The application discloses a small-turning-
radius open TBM tunneling
machine and method, and relates to the technical field of TBM tunneling machines.The tunneling
machine comprises a pushing oil cylinder, a load detection mechanism corresponding to the oil cylinder, a single-cylinder independent speed regulation mechanism, and a control mechanism with a controller.The load detection mechanism obtains the real-time load and
stroke of the corresponding oil cylinder, and the speed regulation mechanism independently adjusts the speed and
stroke of the corresponding oil cylinder.The controller receives the load,
stroke and host posture data, combines preset tunnel design parameters, and solves the optimal dynamic stroke difference in real time, and then controls each speed regulation mechanism to independently control each oil cylinder in a
closed loop, forming a complete
closed loop of "
perception - decision - execution - feedback".The application realizes real-time
coupling and matching of the dynamic change of the surrounding rock load and the stroke difference of the oil cylinder, ensures that the host
tunneling direction is always along the design axis, and greatly improves the tunneling stability and posture control precision under the small-turning-
radius variable-gradient working condition.