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发明公开
CN110700865A 一种基于TBM智能机器人的钢拱架支护系统及控制方法 无效 - 驳回

一种基于TBM智能机器人的钢拱架支护系统及控制方法
摘要：
本发明公开了一种基于TBM智能机器人的钢拱架支护系统及控制方法，以解决人工支护作业效率低下，作业安全系数低的难题。该拼接工艺方法及系统能够提高作业效率、安全、快速、高质量的及时支护。包括钢拱架自动运输系统、钢拱架抓取系统、钢拱架拼接系统、钢拱架微调系统、钢拱架监测系统和清渣排水系统。本发明能够提高硬岩掘进机机器人化支护作业的智能决策能力；有效提升TBM施工质量与效率，提升隧道掘进机器人化水平，减少隧道施工过程中由于局部塌方造成的工程延误及其他风险。
摘要（英）：

The invention discloses a steel arch supporting system based on a TBM intelligent robot and a control method. The problems that manual shoring work efficiency is low, and the work safety coefficient is low are solved. Through the splicing process method and system, work efficiency can be improved, safe, rapid, high-quality and in-time shoring can be improved, and the system comprises a steel archautomatic transport system, a steel arch grabbing system, a steel arch splicing system, a steel arch fine adjustment system, a steel arch monitoring system and a slag clearing water draining system. Intelligent decision making capacity of high and hard rock heading machine robotization shoring work can be improved, TBM construction quality and efficiency can be effectively improved, the tunnel heading robotization level can be improved, and the engineering delay and other risks caused by local collapse in the tunnel construction process can be reduced.

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