The invention relates to a device for the automated installation of at least one tunnel lining segment of a tunnel lining ring, said device being couplable to a tunnelling machine, having a manipulator with at least one tool for receiving, holding and placing the at least one tunnel lining segment, and with at least one actuator for moving the at least one tool, the at least one tool being movable by means of the at least one actuator in the radial, tangential and/or axial direction in relation to the machine axis of the tunnelling machine in the space of the tunnel section created by the tunnelling machine, having at least one tool position sensor, which is provided on the manipulator and/or tool, for sensing the respective actual position and actual location of the tool in the space of the tunnel section, having at least one tunnel lining segment sensor, which is provided on the manipulator and/or tool, with which an actual position and/or actual location of at least one section of at least one already arranged tunnel lining segment can be sensed, and/or with which an actual position and/or actual location of the tunnel lining segment to be placed can be sensed, having a controller, which accesses installation data of the tunnel lining segments and which accesses the measurement data of the at least one tool position sensor and the at least one tunnel lining segment sensor, and with which the at least one actuator and the at least one tool can be controlled on the basis of the installation data and measurement data in order to move the tool from the receiving position to the target placing position of the respective tunnel lining segment and to orient same in the actual placing position and to arrange same against the at least one already placed tunnel lining segment of the tunnel lining ring, wherein at least two tunnel lining segment sensors are provided, and wherein the tunnel lining segment sensor is a time-of-flight camera.

A full-circle secondary lining inverted arch construction formwork system for a long-distance tunnel and a formwork transporting method adopt a customized steel formwork, a steel pipe support, and a turn buckle. The steel pipe support is arranged on the longitudinal main edge, and is provided between the longitudinal rails and a primary lining for supporting vertical buoyancy. The turn buckle is arranged between two sides of the formwork and a reserved steel bar for resisting horizontal load generated during asymmetric pouring. A cantilever gantry crane and a transportation flat car are used for formwork transporting, wherein travel rails of the cantilever gantry crane and the transportation flat car are integrated on the customized steel formwork, and there is no other rail. According to the present, the formwork has high strength and rigidity, the formwork system is simple.

A full-circle secondary lining inverted arch construction formwork system for a long-distance tunnel and a formwork transporting method adopt a customized steel formwork, a steel pipe support, and a turn buckle. The steel pipe support is arranged on the longitudinal main edge, and is provided between the longitudinal rails and a primary lining for supporting vertical buoyancy. The turn buckle is arranged between two sides of the formwork and a reserved steel bar for resisting horizontal load generated during asymmetric pouring. A cantilever gantry crane and a transportation flat car are used for formwork transporting, wherein travel rails of the cantilever gantry crane and the transportation flat car are integrated on the customized steel formwork, and there is no other rail. According to the present, the formwork has high strength and rigidity, the formwork system is simple.

An intelligent and flexible steel arch protection device for rockfall and collapse of tunnels, including an arch main body system and a flexible protection system. The arch main body system includes an arched rigid high-strength steel frame and a base. The flexible protection system includes two parallel supporting rods which are oppositely arranged on the steel frame along the circular arc of the arch. Connecting rods are arranged between the two supporting rods at intervals, and the two ends of the connecting rods are fixed to the two supporting rods. The connecting rods are sleeved with guide rods and elastic devices are arranged between the guide rods and the supporting rods. A plurality of rolling shafts vertical to the axial direction of the two-way guide rods and connected with the two-way guide rods are arranged between the adjacent two-way guide rods, and the rolling shafts are sleeved with flexile rollers.

The invention relates to a device for the automated picking up and placing of a segment forming the lining of a tunnel, intended to be coupled to a tunnel-boring machine (1) provided with a segment erector (2), comprising:a controller designed to communicate with an automated system of the tunnel boring machine, suitable for controlling the actuation of the erector; anda three-dimensional vision system comprising at least four laser profilometers; the controller is designed to receive a segment positioning plan and to determine, from the analysis data of the three-dimensional vision system, the measurement data of the erector sensors and the segment positioning plan, an erector trajectory for positioning the segment (V) to be placed in alignment with a segment and/or ring (A) of segments already placed, and to communicate movement commands to the automated system of the tunnel boring machine, for actuating the erector to pick up the segment to be placed and move it according to the above trajectory.

The invention provides a machine for tunnelling in rock. The machine includes a pilot drill assembly for drilling a series of interfering parallel holes or a pilot hole into and generally perpendicular into a rock face and a blast hole drill assembly for drilling a series of blasting holes around the pilot hole or previous blast hole. The machine further includes a charge handling and loading assembly for loading the first series of holes with propellant charges and an ignitor system for igniting the charges. Included further is a rock clearing means for removing the blast rock from the blast face and a rock pick for clearing and picking the floor, roof or walls to provide access for the machine into the tunnel and a mobility assembly for moving the machine forward. Also included is a control console provided with control means for controlling the pilot drill assembly, blast hole drill assembly, charge handling and loading assembly, ignitor system, rock clearing means, the rock pick, a measure system for gas detection and management, a rock stress measure system and recording system.

The prevent invention provides a tunnel excavation apparatus including: an excavation part configured to excavate a tunnel; a path part installed on a bottom of an excavation surface of the tunnel; an expanded blasting part configured to expand the tunnel; a protective shield part installed to protect the inside of the tunnel between the excavation part and the expanded blasting part; and an expansion part installed on the protective shield part to block a gap between the tunnel and the protective shield part and including an expansion tube provided as a plurality of layers, and the expansion part installed in the protective shield part may be improved in durability to stably block a gap between the tunnel and the protective shield part.

The prevent invention provides a tunnel excavation apparatus including: an excavation part configured to excavate a tunnel; a path part installed on a bottom of an excavation surface of the tunnel; an expanded blasting part configured to expand the tunnel; a protective shield part installed to protect the inside of the tunnel between the excavation part and the expanded blasting part; and an expansion part installed on the protective shield part to block a gap between the tunnel and the protective shield part and including an expansion tube provided as a plurality of layers, and the expansion part installed in the protective shield part may be improved in durability to stably block a gap between the tunnel and the protective shield part.

The invention relates to a device for the automated picking up and placing of a segment forming the lining of a tunnel, intended to be coupled to a tunnel-boring machine (1) provided with a segment erector (2), comprising: a controller designed to communicate with an automated system of the tunnel boring machine, suitable for controlling the actuation of the erector; and a three-dimensional vision system comprising at least four laser profilometers; the controller is designed to receive a segment positioning plan and to determine, from the analysis data of the three-dimensional vision system, the measurement data of the erector sensors and the segment positioning plan, an erector trajectory for positioning the segment (V) to be placed in alignment with a segment and/or ring (A) of segments already placed, and to communicate movement commands to the automated system of the tunnel boring machine, for actuating the erector to pick up the segment to be placed and move it according to the above trajectory.

A tunnel system includes at least two adjacent tunnel lining systems and a sealing system. Moreover, the tunnel lining systems can include plural tunnel lining segments.