type tunneling machine and a control method, which are used for solving the problems that when a tunneling machine in the prior art performs a step change action, a pushing oil cylinder and a supporting shoe structure retract, the tunneling action stops, and continuous tunneling operation cannot be realized. In a first aspect, an embodiment of the application provides a walking heading machine, which comprises a main machine, wherein the main machine is used for breaking rock, and a main beam is connected with the main machine. The first propulsion supporting structure and the second propulsion supporting structure comprise a plurality of groups of propulsion supporting components, and the propulsion supporting components of the first propulsion supporting structure and the propulsion supporting components of the second propulsion supporting structure are alternately arranged along the circumferential direction of the main girder. Each group of propulsion supporting components comprises a propulsion piece and a supporting shoe group, one end of the propulsion piece is connected with the main beam, the other end of the propulsion piece is connected with the supporting shoe group, the supporting shoe group moves relative to the main beam to be tightly supported on surrounding rock, and the propulsion piece is used for providing tunneling thrust for the main beam when the supporting shoe group is tightly supported on the surrounding rock. The propulsion support assemblies of the first propulsion support structure and the second propulsion support structure are configured to alternately tighten on the surrounding rock along the main beam propulsion movement direction and provide a propulsion thrust to the main beam. In one possible embodiment, the apparatus further comprises a controller electrically connected to each of the plurality of sets of propulsion support assemblies, the controller being configured to control each set of propulsion support assemblies individually. In one possible embodiment, the shoe supporting set comprises a telescopic arm and a shoe supporting plate, one end of the telescopic arm is connected with the main beam, the other end of the telescopic arm is connected with the shoe supporting plate, and the telescopic arm moves relative to the main beam to drive the shoe supporting plate to be tightly supported on the surrounding rock. In one possible embodiment, each set of the propulsion support assemblies further comprises a first connector, a second connector, and a third connector. The first connecting piece set up in prop the boots board, just first connecting piece respectively with the propulsion piece scalable arm articulates. The second connecting piece set up in the girder, just the second connecting piece with scalable arm is kept away from prop the one end of boots board and articulate. The third connecting piece is arranged on the main beam, and the third connecting piece is hinged with one end, away from the shoe supporting plate, of the pushing piece. In one possible embodiment, the surface of the shoe plate facing away from the telescopic arm is prov