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Operational parameters of a Tunnel Boring Machine (TBM) under different geological properties have significant influence on muck removal performance. To improve the muck removal performance for Yinsong Tunnel TMB, tuff and granite properties were surveyed by geological detection in the tunnel project, and the optimization of advancement and rotational speed of cutterhead was investigated. The muck model was established by discrete element method (DEM), considering the shape characteristic of muck. The whole muck removal process was simulated, then the influence of the advancement speed and rotational speed on muck removal performance in tuff and granite stratum was studied via numerical simulations. Based on simulation results, the muck removal performance evaluation system of TBM is built using fuzzy mathematics and evaluation theory. Ultimately, optimal operation parameters in the tunnel project is obtained after comprehensive evaluation. The results indicated that the optimum advancement speed should be 7 r/min in both tuff and granite stratum, while the optimal rotational speed was 6 r/min in granite and 5.5 r/min in tuff respectively. Based on TBM engineering application, the size characteristic of muck was obtained from on-site muck specimen analysis and the muck removal performance of TBM under different operation and rock conditions was compared to validate the simulation method. These findings could provide guidance for TBM operation to improve muck removal performance in different geological conditions.

Shaft sinking in soft, water-rich strata frequently suffers from low cutting efficiency, cycle-time mismatches between excavation and muck removal, and weak system-level coordination. To elucidate the synergistic mechanisms governing excavation–muck removal interactions and to realize end-to-end performance gains, we investigate the East Ventilation Shaft of the Xinjie Taigemiao mining district as a representative artificial ground freezing (AGF) project. First, drawing on the mechanics of frozen ground and field monitoring, we establish a relationship model linking advance rate, drum rotational speed, cutting depth, and muck production, thereby clarifying why lower rotational speeds, moderate cutting depths, and rational traction reduce energy consumption and mitigate disturbances to the frozen wall. Next, for muck handling, we build a full-process discrete element method (DEM) model, integrate design-of-experiments with response-surface optimization to identify key factors, calibrate contact models, and select collection geometries. The results show that a graded-angle collecting structure improves pile concentration and discharge compliance; combined with a tiered chain-bucket–vertical belt–twin-skip configuration, it delivers matched cycle times and stable “gather–convey–hoist” operation. Finally, two-stage full-scale tests jointly validate excavation and muck removal, demonstrating that the proposed synergy model and optimized parameters sustain continuous, efficient performance across operating conditions. The study provides a reusable mechanistic framework and parameterization blueprint for AGF shaft design and construction.

The muck-removal at the bottom of the tunnel is a major constraint on the construction progress and advance rate. Removing the muck in a timely and effective manner is a prerequisite for the automated steel arch assembly. To solve this problem, a muck removal hydraulic manipulator with high-performance position tracking control is developed to handle with randomly scattered rock piles, slag and muck under the bottom of tunnel, so as to facilitate automated steel arch assembly. Firstly, an informative and compact description of the equation of screw swing cylinder actuated system is established by using ameliorated Lagrangian dynamic formulation and state space representation. Secondly, the cubic spline interpolation optimized by an improved genetic algorithm is carried out for the trajectory planning under the kinematic and dynamic constraints of the manipulator. Thirdly, a linearized feed-forward compensation approach and a parameter estimation based robust adaptive algorithm is proposed for position tracking control. In addition, the system stability is proved in the sense of Lyapunov stability theorem. The proposed controller performance is validated by comparative simulation analysis and experimental investigations. It turns out the proposed manipulator with trajectory planner and high precision tracking controller has great potential to help increase the efficiency of the slag and muck removal operation, so as to improve the automation level of the steel arch assembly.

In the high altitude area, the air density and the air pressure are low. In this paper, combined with a high altitude tunnel engineering in Tibet, the dust concentration during the drilling and muck removal was monitored, and tunnel dust diffusion situation was analyzed. The result shows that the dust concentration on the middle line of tunnel is higher than the dust concentration at the tunnel side. The dust concentration near the tunnel face is the highest. In the longitudinal direction, the change rule of the total dust and respirable dust concentration, are totally the same. With the increase of distance from tunnel face, dust concentration declines rapidly, then gradually become stable. The dust diffusion rule in the process of muck removal is basically similar to that of drilling process, but the dust concentration is larger, and the concentration of respirable dust accounts for a higher proportion than that in the drilling operation.

The Robbins remote controlled small boring unit (SBU-RC) is a new type of boring machine capable of excavating small-diameter, hard rock tunnels at long distances, on line and grade. The SBU-RC is currently manufactured in the 900-millimeters diameter range, but it could be designed as small as 750 millimeters in diameter. It features a smart guidance system for pinpoint steering accuracy and is controlled from an operator's station on the surface. Muck removal is accomplished through a vacuum system, making the Robbins SBU-RC more cost effective than microtunnel boring machines requiring slurry and cleaning plants onsite.

On Oct 18, 2017, a Robbins 9.26-m (30.4-ft) diameter crossover machine started up at the Akron Ohio Canal Interceptor Tunnel (OCIT) in Ohio. But the startup wasn't the only milestone. Running behind the crossover tunnel boring machine (TBM) is the 100th Robbins continuous conveyor system supplied for muck removal. The side-mounted conveyor is a design standard, but the landmark is a significant one. While conveyors would not be adopted as a standard method of muck removal for many years afterward, the project laid the groundwork for future success.

This chapter contains sections titled: Preparation for transport Removal from the face Transport along the tunnel and up shafts Quantity determination and measuring equipment Separation Suitability of the muck for landfill

A second, 10 m (32.8 ft) diameter Robbins Double Shield TBM is currently excavating the parallel 4.6-km- (2.9-mile-) long main railway tunnel using a continuous conveyor system for efficient muck removal. The high advance rates are being achieved despite challenges including a section of tunnel just 7 m (23 ft) below Xi Liu Lake, and nearby structures such as building foundations and a highway interchange bridge.

A second, 10 m (32.8 ft) diameter Robbins Double Shield TBM is currently excavating the parallel 4.6-km- (2.9-mile-) long main railway tunnel using a continuous conveyor system for efficient muck removal. The high advance rates are being achieved despite challenges including a section of tunnel just 7 m (23 ft) below Xi Liu Lake, and nearby structures such as building foundations and a highway interchange bridge.