An open type TBM slag removal system

Abstract

The present application relates to the technical field of tunnel construction, in particular to an open type TBM slag cleaning system, which comprises a slag cleaning device, a screw conveyor and a belt conveyor; the slag cleaning device comprises a multi-degree-of-freedom mechanical arm and a bucket assembly, the multi-degree-of-freedom mechanical arm is installed on a rotating ring of an arch mounting device, and the bucket assembly is connected to the multi-degree-of-freedom mechanical arm; the screw conveyor comprises a feeding end, a rotating transportation section and a discharging end, the rotating transportation section is connected between the feeding end and the discharging end, the feeding end corresponds to the bucket assembly, and the discharging end corresponds to a cutter head; the belt conveyor is installed on a main beam for discharging slag of the cutter head. The present application can realize a larger range of slag cleaning with a smaller arm length of the mechanical arm, and realize full coverage of slag cleaning in a narrow space of the TBM; after the mechanical arm completes slag cleaning, the mechanical arm can be quickly folded to make room, and the operation of assembling the arch with the steel arch mounting device is not affected, and the slag cleaning and the arch assembling are almost seamlessly switched.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction technology, and in particular to an open-type TBM slag removal system. Background Technology

[0002] During tunnel excavation, due to rockfall and incomplete scraping, some excavated soil accumulates in the area below the main beam, especially near the rear of the main drive and below the steel arch installer. This area is critical for subsequent support work. Open-face TBMs typically require the timely assembly of steel arches or steel segments after excavation to provide early support for the tunnel surrounding rock. If a large amount of excavated soil accumulates at the bottom of the main beam, it will directly encroach on the assembly space of the steel arches and steel segments, leading to the following problems: First, the arches or segments cannot be accurately positioned, resulting in skewed posture and affecting the support quality; second, the assembly mechanism (such as the arch installer) interferes with the excavated soil, forcing the assembly work to be interrupted; third, it is necessary to rely on manual access to the bottom of the main beam for cleaning, but this area is narrow and has a harsh environment (with falling rocks, pipelines, hydraulic cylinders, etc.), making manual cleaning inefficient and posing significant safety hazards.

[0003] Several devices for cleaning the bottom of TBMs have emerged in the existing technology. For example, some solutions use scrapers or pushers fixed to the frame to push the excavated soil to one side or collect it in a concentrated manner. These fixed devices have a limited cleaning range and cannot cover the entire accumulation area at the bottom of the main beam, and are prone to interference with structures such as support shoes and hydraulic pipelines. Another solution proposes using an independent robotic arm for cleaning, but the robotic arm base is fixed in a certain position, and due to the limitations of the arm length and joint range of motion, there are still blind spots for cleaning, and it is difficult to quickly clear the assembly space after cleaning. This causes the cleaning and support operations to conflict in time and space, reducing construction efficiency. Summary of the Invention

[0004] The main objective of this invention is to provide a slag removal system that can efficiently and safely clean the slag at the bottom of the main beam of an open TBM and can achieve good coordination with the steel arch frame and steel segment assembly operations.

[0005] To achieve the above objectives, this invention proposes an open-type TBM slag removal system. The open-type TBM includes a cutterhead, a TBM shield, a main beam, and an arch frame mount with a rotating ring. The cutterhead is mounted at the front end of the TBM shield, the main beam is mounted inside the TBM shield and located behind the cutterhead, and the arch frame mount is slidably mounted on the main beam and located behind the cutterhead. The open-type TBM slag removal system includes a slag removal device, a screw conveyor, and a belt conveyor. The slag removal device includes a multi-degree-of-freedom robotic arm and a bucket assembly. The multi-degree-of-freedom robotic arm is mounted on the rotating ring of the arch frame mount, and the bucket assembly is connected to the multi-degree-of-freedom robotic arm. The screw conveyor includes a feed end, a rotating transport section, and a discharge end. The rotating transport section is connected between the feed end and the discharge end. The feed end corresponds to the bucket assembly, and the discharge end corresponds to the cutterhead. The belt conveyor is mounted on the main beam for slag removal from the cutterhead.

[0006] A further improvement of the open-type TBM slag removal system of the present invention is that the multi-degree-of-freedom robotic arm includes a mounting base, a telescopic arm, and a rotation drive. The mounting base is mounted on the rotating ring of the arch frame mounter, the telescopic arm is connected between the mounting base and the bucket assembly, and the rotation drive is connected between the telescopic arm and the mounting base.

[0007] A further improvement of the open-type TBM slag removal system of the present invention is that the multi-degree-of-freedom robotic arm also includes a pitch drive, the mounting base is provided with a pitch seat, and the pitch drive is connected between the pitch seat and the telescopic arm.

[0008] A further improvement of the open-type TBM cleaning system of the present invention is that the number of the pitch drive is at least two, and the at least two pitch drives are arranged side by side.

[0009] The open-type TBM slag removal system of the present invention is further improved in that the telescopic boom includes a propulsion drive, an outer boom and an inner boom, the inner boom is slidably installed inside the outer boom, the propulsion drive is located inside the outer boom and is connected between the inner boom and the outer boom, the rotation drive and the pitch drive are connected to the outer boom, and the bucket assembly is connected to the inner boom.

[0010] A further improvement of the open-type TBM cleaning system of the present invention is that the outer arm is provided with a pitch lug assembly for connecting the pitch drive component.

[0011] A further improvement of the open-type TBM cleaning system of the present invention is that the outer arm is provided with a rotating lug assembly for connecting the rotating drive component.

[0012] A further improvement of the open-type TBM cleaning system of the present invention is that the end of the inner arm away from the mounting base is provided with a connecting seat for mounting the bucket assembly.

[0013] A further improvement of the open-type TBM slag removal system of the present invention is that the bucket assembly includes a transfer support, a bucket drive and a bucket, the transfer support is connected between the bucket and the connecting seat, and the bucket drive is connected between the bucket and the transfer support.

[0014] A further improvement of the open-type TBM slag removal system of the present invention is that a first connecting rod is provided on the adapter support, a second connecting rod is provided on the bucket, and the first connecting rod is hinged to the second connecting rod.

[0015] A further improvement of the open-type TBM slag removal system of the present invention is that the rotating transport section includes a drive unit, a screw conveyor blade, and a cylinder. The screw conveyor blade is installed in the cylinder, and the drive unit is connected to the cylinder for driving and controlling the rotation of the cylinder.

[0016] A further improvement of the open-type TBM cleaning system of the present invention is that the driving device includes a motor and a slewing support, and a driving cylinder is rotatably mounted inside the cylinder. The motor is driven and connected to the slewing support, and the slewing support is connected to the driving cylinder.

[0017] The technical solution of the present invention has the following beneficial effects: The open-type TBM slag removal system of this invention achieves multi-degree-of-freedom coarse adjustment through the rotational motion of the rotating ring and its sliding arrangement along the main beam, and multi-degree-of-freedom fine adjustment through the multi-degree-of-freedom robotic arm. Through a dual motion compensation mechanism combining the active motion of the rotating ring and the passive motion of the multi-degree-of-freedom robotic arm, a larger area of ​​slag removal can be achieved with a shorter robotic arm, achieving full-area slag removal coverage within the confined space of the TBM, with stronger anti-overturning capability and a more compact structure. After slag removal, the robotic arm can be quickly folded to make way, without affecting the steel arch frame installation operation. Slag removal and arch frame assembly are almost seamlessly switched; even at certain times, the tensioning ring can tighten the arch frame while the rotating ring and robotic arm perform slag removal simultaneously. Through a closed-loop link of bucket assembly collection, screw conveyor short-haul, cutterhead transfer, and belt conveyor output, the system solves the technical problem of slag accumulation at the bottom of the open-type TBM main beam encroaching on the space for steel arch frame and steel segment assembly, and the inability of existing slag removal devices to achieve spatial avoidance and temporal coordination with support operations. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1This is an overall side view of the open-type TBM slag removal system of the present invention; Figure 2 This is a longitudinal sectional view of the screw conveyor of the open-type TBM slag removal system of the present invention; Figure 3 This is a schematic diagram of the slag removal device of the open TBM slag removal system of the present invention; Figure 4 This is a schematic diagram of the telescopic arm of the open-type TBM slag removal system of the present invention; Figure 5 This is a schematic diagram of the drive device of the open-type TBM slag removal system of the present invention. Figure 6 This is a schematic diagram of the bucket assembly of the open-type TBM slag removal system of the present invention; Figure 7 This is a schematic diagram showing the different postures of the slag removal device in the open TBM slag removal system of the present invention.

[0020] Explanation of icon numbers: 1-Cutterhead, 2-TBM Shield, 3-Arch Frame Mounter, 4-Main Beam, 5-Screw Conveyor, 6-Slag Removal Device, 7-Belt Conveyor, 501-Feed End, 502-Drive Unit, 503-Screw Conveyor Blades, 504-Cylinder, 505-Discharge End, 601-Mounting Base, 602-Pitching Base, 603-Telescopic Arm, 604-Hinged Base, 605-Rotation Drive Component, 606-Pitching Drive Component, 607-Bucket Drive Component, 6 08-Bucket assembly, 50201-Motor, 50202-Fixing device, 50203-Slewing bearing, 50204-Drive cylinder, 50205-Drive box, 50206-Drive box cover, 60301-Propulsion drive component, 60302-Outer boom, 60303-Inner boom, 60304-Connecting seat, 60801-Transfer support, 60802-First connecting rod, 60803-Second connecting rod, 60804-Bucket. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0022] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0023] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0026] like Figures 1-7 As shown, this invention proposes an open-type TBM slag removal system. The open-type TBM includes a cutterhead 1, a TBM shield 2, a main beam 4, and an arch frame mounter 3 with a rotating ring. The cutterhead 1 is installed at the front end of the TBM shield 2, the main beam 4 is installed inside the TBM shield 2 and located behind the cutterhead 1, and the arch frame mounter 3 is slidably installed on the main beam 4 and located behind the cutterhead 1. The open-type TBM slag removal system includes a slag removal device 6, a screw conveyor 5, and a belt conveyor 7. The slag removal device 6 includes multiple free... The system includes a multi-degree-of-freedom robotic arm and a bucket assembly 608. The multi-degree-of-freedom robotic arm is mounted on the rotating ring of the arch frame mounter 3, and the bucket assembly 608 is connected to the multi-degree-of-freedom robotic arm. The screw conveyor 5 includes a feed end 501, a rotary conveying section, and a discharge end 505. The rotary conveying section connects the feed end 501 and the discharge end 505. The feed end 501 corresponds to the bucket assembly 608, and the discharge end 505 corresponds to the cutterhead 1. The belt conveyor 7 is mounted on the main beam 4 for discharging slag from the cutterhead 1. The screw conveyor 5 can be fixed to the shield by welding connecting steel plates. The screw conveyor 5 enables short-distance transport of slag and soil.

[0027] Specifically, the slag removal device 6 is arranged on the arch frame installer 3, and the screw conveyor 5 is arranged at the bottom of the shield body. The slag removal device 6 can expand the slag removal range as the arch frame installer 3 rotates. The slag accumulated in the area below the shield body is sent to the screw conveyor 5 through the bucket assembly 608. The screw conveyor 5 sends the slag accumulated to the bottom of the cutterhead 1. The cutterhead 1 sends the slag accumulated together with the face slag into the intermediate belt conveyor 7 to achieve slag removal.

[0028] The open-type TBM cleaning system of this invention eliminates the need for additional multi-stage conveyor belts 7, resulting in a small space occupation, minimal impact on the layout of other components, reduced design modifications, and adaptability to the space constraints of open-type TBMs. The multi-degree-of-freedom cleaning device 6 eliminates the need for a rotary mechanism and secondary support arms; the combination of a primary telescopic arm 603 and a drive unit satisfies the requirements for multi-degree-of-freedom movement, resulting in a compact structure and rational layout. The multi-degree-of-freedom cleaning device 6 is mounted on the arch frame mount 3 and can expand the cleaning range by rotating with the arch frame mount 3.

[0029] Preferably, such as Figure 3 As shown, the multi-degree-of-freedom robotic arm includes a mounting base 601, a telescopic arm 603, and a rotary drive 605. The mounting base 601 is mounted on the rotating ring of the arch frame mounter 3. The telescopic arm 603 is connected between the mounting base 601 and the bucket assembly 608. The rotary drive 605 is connected between the telescopic arm 603 and the mounting base 601. Specifically, the mounting base 601 is provided with a hinge seat 604 for connecting the rotary drive 605. The hinge seat 604 can rotate horizontally around the mounting base 601, and the rotation of the telescopic arm 603 is completed by the telescopic drive of the rotary drive 605.

[0030] Preferably, the multi-degree-of-freedom robotic arm further includes a pitch drive 606. A pitch seat 602 is provided on the mounting base 601, and the pitch drive 606 is connected between the pitch seat 602 and the telescopic arm 603. The telescopic arm 603 can rotate around the pitch seat 602 in a vertical plane, and the pitch action is completed by the extension and retraction of the pitch drive 606. In this embodiment, both the rotation drive 605 and the pitch drive 606 are hydraulic cylinders; however, pneumatic cylinders or electric telescopic rods or other linear drive components can also be selected according to specific needs. The slag removal device 6 completes various action requirements through the cooperation of the telescopic arm 603 and the hydraulic cylinder. It has a compact and small structure, occupies little space, and does not require a rotary mechanism or multi-stage support arms. By using the rotation drive 605, the pitch drive 606, and the telescopic arm 603, slag removal operations can be performed in different areas. The slag removal range can also be expanded by rotating the arch frame mount 3.

[0031] Preferably, the number of pitch drive components 606 is at least two, and the at least two pitch drive components 606 are arranged side by side, thereby increasing the driving force when the telescopic arm 603 is pitched.

[0032] Preferably, such as Figure 4 As shown, the telescopic boom 603 includes a propulsion drive 60301, an outer boom 60302, and an inner boom 60303. The inner boom 60303 is slidably mounted within the outer boom 60302. The propulsion drive 60301 is located within the outer boom 60302 and connects the inner boom 60303 and the outer boom 60302. The rotation drive 605 and the pitch drive 606 are connected to the outer boom 60302. The bucket assembly 608 is connected to the inner boom 60303. In this embodiment, the propulsion drive 60301 is a hydraulic cylinder; however, a pneumatic cylinder or an electric telescopic rod, or other linear drive components, can also be selected as needed. The telescopic boom 603 completes its extension and retraction movements through the internal propulsion drive 60301.

[0033] Preferably, the outer arm 60302 is provided with a pitch lug assembly for connecting the pitch drive 606. The pitch lug assembly includes a pin and two first lugs, and the pitch drive 606 is mounted between the two first lugs via the pin.

[0034] Preferably, the outer arm 60302 is provided with a rotating lug assembly for connecting the rotation drive 605. The rotating lug assembly includes a pin and two second lugs, and the pitch drive 606 is mounted between the two second lugs via the pin.

[0035] Preferably, the inner arm 60303 is provided with a connecting seat 60304 for mounting the bucket assembly 608 at one end away from the mounting base 601, so as to ensure the stability of the bucket assembly 608 during installation.

[0036] Preferably, such as Figure 6 As shown, the bucket assembly 608 includes a transition support 60801, a bucket drive component 607, and a bucket 60804. The transition support 60801 connects the bucket 60804 and the connecting seat 60304, and the bucket drive component 607 connects the bucket 60804 and the transition support 60801. This invention improves slag removal efficiency by upgrading the excavator bucket to a bucket 60804. In this embodiment, the bucket drive component 607 is a hydraulic cylinder; however, a pneumatic cylinder or an electric telescopic rod, or other linear drive components, can also be selected according to specific needs.

[0037] Preferably, the adapter support 60801 is provided with a first connecting rod 60802, and the bucket 60804 is provided with a second connecting rod 60803. The first connecting rod 60802 is hinged to the second connecting rod 60803, so as to realize multi-angle control of the bucket 60804. In conjunction with the bucket drive component 607, the attitude of the bucket 60804 is adjusted to complete the slag shoveling and dumping actions.

[0038] Preferably, such as Figure 5As shown, the rotating conveyor section includes a drive unit 502, screw conveyor blades 503, and a cylinder 504. The screw conveyor blades 503 are installed inside the cylinder 504, and the drive unit 502 is connected to and drives the cylinder 504 to control its rotation. The screw conveyor 5 is located at the bottom of the shield body. The screw conveyor blades 503, using a peripheral drive and a shaftless belt-type blade design, occupy little space, are easy to install and fix, and have high efficiency in transporting excavated soil. The screw conveyor blades 503 are shaftless belt-type screw blades. The screw conveyor 5, using a peripheral drive unit 502 and shaftless belt-type screw blades, has a compact structure, occupies little space, and facilitates excavated soil transport.

[0039] Preferably, the drive device 502 includes a motor 50201 and a slewing support 50203. A drive cylinder 50204 is rotatably mounted inside the cylinder 504. The motor 50201 is driven by the slewing support 50203, and the slewing support 50203 is connected to the drive cylinder 50204. Specifically, the motor 50201 rotates the slewing support 50203 via gears. The slewing support is bolted to the drive cylinder 50204, which rotates with the slewing support 50203. The drive cylinder 50204 has welded screw conveyor blades 3 inside, which, upon rotation, transport the slag to the discharge end 505. Furthermore, the drive unit 502 also includes a fixing device 50202, a drive housing 50205, and a drive housing cover 50206. The fixing device 50202, drive housing 50205, and drive housing cover 50206 are connected by bolts. The fixing device 50202 is welded to the shield, connecting and positioning the shield and the screw conveyor 5. The drive housing 50205 and drive housing cover 50206 provide rotational support for the rotation of the drive cylinder 50204. The drive housing cover 50206 is provided with threaded holes and is bolted to the outer periphery of the motor 50201.

[0040] Construction waste cleaning process: such as Figure 1 As shown, the slag is poured into the feed end 501 of the screw conveyor 5 by the bucket 60804 of the slag removal device 6. The slag is then transported to the bottom of the cutter head 1 by the screw conveyor 5. The cutter head 1 then crushes the accumulated slag and sends it along with the slag from the working face to the belt conveyor 7 in the middle of the main beam 4 for removal, thus achieving slag removal.

[0041] The slag removal system of the present invention is composed of only a multi-degree-of-freedom slag removal device 6 and a screw conveyor 5. The structure is compact and occupies little space. The multi-degree-of-freedom slag removal device 6 is compact and small, and has a larger slag removal range. There is no need to add a multi-stage belt conveyor 7, which does not affect the layout space of other components, reduces design changes, and improves the economy of slag removal.

[0042] This invention achieves a seamless, full-area muck removal trajectory within the narrow gap between the TBM bottom support shoe and the main drive unit by utilizing the circumferential rotation of the arch frame installer's rotating ring, the sliding forward and backward translation of the arch frame installer, and the posture adjustment of the six-degree-of-freedom robotic arm. This solves the problem of blind spot accumulation. The invention establishes a complete chain: active collection by the robotic arm bucket, short-haul transport by the screw conveyor, secondary crushing / transfer by the cutterhead, and main transport by the central belt conveyor. It utilizes the TBM cutterhead, which both excavates and acts as a "lifting machine," integrating the bottom muck into the existing muck removal system of the main unit, eliminating the need for a separate muck pump or conveyor belt, and achieving synchronous linkage between muck removal and excavation. The multi-degree-of-freedom robotic arm can move to a non-interference area with the rotating ring or automatically retract during arch frame assembly, transforming muck removal operations from time-exclusive to spatially parallel with other TBM processes, thus increasing effective excavation time.

[0043] The above description is only a preferred embodiment of the present invention and does not limit the scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. An open-type TBM slag removal system, wherein the open-type TBM is provided with a cutterhead (1), a TBM shield (2), a main beam (4), and an arch frame mounter (3) with a rotating ring, wherein the cutterhead (1) is installed at the front end of the TBM shield (2), the main beam (4) is installed inside the TBM shield (2) and located behind the cutterhead (1), and the arch frame mounter (3) is slidably installed on the main beam (4) and located behind the cutterhead (1); characterized in that, The open-type TBM slag removal system includes a slag removal device (6), a screw conveyor (5), and a belt conveyor (7); the slag removal device (6) includes a multi-degree-of-freedom robotic arm and a bucket assembly (608), the multi-degree-of-freedom robotic arm is mounted on the rotating ring of the arch frame installer (3), and the bucket assembly (608) is connected to the multi-degree-of-freedom robotic arm; the screw conveyor (5) includes a feed end (501), a rotary transport section, and a discharge end (505), the rotary transport section is connected between the feed end (501) and the discharge end (505), the feed end (501) corresponds to the bucket assembly (608), and the discharge end (505) corresponds to the cutter head (1); the belt conveyor (7) is mounted on the main beam (4) for slag discharge from the cutter head (1).

2. The open-type TBM slag removal system according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm includes a mounting base (601), a telescopic arm (603), and a rotary drive (605). The mounting base (601) is mounted on the rotating ring of the arch frame mounter (3). The telescopic arm (603) is connected between the mounting base (601) and the bucket assembly (608). The rotary drive (605) is connected between the telescopic arm (603) and the mounting base (601).

3. The open-type TBM slag removal system according to claim 2, characterized in that, The multi-degree-of-freedom robotic arm also includes a pitch drive (606), and a pitch seat (602) is provided on the mounting base (601). The pitch drive (606) is connected between the pitch seat (602) and the telescopic arm (603).

4. The open-type TBM slag removal system according to claim 3, characterized in that, The number of the pitch actuators (606) is at least two, and the at least two pitch actuators (606) are arranged side by side.

5. The open-type TBM slag removal system according to claim 3, characterized in that, The telescopic boom (603) includes a propulsion drive (60301), an outer boom (60302), and an inner boom (60303). The inner boom (60303) is slidably mounted inside the outer boom (60302). The propulsion drive (60301) is located inside the outer boom (60302) and is connected between the inner boom (60303) and the outer boom (60302). The rotation drive (605) and the pitch drive (606) are connected to the outer boom (60302). The bucket assembly (608) is connected to the inner boom (60303).

6. The open-type TBM slag removal system according to claim 5, characterized in that, The outer arm (60302) is provided with a pitch lug assembly for connecting the pitch drive (606).

7. The open-type TBM slag removal system according to claim 5, characterized in that, The outer arm (60302) is provided with a rotating ear plate assembly for connecting the rotating drive (605).

8. The open-type TBM slag removal system according to claim 5, characterized in that, The inner arm (60303) is provided with a connecting seat (60304) at one end away from the mounting base (601) for mounting the bucket assembly (608).

9. The open-type TBM slag removal system according to claim 8, characterized in that, The bucket assembly (608) includes a transition support (60801), a bucket drive (607), and a bucket (60804). The transition support (60801) is connected between the bucket (60804) and the connecting seat (60304), and the bucket drive (607) is connected between the bucket (60804) and the transition support (60801).

10. The open-type TBM slag removal system according to claim 9, characterized in that, The adapter support (60801) is provided with a first connecting rod (60802), and the bucket (60804) is provided with a second connecting rod (60803). The first connecting rod (60802) is hinged to the second connecting rod (60803).

11. The open-type TBM slag removal system according to claim 1, characterized in that, The rotating transport section includes a drive device (502), a screw conveyor blade (503), and a cylinder (504). The screw conveyor blade (503) is installed inside the cylinder (504). The drive device (502) is connected to the cylinder (504) and is used to control the rotation of the cylinder (504).

12. The open-type TBM slag removal system according to claim 11, characterized in that, The driving device (502) includes a motor (50201) and a slewing support (50203). The driving cylinder (50204) is rotatably installed inside the cylinder (504). The motor (50201) is driven and connected to the slewing support (50203), and the slewing support (50203) is connected to the driving cylinder (50204).

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