A double-arm swing cylinder and pitch cylinder independent action device for horizontal-axis drum axis translation in a heading machine and a use method

Abstract

The application discloses a double-arm swing cylinder and luffing cylinder independent action device for horizontal-axis tunneling machine drum axis translation and a use method, which comprises a pair of parallelogram mechanisms with equal length changes, and comprises: a double arm, the rear end of which is rotatably connected with a chassis; a cutting head assembly, which is arranged at the front end of the double arm and is used for cutting; a luffing cylinder mechanism, which is used for driving the double arm to drive the cutting head assembly to swing up and down; a swing cylinder mechanism, which is used for driving the double arm to drive the cutting head assembly to translate left and right; and a telescopic cylinder mechanism, which is used for driving the cutting head assembly to stretch out and draw back. The luffing cylinder mechanism and the telescopic cylinder mechanism cooperatively drive the double arm to drive the axis of the cutting head assembly to vertically move up and down. The double-arm swing cylinder and luffing cylinder independent action device for horizontal-axis tunneling machine drum axis translation enables the axis of the cutting head assembly to vertically move up and down and to translate left and right.

Description

Technical Field

[0001] This invention relates to a tunneling machine, and more specifically, to a device and method for independently operating the double-arm swing cylinder and pitch cylinder for translating the drum axis in a horizontal shaft tunneling machine. Background Technology

[0002] Current tunneling machines are divided into partial-face tunneling machines and full-face tunneling machines. Partial-face tunneling machines are further divided into longitudinal-axis cantilever tunneling machines and transverse-axis cantilever tunneling machines, while full-face tunneling machines are shield tunneling machines. Longitudinal-axis cantilever tunneling machines can cut out the required tunnel cross-section, but require many left-right and up-down cyclic swings to complete the full-section cutting, resulting in relatively low tunneling efficiency. Transverse-axis cantilever tunneling machines can also cut out the required tunnel cross-section, but the rock geometry cut out in the tunnel advancement direction is approximately a concave spherical cap, which is longer, consumes more power, and takes longer than a planar cross-section. Because a single shaft supports the cutting heads on both sides, the rock to be broken has only one free surface. Under the pressure of the rock above, the shear strength of the rock being cut is not significantly weakened, making it difficult to increase the breaking speed. At the same time, the large cutting resistance torque results in a large working force for the lifting cylinder of the cutting arm and a large structural size, otherwise the rigidity is insufficient. Summary of the Invention

[0003] To solve the above problems, the present invention provides a device and method for independently operating the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine, so as to at least solve the problem that the geometry of the rock cut out in the tunnel advancement direction is an approximately concave spherical cap.

[0004] To overcome the shortcomings of current horizontal axis cantilever tunneling machines where the cutting heads on both sides are supported by the same shaft, the cutting head is designed with the left and right sections rotating at the same speed but in opposite directions. When switching positions, the cutting head's axis translates; when cutting vertically, the axis moves vertically. The rock cross-section in the tunnel's advancing direction is planar. To overcome the difficulty of current horizontal axis cantilever tunneling machines where the cutting teeth only cut rock with one free face, a method of pre-grooving followed by cutting is adopted. The pre-grooving is completed by the cutting tool. In this case, the rock facing the cutting teeth has two or three free faces, effectively weakening both the shear strength and compressive strength of the cut rock, thus increasing the tunneling speed. When the cutting head's axis moves vertically, the geometric parameters of the swing cylinder are set, and the pitch cylinder performs linear extension and retraction. The swing cylinder and pitch cylinder are connected in parallel in motion but independently controlled, greatly simplifying the hydraulic servo control system. To address this, an independent operating device for the double-arm swing cylinder and pitch cylinder of a horizontal shaft tunneling machine with a translating drum axis was invented. The device includes a cutting head with alternating grooving and cutting, a parallelogram-shaped double-section cutting arm and telescopic cylinder mechanism, a left and right swing cylinder mechanism for the double-section cutting arm, a pitch cylinder mechanism for the double-section cutting arm, and a frame support structure, thereby providing a faster tunneling method for hard rock tunneling.

[0005] The present invention adopts the following technical solution:

[0006] A device for independently operating the double-arm swing cylinder and pitch cylinder for translating the drum axis in a horizontal shaft tunneling machine, including...

[0007] Parallelogram mechanisms include:

[0008] Double booms, with the rear end rotatably connected to the base frame;

[0009] A cutting head assembly is located at the front end of the dual arms and is used for cutting.

[0010] The pitch cylinder mechanism is used to drive the double arms to move the cutting head assembly vertically;

[0011] The swing cylinder mechanism is used to drive the double arms to move the cutting head assembly horizontally;

[0012] The telescopic cylinder mechanism is used to drive the cutting head assembly to extend and retract, so that when the pitch cylinder mechanism drives the double arms to move the cutting head assembly vertically, the axis of the cutting head assembly moves linearly.

[0013] Furthermore, the cutting head assembly includes a left cutting head and a right cutting head, which are driven by a steel ball motor and a gear reducer, respectively, and rotate in opposite directions.

[0014] Furthermore, the cutting head assembly forms the front of the parallelogram mechanism, the double-section cutting arm assembly forms the left and right sides of the parallelogram mechanism, and the lower horizontal support shaft assembly forms the rear of the parallelogram mechanism. The relevant parts of the front of the parallelogram mechanism include the rear half end cap of the front cutting arm, the left connecting plate of the end cap, the right connecting plate of the end cap, the upper connecting plate of the end cap, the front end support of the front cutting arm, the front support shaft, the support shaft retaining ring, and the support shaft O-ring seal. The left connecting plate of the end cap is welded to the left rear of the rear half end cap of the front cutting arm, the right connecting plate of the end cap is welded to the right rear of the rear half end cap of the front cutting arm, and the upper connecting plate of the end cap is welded to the upper rear of the rear half end cap of the front cutting arm. The front end support of the front cutting arm... The left and right connecting plates of the end cap, as well as the upper connecting plate of the end cap, are welded together to form a single unit, thus constituting one front side of the parallelogram mechanism. The front support of the front cutting arm forms a rotating joint with the double-section cutting arm assembly through a pair of front support shafts. The support shaft retaining ring positions the front support shaft at the front end of the cutting arm. The support shaft O-ring seal is used to seal the grease in the front hole of the cutting arm and the front support shaft. The relevant parts on the left and right sides of the parallelogram mechanism include the first section cutting arm assembly and the second section cutting arm assembly, which are structurally symmetrical and have the same dimensions. The first section cutting arm assembly and the second section cutting arm assembly form a sliding joint. The relevant parts in the first section cutting arm assembly include the top of the first section cutting arm. Side plates, bottom side plate of the first cutting arm, left side plate of the first cutting arm, right side plate of the first cutting arm, front stiffener of the first cutting arm, left front lug of the telescopic cylinder, right front lug of the telescopic cylinder; the top side plate of the first cutting arm is welded to the top of the left side plate and the right side plate of the first cutting arm, the bottom side plate of the first cutting arm is welded to the bottom of the left side plate and the right side plate of the first cutting arm, the left front lug of the telescopic cylinder and the right front lug of the telescopic cylinder are respectively welded to the inner sides of the top side plate and the bottom side plate of the first cutting arm; related parts in the second cutting arm assembly include the rear left lug of the telescopic cylinder, the rear right lug of the telescopic cylinder, the top side plate of the second cutting arm, the second... The second cutting arm consists of a bottom side plate, a left side plate, a right side plate, an upper support at the bottom end, and a lower support at the bottom end. The top side plate of the second cutting arm is welded to the top of the left and right side plates of the second cutting arm, and the bottom side plate is welded to the bottom of the left and right side plates of the second cutting arm. The left and right rear ear seats of the telescopic cylinder are welded to the inner sides of the top and bottom side plates of the second cutting arm, respectively. The upper support at the bottom end of the second cutting arm is welded to the lower inner side of the top side plate of the second cutting arm, and the lower support at the bottom end of the second cutting arm is welded to the lower inner side of the bottom side plate of the second cutting arm.The components of the lower horizontal support shaft assembly include the left support of the lower horizontal support shaft, the lower support O-ring, the lower inner support of the second section cutting arm, the lower horizontal support shaft of the cutting arm, the lower vertical support shaft of the cutting arm, the lower support shaft limiting plate, the limiting plate screw, the lower horizontal support shaft radial sleeve, the lower horizontal support shaft key, and the lower support O-ring. The lower horizontal support shaft of the cutting arm and the radial sleeves of the left and right lower horizontal support shafts form a rotating pair and are sealed by the O-rings of the left and right lower support shafts. The radial sleeves of the left and right lower horizontal support shafts are interference-fitted with the supports of the left and right lower horizontal support shafts. The cutting arm lower horizontal support shaft... The horizontal support shaft is circumferentially fixed to the lower inner support of the second cutting arm via a key. The lower inner support of the second cutting arm is axially positioned via one lower vertical support shaft and one lower horizontal support shaft. The lower inner support of the second cutting arm and the one lower vertical support shaft form a revolute joint. The lower support shaft limiting plate and limiting plate screw limit the lower vertical support shaft. The axis of the lower horizontal support shaft is perpendicular to the axis of the lower vertical support shaft, which is a universal joint type connection, allowing the pair of cutting arm assemblies to move in all directions relative to the frame.

[0015] Furthermore, the swing cylinder mechanism includes a left swing cylinder mechanism and a right swing cylinder mechanism arranged on the top left and right sides.

[0016] The left swing cylinder mechanism includes a swing cylinder, a swing cylinder piston rod support shaft, a swing cylinder piston rod support shaft sleeve, a swing cylinder support shaft retaining ring, a swing cylinder support shaft pin, a left front support, a right front support, a lower support shaft axial sleeve, a rear left support, a rear support pin, a rear support tangential key, and a rear support O-ring. The rear left support is circumferentially fixed to the lower horizontal support shaft of the cutting arm via a pair of tangential keys, and axially fixed to the lower horizontal support shaft of the cutting arm via a pin. An axial sleeve for the lower horizontal support shaft is installed between the support and the left support of the lower horizontal support shaft. The O-ring of the rear support is installed on the outside of the left support of the lower horizontal support shaft. The cylinder body of the swing cylinder is rotatably connected to the support shaft on the left support of the swing cylinder. The swing cylinder support shaft retaining ring is positioned by the swing cylinder support shaft pin. The piston rod of the swing cylinder is rotatably connected to the swing cylinder piston rod support shaft. The swing cylinder piston rod support shaft is rotatably connected to the swing cylinder piston rod support shaft sleeve. The swing cylinder piston rod support shaft sleeve is interference-fitted with the left front support of the swing cylinder. The left front support of the swing cylinder is welded together with the top side plate of the second cutting arm and the left side plate of the second cutting arm.

[0017] The structure of the right swing cylinder mechanism is the same as that of the left swing cylinder mechanism.

[0018] Furthermore, the pitch cylinder mechanism includes a left pitch cylinder mechanism and a right pitch cylinder mechanism arranged on the left and right sides of the bottom.

[0019] The left-side pitch cylinder mechanism supports the left-side cutting arm, and the right-side pitch cylinder mechanism supports the right-side cutting arm. These mechanisms include a front spherical joint connecting to the support arm and a rear universal joint connecting to the base frame, respectively, and are used to address the vertical cutting and slicing actions of the cutting head.

[0020] The aforementioned front spherical joint and outrigger connection assembly includes a second-section cutting arm bottom side plate, an upper hemispherical seat baffle, an upper baffle screw, an upper baffle pin, an upper hemispherical seat for the pitch cylinder, upper and lower hemispherical seat bolts, upper and lower hemispherical seat nuts, a lower hemispherical seat for the pitch cylinder, an upper support ball for the pitch cylinder, upper and lower hemispherical seat pins, a front upper support for the upper hemispherical seat, a rear upper support for the upper hemispherical seat, a ball seat oil injection hole screw, a pitch cylinder, and an upper support shaft for the pitch cylinder. The transverse cross-section of the front upper support and the rear upper support of the upper hemispherical seat is L-shaped. The front upper support and the rear upper support of the upper hemispherical seat are welded to the bottom surface of the second-section cutting arm bottom side plate. The upper hemispherical seat of the pitch cylinder is mounted on... The L-shaped groove is positioned by the upper baffle pin, and then fixed to the front and rear upper supports of the upper hemisphere by the upper hemisphere baffle and upper baffle screws. The upper and lower hemispheres of the pitch cylinder form an inner spherical surface with radius SR, positioned by the upper and lower hemisphere pins and fixed by the upper and lower hemisphere bolts and nuts. The upper support ball of the pitch cylinder and the inner spherical surface form a spherical pair. The grease injection hole screw of the ball seat is used to inject grease into the spherical pair and then seal it. The upper support shaft of the pitch cylinder and the upper support ball of the pitch cylinder form a rotating pair, and the pitch cylinder and the upper support shaft of the pitch cylinder form a rotating pair. The structure of the lower hemisphere of the pitch cylinder allows for the spatial movement β of the pitch cylinder. zxb With β yxb and γ xyb With γ xfb Required space, structural angle α b The choice of β zxb With β yxb and γ xyb With γ xfbTo achieve minimum, the front spherical joint bears the spatial force from the cutting head; the rear universal joint and base frame connection assembly includes a pitch cylinder, an upper support shaft for the pitch cylinder, a lower support shaft for the pitch cylinder, a lower support shaft sleeve for the pitch cylinder, an oil inlet screw for the lower support shaft, a baffle for the lower support shaft for the pitch cylinder, a baffle screw for the lower support shaft, an upper support plate for the pitch cylinder, an upper vertical support for the pitch cylinder, an upper radial sleeve for the pitch cylinder, an upper vertical support shaft for the pitch cylinder, an upper bearing shell for the pitch cylinder, an upper plate for the pitch cylinder bracket, an inner side plate for the pitch cylinder bracket, an outer side plate for the pitch cylinder bracket, a lower plate for the pitch cylinder bracket, a lower bracket for the pitch cylinder, a lower bearing shell for the pitch cylinder, a lower radial sleeve for the pitch cylinder, a lower vertical support shaft for the pitch cylinder, a lower vertical support shaft for the pitch cylinder, an outer support plate for the pitch cylinder, an outer upper stiffening plate, a rear support plate for the pitch cylinder, and a pitch... The components include upper and lower rear stiffeners of the hydraulic cylinder, bolts for the pitch cylinder support plate, nuts for the pitch cylinder support plate, pins for the pitch cylinder support plate, oil injection hole screws for the support, left vertical support plate of the base frame, side groove support plate, left bottom support plate, support plate positioning pins, bottom support plate connecting bolts, bottom support plate connecting nuts, bottom plate of the pitch cylinder rear support plate, and right rear groove support plate. The pitch cylinder is rotatably connected to the lower support shaft of the pitch cylinder. The oil injection port screw of the lower support shaft is used to inject grease into the rotating pair and then seal it. The lower support shaft baffle and lower support shaft baffle screw of the pitch cylinder position the lower support shaft of the pitch cylinder. The lower support shaft sleeve of the pitch cylinder is interference-fitted with the lower bracket of the pitch cylinder. The lower bracket of the pitch cylinder is welded into the holes at the bottom of the inner side plate and the outer side plate of the pitch cylinder bracket. The lower plate of the pitch cylinder bracket is welded to the inner side of the pitch cylinder bracket. The lower end of the plate and the outer side plate of the pitch cylinder bracket; the lower vertical support shaft of the pitch cylinder is interference-fitted with the lower plate of the pitch cylinder bracket; the lower vertical support shaft of the pitch cylinder is clearance-fitted with the lower radial sleeve of the pitch cylinder; the lower radial sleeve of the pitch cylinder is interference-fitted with the lower vertical support of the pitch cylinder; the lower vertical support of the pitch cylinder is interference-fitted with the left bottom support plate; the lower bearing of the pitch cylinder is installed in the hole above the lower vertical support of the pitch cylinder; the oil filling hole screw of the support is used for sealing after oil filling; the upper plate of the pitch cylinder bracket is welded to the upper end of the inner side plate and the outer side plate of the pitch cylinder bracket; the upper vertical support shaft of the pitch cylinder is interference-fitted with the upper plate of the pitch cylinder bracket; the upper vertical support shaft of the pitch cylinder is clearance-fitted with the upper radial sleeve of the pitch cylinder; the upper radial sleeve of the pitch cylinder is interference-fitted with the upper vertical support of the pitch cylinder. The vertical support of the pitch cylinder is interference-fitted with the upper support plate of the pitch cylinder. The upper support plate of the pitch cylinder is welded to the outer support plate of the pitch cylinder. The upper bearing of the pitch cylinder is installed in the hole below the vertical support of the pitch cylinder. The outer upper stiffening plate is welded to the upper support plate and the outer support plate of the pitch cylinder. The outer support plate of the pitch cylinder is inserted into the side groove support plate. The upper and lower rear stiffening plates of the pitch cylinder are welded to the bottom of the upper support plate of the pitch cylinder and to the inner side of the rear support plate of the pitch cylinder. The rear support plate of the pitch cylinder is inserted into the right rear groove support plate. The rear support plate of the pitch cylinder is positioned on the bottom plate of the rear support plate of the pitch cylinder by the pitch cylinder support plate pin and is fixed to the bottom plate of the rear support plate of the pitch cylinder by the pitch cylinder support plate bolts and nuts. The side groove support plate is welded to the inner side of the left vertical support plate of the base frame.The outer support plate of the pitch cylinder is positioned on the left vertical support plate of the base frame via a pitch cylinder support plate pin. The outer support plate is also fixed to the left vertical support plate of the base frame via pitch cylinder support plate bolts and nuts. The left bottom support plate is welded to the lower part of the left vertical support plate of the base frame. The left bottom support plate is positioned on the chassis of a dual-arm swing cylinder and pitch cylinder independent action device (with the drum axis moving in a horizontal shaft type tunneling machine) via a support plate positioning pin and is fixed to the tunneling machine chassis via bottom support plate connecting bolts and nuts. The pitch cylinder is positioned relative to X. 23 The shaft makes a pitching motion, and the pitching cylinder moves about Z. 23 The shaft swings left and right, and the universal joint at the rear bears the spatial force from the cutting head;

[0021] The structure of the right pitch cylinder mechanism is the same as that of the left pitch cylinder mechanism.

[0022] Furthermore, the telescopic cylinder mechanism is used in conjunction with a pair of pitch cylinders to solve the vertical movement of the cutting head to achieve the minimum cutting surface and thus obtain a faster tunneling speed; the telescopic cylinder mechanism includes a left telescopic cylinder mechanism and a right telescopic cylinder mechanism.

[0023] The left telescopic hydraulic cylinder mechanism includes a telescopic hydraulic cylinder, a front support shaft of the telescopic hydraulic cylinder, a front pin of the telescopic hydraulic cylinder, a rear support shaft of the telescopic hydraulic cylinder, a rear pin of the telescopic hydraulic cylinder, a first cutting arm assembly, and a second cutting arm assembly. The telescopic hydraulic cylinder forms a rotating joint with the front left ear seat and the front right ear seat of the telescopic hydraulic cylinder via the front support shaft of the telescopic hydraulic cylinder. The front support shaft of the telescopic hydraulic cylinder is positioned between the front left ear seat and the front right ear seat of the telescopic hydraulic cylinder via the front pin of the telescopic hydraulic cylinder. The telescopic hydraulic cylinder forms a rotating joint with the rear left ear seat and the rear right ear seat of the telescopic hydraulic cylinder via the rear support shaft of the telescopic hydraulic cylinder. The rear support shaft of the telescopic hydraulic cylinder is positioned between the rear left ear seat and the rear right ear seat of the telescopic hydraulic cylinder via the rear pin of the telescopic hydraulic cylinder.

[0024] The structure of the right telescopic cylinder mechanism is the same as that of the left telescopic cylinder mechanism.

[0025] Furthermore, the cutting head assembly adopts a structure with the cutter and cutting teeth arranged axially alternately and the cutter arranged radially ahead of the cutting teeth, to perform pre-cutting and then cutting operations on the rock. The cutting head assembly includes a left cutting head section, a middle support structure, and a right cutting head section. The left and right cutting heads rotate at the same speed but in opposite directions to minimize the thrust on the pitch cylinder, telescopic cylinder, and swing cylinder, and to reduce the stress on related components. The left cutting head section includes a left inner support sleeve, a cutting tool, a bearing outer ring, rollers, a bearing inner ring, and an outer end face V. DThe components include: an O-ring seal, an inner water channel seal, an outer water channel seal, a front cutting arm key, a middle support sleeve, a water supply pipe, a water supply pipe O-ring, a water supply pipe outer plug, a right inner support sleeve, an inner support seal, an inner support retaining ring, a ball motor, a motor connecting screw, a reducer input shaft, a left sleeve support screw, a reducer output sleeve, left and right sleeve supports, a cutting tool pin, left and right cutting teeth, left and right cutting tooth retaining rings, left and right cutting tooth seats, a front half end cover for the front cutting arm, front and rear half end cover bolts, and a rear half end cover for the front cutting arm. The ball motor is fixed to the non-rotating left inner support sleeve by the motor connecting screw. The ball motor drives the reducer input shaft through a spline pair. The output sleeve of the speed reducer is fixed to the left and right sleeve supports via the left sleeve support screw. Evenly distributed cutting tools are installed in the tapered holes of the left and right sleeve supports and positioned by cutting tool pins. Left and right cutting tooth seats are spirally distributed and welded to the left and right sleeve supports. Evenly distributed left and right cutting teeth are installed in the tapered holes of the left and right cutting tooth seats and positioned by left and right cutting tooth retainers. The bearing inner ring is interference-fitted with the left inner support sleeve, and the bearing outer ring is interference-fitted with the left and right sleeve supports. Four rows of rollers, along with the bearing inner and outer rings, form a cylindrical roller bearing. The front and rear half-end cover bolts fix the front half-end cover and the rear half-end cover of the front cutting arm to form the middle section of the cutting head. The outer end face V... D The O-ring seal serves as the axial seal within the left and right sleeve supports. The inner and outer water passage seals serve as the axial seal within the left inner support sleeve. The front cutting arm key circumferentially fixes the middle section of the left inner support sleeve and the cutting head. The middle support sleeve serves as the inner support for the left and right inner support sleeves. The inner support seal on the left side achieves the axial seal between the middle support sleeve and the left inner support sleeve. The inner support seal on the right side achieves the axial seal between the middle support sleeve and the right inner support sleeve. The inner support retaining ring on the left side achieves the axial positioning between the middle support sleeve and the left inner support sleeve. The inner support retaining ring on the right side achieves the axial positioning between the middle support sleeve and the right inner support sleeve. The O-ring on the water supply pipe is used to seal the radial water supply hole on the left inner support sleeve. The outer plug on the water supply pipe seals the radial water supply hole on the left inner support sleeve. The water supply pipe is connected to the external water supply pipeline.

[0026] The structure of the right-side cutting head is the same as that of the left-side cutting head.

[0027] Furthermore, the support structure of the frame, used to support the lower horizontal support shaft system assembly of the cutting arm, support a pair of pitch cylinder mechanisms, and is connected to the tunneling machine chassis, includes a left support for the lower horizontal support shaft, a left vertical support plate of the base frame, left and right connecting plates of the base frame, a middle support plate of the base frame, a side groove support plate, a left bottom support plate, a support plate positioning pin, a bottom support plate connecting bolt, a bottom support plate connecting nut, a bottom plate of the rear support plate of the pitch cylinder, a rear groove support plate, a left stiffening plate of the rear support plate, a rear support plate of the base frame, a right bottom support plate, a right stiffening plate of the rear support plate, a right vertical support plate of the base frame, and a right support for the lower horizontal support shaft. The left support for the lower horizontal support shaft is welded to the upper part of the left vertical support plate of the base frame, and the right support for the lower horizontal support shaft is welded to the upper part of the right vertical support plate of the base frame. The left and right connecting plates of the base frame are welded between the left and right vertical support plates of the base frame, and the middle support plate of the base frame is welded to... On the upper middle part of the left and right connecting plates of the base frame, the top of the bottom plate of the pitch cylinder rear support plate is welded to the left and right connecting plates of the base frame. The bottom end of the bottom plate of the pitch cylinder rear support plate is welded to the left bottom support plate and the bottom support plate. The left end of the bottom plate of the pitch cylinder rear support plate is welded to the left vertical support plate of the base frame. The right end of the bottom plate of the pitch cylinder rear support plate is welded to the right vertical support plate of the base frame. The left stiffening plate of the rear support plate is welded to the bottom plate of the pitch cylinder rear support plate and the rear support plate of the base frame. The right stiffening plate of the rear support plate is welded to the bottom plate of the pitch cylinder rear support plate and the rear support plate of the base frame. The left bottom support plate is welded to the bottom end of the left vertical support plate of the base frame. The right bottom support plate is welded to the bottom end of the right vertical support plate of the base frame. The side groove support plate is welded to the lower inner part of the left vertical support plate of the base frame. The rear groove support plate is welded to the lower inner part of the bottom plate of the pitch cylinder rear support plate. The lower middle space of the base frame is the channel for the scraper conveyor to transport rocks.

[0028] A method for using an independent actuation device for the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine includes the following steps:

[0029] S1: Control the cutting head assembly to cut the corresponding L from top to bottom on the left side of the excavated tunnel. gt1 The width, where L 11 With L 12 For the cutting and slicing area, L z1 This is a non-rock-breaking area;

[0030] S2: Control the cutting head to move to the right by L 11 Then, it is cut and chopped from bottom to top.

[0031] S3: Control the cutting head to move to the right by L gt1 -L cd Then, it is cut and slit from top to bottom, where L gt1 L is the axial width of the cutting teeth on the drum during the first rock cutting. cd The overlap width of the cut;

[0032] S4: Control the cutting head to move to the right by L 31 Then, cutting and slicing from bottom to top, L 31The axial width of the left section of the roller during the third rock cutting is used to complete the rock breaking and propulsion of one cutting depth in the tunnel cross-section;

[0033] S5: Repeat steps S1-S4 to advance the tunneling depth by breaking the rock; wherein the swing cylinder mechanism controls the rightward displacement of the cutting head assembly, the pitch cylinder mechanism controls the up and down movement of the cutting head assembly, and the telescopic cylinder mechanism controls the cutting head assembly to cut the planar cross-section.

[0034] Furthermore, the tunnel boring machine's underframe is located in the middle of the tunnel width, and during the first cut and segmentation, point O3 is located on the left side of the tunnel. 31 O 31 The distance from the point to the mid-width of the alley is 0.5B. xd -0.5L gt1 During the second cutting and slitting, point O3 was located on the left side of the tunnel. 32 O 32 The distance from the point to the mid-width of the alley is 0.5B. xd -L 11 -0.5L gt2 During the third cutting and slitting, point O3 was located on the right side of the tunnel. 33 O 33 The distance from the point to the mid-width of the alley is 0.5B. xd -L 42 -0.5L gt3 During the fourth cutting and slitting, point O3 was located on the right side of the roadway. 34 O 34 The distance from the point to the mid-width of the alley is 0.5B. xd -0.5L gt4 ;

[0035] H2 + H3 = 0.5H xd The horizontal midpoint length from the cutting head axis to the boom rear support axis is L. b0 The cutting head axis swings upwards a distance of 0.5H from the horizontal midpoint. xd -0.5D g -h g The cutting head axis swings downwards from its horizontal midpoint by a distance of 0.5H. xd -0.5D g -h g ;

[0036] During the first cut and slit, the maximum elevation angle β of the cutting arm is... gfs Equal to the maximum angle of depression β gfx The pitch angle of the cutting arm is β, β gfx ≤β≤β gfs In the O1XYZ coordinate system, O 31 The coordinates of the point are [-L b0, -(0.5B xd -0.5L gt1 ), L b0 tanβ], therefore, the displacement function S of the telescopic cylinder during the first cutting and slitting. ss1 for

[0037]

[0038] During the second cutting and slicing, in the O1XYZ coordinate system, O 32 The coordinates of the point are [-L b0 , -(0.5B xd -L 11 -0.5L gt2 ), L b0 tanβ], therefore, the displacement function S of the telescopic cylinder during the second cutting and slitting. ss2 for

[0039]

[0040] The displacement function S of the telescopic cylinder during the third cutting and slitting process ss3 =S ss2 The displacement function S of the telescopic cylinder during the fourth cutting and slitting. ss4 =S ss1 ;

[0041] During the first cut and slit, the first leftward swing angle of the cutting arm is ψ. z1 During the second cutting and slitting, the second left swing angle of the cutting arm is ψ. z2 , ψ z1 With ψ z2 They are respectively

[0042] ψ z1 =arctan[(0.5B xd -0.5L gt1 ) / L b0 ]

[0043] ψ z2 =arctan[(0.5B xd -L 11 -0.5L gt2 ) / L b0 ]

[0044] During the third cut and severance, the first rightward swing angle of the cutting arm is ψ. y1 =ψ z2 During the fourth cutting and slitting, the second rightward swing angle of the cutting arm is ψ. y2 =ψ z1 ;

[0045] In the O1XYZ coordinate system, when the cutting arm is in a horizontal position, the center of symmetry of the pair of upper spherical sub-centers of the pitch cylinder is O. 40 O 40 The coordinates of the point are [-L zb [,0,-H3];

[0046] During the first cut and slit, the cutting arm swings to the left at the first angle ψ. z1 Then it swings from top to bottom with an angle of β. gfs ≥β≥β gfx Moving point O 401 coordinates (X) O401 Y O401 Z O401 ) is the swing angle ψ z1 The function of β, i.e., the matrix expression, is as follows:

[0047]

[0048] The intersection point of the lower support axis of the pitch cylinder and the symmetry plane of the base frame width is O2(0, 0, -H2). 401 The length between O2 and the cylinder is the length S of the pitch cylinder. fy1 S fy1 for

[0049]

[0050] During the second cutting and slitting, the cutting arm swings to the left at the second angle ψ. z2 Then it swings from bottom to top with an angle of β. gfx ≤β≤β gfs Moving point O 402 coordinates (X) O402 Y O402 Z O402 ) is the swing angle ψ z2 The function of β, i.e., the matrix expression, is as follows:

[0051]

[0052] The intersection point of the lower support axis of the pitch cylinder and the symmetry plane of the base frame width is O2(0, 0, -H2). 402 The length between O2 and the cylinder is the length S of the pitch cylinder. fy2 S fy2 for

[0053]

[0054] During the third cutting and slitting, the length S of the pitch cylinder... fy3 =S fy2 When the fourth cutting and slitting occurs, the length S of the pitching cylinder... fy4=S fy1 ;

[0055] The distance between the rear fulcrum of the left swing cylinder and the rear fulcrum of the left cutting arm is (B4-B1) / 2, and the axial length of the swing cylinder supported on the cutting arm is L. bz The distance between the center of the front support shaft of the swing cylinder and the axis of symmetry of the cutting arm is B5;

[0056] During the first cutting and slitting, the rear fulcrum of the left swing cylinder is used as the reference point, ψ z1 The corresponding complex vector expression of the coordinates of the front pivot point of the left swing cylinder is as follows: That is, 0.5(B4-B1)+L bz cos(π / 2+ψ z1 )+B5 cos(π+ψ z1 ), L bz sin(π / 2+ψ z1 )+B5 sin(π+ψ z1 ), so ψ z1 The corresponding left swing cylinder length S bz1 for

[0057]

[0058] During the first cutting and slitting, the rear fulcrum of the right swing cylinder is used as the reference point, ψ z1 The corresponding complex vector expression of the coordinates of the front pivot point of the right swing cylinder is as follows: That is, -0.5(B4-B1)+L bz cos(π / 2+ψ z1 )+B5 cosψ z1 L bz sin(π / 2+ψ z1 )+B5 sinψ z1 , and so ψ z1 The corresponding right swing cylinder length S by1 for

[0059]

[0060] During the second cutting and slitting, the rear fulcrum of the left swing cylinder is used as the reference point, ψ z2 The corresponding complex vector expression of the coordinates of the front pivot point of the left swing cylinder is as follows: That is, 0.5(B4-B1)+L bz cos(π / 2+ψ z2 )+B5 cos(π+ψ z2 ), L bz sin(π / 2+ψ z2 )+B5 sin(π+ψ z2 ), so ψz2 The corresponding left swing cylinder length S bz2 for

[0061]

[0062] During the second cutting and slitting, the rear fulcrum of the right swing cylinder is used as the reference point, ψ z2 The corresponding complex vector expression of the coordinates of the front pivot point of the right swing cylinder is as follows: That is, -0.5(B4-B1)+L bz cos(π / 2+ψ z2 )+B5 cosψ z2 L bz sin(π / 2+ψ z2 )+B5 sinψ z2 , and so ψ z2 The corresponding right swing cylinder length S by2 for

[0063]

[0064] During the third cutting and slitting, the length S of the left swing cylinder bz3 =S by2 Length S of the right swing cylinder by3 =S bz2 ;

[0065] During the fourth cutting and slitting, the length S of the left swing cylinder bz4 =S by1 Length S of the right swing cylinder by4 =

[0066] S bz1 ;

[0067] Among them, point O3 is the intersection of the cutting head axis and the axial width symmetry plane, B xd L is the width of the cross-section of the tunnel being excavated. gt1 L is the axial width of the cutting teeth on the drum during the first rock cutting. gt2 L represents the axial width of the cutting teeth on the drum during the second rock cutting. 42 L represents the axial width of the right section of the drum during the fourth rock cutting. gt3 L represents the axial width of the cutting teeth on the drum during the third rock cutting. gt4 H1 is the axial width of the cutting teeth on the drum during the fourth rock cutting; H2 is the height from the lower support axis of the cutting arm to the lower horizontal support shaft of the pitch cylinder; H3 is the height from the lower horizontal support shaft of the pitch cylinder to the bottom of the tunnel. xd D is the height of the cross-section of the tunnel being excavated. g h is the outer diameter of the cutting head. gB1 is the cutting depth of the cutting teeth; B4 is the distance between the axes of symmetry of the two cutting arms; B5 is the distance between the upper support shafts of the rear support of the two swing cylinders.

[0068] Beneficial effects

[0069] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0070] (1) The swing cylinder independently performs the translational movement of the cutting head. The length of the swing cylinder remains unchanged during the cutting and cutting of the rock, and the cutting arm makes pitching motion.

[0071] (2) The pitch cylinder independently moves the cutting head up and down, thereby cutting and slicing the rock;

[0072] (3) The first and second cutting arms are equipped with telescopic cylinders. By controlling the telescopic cylinders, the axis of the cutting head can move vertically up and down instead of in a circular arc. As a result, the cutting path is shorter under the same tunneling progress, and the tunneling speed is faster.

[0073] (4) Kinematically, the double arms, the cutting head, and the frame form a parallelogram mechanism, which realizes the translational transposition of the cutting head instead of the swing transposition.

[0074] (5) The upper end of the pitch cylinder is supported by a spherical pair and the lower end is supported by a universal joint. This not only ensures the geometric requirements of the cutting head's spatial movement, but also makes full use of the spatial structure at different positions, and at the same time ensures the requirement to withstand tens of tons of axial force.

[0075] (6) The double arms and the frame are supported by universal joints, which provides geometric conditions for the spatial movement of the cutting head;

[0076] (7) The double arms and the cutting head are supported by a rotating joint and a simply supported beam, which simplifies the structure and can withstand tens of tons of spatial force.

[0077] (8) By combining advanced grooving with cutting rock breaking method, the current method of cutting rock breaking, which only faces one free face of rock, is transformed into rock with two or three free faces, thereby reducing the difficulty of cutting rock breaking and increasing the speed of tunneling.

[0078] (9) The cutting head is designed with the left and right sections rotating at the same speed but in opposite directions, so that the circumferential resistance of the rock to the cutting head is theoretically completely offset and practically mostly offset, thereby reducing the support force on the pitch cylinder. Attached Figure Description

[0079] Figure 1 This is a left view of this type of horizontal shaft tunneling machine;

[0080] Figure 2 This is a front view of the double boom and underframe assembly supported by a pair of pitch cylinders;

[0081] Figure 3 This is a diagram showing the connection between the pitch cylinder and the outrigger via a spherical surface and a pin, viewed along the axial direction of the outrigger.

[0082] Figure 4 This is a left view showing the connection between the pitch cylinder and the outrigger via a spherical surface and a pin.

[0083] Figure 5 This is a left view showing the pitch cylinder and the outrigger fixed laterally via a spherical surface;

[0084] Figure 6 This is a front view of the connection assembly between the left pitch cylinder and the base frame;

[0085] Figure 7 This is a left view of the connection assembly between the left pitch cylinder and the base frame;

[0086] Figure 8 This is a top view of the connection assembly between the left tilt cylinder and the base frame;

[0087] Figure 9 This is a top view of the swing cylinder and base frame assembly when the outrigger is in the middle position;

[0088] Figure 10 This is a left view of the swing cylinder, outrigger, and base frame assembly;

[0089] Figure 11 This is the front view of the left support of the swing cylinder;

[0090] Figure 12 This is a left view of the left support of the swing cylinder.

[0091] Figure 13 This is a top view of the swing cylinder and underframe assembly when the outrigger is on the left side of the roadway;

[0092] Figure 14 This is a front view of the connection between the pitch cylinder support assembly and the base frame;

[0093] Figure 15 This is a left view of the connection between the pitch cylinder support assembly and the base frame;

[0094] Figure 16 This is a top view of the connection between the pitch cylinder support assembly and the base frame;

[0095] Figure 17 It is a cross-sectional cutting path planning diagram of the tunnel;

[0096] Figure 18 This is a cross-sectional view of the cutting head component;

[0097] Figure 19This is the left view of the second support arm and lower horizontal support shaft assembly;

[0098] Figure 20 This is a top view of the second support arm and lower horizontal support shaft assembly;

[0099] Figure 21 It is a lower horizontal support shaft;

[0100] Figure 22 This is an axial view of the second outrigger.

[0101] Figure 23 yes Figure 19 AA section diagram;

[0102] Figure 24 This is the front view of the inner support under the outrigger;

[0103] Figure 25 This is the left view of the inner support under the outrigger;

[0104] Figure 26 It is a top view of the telescopic cylinder, outrigger, and cutting head assembly;

[0105] Figure 27 This is the left view of the front and rear end cap connecting assembly;

[0106] Figure 28 This is the axial view of the first outrigger section;

[0107] Figure 29 This is a partial front view of the cutting tooth arrangement structure on the left side of the cutting head;

[0108] Figure 30 This is a partial left view of the cutting tooth arrangement structure on the left side of the cutting head;

[0109] Figure 31 This is a partial front view of the cutting tooth arrangement structure on the right side of the cutting head;

[0110] Figure 32 This is a partial left view of the arrangement of the cutting teeth on the right side of the cutting head;

[0111] Figure 33 This is a partial front view of the cutting tool arrangement structure on the left side of the cutting head;

[0112] Figure 34 This is a partial left view of the cutting tool arrangement structure on the left side of the cutting head;

[0113] Figure 35 This is a partial front view of the cutting tool arrangement structure on the right side of the cutting head;

[0114] Figure 36 This is a partial left view of the cutting tool arrangement structure on the right side of the cutting head;

[0115] Figure 37 It is a planning diagram of the cutting head cutting and slicing four times across the width of the tunnel;

[0116] Figure 38 This is a simplified diagram for calculating the lengths of the pitch cylinder, telescopic cylinder, and swing cylinder;

[0117] In the diagram, 1 is the left inner support sleeve; 2 is the cutting tool; 3 is the outer ring of the bearing; 4 is the roller; 5 is the inner ring of the bearing; and 6 is the outer end face V. D 7. O-ring seal; 8. Water circuit internal seal; 9. Water circuit external seal; 10. Front cutting arm key; 11. Intermediate support sleeve; 12. Water supply pipe; 13. Water supply pipe O-ring; 14. Water supply pipe external plug; 15. Right inner support sleeve; 16. Inner support seal; 17. Inner support retaining ring.

[0118] 100 Left steel ball motor and reduction transmission assembly; 200 Left and right sleeve support assembly; 300 Left and right cutting tooth assembly; 400 Cutting arm front end cover assembly; 500 Front cutting arm support assembly; 1700 One pair of cutting arm assemblies; 1800 One pair of pitch cylinders and support assembly; 1900 One pair of telescopic cylinders and support assembly; 2000 Double arm lower support assembly; 2100 One pair of swing cylinders and support assembly; 2200 Underframe support assembly;

[0119] 101 1QJM62-10 steel ball motor; 102 motor connecting screw; 103 input shaft of reducer; 104 left sleeve support screw; 105 output sleeve of reducer;

[0120] 201 Left and right sleeve supports; 202 Cutting tool pins;

[0121] 301 left and right cutting teeth; 302 left and right cutting tooth retainer; 303 left and right cutting tooth base;

[0122] 401 Front end cap of the cutting arm; 402 Bolts for the front and rear end caps;

[0123] 501 Rear end cap of the front cutting arm; 502 Left side connecting plate of the end cap; 503 Right side connecting plate of the end cap; 504 Upper connecting plate of the end cap; 505 Front end support of the front cutting arm; 506 Support shaft of the front end support; 507 Support shaft retaining ring; 508 Support shaft O-ring seal.

[0124] 701 Piston rod of pitch cylinder; 702 Cylinder body of pitch cylinder; 703 Upper support shaft of pitch cylinder; 704 Upper pin of pitch cylinder;

[0125] 1701 Top side plate of the first cutting arm; 1702 Bottom side plate of the first cutting arm; 1703 Left side plate of the first cutting arm; 1704 Right side plate of the first cutting arm; 1705 Front stiffener plate of the first cutting arm; 1706 Front left lug of the telescopic cylinder; 1707 Front right lug of the telescopic cylinder; 1708 Rear left lug of the telescopic cylinder; 1709 Rear right lug of the telescopic cylinder; 1710 Top side plate of the second cutting arm; 1711 Bottom side plate of the second cutting arm; 1712 Left side plate of the second cutting arm; 1713 Right side plate of the second cutting arm; 1714 Upper hemispherical seat baffle; 1715 Upper baffle screw; 1716 Upper baffle... Plate pin; 1717 Upper hemisphere seat of pitch cylinder; 1718 Bolt for upper and lower hemisphere seats; 1719 Nut for upper and lower hemisphere seats; 1720 Lower hemisphere seat of pitch cylinder; 1721 Upper ball support of pitch cylinder; 1722 Pin for upper and lower hemisphere seats; 1723 Front upper support of upper hemisphere seat; 1724 Rear upper support of upper hemisphere seat; 1725 Oil injection hole screw for ball seat; 1726 Upper half U-shaped plate of protective sleeve; 1727 Lower half U-shaped plate of protective sleeve; 1728 Protective sleeve support; 1729 Protective sleeve screw; 1730 Protective sleeve washer; 1731 Upper support at the bottom of the second section cutting arm; 1732 Lower support at the bottom of the second section cutting arm;

[0126] 1801 Pitch cylinder; 1802 Upper support shaft of pitch cylinder; 1803 Lower support shaft of pitch cylinder; 1804 Lower support shaft sleeve of pitch cylinder; 1805 Oil inlet screw of lower support shaft; 1806 Lower support shaft baffle of pitch cylinder; 1807 Lower support shaft baffle screw.

[0127] 1901 Telescopic hydraulic cylinder; 1902 Telescopic hydraulic cylinder front support shaft; 1903 Telescopic hydraulic cylinder front pin shaft; 1904 Telescopic hydraulic cylinder rear support shaft; 1905 Telescopic hydraulic cylinder rear pin shaft.

[0128] 2001 Second section, inner support of the cutting arm; 2002 Lower horizontal support shaft of the cutting arm; 2003 Lower vertical support shaft of the cutting arm; 2004 Lower support shaft limiting plate; 2005 Limiting plate screw; 2006 Lower horizontal support shaft radial sleeve; 2007 Lower horizontal support shaft key; 2008 Oil hole screw; 2009 Lower support shaft axial sleeve; 2010 Rear left support of the swing cylinder; 2011 Rear support pin of the swing cylinder; 2012 Tangential key of the rear support of the swing cylinder; 2013 Rear support O-ring; 2014 Lower support O-ring; 2015 Rear right support of the swing cylinder;

[0129] 2101 Swing cylinder; 2102 Swing cylinder piston rod support shaft; 2103 Swing cylinder piston rod support shaft sleeve; 2104 Swing cylinder support shaft retaining ring; 2105 Swing cylinder support shaft pin; 2106 Swing cylinder left front support; 2107 Swing cylinder right front support.

[0130] 2201 Lower horizontal support shaft left support; 2202 Base frame left vertical support plate; 2203 Base frame left and right connecting plates; 2204 Base frame middle support plate; 2205 Side groove support plate; 2206 Left bottom support plate; 2207 Support plate positioning pin; 2208 Bottom support plate connecting bolt; 2209 Bottom support plate connecting nut; 2210 Bottom plate of the rear support plate of the pitch cylinder; 2211 Rear groove support plate; 2212 Left stiffening plate of the rear support plate; 2213 Base frame rear support plate; 2214 Right bottom support plate; 2215 Right stiffening plate of the rear support plate; 2216 Base frame right vertical support plate; 2217 Lower horizontal support shaft right support;

[0131] 2301 Upper support plate of pitch cylinder; 2302 Upper vertical support of pitch cylinder; 2303 Upper radial sleeve of pitch cylinder; 2304 Upper vertical support shaft of pitch cylinder; 2305 Upper bearing shell of pitch cylinder; 2306 Upper plate of pitch cylinder bracket; 2307 Inner side plate of pitch cylinder bracket; 2308 Outer side plate of pitch cylinder bracket; 2309 Lower plate of pitch cylinder bracket; 2310 Lower bracket of pitch cylinder; 2311 Lower shaft of pitch cylinder 2312 Lower radial sleeve of pitch cylinder; 2313 Lower vertical support shaft of pitch cylinder; 2314 Lower vertical support of pitch cylinder; 2315 Outer support plate of pitch cylinder; 2316 Outer upper stiffening plate; 2317 Rear support plate of pitch cylinder; 2318 Upper and lower rear stiffening plates of pitch cylinder; 2319 Support plate bolt of pitch cylinder; 2320 Support plate nut of pitch cylinder; 2321 Support plate pin of pitch cylinder; 2322 Oil injection hole screw of support;

[0132] Symbol in the diagram: (H) z1 (H1) Height of the lower support axis of the cutting arm to the bottom surface of the base frame; (H2) Height of the lower horizontal support axis of the pitch cylinder to the bottom surface of the base frame; (H3) Height of the lower horizontal support axis of the pitch cylinder to the bottom surface of the tunnel; (H4) Distance between the axis of symmetry of the cutting arm and the center of the ball of the upper support of the pitch cylinder; (L) bz The axial length of the swing cylinder supported on the cutting arm; (L) b0 The horizontal mid-length from the cutting head axis to the boom rear support axis; (L) b1 The length from the cutting head axis to the boom front support axis; (D) g (B1) Outer diameter of the cutting head; (B2) Distance between the axes of symmetry of the two cutting arms; (B3) Distance between the left and right support plates of the base frame; (B4) Distance between the rear supports of the two swing cylinders; (B5) Distance between the upper support shafts of the rear supports of the two swing cylinders; (B6) Distance between the center of the front support shaft of the swing cylinder and the axis of symmetry of the cutting arm; (h1) Outer height of the second section of the support arm; (h2) Outer height of the first section of the support arm and inner height of the second section; (h3) Support height of the upper hemisphere seat of the pitch cylinder; (b1) Width of the second section of the support arm; (b2) Outer width of the first section of the support arm and inner width of the second section; (L) 17The support length of the upper hemispherical seat of the pitch cylinder; (α) b (SR) Structural angle of the center of the ball on the upper support of the pitch cylinder about the axis of the cutting arm; (S) Radius of the spherical surface of the upper hemisphere of the pitch cylinder; bz The support length of the left swing cylinder; (S) by The support length of the right swing cylinder; (S) fy The support length of the pitch cylinder; (S) ss (X) Support length of the telescopic cylinder; (Y) Horizontal coordinate axis perpendicular to the Y-axis; (Z) Horizontal coordinate axis on the lower support axis of the cutting arm; (X) Coordinate axis perpendicular to XY; 23 The horizontal coordinate axis of the lower support axis of the pitch cylinder; (Y 23 ) and X 23 The horizontal coordinate axis is perpendicular to the axis; (Z) 23 ) and X 23 Y 23 Vertical coordinate axes; (O) 23 Coordinate system X 23 Y 23 Z 23 The origin; (Y1) the left and right axes of symmetry between the left and right cutting heads; (γ) the tilt angle of the pitch cylinder about the horizontal plane O1XY; (δ) the tilt angle of the pitch cylinder about the vertical plane O1XZ; (γ) z The midpoint angle of the pitch cylinder axis; (γ) xyb The relative elevation angle of the pitch cylinder axis with respect to the neutral angle; (γ) xfb The relative depression angle of the pitch cylinder axis with respect to the midpoint angle; (γ) xym The maximum elevation angle of the pitch cylinder axis; (γ) xfm The maximum pitch angle of the pitch cylinder axis; (γ) zm The maximum leftward tilt angle of the pitch cylinder axis relative to the O1XZ plane; (γ) ym (O1) The maximum rightward swing angle of the pitch cylinder axis relative to the O1XZ plane; (O2) The intersection of the lower horizontal support axis of the cutting arm and the width symmetry plane of the base frame; (O3) The intersection of the cutting head axis and the axial width symmetry plane; (O4) The center of symmetry of the center of the pair of upper spherical sub-spheres of the pitch cylinder; (A1) The center of the upper spherical sub-sphere of the left pitch cylinder; (A2) The center of symmetry of the upper spherical sub-sphere of the left pitch cylinder; 10 A1 when the cutting arm is horizontal; (A 11 A1 at the maximum elevation angle of the cutting arm; (A 12 (A1) at the maximum pitch angle of the cutting arm; (D1) the center of the lower universal joint of the left pitch cylinder; (C1) the center of the upper spherical sub-ball of the right pitch cylinder; (C 10 C1 when the cutting arm is horizontal; (C 11 C1 at the maximum elevation angle of the cutting arm; (C 12(C1) at the maximum pitch angle of the cutting arm; (D2) the center of the lower universal joint of the right pitch cylinder; (β) the pitch angle of the pitch cylinder; (β) zxb (β) The left tilt angle of the pitch cylinder relative to the cutting arm; yxb (β) The rightward tilt angle of the pitch cylinder relative to the cutting arm; gfs (β) Maximum elevation angle of the cutting arm; gfx (ψ) Maximum depression angle of the cutting arm; (ψ) Left and right swing angle of the cutting arm; (ψ) z The left swing angle of the cutting arm; (ψ) y (h) The right swing angle of the cutting arm; c The depth of cut ahead of the cutting teeth; (h) g The cutting depth of the cutting teeth; (H) xd The height of the tunnel; (B) xd The width of the alleyway; (L) gt (L1) Axial width of the cutting teeth on the drum; (L2) Axial width of the left section of the drum; (L3) Axial width of the right section of the drum; (L4) Axial width of the cutting teeth on the drum; (L5) Axial width of the cutting teeth on the drum; (L6) Axial width of the cutting teeth on the drum; (L7) Axial width of the cutting teeth on the drum; (L8) Axial width of the left section of the drum z ) Axial width of the middle section of the drum; (L c1 The axial width of the first cutting tooth; (L) c2 The axial width of the second cutting tooth; (L) c3 The axial width of the third cutting tooth; (L) q1 The axial width of the first cutter; (L) q2 The axial width of the second cutter; (n z The rotational speed of the left half of the cutting head; (n y The rotational speed of the right half of the cutting head; (L) gt1 The axial width of the cutting teeth on the drum during the first rock cutting; (L) 11 The axial width of the left section of the drum during the first rock cutting; (L) z1 The axial width of the middle section of the drum during the first rock cutting; (L) 12 The axial width of the right section of the drum during the first rock cutting; (L) gt2 The axial width of the cutting teeth on the drum during the second rock cutting; (L) 21 The axial width of the left section of the drum during the second rock cutting; (L) z2 The axial width of the middle section of the drum during the second rock cutting; (L) 22 The axial width of the right section of the drum during the second rock cutting; (L) gt3 The axial width of the cutting teeth on the drum during the third rock cutting; (L) 31 The axial width of the left section of the drum during the third rock cutting; (L) z3 The axial width of the middle section of the drum during the third rock cutting; (L) 32 The axial width of the right section of the drum during the third rock cutting; (L)gt4 The axial width of the cutting teeth on the drum during the fourth rock cutting; (L) 41 The axial width of the left section of the drum during the fourth rock cutting; (L) z4 The axial width of the middle section of the drum during the fourth rock cutting; (L) 42 The axial width of the right section of the drum during the fourth rock cutting; (L) cd The overlap width of the cut. Detailed Implementation

[0133] The present invention will now be further described with reference to specific embodiments and accompanying drawings.

[0134] Please see Figure 1-38 This invention relates to the field of double-arm support and drive cylinder configuration and control for the support drum in a horizontal shaft tunneling machine. It differs from the structure of current single-arm horizontal shaft tunneling machines and also from their cutting methods. The cutting head of a single-arm horizontal shaft tunneling machine performs multiple horizontal reciprocating swing cuts, with a relatively small area cut by each horizontal swing. In contrast, the cutting head of a double-arm horizontal shaft tunneling machine performs four vertical reciprocating translational cuts, with a relatively large area cut by each vertical translational cut. Due to the fewer reciprocating strokes and the shorter path of translational movement compared to swing, it achieves faster tunneling efficiency. Specifically, it is an independent actuation device for the double-arm swing cylinder and pitch cylinder for the translational movement of the drum axis in a horizontal shaft tunneling machine.

[0135] This invention relates to an independent action device for the double-arm swing cylinder and pitch cylinder of a horizontal shaft tunneling machine, which allows for the translation of the drum axis. The chassis of the tunneling machine, which does not involve the design of the hydraulic circuit and control system, can adopt industry-standard designs.

[0136] This invention discloses an independent operating device for the swing cylinder and pitch cylinder of a double-arm tunneling machine with a translational drum axis. The front end of the double arms supports a cutting head that alternates between grooving and cutting. The rear end of the double arms and the base frame form a universal joint structure. The double arms, cutting head, and base frame form a parallelogram mechanism. The swing cylinder mechanism controls the vertical cutting position of the double arms and cutting head in the tunnel, while the pitch cylinder mechanism drives the double arms and cutting head to perform up-and-down cutting movements in the tunnel. Because the width of a single tunneling pass in a horizontal-axis tunneling machine is much greater than that in a vertical-axis tunneling machine, the tunneling efficiency is relatively high. Furthermore, because the cutting head uses… The structure of advanced grooving and alternating cutting results in higher rock-breaking efficiency than single-tooth cutting. Furthermore, the cutting head performs a straight cutting motion rather than a circular cutting motion, resulting in a relatively shorter rock-breaking path and improved rock-breaking efficiency. It first cuts downwards from the top left side of the roadway, and then switches positions to cut upwards from the bottom. This process is repeated 3 to 4 times (the number of switching times depends on the roadway width), thus completing one cutting depth of rock-breaking operation. During this cutting depth, the chassis of the tunneling machine remains stationary to save the time spent on chassis switching. When performing the next cutting depth, the chassis of the tunneling machine switches forward.

[0137] This invention is achieved through the following technical solution: an independent action device for the swing cylinder and pitch cylinder of the double-arm swing cylinder in a horizontal shaft tunneling machine with the roller axis moving horizontally. The swing cylinder mechanism for the left and right switching of the double-arm and the pitch cylinder mechanism for the up and down movement of the double-arm are designed as independent action types, which simplifies the control of the hydraulic servo system. A parallelogram mechanism is used to support the cutting head and make the cutting head move horizontally rather than swing when it moves left and right in the tunnel. The telescopic cylinder mechanism in the double-arm makes the cutting head move vertically rather than circularly to shorten the rock breaking path. It includes the path planning and implementation of tunnel section cutting, a parallelogram mechanism type double-section cutting arm component, a pair of swing cylinder mechanisms arranged on the top left and right, a pair of pitch cylinder mechanisms arranged on the bottom left and right, a telescopic cylinder mechanism set inside the double-section cutting arm, a combined cutting head assembly with the cutting blade's advanced cutting groove and the cutting teeth cutting alternately, and a base frame support assembly.

[0138] The path planning and implementation of tunnel section cutting is used to illustrate the range and order of motion of the cutting head in this device, which also corresponds to the range and order of motion of the pitch cylinder, swing cylinder, and telescopic cylinder. The height of the tunnel section to be excavated is H. xd With a width of B xd The cutting head makes four cuts from left to right, bottom to top (more than four if the tunnel is wider). The first cut from left to right, top to bottom corresponds to L. gt1 The width, where L 11 With L 12 For the cutting and slicing area, L z1 This is a non-rock-breaking zone; during the second cut, the cutting head shifted L to the right. 11Then, the cutting and slicing proceed from bottom to top; on the third cut, the cutting head shifts L to the right. gt1 -L cd Then, the cutting and slicing proceeds from top to bottom; on the fourth cut, the cutting head continues to move to the right by L. 31 Then, the cutting and slicing proceeds from bottom to top. At this point, the tunnel cross-section has a rock-breaking depth. This process is repeated to advance the tunnel depth by breaking the rock. The four repositionings of the cutting head are controlled by the swing cylinder, and the four up and down movements of the cutting head are controlled by the pitch cylinder. The planar cross-section, rather than an arc or spherical shape, is controlled by the telescopic cylinder. The cutting head is driven by a 1QJM62-10 steel ball motor after reduction.

[0139] The parallelogram-shaped double-section cutting arm component is described here, focusing on its structure. The cutting head assembly forms one front side of the parallelogram mechanism, the double-section cutting arm assembly forms the left and right sides, and the lower horizontal support shaft assembly forms the rear side. For one front side of the parallelogram mechanism, the left rear end cap of the front cutting arm is welded with a left-side connecting plate, the right rear end cap with a right-side connecting plate, and the upper rear end cap with an upper connecting plate. The front end support of the front cutting arm is welded to the left, right, and upper connecting plates of the end cap to form a single unit, thus constituting one side of the parallelogram mechanism. At the front, the front support of the cutting arm forms a rotating pair with a pair of cutting arm assemblies via a pair of front support shafts. Support shaft retaining rings position the front support shafts at the front end of the cutting arm. O-rings on the support shafts are used to seal the grease inside the front support shafts and the front bore of the cutting arm. For the left and right sides of the parallelogram mechanism with symmetrical dimensions, the first and second cutting arm assemblies form a sliding pair. The top side plate of the first cutting arm is welded to the top of the left and right side plates of the first cutting arm, and the bottom side plate of the first cutting arm is welded to the bottom of the left and right side plates of the first cutting arm. The front left and right ear seats of the telescopic cylinder are respectively welded to the first cutting arm... The top side plate of the cutting arm is on the inner side of the bottom side plate of the first cutting arm; the top side plate of the second cutting arm is welded to the top of the left side plate and the right side plate of the second cutting arm, and the bottom side plate of the second cutting arm is welded to the bottom of the left side plate and the right side plate of the second cutting arm; the left and right rear ear seats of the telescopic cylinder are respectively welded to the inner sides of the top and bottom side plates of the second cutting arm; the upper support at the bottom end of the second cutting arm is welded to the lower inner side of the top side plate of the second cutting arm, and the lower support at the bottom end of the second cutting arm is welded to the lower inner side of the bottom side plate of the second cutting arm; for the lower horizontal support shaft assembly, the lower horizontal support shaft of the cutting arm and one lower horizontal support shaft radial sleeve on each side form a rotating pair and are connected. Each lower support is sealed with an O-ring on the left and right. Each lower horizontal support shaft radial sleeve is interference-fitted with the support of each lower horizontal support shaft. The lower horizontal support shaft of the cutting arm is circumferentially fixed to the lower inner support of the second cutting arm through the lower horizontal support shaft key. The lower inner support of the second cutting arm is axially positioned by the lower vertical support shaft of the cutting arm and the lower horizontal support shaft of the cutting arm. The lower inner support of the second cutting arm and the lower vertical support shaft of the cutting arm form a rotating pair. The lower support shaft limit plate and the limit plate screw limit the lower vertical support shaft of the cutting arm. Since the axis of the lower horizontal support shaft of the cutting arm and the axis of the lower vertical support shaft of the cutting arm are perpendicular to each other, it is a universal joint type connection. Therefore, a pair of cutting arm assemblies can move universally about the frame.

[0140] A pair of swing cylinder mechanisms arranged on the top left and right sides are used to solve the problem of left and right repositioning of the cutting head and to bear the rock-breaking force generated during cutting. Since the left and right structures are the same, only the left swing cylinder mechanism is described here. The left rear support of the swing cylinder is circumferentially fixed to the lower horizontal support shaft of the cutting arm through a pair of tangential keys. The left rear support of the swing cylinder is axially fixed to the lower horizontal support shaft of the cutting arm through a pin. An axial sleeve of the lower support shaft is set between the left rear support of the swing cylinder and the left support of the lower horizontal support shaft. The O-ring is installed on the outside of the left support of the lower horizontal support shaft. The cylinder body of the swing cylinder is rotatably connected to the support shaft on the left support of the swing cylinder. The swing cylinder support shaft retaining ring is positioned with the swing cylinder support shaft pin. The piston rod of the swing cylinder is rotatably connected to the swing cylinder piston rod support shaft. The swing cylinder piston rod support shaft is rotatably connected to the swing cylinder piston rod support shaft sleeve. The swing cylinder piston rod support shaft sleeve is interference-fitted with the left front support of the swing cylinder. The left front support of the swing cylinder is welded together with the top side plate of the second cutting arm and the left side plate of the second cutting arm.

[0141] A pair of pitch cylinder mechanisms are arranged on the left and right sides at the bottom. The left pitch cylinder mechanism supports the left cutting arm, and the right pitch cylinder mechanism supports the right cutting arm. These are further divided into a front spherical joint connecting assembly with the support arm and a rear universal joint connecting assembly with the base frame. These components are used to solve the problem of executing the cutting and slicing actions of the cutting head. Since the left and right structures are identical, only the left side is described here. The front spherical joint connecting assembly, the front upper support and the rear upper support of the upper hemisphere have an L-shaped transverse section. The front upper support and the rear upper support of the upper hemisphere are welded to the bottom surface of the bottom side plate of the second cutting arm section. The pitch cylinder upper hemisphere is mounted on... The cylinder is positioned in an L-shaped groove by an upper baffle pin, and then fixed to the front and rear upper supports of the upper hemisphere by an upper hemisphere baffle and upper baffle screws. The upper and lower hemispheres of the pitch cylinder form an inner spherical surface with radius SR, positioned by upper and lower hemisphere pins and fixed by upper and lower hemisphere bolts and nuts. The upper support ball of the pitch cylinder and the inner spherical surface form a spherical pair. The grease injection hole screw of the ball seat is used to inject grease into the spherical pair and then seal it. The upper support shaft of the pitch cylinder and the upper support ball of the pitch cylinder form a rotating pair, and the pitch cylinder and the upper support shaft of the pitch cylinder form a rotating pair. The structure of the lower hemisphere of the pitch cylinder allows for the spatial movement β of the pitch cylinder. zxb With β yxb and γ xyb With γ xfb Required space, structural angle α b The choice of β zxb With β yxb and γ xyb With γ xfb To minimize the impact, the front spherical joint bears more than 20 tons of spatial force from the cutting head;

[0142] The aforementioned rear universal joint and base frame connection assembly; the aforementioned pitch cylinder and pitch cylinder lower support shaft rotatably connected; the lower support shaft grease inlet screw used to inject grease into the rotating joint and then seal it; the pitch cylinder lower support shaft baffle and lower support shaft baffle screw positioning the pitch cylinder lower support shaft; the pitch cylinder lower support shaft sleeve and the pitch cylinder lower bracket interference fit; the pitch cylinder lower bracket is welded into the lower holes of the inner side plate and the outer side plate of the pitch cylinder bracket; the pitch cylinder lower bracket lower plate is welded to the lower end of the inner side plate and the outer side plate of the pitch cylinder bracket; the pitch cylinder lower vertical support shaft and the pitch cylinder lower bracket lower plate interference fit. The lower vertical support shaft of the pitch cylinder is clearance-fitted with the lower radial sleeve of the pitch cylinder. The lower radial sleeve of the pitch cylinder is interference-fitted with the lower vertical support of the pitch cylinder. The lower vertical support of the pitch cylinder is interference-fitted with the left bottom support plate. The lower bearing of the pitch cylinder is installed in the hole above the lower vertical support of the pitch cylinder. The oil filling hole screw of the support is used for sealing after oil filling. The upper plate of the pitch cylinder bracket is welded to the upper end of the inner side plate and the outer side plate of the pitch cylinder bracket. The upper vertical support shaft of the pitch cylinder is interference-fitted with the upper plate of the pitch cylinder bracket. The upper vertical support shaft of the pitch cylinder is clearance-fitted with the upper radial sleeve of the pitch cylinder. The upper radial sleeve of the pitch cylinder is clearance-fitted with the lower vertical support of the pitch cylinder. The vertical support of the hydraulic cylinder is interference-fitted, and the vertical support of the pitch cylinder is interference-fitted with the upper support plate of the pitch cylinder. The upper support plate of the pitch cylinder is welded to the outer support plate of the pitch cylinder. The upper bearing of the pitch cylinder is installed in the hole below the vertical support of the pitch cylinder. The outer upper stiffening plate is welded to the upper support plate and the outer support plate of the pitch cylinder. The outer support plate of the pitch cylinder is inserted into the side groove support plate. The upper and lower rear stiffening plates of the pitch cylinder are welded to the bottom of the upper support plate of the pitch cylinder and to the inner side of the rear support plate of the pitch cylinder. The rear support plate of the pitch cylinder is inserted into the right rear groove support plate. The rear support plate of the pitch cylinder is positioned at the rear of the pitch cylinder by the pitch cylinder support plate pin. On the base plate of the support plate, the tilt cylinder support plate is fixedly connected to the base plate of the rear support plate of the tilt cylinder by tilt cylinder support plate bolts and tilt cylinder support plate nuts. The side groove support plate is welded to the inner side of the left vertical support plate of the base frame. The outer support plate of the tilt cylinder is positioned on the left vertical support plate of the base frame by tilt cylinder support plate pins. The outer support plate of the tilt cylinder is fixedly connected to the left vertical support plate of the base frame by tilt cylinder support plate bolts and tilt cylinder support plate nuts. The left bottom support plate is welded to the lower part of the left vertical support plate of the base frame. The left bottom support plate is positioned with the tunneling machine chassis by support plate positioning pins and is fixed to the tunneling machine chassis by bottom support plate connecting bolts and bottom support plate connecting nuts. The tilt cylinder is related to X 23 The shaft makes a pitching motion, and the pitching cylinder moves about Z. 23 The shaft swings left and right, and the rear universal joint bears more than 20 tons of spatial force from the cutting head;

[0143] The telescopic cylinder mechanism inside the double-section cutting arm is used to cooperate with a pair of pitch cylinders to solve the vertical movement of the cutting head to achieve the minimum cutting surface and thus obtain a faster tunneling speed. The telescopic cylinder is an HSG type engineering hydraulic cylinder, and the telescopic amount required for this movement is realized through a hydraulic servo system. Since the left and right structures are the same, only the left side is described here. The telescopic cylinder forms a rotating joint with the front left and right ear seats of the telescopic cylinder through the front support shaft of the telescopic cylinder. The front support shaft of the telescopic cylinder is positioned between the front left and right ear seats of the telescopic cylinder through the front pin shaft of the telescopic cylinder. The telescopic cylinder forms a rotating joint with the rear left and right ear seats of the telescopic cylinder through the rear support shaft of the telescopic cylinder. The rear support shaft of the telescopic cylinder is positioned between the rear left and right ear seats of the telescopic cylinder through the rear pin shaft of the telescopic cylinder.

[0144] The combined cutting head assembly, featuring alternating grooving and cutting teeth, employs a structure with axially alternating cutters and cutting teeth, and radially advancing cutters and cutting teeth. It performs grooving before cutting the rock. The cutting head consists of three sections: a left cutting head, a middle support structure, and a right cutting head. The left and right cutting heads rotate at the same speed but in opposite directions to minimize the thrust on the pitch, telescopic, and swing cylinders and reduce stress on related components. Since the cutting head is only one component of this device and its left and right structures are symmetrical, it is not the focus of this description. Therefore, only the left side is briefly described. The 1QJM62-10 steel ball motor is connected to the non-rotating left inner support sleeve via a motor connecting screw. The 1QJM62-10 steel ball motor drives the input shaft of the reducer via a splined pair. The output sleeve of the reducer is fixed to the left and right sleeve supports via left sleeve support screws. Evenly distributed cutting tools are installed in the tapered holes of the left and right sleeve supports and positioned by cutting tool pins. Left and right cutting tooth seats are spirally distributed and welded to the left and right sleeve supports. Evenly distributed left and right cutting teeth are installed in the tapered holes of the left and right cutting tooth seats and positioned by left and right cutting tooth retainers. The bearing inner ring is interference-fitted with the left inner support sleeve, and the bearing outer ring is interference-fitted with the left and right sleeve supports. Four rows of rollers, along with the bearing inner and outer rings, form a cylindrical roller bearing. Bolts on the front and rear half-end covers fix the front half-end cover and the rear half-end cover of the front cutting arm to form the middle section of the cutting head. The outer end face V... DThe O-ring seal serves as the axial seal within the left and right sleeve supports. The inner and outer water passage seals serve as the axial seal within the left inner support sleeve. The front cutting arm key circumferentially fixes the middle section of the left inner support sleeve and the cutting head. The middle support sleeve serves as the inner support for the left and right inner support sleeves. The inner support seal on the left side achieves the axial seal between the middle support sleeve and the left inner support sleeve. The inner support seal on the right side achieves the axial seal between the middle support sleeve and the right inner support sleeve. The inner support retaining ring on the left side achieves the axial positioning between the middle support sleeve and the left inner support sleeve. The inner support retaining ring on the right side achieves the axial positioning between the middle support sleeve and the right inner support sleeve. The O-ring on the water supply pipe is used to seal the radial water supply hole on the left inner support sleeve. The outer plug on the water supply pipe seals the radial water supply hole on the left inner support sleeve. The water supply pipe is connected to the external water supply pipeline.

[0145] The frame support structure includes a lower horizontal support shaft left support welded to the upper part of the left vertical support plate of the base frame, a lower horizontal support shaft right support welded to the upper part of the right vertical support plate of the base frame, a base frame left and right connecting plates welded between the left and right vertical support plates of the base frame, a base frame middle support plate welded to the upper middle part of the base frame left and right connecting plates, a tilt cylinder rear support plate bottom plate top welded to the base frame left and right connecting plates, a tilt cylinder rear support plate bottom plate bottom end welded to the left bottom support plate and bottom support plate, and a tilt cylinder rear support plate bottom plate left end welded to the bottom support plate. The left vertical support plate is welded, the right end of the bottom plate of the pitch cylinder rear support plate is welded to the right vertical support plate of the base frame, the left stiffening plate of the rear support plate is welded to the bottom plate of the pitch cylinder rear support plate and the rear support plate of the base frame, the right stiffening plate of the rear support plate is welded to the bottom plate of the pitch cylinder rear support plate and the rear support plate of the base frame, the left bottom support plate is welded to the bottom end of the left vertical support plate of the base frame, the right bottom support plate is welded to the bottom end of the right vertical support plate of the base frame, the side groove support plate is welded to the lower inner part of the left vertical support plate of the base frame, and the rear groove support plate is welded to the lower inner part of the bottom plate of the pitch cylinder rear support plate.

[0146] This invention provides path planning and implementation for the tunnel cross-section cutting, illustrating the movement range and order of the cutting head in this device, which also corresponds to the movement range and order of the pitch cylinder, swing cylinder, and telescopic cylinder, as follows. Figure 17 As shown, the height of the excavated tunnel section is H. xd With a width of B xd The cutting head makes four cuts from left to right, bottom to top (more than four if the tunnel is wider). The first cut from left to right, top to bottom corresponds to L. gt1 The width, where L 11 With L 12 For the cutting and slicing area, L z1 This is a non-rock-breaking zone; during the second cut, the cutting head shifted L to the right. 11 Then, the cutting and slicing proceed from bottom to top; on the third cut, the cutting head shifts L to the right. gt1 -L cdThen, the cutting and slicing proceeds from top to bottom; on the fourth cut, the cutting head continues to move to the right by L. 31 Then, the cutting and slicing proceeds from bottom to top. At this point, the tunnel cross-section has a rock-breaking depth. This process is repeated to advance the tunnel depth by breaking the rock. The four repositionings of the cutting head are controlled by the swing cylinder, and the four up and down movements of the cutting head are controlled by the pitch cylinder. The planar cross-section, rather than an arc or spherical shape, is controlled by the telescopic cylinder. The cutting head is driven by a 1QJM62-10 steel ball motor after reduction.

[0147] The parallelogram-shaped double-section cutting arm component, such as Figure 1 , Figure 2 , Figure 9 , Figure 13 , Figure 18 , Figure 26 , Figure 27As shown, this section focuses on the composition of the parallelogram mechanism. The cutting head assembly forms one front side of the parallelogram mechanism, the double-section cutting arm assembly forms the left and right sides, and the lower horizontal support shaft assembly forms the rear side. The relevant parts of the front side of the parallelogram mechanism include the rear half end cover 501 of the front cutting arm, the left side connecting plate 502 of the end cover, the right side connecting plate 503 of the end cover, the upper connecting plate 504 of the end cover, the front end support 505 of the front cutting arm, the front end support shaft 506, the support shaft retaining ring 507, and the support shaft O-ring seal 508. The rear half of the front cutting arm... A left-side connecting plate 502 is welded to the left rear of the half-end cover 501; a right-side connecting plate 503 is welded to the right rear of the rear half-end cover 501 of the front cutting arm; and an upper connecting plate 504 is welded to the upper rear of the rear half-end cover 501 of the front cutting arm. The front cutting arm front-end support 505 is welded to the left-side connecting plate 502, the right-side connecting plate 503, and the upper connecting plate 504 of the end cover to form a single unit, thus constituting one front side of a parallelogram mechanism. The front cutting arm front-end support 505 forms a rotating pair with a pair of cutting arm assemblies via a pair of front-end support shafts 506. A support shaft retaining ring 507 is also present. The front support shaft 506 is positioned at the front end of the cutting arm. The O-ring 508 of the support shaft is used to seal the grease in the front hole of the cutting arm and the front support shaft 506. The related parts on the left and right sides of the parallelogram mechanism with the same symmetrical structure and dimensions include the first cutting arm assembly and the second cutting arm assembly. The first cutting arm assembly and the second cutting arm assembly form a sliding pair. The related parts in the first cutting arm assembly include the top side plate 1701 of the first cutting arm, the bottom side plate 1702 of the first cutting arm, the left side plate 1703 of the first cutting arm, and the right side plate 1704 of the first cutting arm. The first section of the cutting arm consists of a front stiffener plate 1705, a left front lug seat 1706 for the telescopic cylinder, and a right front lug seat 1707 for the telescopic cylinder. The top side plate 1701 of the first section of the cutting arm is welded to the top of the left side plate 1703 and the right side plate 1704 of the first section of the cutting arm. The bottom side plate 1702 of the first section of the cutting arm is welded to the bottom of the left side plate 1703 and the right side plate 1704 of the first section of the cutting arm. The left front lug seat 1706 and the right front lug seat 1707 for the telescopic cylinder are respectively welded to the inner sides of the top side plate 1701 and the bottom side plate 1702 of the first section of the cutting arm.The components of the second-section cutting arm assembly include the left rear lug 1708 and right rear lug 1709 of the telescopic cylinder, the top side plate 1710 of the second-section cutting arm, the bottom side plate 1711 of the second-section cutting arm, the left side plate 1712 of the second-section cutting arm, the right side plate 1713 of the second-section cutting arm, the upper support 1731 of the bottom end of the second-section cutting arm, and the lower support 1732 of the bottom end of the second-section cutting arm. The top side plate 1710 of the second-section cutting arm is welded to the top of the left side plate 1712 and the right side plate 1713 of the second-section cutting arm, and the bottom side plate 1711 of the second-section cutting arm is welded to the left side plate 1712. 2. Underneath the right side plate 1713 of the second cutting arm, the left rear ear seat 1708 and the right rear ear seat 1709 of the telescopic cylinder are respectively welded to the inner sides of the top side plate 1710 and the bottom side plate 1711 of the second cutting arm. The upper support 1731 at the bottom end of the second cutting arm is welded to the lower inner side of the top side plate 1710 of the second cutting arm, and the lower support 1732 at the bottom end of the second cutting arm is welded to the lower inner side of the bottom side plate 1711 of the second cutting arm. The relevant parts in the lower horizontal support shaft assembly include the left support 2201 of the lower horizontal support shaft, the O-ring 2014 of the lower support, the lower inner support 2001 of the second cutting arm, and the lower support of the cutting arm. The cutting arm consists of a horizontal support shaft 2002, a lower vertical support shaft 2003, a lower support shaft limiting plate 2004, a limiting plate screw 2005, a lower horizontal support shaft radial sleeve 2006, a lower horizontal support shaft key 2007, and a lower support O-ring 2014. The lower horizontal support shaft 2002 and one lower horizontal support shaft radial sleeve 2006 on each side form a rotating pair, sealed by one lower support O-ring 2014 on each side. The one lower horizontal support shaft radial sleeve 2006 on each side is interference-fitted with the support of one lower horizontal support shaft on each side. The lower horizontal support shaft 2002 is connected to the lower inner support of the second section of the cutting arm via the lower horizontal support shaft key 2007. The second section of the cutting arm is circumferentially fixed. The lower inner support 2001 of the cutting arm is axially positioned by the upper and lower vertical support shafts 2003 and the lower horizontal support shaft 2002 of the cutting arm. The lower inner support 2001 of the second section of the cutting arm and the upper and lower vertical support shafts 2003 of the cutting arm form a rotating pair. The lower support shaft limiting plate 2004 and the limiting plate screw 2005 limit the lower vertical support shaft 2003 of the cutting arm. Since the axis of the lower horizontal support shaft 2002 of the cutting arm and the axis of the lower vertical support shaft 2003 of the cutting arm are perpendicular to each other, it is a universal joint type connection. Therefore, a pair of cutting arm assemblies 1700 can move universally about the frame.

[0148] The pair of swing cylinder mechanisms arranged on the top left and right are used to solve the problem of left and right repositioning of the cutting head and to bear the rock-breaking force generated during cutting and slicing. Since the left and right structures are the same, only the left swing cylinder mechanism is described here. Figure 1 , Figure 9 , Figures 10 to 13As shown, the system comprises a swing cylinder 2101, a swing cylinder piston rod support shaft 2102, a swing cylinder piston rod support shaft sleeve 2103, a swing cylinder support shaft retaining ring 2104, a swing cylinder support shaft pin 2105, a swing cylinder left front support 2106, a swing cylinder right front support 2107, a lower support shaft axial sleeve 2009, a swing cylinder rear left support 2010, a swing cylinder rear support pin 2011, a swing cylinder rear support tangential key 2012, and a rear support O-ring 2013. The swing cylinder rear left support 2010 is circumferentially fixed to the cutting arm lower horizontal support shaft 2002 via a pair of swing cylinder rear support tangential keys 2012. The swing cylinder rear left support 2010 is axially fixed to the cutting arm lower horizontal support shaft 2002 via the swing cylinder rear support pin 2011. A lower support shaft axial sleeve 2009 is provided between 2010 and the lower horizontal support shaft left support 2201. The rear support O-ring 2013 is installed on the outside of the lower horizontal support shaft left support 2201. The cylinder body of the swing cylinder 2101 is rotatably connected to the support shaft on the swing cylinder rear left support 2010. The swing cylinder support shaft retaining ring 2104 and the swing cylinder support shaft pin 2105 are positioned. The piston rod of the swing cylinder 2101 is rotatably connected to the swing cylinder piston rod support shaft 2102. The swing cylinder piston rod support shaft 2102 is rotatably connected to the swing cylinder piston rod support shaft sleeve 2103. The swing cylinder piston rod support shaft sleeve 2103 and the swing cylinder left front support 2106 are interference fit. The swing cylinder left front support 2106 is welded to the second section cutting arm top side plate 1710 and the second section cutting arm left side plate 1712.

[0149] The pair of pitch cylinder mechanisms arranged on the left and right sides of the bottom, with the left pitch cylinder mechanism supporting the left cutting arm and the right pitch cylinder mechanism supporting the right cutting arm, are further divided into a front spherical joint connecting assembly with the support arm and a rear universal joint connecting assembly with the base frame. These mechanisms are used to solve the problem of executing the cutting and slicing actions of the cutting head. Since the left and right structures are identical, only the left side is described here. Figures 1 to 8 ,like Figures 19 to 21 , Figures 24 to 26As shown, the front spherical joint and outrigger connection assembly includes a second section cutting arm bottom side plate 1711, an upper hemispherical seat baffle 1714, an upper baffle screw 1715, an upper baffle pin 1716, a pitch cylinder upper hemispherical seat 1717, upper and lower hemispherical seat bolts 1718, upper and lower hemispherical seat nuts 1719, a pitch cylinder lower hemispherical seat 1720, a pitch cylinder upper support ball 1721, upper and lower hemispherical seat pins 1722, and a front upper support 1 of the upper hemispherical seat. 723, the upper hemisphere seat rear upper support 1724, the ball seat oil injection hole screw 1725, the pitch cylinder 1801, and the pitch cylinder upper support shaft 1802 constitute the structure. The transverse cross-section of the upper hemisphere seat front upper support 1723 and the upper hemisphere seat rear upper support 1724 is L-shaped. The upper hemisphere seat front upper support 1723 and the upper hemisphere seat rear upper support 1724 are welded to the bottom surface of the bottom side plate 1711 of the second section cutting arm. The pitch cylinder upper hemisphere... The seat 1717 is installed in the L-shaped groove and positioned by the upper baffle pin 1716. It is then fixed to the front upper support 1723 and the rear upper support 1724 of the upper hemisphere seat by the upper hemisphere seat baffle 1714 and the upper baffle screw 1715. The upper hemisphere seat 1717 and the lower hemisphere seat 1720 of the pitch cylinder form an inner spherical surface with a radius of SR. They are positioned by the upper and lower hemisphere seat pins 1722 and by the upper and lower hemisphere seat bolts 1718. The upper and lower hemispherical seat nuts 1719 are fixedly connected. The upper support ball 1721 of the pitch cylinder and the inner spherical surface form a spherical pair. The ball seat oil injection hole screw 1725 is used to inject grease into the spherical pair and then seal it. The upper support shaft 1802 of the pitch cylinder and the upper support ball 1721 of the pitch cylinder form a rotating pair. The pitch cylinder 1801 and the upper support shaft 1802 of the pitch cylinder form a rotating pair. The structure of the lower hemispherical seat 1720 of the pitch cylinder allows for the spatial movement β of the pitch cylinder 1801. zxb With β yxb and γ xyb With γ xfb Required space, structural angle α b The choice of β zxb With β yxb and γ xyb With γ xfb To minimize the impact, the front spherical joint bears more than 20 tons of spatial force from the cutting head;

[0150] The rear universal joint and base frame connection assembly includes a pitch cylinder 1801, an upper support shaft 1802, a lower support shaft 1803, a lower support shaft sleeve 1804, a lower support shaft grease port screw 1805, a lower support shaft baffle 1806, a lower support shaft baffle screw 1807, an upper support plate 2301, an upper vertical support 2302, an upper radial sleeve 2303, an upper vertical support shaft 2304, an upper bearing shell 2305, an upper plate 2306, an inner plate 2307, an outer plate 2308, a lower plate 2309, a lower support 2310, and a lower bearing shell 2311. The pitch cylinder consists of: a lower radial sleeve 2312, a lower vertical support shaft 2313, a lower vertical support 2314, an outer support plate 2315, an outer upper stiffener 2316, a rear support plate 2317, upper and lower rear stiffeners 2318, a support plate bolt 2319, a support plate nut 2320, a support plate pin 2321, a support oil injection hole screw 2322, a left vertical support plate 2202, a side groove support plate 2205, a left bottom support plate 2206, a support plate positioning pin 2207, a bottom support plate connecting bolt 2208, a bottom support plate connecting nut 2209, a bottom plate 2210, and a right rear groove support plate 2211. The pitch cylinder 1801 and... The lower support shaft 1803 of the pitch cylinder is rotatably connected. The grease port screw 1805 of the lower support shaft is used to seal the grease port after injecting grease into the rotating joint. The lower support shaft baffle 1806 and lower support shaft baffle screw 1807 position the lower support shaft 1803. The lower support shaft sleeve 1804 of the pitch cylinder is interference-fitted with the lower bracket 2310 of the pitch cylinder. The lower bracket 2310 of the pitch cylinder is welded into the lower holes of the inner side plate 2307 and the outer side plate 2308 of the pitch cylinder bracket. The lower plate 2309 of the pitch cylinder bracket is welded to the lower end of the inner side plate 2307 and the outer side plate 2308 of the pitch cylinder bracket. The lower vertical support shaft 2313 of the pitch cylinder is interference-fitted with the lower plate 2309 of the pitch cylinder bracket. The support shaft 2313 is clearance-fitted with the lower radial sleeve 2312 of the pitch cylinder. The lower radial sleeve 2312 of the pitch cylinder is interference-fitted with the lower vertical support 2314 of the pitch cylinder. The lower vertical support 2314 of the pitch cylinder is interference-fitted with the left bottom support plate 2206. The lower bearing shell 2311 of the pitch cylinder is installed in the hole above the lower vertical support 2314 of the pitch cylinder. The oil injection hole screw 2322 of the support is used for sealing after oil injection. The upper plate 2306 of the pitch cylinder bracket is welded to the upper ends of the inner side plate 2307 and the outer side plate 2308 of the pitch cylinder bracket. The upper vertical support shaft 2304 of the pitch cylinder is interference-fitted with the upper plate 2306 of the pitch cylinder bracket. The upper vertical support shaft 2304 of the pitch cylinder is clearance-fitted with the upper radial sleeve 2303 of the pitch cylinder.The radial sleeve 2303 of the pitch cylinder is interference-fitted with the vertical support 2302 of the pitch cylinder. The vertical support 2302 of the pitch cylinder is interference-fitted with the upper support plate 2301 of the pitch cylinder. The upper support plate 2301 of the pitch cylinder is welded to the outer support plate 2315 of the pitch cylinder. The upper bearing 2305 of the pitch cylinder is installed in the hole below the vertical support 2302 of the pitch cylinder. The outer upper stiffening plate 2316 is connected to the upper support plate 2301 of the pitch cylinder and... The outer support plate 2315 of the pitch cylinder is welded and inserted into the side groove support plate 2205. The upper and lower rear stiffeners 2318 of the pitch cylinder are welded to the lower part of the upper support plate 2301 and to the inner side of the rear support plate 2317 of the pitch cylinder. The rear support plate 2317 of the pitch cylinder is inserted into the right rear groove support plate 2211. The rear support plate 2317 of the pitch cylinder is fixed by the pitch cylinder support plate pin 2321. The base plate 2210 of the rear support plate of the pitch cylinder is fixed to the base plate 2210 of the pitch cylinder support plate by pitch cylinder support plate bolts 2319 and pitch cylinder support plate nuts 2320. The side groove support plate 2205 is welded to the inner side of the left vertical support plate 2202 of the base frame. The outer support plate 2315 of the pitch cylinder is positioned on the left vertical support plate 2202 of the base frame by pitch cylinder support plate pin 2321. The outer support plate 2315 of the pitch cylinder is connected to the base plate 2202 by means of... The pitch cylinder support plate is fixedly connected to the left vertical support plate 2202 of the base frame via bolts 2319 and nuts 2320. The left bottom support plate 2206 is welded to the lower part of the left vertical support plate 2202. The left bottom support plate 2206 is positioned with the tunneling machine chassis via a support plate positioning pin 2207 and is fixedly connected to the tunneling machine chassis via bottom support plate connecting bolts 2208 and nuts 2209. The pitch cylinder is related to X... 23 The shaft makes a pitching motion, and the pitching cylinder moves about Z. 23 The shaft swings left and right, and the rear universal joint bears more than 20 tons of spatial force from the cutting head;

[0151] The telescopic hydraulic cylinder mechanism installed inside the double-section cutting arm, such as... Figure 1 , Figure 9 , Figure 19 , Figure 20 , Figure 26As shown, this device, in conjunction with a pair of pitch cylinders, enables the cutting head to move vertically up and down to achieve the minimum cutting surface and thus a faster tunneling speed. The telescopic cylinder is an HSG type engineering hydraulic cylinder, and the telescopic range required for this movement is achieved through a hydraulic servo system. Since the left and right structures are identical, only the left side is described here, including the telescopic cylinder 1901, the front support shaft 1902, the front pin 1903, the rear support shaft 1904, the rear pin 1905, the first cutting arm assembly, and the second cutting arm assembly. The telescopic cylinder 1901 is connected to the front support shaft... 1902 forms a rotating pair with the front left ear seat 1706 and the front right ear seat 1707 of the telescopic cylinder. The front support shaft 1902 of the telescopic cylinder is positioned between the front left ear seat 1706 and the front right ear seat 1707 of the telescopic cylinder through the front pin 1903 of the telescopic cylinder. The telescopic cylinder 1901 forms a rotating pair with the rear left ear seat 1708 and the rear right ear seat 1709 of the telescopic cylinder through the rear support shaft 1904 of the telescopic cylinder. The rear support shaft 1904 of the telescopic cylinder is positioned between the rear left ear seat 1708 and the rear right ear seat 1709 of the telescopic cylinder through the rear pin 1905 of the telescopic cylinder.

[0152] The aforementioned combined cutting head assembly, featuring alternating grooving and cutting teeth, employs a structure with axially alternating cutters and cutting teeth, and radially advancing cutters and cutting teeth. It performs grooving before cutting the rock. The cutting head consists of three sections: a left cutting head, a middle support structure, and a right cutting head. The left and right cutting heads rotate at the same speed but in opposite directions to minimize the thrust on the pitch, telescopic, and swing cylinders and reduce stress on related components. Since the cutting head is only one component of this device and its left and right structures are symmetrical, it is not the focus of this description. Therefore, only the left side will be briefly described. Figure 1 , Figure 18 , Figure 26 , Figure 27 , Figures 29 to 36 As shown, it includes a left inner support sleeve 1, a cutting tool 2, a bearing outer ring 3, a roller 4, a bearing inner ring 5, and an outer end face V. D6. O-ring seal; 7. Water circuit internal seal; 8. Water circuit external seal; 9. Front cutting arm key; 10. Intermediate support sleeve; 11. Water supply pipe; 12. Water supply pipe O-ring; 13. Water supply pipe external plug; 14. Right inner support sleeve; 15. Inner support seal; 16. Inner support retaining ring; 101. 1QJM62-10 steel ball motor; 102. Motor connecting screw; 103. Reducer input shaft; 104. Left sleeve support screw; 105. Reducer output sleeve. The system comprises: left and right sleeve supports 201, cutting tool pins 202, left and right cutting teeth 301, left and right cutting tooth retaining rings 302, left and right cutting tooth seats 303, front half end cover of the front cutting arm 401, front and rear half end cover bolts 402, and rear half end cover of the front cutting arm 501. The 1QJM62-10 steel ball motor 101 is fixedly connected to the non-rotating left inner support sleeve 1 via motor connecting screws 102. The ball motor 101 drives the input shaft 103 of the reducer via a splined pair. The output sleeve 105 of the reducer is fixed to the left and right sleeve supports 201 via the left sleeve support screw 104. The evenly distributed cutting tools 2 are installed in the tapered holes of the left and right sleeve supports 201 and positioned by the cutting tool pins 202. The left and right cutting tooth seats 303 are spirally distributed and welded to the left and right sleeve supports 201. The evenly distributed left and right cutting teeth 301 are installed in the tapered holes of the left and right cutting tooth seats 303 and positioned by the left and right cutting tooth retainers 302. The bearing inner ring 5 is interference-fitted with the left inner support sleeve 1, and the bearing outer ring 3 is interference-fitted with the left and right sleeve supports 201. The four rows of rollers 4, the bearing inner ring 5, and the bearing outer ring 3 form a cylindrical roller bearing. The front and rear half end cover bolts 402 fix the front half end cover 401 of the front cutting arm and the rear half end cover 501 of the front cutting arm to form the middle section of the cutting head. The outer end face V D The shaped sealing ring 6 serves as the axial seal within the left and right sleeve supports 201. The inner water seal 7 and the outer water seal 8 serve as the axial seal within the left inner support sleeve 1. The front cutting arm key 9 circumferentially fixes the left inner support sleeve 1 to the middle section of the cutting head. The middle support sleeve 10 serves as the inner support between the left inner support sleeve 1 and the right inner support sleeve 14. The left inner support seal 15 achieves the axial seal between the middle support sleeve 10 and the left inner support sleeve 1, and the right inner support seal 15 achieves the axial seal between the middle support sleeve 10 and the left inner support sleeve 1. The axial seal between the middle support sleeve 10 and the right inner support sleeve 14 is achieved by the inner support retaining ring 16 on the left side, which enables the axial positioning of the middle support sleeve 10 and the left inner support sleeve 1, and the inner support retaining ring 16 on the right side, which enables the axial positioning of the middle support sleeve 10 and the right inner support sleeve 14. The O-ring 12 of the water supply pipe is used to seal the radial water supply hole on the left inner support sleeve 11 and the water supply pipe 11. The outer plug 13 of the water supply pipe seals the radial water supply hole on the left inner support sleeve 1, and the water supply pipe 11 is connected to the external water supply pipeline.

[0153] The support structure of the frame, such as Figure 1 , Figure 2 , Figure 9 , Figure 10 , Figures 13 to 16 As shown, the assembly used to support the lower horizontal support shaft system of the cutting arm, support a pair of pitch cylinder mechanisms, and is connected to the tunneling machine chassis includes a left support 2201 for the lower horizontal support shaft, a left vertical support plate 2202 for the underframe, left and right connecting plates 2203 for the underframe, a middle support plate 2204 for the underframe, a side groove support plate 2205, a left bottom support plate 2206, a support plate positioning pin 2207, a bottom support plate connecting bolt 2208, a bottom support plate connecting nut 2209, a bottom plate 2210 for the rear support plate of the pitch cylinders, a rear groove support plate 2211, and a left stiffening plate for the rear support plate. The base frame consists of a rear support plate 2212, a right bottom support plate 2214, a right stiffening plate 2215 of the rear support plate, a right vertical support plate 2216, and a right support 2217 for the lower horizontal support shaft. The left support 2201 of the lower horizontal support shaft is welded to the upper part of the left vertical support plate 2202 of the base frame, and the right support 2217 of the lower horizontal support shaft is welded to the upper part of the right vertical support plate 2216 of the base frame. A left-right connecting plate 2203 is welded between the left vertical support plate 2202 and the right vertical support plate 2216 of the base frame. A middle support plate 2204 is welded to the base frame. The top of the bottom plate 2210 of the pitch cylinder rear support plate is welded to the left and right connecting plates 2203 of the base frame. The bottom end of the bottom plate 2210 of the pitch cylinder rear support plate is welded to the left bottom support plate 2206 and the bottom support plate 2214. The left end of the bottom plate 2210 of the pitch cylinder rear support plate is welded to the left vertical support plate 2202 of the base frame. The right end of the bottom plate 2210 of the pitch cylinder rear support plate is welded to the right vertical support plate 2216 of the base frame. The left stiffening plate 2212 of the rear support plate is connected to the bottom plate 2210 of the pitch cylinder rear support plate and the rear support plate of the base frame. 2213 Welding: The right stiffening plate 2215 of the rear support plate is welded to the bottom plate 2210 of the rear support plate of the pitch cylinder and the rear support plate 2213 of the base frame. The left bottom support plate 2206 is welded to the bottom end of the left vertical support plate 2202 of the base frame. The right bottom support plate 2214 is welded to the bottom end of the right vertical support plate 2216 of the base frame. The side groove support plate 2205 is welded to the lower inner part of the left vertical support plate 2202 of the base frame. The rear groove support plate 2211 is welded to the lower inner part of the bottom plate 2210 of the rear support plate of the pitch cylinder. The lower middle space of the base frame is the channel for the scraper conveyor to transport rocks.

[0154] The motion functions of the three hydraulic cylinders are as follows: Figure 9 , Figure 13 , Figure 37 As shown, the underframe of the tunnel boring machine is located in the middle of the tunnel width. During the first cut and segmentation, point O3 is located on the left side of the tunnel. 31 O 31 The distance from the point to the mid-width of the alley is 0.5B. xd -0.5L gt1 During the second cutting and slitting, point O3 was located on the left side of the tunnel. 32 O 32 The distance from the point to the mid-width of the alley is 0.5B. xd -L 11-0.5L gt2 During the third cutting and slitting, point O3 was located on the right side of the tunnel. 33 O 33 The distance from the point to the mid-width of the alley is 0.5B. xd -L 42 -0.5L gt3 During the fourth cutting and slitting, point O3 was located on the right side of the roadway. 34 O 34 The distance from the point to the mid-width of the alley is 0.5B. xd -0.5L gt4 ;

[0155] like Figure 38 As shown, H2 + H3 = 0.5H xd The horizontal midpoint length from the cutting head axis to the boom rear support axis is L. b0 The cutting head axis swings upwards a distance of 0.5H from the horizontal midpoint. xd -0.5D g -h g The cutting head axis swings downwards from its horizontal midpoint by a distance of 0.5H. xd -0.5D g -h g ;

[0156] During the first cut and slit, the elevation angle β of the cutting arm... gfs equal to the angle of depression β gfx The pitch angle of the cutting arm is β, β gfx ≤β≤β gfs In the O1XYZ coordinate system, O 31 The coordinates of the point are [-L b0 , -(0.5B xd -0.5L gt1 ), L b0 tanβ], therefore, the displacement function S of the telescopic cylinder during the first cutting and slitting. ss1 for

[0157]

[0158] During the second cutting and slicing, in the O1XYZ coordinate system, O 32 The coordinates of the point are [-L b0 , -(0.5B xd -L 11 -0.5L gt2 ), L b0 tanβ], therefore, the displacement function S of the telescopic cylinder during the second cutting and slitting. ss2 for

[0159]

[0160] The displacement function S of the telescopic cylinder during the third cutting and slitting process ss3 =S ss2 The displacement function S of the telescopic cylinder during the fourth cutting and slitting. ss4 =S ss1 ;

[0161] During the first cut and slit, the first leftward swing angle of the cutting arm is ψ. z1 During the second cutting and slitting, the second left swing angle of the cutting arm is ψ. z2 , ψ z1 With ψ z2 They are respectively

[0162] ψ z1 =arctan[(0.5B xd -0.5L gt1 ) / L b0 ]

[0163] ψ z2 =arctan[(0.5B xd -L 11 -0.5L gt2 ) / L b0 ]

[0164] During the third cut and severance, the first rightward swing angle of the cutting arm is ψ. y1 =ψ z2 During the fourth cutting and slitting, the second rightward swing angle of the cutting arm is ψ. y2 =ψ z1 ;

[0165] In the O1XYZ coordinate system, when the cutting arm is in a horizontal position, the center of symmetry of the pair of upper spherical sub-centers of the pitch cylinder is O. 40 O 40 The coordinates of the point are [-L zb [,0,-H3];

[0166] During the first cut and slit, the cutting arm swings to the left at the first angle ψ. z1 Then it swings from top to bottom with an angle of β. gfs ≥β≥β gfx Moving point O 401 coordinates (X) O401 Y O401 Z O401 ) is the swing angle ψ z1 The function of β, i.e., the matrix expression, is as follows:

[0167]

[0168] The intersection point of the lower support axis of the pitch cylinder and the symmetry plane of the base frame width is O2(0, 0, -H2). 401 The length between O2 and the cylinder is the length S of the pitch cylinder. fy1 S fy1 for

[0169]

[0170] During the second cutting and slitting, the cutting arm swings to the left at the second angle ψ. z2 Then it swings from bottom to top with an angle of β. gfx ≤β≤β gfs Moving point O 402 coordinates (X) O402 Y O402 Z O402 ) is the swing angle ψ z2 The function of β, i.e., the matrix expression, is as follows:

[0171]

[0172] The intersection point of the lower support axis of the pitch cylinder and the symmetry plane of the base frame width is O2(0, 0, -H2). 402 The length between O2 and the cylinder is the length S of the pitch cylinder. fy2 S fy2 for

[0173]

[0174] During the third cutting and slitting, the length S of the pitch cylinder... fy3 =S fy2 When the fourth cutting and slitting occurs, the length S of the pitching cylinder... fy4 =S fy1 ;

[0175] The distance between the rear fulcrum of the left swing cylinder and the rear fulcrum of the left cutting arm is (B4-B1) / 2, and the axial length of the swing cylinder supported on the cutting arm is L. bz The distance between the center of the front support shaft of the swing cylinder and the axis of symmetry of the cutting arm is B5;

[0176] During the first cutting and slitting, the rear fulcrum of the left swing cylinder is used as the reference point, ψ z1 The corresponding complex vector expression of the coordinates of the front pivot point of the left swing cylinder is as follows: That is, 0.5(B4-B1)+L bz cos(π / 2+ψ z1 )+B5 cos(π+ψ z1 ), L bz sin(π / 2+ψ z1 )+B5 sin(π+ψ z1), so ψ z1 The corresponding left swing cylinder length S bz1 for

[0177]

[0178] During the first cutting and slitting, the rear fulcrum of the right swing cylinder is used as the reference point, ψ z1 The corresponding complex vector expression of the coordinates of the front pivot point of the right swing cylinder is as follows: That is, -0.5(B4-B1)+L bz cos(π / 2+ψ z1 )+B5 cosψ z1 L bz sin(π / 2+ψ z1 )+B5 sinψ z1 , and so ψ z1 The corresponding right swing cylinder length S by1 for

[0179]

[0180] During the second cutting and slitting, the rear fulcrum of the left swing cylinder is used as the reference point, ψ z2 The corresponding complex vector expression of the coordinates of the front pivot point of the left swing cylinder is as follows: That is, 0.5(B4-B1)+L bz cos(π / 2+ψ z2 )+B5 cos(π+ψ z2 ), L bz sin(π / 2+ψ z2 )+B5 sin(π+ψ z2 ), so ψ z2 The corresponding left swing cylinder length S bz2 for

[0181]

[0182] During the second cutting and slitting, the rear fulcrum of the right swing cylinder is used as the reference point, ψ z2 The corresponding complex vector expression of the coordinates of the front pivot point of the right swing cylinder is as follows: That is, -0.5(B4-B1)+L bz cos(π / 2+ψ z2 )+B5 cosψ z2 L bz sin(π / 2+ψ z2 )+B5 sinψ z2 , and so ψ z2 The corresponding right swing cylinder length S by2 for

[0183]

[0184] During the third cutting and slitting, the length S of the left swing cylinder bz3 =S by2 Length S of the right swing cylinder by3 =S bz2 ;

[0185] During the fourth cutting and slitting, the length S of the left swing cylinder bz4 =S by1 Length S of the right swing cylinder by4 =S bz1 .

[0186] The examples described herein are merely preferred embodiments of the invention and are not intended to limit the concept and scope of the invention. Any modifications and improvements made by those skilled in the art to the technical solutions of the invention without departing from the design concept of the invention should fall within the protection scope of the invention.

Claims

1. A device for independently operating the double-arm swing cylinder and pitch cylinder for the translational movement of the drum axis in a horizontal shaft tunneling machine, characterized in that: include Parallelogram mechanisms include: Double booms, with the rear end rotatably connected to the base frame; A cutting head assembly is located at the front end of the dual arms and is used for cutting. The pitch cylinder mechanism is used to drive the double arms to move the cutting head assembly vertically; The swing cylinder mechanism is used to drive the double arms to move the cutting head assembly horizontally; The telescopic hydraulic cylinder mechanism is used to drive the cutting head assembly to extend and retract, so that when the pitching hydraulic cylinder mechanism drives the double arms to move the cutting head assembly vertically, the axis of the cutting head assembly moves linearly. The cutting head assembly forms the front side of the parallelogram mechanism, the double-section cutting arm assembly (1700) forms the left and right sides of the parallelogram mechanism, and the lower horizontal support shaft assembly forms the rear side of the parallelogram mechanism. The relevant parts of the front side of the parallelogram mechanism include the rear half end cap (501) of the front cutting arm, the left side connecting plate (502) of the end cap, the right side connecting plate (503) of the end cap, the upper connecting plate (504) of the end cap, the front end support (505) of the front cutting arm, the front end support shaft (506), the support shaft retaining ring (507), and the support shaft O-ring seal (508). The left side of the end cap is welded to the left rear of the rear half end cap (501) of the front cutting arm. The connecting plate (502), the right side connecting plate (503) of the end cover is welded to the right rear of the rear half end cover (501) of the front cutting arm, the upper connecting plate (504) of the end cover is welded to the upper rear of the rear half end cover (501) of the front cutting arm, and the front end support (505) of the front cutting arm is welded to the left side connecting plate (502), the right side connecting plate (503), and the upper connecting plate (504) of the end cover to form a whole, thus forming one front side of the parallelogram mechanism. The front end support (505) of the front cutting arm forms a rotating pair with the double-section cutting arm assembly through a pair of front end support shafts (506). The support shaft retaining ring (507) holds the front end support shaft. (506) Positioned at the front end of the cutting arm, the O-ring seal (508) of the support shaft is used to seal the grease in the front hole of the cutting arm between the front support shaft (506) and the cutting arm; the relevant parts on the left and right sides of the parallelogram mechanism include the first cutting arm assembly and the second cutting arm assembly with the same structural symmetry and dimensions. The first cutting arm assembly and the second cutting arm assembly form a sliding pair. The relevant parts in the first cutting arm assembly include the top side plate (1701) of the first cutting arm, the bottom side plate (1702) of the first cutting arm, the left side plate (1703) of the first cutting arm, the right side plate (1704) of the first cutting arm, and the front stiffener plate (1705) of the first cutting arm. 1705), front left ear seat (1706) of telescopic cylinder, front right ear seat (1707) of telescopic cylinder, the top side plate (1701) of the first cutting arm is welded to the top of the left side plate (1703) and the right side plate (1704) of the first cutting arm, the bottom side plate (1702) of the first cutting arm is welded to the bottom of the left side plate (1703) and the right side plate (1704) of the first cutting arm, and the front left ear seat (1706) and the front right ear seat (1707) of telescopic cylinder are respectively welded to the inner side of the top side plate (1701) and the bottom side plate (1702) of the first cutting arm;The relevant parts in the second-section cutting arm assembly include the left rear lug seat (1708) of the telescopic cylinder, the right rear lug seat (1709) of the telescopic cylinder, the top side plate (1710) of the second-section cutting arm, the bottom side plate (1711) of the second-section cutting arm, the left side plate (1712) of the second-section cutting arm, the right side plate (1713) of the second-section cutting arm, the upper support (1731) of the bottom end of the second-section cutting arm, and the lower support (1732) of the bottom end of the second-section cutting arm. The top side plate (1710) of the second-section cutting arm is welded to the top of the left side plate (1712) and the right side plate (1713) of the second-section cutting arm. The bottom side plate (1711) of the second-section cutting arm is welded to the left side plate (1712) of the second-section cutting arm. 2) Underneath the right side plate (1713) of the second cutting arm, the left rear ear seat (1708) and the right rear ear seat (1709) of the telescopic cylinder are respectively welded to the inner sides of the top side plate (1710) and the bottom side plate (1711) of the second cutting arm. The upper support (1731) at the bottom end of the second cutting arm is welded to the lower inner side of the top side plate (1710) of the second cutting arm, and the lower support (1732) at the bottom end of the second cutting arm is welded to the lower inner side of the bottom side plate (1711) of the second cutting arm. The relevant parts in the lower horizontal support shaft assembly include the left support (2201) of the lower horizontal support shaft, the lower support O-ring (2014), the lower inner support (2001) of the second cutting arm, and the cutting arm... The cutting arm consists of a horizontal support shaft (2002), a vertical support shaft (2003), a lower support shaft limiting plate (2004), a limiting plate screw (2005), a radial sleeve (2006), a key (2007), and an O-ring (2014) for the lower support. The lower horizontal support shaft (2002) and one radial sleeve (2006) on each side form a rotating pair and are sealed by one O-ring (2014) on each side. The radial sleeves (2006) are interference-fitted with the supports of each lower horizontal support shaft. The lower horizontal support shaft (2002) is connected to the lower section of the second cutting arm via the lower horizontal support shaft key (2007). The inner support (2001) is circumferentially fixed. The lower inner support (2001) of the second-section cutting arm is axially positioned by one lower vertical support shaft (2003) and one lower horizontal support shaft (2002) of the cutting arm. The lower inner support (2001) of the second-section cutting arm and one lower vertical support shaft (2003) of the cutting arm form a rotating pair. The lower support shaft limiting plate (2004) and the limiting plate screw (2005) limit the lower vertical support shaft (2003) of the cutting arm. The axis of the lower horizontal support shaft (2002) of the cutting arm is perpendicular to the axis of the lower vertical support shaft (2003) of the cutting arm. This is a universal joint type connection, which allows the pair of cutting arm assemblies (1700) to move universally about the frame.

2. The independent actuation device for the double-arm swing cylinder and pitch cylinder for the translational movement of the drum axis in a horizontal shaft tunneling machine according to claim 1, characterized in that: The cutting head assembly includes a left cutting head and a right cutting head, which are driven by a steel ball motor and a gear reducer, respectively, and rotate in opposite directions.

3. The independent actuation device for the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine according to claim 1, characterized in that: The swing cylinder mechanism includes a left swing cylinder mechanism and a right swing cylinder mechanism arranged on the top left and right sides; The left swing cylinder mechanism includes a swing cylinder (2101), a swing cylinder piston rod support shaft (2102), a swing cylinder piston rod support shaft sleeve (2103), a swing cylinder support shaft retaining ring (2104), a swing cylinder support shaft pin (2105), a left front support (2106), a right front support (2107), a lower support shaft axial sleeve (2009), a swing cylinder rear left support (2010), and a swing cylinder rear support pin (2105). 011), tangential key (2012) for the rear support of the swing cylinder, O-ring (2013) for the rear support, the left rear support (2010) of the swing cylinder is circumferentially fixed to the lower horizontal support shaft (2002) of the cutting arm through a pair of tangential keys (2012), the left rear support (2010) of the swing cylinder is axially fixed to the lower horizontal support shaft (2002) of the cutting arm through a pin (2011) for the rear support of the swing cylinder, the left rear support (2010) of the swing cylinder is axially fixed to the lower horizontal support shaft (2002) of the cutting arm. A lower support shaft axial sleeve (2009) is provided between the support (2010) and the lower horizontal support shaft left support (2201). A rear support O-ring (2013) is installed on the outside of the lower horizontal support shaft left support (2201). The cylinder body of the swing cylinder (2101) is rotatably connected to the support shaft on the swing cylinder rear left support (2010). The swing cylinder is positioned by the swing cylinder support shaft retaining ring (2104) and the swing cylinder support shaft pin (2105). The piston rod of the swing cylinder is rotatably connected to the piston rod support shaft (2102) of the swing cylinder, and the piston rod support shaft (2102) of the swing cylinder is rotatably connected to the piston rod support sleeve (2103) of the swing cylinder. The piston rod support sleeve (2103) of the swing cylinder is interference-fitted to the left front support (2106) of the swing cylinder. The left front support (2106) of the swing cylinder is welded to the top side plate (1710) of the second cutting arm and the left side plate (1712) of the second cutting arm. The structure of the right swing cylinder mechanism is the same as that of the left swing cylinder mechanism.

4. The independent actuation device for the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine according to claim 3, characterized in that: The pitch cylinder mechanism includes a left pitch cylinder mechanism and a right pitch cylinder mechanism arranged on the left and right sides of the bottom. The left-side pitch cylinder mechanism supports the left-side cutting arm, and the right-side pitch cylinder mechanism supports the right-side cutting arm. These mechanisms include a front spherical joint connecting to the support arm and a rear universal joint connecting to the base frame, respectively, and are used to address the vertical cutting and slicing actions of the cutting head. The aforementioned front spherical joint and outrigger connection assembly includes a second section cutting arm bottom side plate (1711), an upper hemispherical seat baffle (1714), an upper baffle screw (1715), an upper baffle pin (1716), an upper hemispherical seat for the pitch cylinder (1717), upper and lower hemispherical seat bolts (1718), upper and lower hemispherical seat nuts (1719), a lower hemispherical seat for the pitch cylinder (1720), an upper support ball for the pitch cylinder (1721), upper and lower hemispherical seat pins (1722), and a front upper support for the upper hemispherical seat (1723). 723), the upper rear support (1724) of the upper hemisphere, the oil injection hole screw (1725) of the ball seat, the pitch cylinder (1801), the upper support shaft (1802) of the pitch cylinder, the transverse cross-section of the upper front support (1723) and the upper rear support (1724) of the upper hemisphere is L-shaped, the upper front support (1723) and the upper rear support (1724) of the upper hemisphere are welded to the bottom surface of the bottom side plate (1711) of the second section cutting arm, the upper hemisphere of the pitch cylinder (1717) is installed in the L-shaped groove and positioned by the upper baffle pin (1716). It is then fixed to the front upper support (1723) and the rear upper support (1724) of the upper hemisphere by the upper hemisphere baffle (1714) and the upper baffle screw (1715). The upper hemisphere of the pitch cylinder (1717) and the lower hemisphere of the pitch cylinder (1720) form an inner spherical surface with a radius of SR. They are positioned by the upper and lower hemisphere pins (1722) and fixed by the upper and lower hemisphere bolts (1718). The upper and lower hemispherical seats (1719) are fixed together. The upper support ball (1721) of the pitch cylinder and the inner spherical surface form a spherical pair. The oil injection hole screw (1725) of the ball seat is used to inject grease into the spherical pair and then seal it. The upper support shaft (1802) of the pitch cylinder and the upper support ball (1721) of the pitch cylinder form a rotating pair. The pitch cylinder (1801) and the upper support shaft (1802) of the pitch cylinder form a rotating pair. The structure of the lower hemispherical seat (1720) of the pitch cylinder allows space for the movement β of the pitch cylinder (1801). zxb With β yxb and γ xyb With γ xfb Required space, structural angle α b The choice of β zxb With β yxb and γ xyb With γ xfb To minimize the spatial force from the cutting head, the front spherical joint bears the minimum force. The rear universal joint and base frame connection assembly includes a pitch cylinder (1801), an upper support shaft (1802) for the pitch cylinder, a lower support shaft (1803) for the pitch cylinder, a lower support shaft sleeve (1804) for the pitch cylinder, an oil inlet screw (1805) for the lower support shaft, a lower support shaft baffle (1806) for the pitch cylinder, a baffle screw (1807) for the lower support shaft, an upper support plate (2301) for the pitch cylinder, an upper vertical support (2302) for the pitch cylinder, an upper radial sleeve (2303) for the pitch cylinder, an upper vertical support shaft (2304) for the pitch cylinder, an upper bearing shell (2305) for the pitch cylinder, an upper plate (2306) for the pitch cylinder bracket, an inner plate (2307) for the pitch cylinder bracket, and the pitch cylinder itself. Outer side plate of the support (2308), lower plate of the pitch cylinder support (2309), lower support of the pitch cylinder (2310), lower bearing of the pitch cylinder (2311), lower radial sleeve of the pitch cylinder (2312), lower vertical support shaft of the pitch cylinder (2313), lower vertical support of the pitch cylinder (2314), outer support plate of the pitch cylinder (2315), upper outer stiffener (2316), rear support plate of the pitch cylinder (2317), upper and lower rear stiffeners of the pitch cylinder (2318), bolt of the pitch cylinder support plate (2319), nut of the pitch cylinder support plate (2320), pin of the pitch cylinder support plate (2321), oil hole screw of the support 2322, left vertical support plate of the base frame (2202), side groove support plate (2205), left bottom support plate (2206). 06), support plate positioning pin (2207), bottom support plate connecting bolt (2208), bottom support plate connecting nut (2209), bottom plate of the rear support plate of the pitch cylinder (2210), right rear slot support plate (2211), the pitch cylinder (1801) is rotatably connected to the lower support shaft (1803) of the pitch cylinder, the lower support shaft oil inlet screw (1805) is used to seal the opening after injecting grease into the rotating pair, the lower support shaft baffle (1806) and the lower support shaft baffle screw (1807) of the pitch cylinder position the lower support shaft (1803) of the pitch cylinder, the lower support shaft sleeve (1804) of the pitch cylinder is interference-fitted with the lower bracket (2310) of the pitch cylinder, and the lower bracket (2310) of the pitch cylinder is welded to the inner side plate (2307) of the pitch cylinder bracket and The lower plate (2309) of the pitch cylinder support is welded to the lower end of the inner plate (2307) and the outer plate (2308) of the pitch cylinder support in the hole at the bottom. The lower vertical support shaft (2313) of the pitch cylinder is interference-fitted with the lower plate (2309) of the pitch cylinder support. The lower vertical support shaft (2313) of the pitch cylinder is clearance-fitted with the lower radial sleeve (2312) of the pitch cylinder. The lower radial sleeve (2312) of the pitch cylinder is interference-fitted with the lower vertical support (2314) of the pitch cylinder. The lower vertical support (2314) of the pitch cylinder is interference-fitted with the left bottom support plate (2206). The lower bearing shell (2311) of the pitch cylinder is installed in the hole above the lower vertical support (2314) of the pitch cylinder.The oil filling hole screw 2322 of the support is used for sealing after oil filling. The upper plate (2306) of the pitch cylinder bracket is welded to the upper end of the inner side plate (2307) and the outer side plate (2308) of the pitch cylinder bracket. The vertical support shaft (2304) of the pitch cylinder is interference-fitted with the upper plate (2306) of the pitch cylinder bracket. The vertical support shaft (2304) of the pitch cylinder is clearance-fitted with the radial sleeve (2303) of the pitch cylinder. The radial sleeve (2303) of the pitch cylinder is interference-fitted with the vertical support (2302) of the pitch cylinder. The vertical support (2302) of the pitch cylinder is interference-fitted with the upper support plate (2308) of the pitch cylinder bracket. 01) An interference fit is made. The upper support plate (2301) of the pitch cylinder is welded to the outer support plate (2315) of the pitch cylinder. The upper bearing shell 2305 of the pitch cylinder is installed in the hole below the vertical support (2302) of the pitch cylinder. The outer upper stiffening plate (2316) is welded to the upper support plate (2301) and the outer support plate (2315) of the pitch cylinder. The outer support plate (2315) of the pitch cylinder is inserted into the side groove support plate (2205). The upper and lower rear stiffening plates (2318) of the pitch cylinder are welded to the bottom of the upper support plate (2301) of the pitch cylinder and to the inner side of the rear support plate (2317) of the pitch cylinder. The rear support plate (2317) of the pitch cylinder is inserted into the right rear slot support plate (2211). The pitch cylinder rear support plate (2317) is positioned on the bottom plate (2210) of the pitch cylinder rear support plate by the pitch cylinder support plate pin (2321), and is fixed to the bottom plate (2210) of the pitch cylinder rear support plate by the pitch cylinder support plate bolts (2319) and the pitch cylinder support plate nuts (2320). The side slot support plate (2205) is welded to the inner side of the left vertical support plate (2202) of the base frame. The pitch cylinder outer support plate (2315) is positioned on the left vertical support plate (2202) of the base frame by the pitch cylinder support plate pin (2321). The outer support plate (2315) of the pitch cylinder is fixedly connected to the left vertical support plate (2202) of the base frame by pitch cylinder support plate bolts (2319) and pitch cylinder support plate nuts (2320). The left bottom support plate (2206) is welded to the bottom of the left vertical support plate (2202) of the base frame. The left bottom support plate (2206) is positioned with the chassis of a double-arm swing cylinder and pitch cylinder independent action device with a roller axis translation in a horizontal shaft tunneling machine by support plate positioning pin (2207), and is fixedly connected to the tunneling machine chassis by bottom support plate connecting bolts (2208) and bottom support plate connecting nuts (2209). The pitch cylinder is about X. 23 The shaft makes a pitching motion, and the pitching cylinder moves about Z. 23 The shaft swings left and right, and the universal joint at the rear bears the spatial force from the cutting head; The structure of the right pitch cylinder mechanism is the same as that of the left pitch cylinder mechanism.

5. The independent actuation device for the double-arm swing cylinder and pitch cylinder for the translational movement of the drum axis in a horizontal shaft tunneling machine according to claim 4, characterized in that: The telescopic cylinder mechanism is used in conjunction with a pair of pitch cylinders to solve the vertical movement of the cutting head to achieve the minimum cutting surface and thus obtain a faster tunneling speed; the telescopic cylinder mechanism includes a left telescopic cylinder mechanism and a right telescopic cylinder mechanism. The left telescopic cylinder mechanism includes a telescopic cylinder (1901), a front support shaft (1902) for the telescopic cylinder, a front pin (1903) for the telescopic cylinder, a rear support shaft (1904) for the telescopic cylinder, a rear pin (1905) for the telescopic cylinder, a first cutting arm assembly, and a second cutting arm assembly. The telescopic cylinder (1901) forms a rotating pair with the front left ear seat (1706) and the front right ear seat (1707) of the telescopic cylinder via the front support shaft (1902). The front support shaft (1902) of the telescopic cylinder extends through the extension shaft... The front pin (1903) of the retractable cylinder is positioned between the front left ear seat (1706) and the front right ear seat (1707) of the telescopic cylinder. The telescopic cylinder (1901) forms a rotating pair with the rear left ear seat (1708) and the rear right ear seat (1709) of the telescopic cylinder through the rear support shaft (1904). The rear support shaft (1904) of the telescopic cylinder is positioned between the rear left ear seat (1708) and the rear right ear seat (1709) of the telescopic cylinder through the rear pin (1905). The structure of the right telescopic cylinder mechanism is the same as that of the left telescopic cylinder mechanism.

6. The independent actuation device for the double-arm swing cylinder and pitch cylinder for the translational movement of the drum axis in a horizontal shaft tunneling machine according to claim 5, characterized in that: The cutting head assembly adopts a structure with the cutter and cutting teeth arranged axially alternately and the cutter arranged radially ahead of the cutting teeth to perform pre-cutting and cutting operations on the rock. The cutting head assembly includes a left cutting head, a middle support structure and a right cutting head. The left and right cutting heads rotate at the same speed but in opposite directions to minimize the thrust on the pitch cylinder, telescopic cylinder and swing cylinder and reduce the stress on related components. The left cutting head includes a left inner support sleeve (1), a cutting tool (2), a bearing outer ring (3), a roller (4), a bearing inner ring (5), and an outer end face V. D O-ring seal (6), water circuit inner seal (7), water circuit outer seal (8), front cutting arm key (9), intermediate support sleeve (10), water supply pipe (11), water supply pipe O-ring (12), water supply pipe outer plug (13), right inner support sleeve (14), inner support seal (15), inner support retaining ring (16), steel ball motor (101), motor connecting screw (102), reducer input shaft (103), left sleeve support screw (104), reducer output sleeve The components include: a cylinder (105), left and right sleeve supports (201), a cutting tool pin (202), left and right cutting teeth (301), left and right cutting tooth retaining rings (302), left and right cutting tooth seats (303), a front half end cover (401) of the front cutting arm, front and rear half end cover bolts (402), and a rear half end cover (501) of the front cutting arm. The steel ball motor (101) is fixed to the non-rotating left inner support sleeve (1) by a motor connecting screw (102). The steel ball motor (101) is connected to the non-rotating left inner support sleeve (1) by a spline. The input shaft (103) of the auxiliary drive reducer and the output sleeve (105) of the reducer are fixedly connected to the left and right sleeve supports (201) by the left sleeve support screw (104). The evenly distributed cutting tools (2) are installed in the tapered holes of the left and right sleeve supports (201) and positioned by the cutting tool pin (202). The left and right cutting tooth seats (303) are spirally distributed and welded to the left and right sleeve supports (201). The evenly distributed left and right cutting teeth (301) are installed on the left and right cutting tooth seats. (303) is positioned in the tapered hole by the left and right cutting tooth retaining rings (302). The bearing inner ring (5) is interference-fitted with the left inner support sleeve (1). The bearing outer ring (3) is interference-fitted with the left and right sleeve supports (201). The four rows of rollers (4) form a cylindrical roller bearing with the bearing inner ring (5) and the bearing outer ring (3). The front and rear half end cap bolts (402) fix the front half end cap (401) of the front cutting arm and the rear half end cap (501) of the front cutting arm to form the middle section of the cutting head. The outer end face V D The sealing ring (6) serves as the axial seal within the left and right sleeve supports (201), the water channel inner seal (7) and the water channel outer seal (8) serve as the axial seal within the left inner support sleeve (1), the front cutting arm key (9) circumferentially fixes the left inner support sleeve (1) and the middle section of the cutting head, the middle support sleeve (10) serves as the inner support between the left inner support sleeve (1) and the right inner support sleeve (14), the left inner support seal 15 achieves the axial seal between the middle support sleeve (10) and the left inner support sleeve (1), and the right inner support seal 15 achieves the axial seal between the middle support sleeve (10) and the left inner support sleeve (1), and the right inner support seal 15 achieves the axial seal between the middle support sleeve (10) and the left inner support sleeve (1). 0) Axial sealing with the right inner support sleeve (14), the left inner support retaining ring (16) realizes the axial positioning of the middle support sleeve (10) and the left inner support sleeve (1), the right inner support retaining ring (16) realizes the axial positioning of the middle support sleeve (10) and the right inner support sleeve (14), the water supply pipe O-ring (12) is used to seal the water supply pipe (11) and the radial water supply hole on the left inner support sleeve (1), the water supply pipe outer plug (13) seals the radial water supply hole on the left inner support sleeve (1), and the water supply pipe (11) is connected to the external water supply pipeline; The structure of the right-side cutting head is the same as that of the left-side cutting head.

7. The independent actuation device for the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine according to claim 6, characterized in that: The support structure of the frame is used to support the lower horizontal support shaft system assembly of the cutting arm, support a pair of pitch cylinder mechanisms, and is connected to the tunneling machine chassis. It includes a left support for the lower horizontal support shaft (2201), a left vertical support plate for the base frame (2202), left and right connecting plates for the base frame (2203), a middle support plate for the base frame (2204), a side groove support plate (2205), a left bottom support plate (2206), a support plate positioning pin (2207), a bottom support plate connecting bolt (2208), a bottom support plate connecting nut (2209), a bottom plate (2210) for the rear support plate of the pitch cylinders, a rear groove support plate (2211), and a rear support plate... Left stiffening plate (2212), rear support plate of the base frame (2213), right bottom support plate (2214), right stiffening plate of the rear support plate (2215), right vertical support plate of the base frame (2216), right support of the lower horizontal support shaft (2217), the left support of the lower horizontal support shaft (2201) is welded to the upper part of the left vertical support plate of the base frame (2202), the right support of the lower horizontal support shaft (2217) is welded to the upper part of the right vertical support plate of the base frame (2216), the left and right connecting plates of the base frame (2203) are welded between the left vertical support plate of the base frame (2202) and the right vertical support plate of the base frame (2216), and the middle support plate of the base frame (2204) is welded. On the upper middle part of the left and right connecting plates (2203) of the base frame, the top of the bottom plate (2210) of the pitch cylinder rear support plate is welded to the left and right connecting plates (2203) of the base frame; the bottom end of the bottom plate (2210) of the pitch cylinder rear support plate is welded to the left bottom support plate (2206) and the bottom support plate (2214); the left end of the bottom plate (2210) of the pitch cylinder rear support plate is welded to the left vertical support plate (2202) of the base frame; the right end of the bottom plate (2210) of the pitch cylinder rear support plate is welded to the right vertical support plate (2216) of the base frame; the left stiffening plate (2212) of the rear support plate is welded to the bottom plate (2210) of the pitch cylinder rear support plate and the rear vertical support plate of the base frame. The support plate (2213) is welded, the right stiffening plate (2215) of the rear support plate is welded to the bottom plate (2210) of the rear support plate of the pitch cylinder and the rear support plate (2213) of the base frame, the left bottom support plate (2206) is welded to the bottom end of the left vertical support plate (2202) of the base frame, the right bottom support plate (2214) is welded to the bottom end of the right vertical support plate (2216) of the base frame, the side groove support plate (2205) is welded to the lower inner part of the left vertical support plate (2202) of the base frame, and the rear groove support plate (2211) is welded to the lower inner part of the bottom plate (2210) of the rear support plate of the pitch cylinder. The space in the middle and lower part of the base frame is the channel for the scraper conveyor to transport rocks.

8. A method of using the independent actuation device of the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine as described in claim 1, characterized in that: Including the following steps: S1: Control the cutting head assembly to cut the corresponding L from top to bottom on the left side of the excavated tunnel. gt1 The width, where L 11 With L 12 For the cutting and slicing area, L z1 This is a non-rock-breaking area; S2: Control the cutting head to move to the right by L 11 Then, it is cut and chopped from bottom to top. S3: Control the cutting head to move to the right by L gt1 -L cd Then, it is cut and slit from top to bottom, where L gt1 L is the axial width of the cutting teeth on the drum during the first rock cutting. cd The overlap width of the cut; S4: Control the cutting head to move to the right by L 31 Then, cutting and slicing from bottom to top, L 31 The axial width of the left section of the roller during the third rock cutting is used to complete the rock breaking and propulsion of one cutting depth in the tunnel cross-section; S5: Repeat steps S1-S4 to advance the tunneling depth by breaking the rock; wherein the swing cylinder mechanism controls the rightward displacement of the cutting head assembly, the pitch cylinder mechanism controls the up and down movement of the cutting head assembly, and the telescopic cylinder mechanism controls the cutting head assembly to cut the planar cross-section.

9. The method of using the independent actuation device of the double-arm swing cylinder and pitch cylinder for the translation of the drum axis in a horizontal shaft tunneling machine according to claim 8, characterized in that: The tunnel boring machine's underframe is located in the middle of the tunnel width. During the first cut and segmentation, point O3 is located on the left side of the tunnel. 31 O 31 The distance from the point to the mid-width of the alley is 0.5B. xd -0.5L gt1 During the second cutting and slitting, point O3 was located on the left side of the tunnel. 32 O 32 The distance from the point to the mid-width of the alley is 0.5B. xd -L 11 -0.5L gt2 During the third cutting and slitting, point O3 was located on the right side of the tunnel. 33 O 33 The distance from the point to the mid-width of the alley is 0.5B. xd -L 42 -0.5L gt3 During the fourth cutting and slitting, point O3 was located on the right side of the roadway. 34 O 34 The distance from the point to the mid-width of the alley is 0.5B. xd -0.5L gt4 ; H2 + H3 = 0.5H xd The horizontal midpoint length from the cutting head axis to the boom rear support axis is L. b0 The cutting head axis swings upwards a distance of 0.5H from the horizontal midpoint. xd -0.5D g -h g The cutting head axis swings downwards from its horizontal midpoint by a distance of 0.5H. xd -0.5D g -h g ; During the first cut and slit, the maximum elevation angle β of the cutting arm is... gfs Equal to the maximum angle of depression β gfx The pitch angle of the cutting arm is β, β gfx ≤β≤β gfs In the O1XYZ coordinate system, O 31 The coordinates of the point are [-L b0 , -(0.5B xd -0.5L gt1 ), L b0 tanβ], therefore, the displacement function S of the telescopic cylinder during the first cutting and slitting. ss1 for During the second cutting and slicing, in the O1XYZ coordinate system, O 32 The coordinates of the point are [-L b0 , -(0.5B xd -L 11 -0.5L gt2 ), L b0 tanβ], therefore, the displacement function S of the telescopic cylinder during the second cutting and slitting. ss2 for The displacement function S of the telescopic cylinder during the third cutting and slitting process ss3 =S ss2 The displacement function S of the telescopic cylinder during the fourth cutting and slitting. ss4 =S ss1 ; During the first cut and slit, the first leftward swing angle of the cutting arm is ψ. z1 During the second cutting and slitting, the second left swing angle of the cutting arm is ψ. z2 , ψ z1 With ψ z2 They are respectively ψ z1 =arctan[(0.5B xd -0.5L gt1 ) / L b0 ] ψ z2 =arctan[(0.5B xd -L 11 -0.5L gt2 ) / L b0 ] During the third cut and severance, the first rightward swing angle of the cutting arm is ψ. y1 =ψ z2 During the fourth cutting and slitting, the second rightward swing angle of the cutting arm is ψ. y2 =ψ z1 ; In the O1XYZ coordinate system, when the cutting arm is in a horizontal position, the center of symmetry of the pair of upper spherical sub-centers of the pitch cylinder is O. 40 O 40 The coordinates of the point are [-L zb [,0,-H3]; During the first cut and slit, the cutting arm swings to the left at the first angle ψ. z1 Then it swings from top to bottom with an angle of β. gfs ≥β≥β gfx Moving point O 401 coordinates (X) O401 Y O401 Z O401 ) is the swing angle ψ z1 The function of β, i.e., the matrix expression, is as follows: The intersection point of the lower support axis of the pitch cylinder and the symmetry plane of the base frame width is O2(0, 0, -H2). 401 The length between O2 and the cylinder is the length S of the pitch cylinder. fy1 S fy1 for During the second cutting and slitting, the cutting arm swings to the left at the second angle ψ. z2 Then it swings from bottom to top with an angle of β. gfx ≤β≤β gfs Moving point O 402 coordinates (X) O402 Y O402 Z O402 ) is the swing angle ψ z2 The function of β, i.e., the matrix expression, is as follows: The intersection point of the lower support axis of the pitch cylinder and the symmetry plane of the base frame width is O2(0, 0, -H2). 402 The length between O2 and the cylinder is the length S of the pitch cylinder. fy2 S fy2 for During the third cutting and slitting, the length S of the pitch cylinder... fy3 =S fy2 When the fourth cutting and slitting occurs, the length S of the pitching cylinder... fy4 =S fy1 ; The distance between the rear fulcrum of the left swing cylinder and the rear fulcrum of the left cutting arm is (B4-B1) / 2, and the axial length of the swing cylinder supported on the cutting arm is L. bz The distance between the center of the front support shaft of the swing cylinder and the axis of symmetry of the cutting arm is B5; During the first cutting and slitting, the rear fulcrum of the left swing cylinder is used as the reference point, ψ z1 The corresponding complex vector expression of the coordinates of the front pivot point of the left swing cylinder is as follows: That is, 0.5(B4-B1)+L bz cos(π / 2+ψ z1 )+B5 cos(π+ψ z1 ), L bz sin(π / 2+ψ z1 )+B5 sin(π+ψ z1 ), so ψ z1 The corresponding left swing cylinder length S bz1 for During the first cutting and slitting, the rear fulcrum of the right swing cylinder is used as the reference point, ψ z1 The corresponding complex vector expression of the coordinates of the front pivot point of the right swing cylinder is as follows: That is, -0.5(B4-B1)+L bz cos(π / 2+ψ z1 )+B5 cosψ z1 L bz sin(π / 2+ψ z1 )+B5 sinψ z1 , and so ψ z1 The corresponding right swing cylinder length S by1 for During the second cutting and slitting, the rear fulcrum of the left swing cylinder is used as the reference point, ψ z2 The corresponding complex vector expression of the coordinates of the front pivot point of the left swing cylinder is as follows: That is, 0.5(B4-B1)+L bz cos(π / 2+ψ z2 )+B5 cos(π+ψ z2 ), L bz sin(π / 2+ψ z2 )+B5 sin(π+ψ z2 ), so ψ z2 The corresponding left swing cylinder length S bz2 for During the second cutting and slitting, the rear fulcrum of the right swing cylinder is used as the reference point, ψ z2 The corresponding complex vector expression of the coordinates of the front pivot point of the right swing cylinder is as follows: That is, -0.5(B4-B1)+L bz cos(π / 2+ψ z2 )+B5 cosψ z2 L bz sin(π / 2+ψ z2 )+B5 sinψ z2 , and so ψ z2 The corresponding right swing cylinder length S by2 for During the third cutting and slitting, the length S of the left swing cylinder bz3 =S by2 Length S of the right swing cylinder by3 =S bz2 ; During the fourth cutting and slitting, the length S of the left swing cylinder bz4 =S by1 Length S of the right swing cylinder by4 =S bz1 ; Among them, point O3 is the intersection of the cutting head axis and the axial width symmetry plane, B xd L is the width of the cross-section of the tunnel being excavated. gt1 L is the axial width of the cutting teeth on the drum during the first rock cutting. gt2 L represents the axial width of the cutting teeth on the drum during the second rock cutting. 42 L represents the axial width of the right section of the drum during the fourth rock cutting. gt3 L represents the axial width of the cutting teeth on the drum during the third rock cutting. gt4 H1 is the axial width of the cutting teeth on the drum during the fourth rock cutting; H2 is the height from the lower support axis of the cutting arm to the lower horizontal support shaft of the pitch cylinder; H3 is the height from the lower horizontal support shaft of the pitch cylinder to the bottom of the tunnel. xd D is the height of the cross-section of the tunnel being excavated. g h is the outer diameter of the cutting head. g B1 is the cutting depth of the cutting teeth; B4 is the distance between the axes of symmetry of the two cutting arms; B5 is the distance between the upper support shafts of the rear support of the two swing cylinders.

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