Single degree of freedom folding and unfolding support shoe mechanism and shaft boring machine constructed thereby

Abstract

The application discloses a single-freedom foldable supporting shoe mechanism and a shaft tunneling machine constructed by the same. The supporting shoe mechanism comprises a supporting shoe pressing unit and a supporting shoe position adjusting unit. In the supporting shoe pressing unit, at least three supporting shoe bases are arranged in a central symmetry, the upper half of a single supporting shoe base, an upper support and a plurality of connecting rods between the single supporting shoe base and the upper support constitute at least one parallelogram movable in a vertical plane, or / and the lower half of the single supporting shoe base, a lower support and a plurality of connecting rods between the single supporting shoe base and the lower support constitute at least one parallelogram movable in the vertical plane, a pressing cylinder adjusts the distance between the upper support and the lower support, and the supporting shoe base is retracted inward and pressed outward. In the supporting shoe position adjusting unit, a motor assembly is fixed with the supporting shoe base, and the motor assembly moves the supporting shoe inward and outward through a driving transmission assembly. The supporting shoe mechanism can provide stable support and simple control.

Description

Technical Field

[0001] This invention relates to the field of shaft excavation technology, and in particular to a single-degree-of-freedom folding support shoe mechanism and a shaft tunneling machine constructed therefrom. Background Technology

[0002] Shaft engineering is an important component of water conservancy infrastructure construction, underground mining, and transportation road construction. Shaft construction methods can be divided into drill-and-blast and mechanical methods. Due to the confined space underground, the dust and noise generated by the drill-and-blast method are detrimental to workers' operations, and the method also has poor safety. In contrast, the mechanical drilling method, with its high degree of mechanization, significantly reduces the labor intensity of workers and offers better safety, representing the future development direction of shaft excavation technology.

[0003] Shaft boring machines (TBMs) are essential equipment for mechanical shaft construction. During TBM operation, a support shoe mechanism is required to tighten the shaft wall and generate significant friction to counteract the machine's weight and the reverse torque generated during tunneling. However, existing support shoe mechanisms require numerous drive cylinders to generate sufficient tension, and the increased number of drive units further complicates the overall coordinated control of the machine. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a single-degree-of-freedom folding support shoe mechanism that can provide stable support and is simple to control.

[0005] According to a first aspect of the present invention, a single-degree-of-freedom folding support shoe mechanism includes:

[0006] The support shoe clamping unit includes an upper bracket, a lower bracket, support shoe bases, connecting rods, and a clamping cylinder. The upper bracket is located above the lower bracket. There are at least three support shoe bases, which are arranged symmetrically around the outer periphery of the upper and lower brackets. Multiple connecting rods are connected in parallel between the upper half of each support shoe base and the upper bracket, and between the lower half of each support shoe base and the lower bracket. Each support shoe base, the upper bracket, and the lower bracket are connected to their respective connecting rods via first rotating joints, and all first rotating joints are parallel to each other. The upper half of a single support shoe base, the upper bracket, and the plurality of connecting rods located between the single support shoe base and the upper bracket constitute at least one parallelogram in a vertical plane, or / and the lower half of a single support shoe base, the lower bracket, and the plurality of connecting rods located between the single support shoe base and the lower bracket constitute at least one parallelogram in a vertical plane; the pressing cylinder is connected to the upper bracket and the lower bracket respectively through a second rotating joint, and the pressing cylinder drives the upper bracket to move up and down relative to the lower bracket, thereby driving the support shoe base to retract inward and press outward through the connecting rods;

[0007] The support shoe position adjustment unit includes a motor assembly, a transmission assembly, and support shoes. The number of support shoes is the same as the number of support shoe bases. The support shoes are arranged one-to-one on the outer side of the support shoe base. The support shoes are connected to the support shoe bases through a first sliding joint, and the movement direction is perpendicular to the support shoe bases. The motor assembly is fixed to the support shoe bases and is connected to the support shoes through the transmission assembly. The motor assembly drives the transmission assembly to move the support shoes inward and outward relative to the support shoe bases in a direction perpendicular to the support shoe bases.

[0008] According to the first aspect of the present invention, the single-degree-of-freedom folding support shoe mechanism, when it is necessary to unfold and press against the well wall, the motor drive assembly first drives the transmission assembly, so that the support shoe moves outward relative to the support shoe base in a direction perpendicular to the support shoe base and contacts the well wall. Then, the pressing cylinder drives the upper support to move, and the connecting rod drives the support shoe base to move outward, so that the support shoe presses against the well wall to generate frictional force, which resists the self-weight of the vertical shaft tunneling machine constructed by the single-degree-of-freedom folding support shoe mechanism and the reverse torque generated during the tunneling process, thereby achieving stable support for the vertical shaft tunneling machine constructed by the single-degree-of-freedom folding support shoe mechanism. In addition, the support shoe pressing unit has an automatic centering function during the unfolding and pressing process, that is, the outer edges of all support shoe bases are always on the same circumference with a continuously increasing radius. Without complex control, it can ensure that the center of the vertical shaft tunneling machine constructed by the single-degree-of-freedom folding support shoe mechanism coincides with the center of the cylindrical shaft, and has the effect of stably supporting the cylindrical well wall. The support shoe pressing unit has only one degree of freedom, making the control simpler.

[0009] According to the first aspect of the present invention, the single-degree-of-freedom folding support shoe mechanism utilizes a smaller number of clamping cylinders and generates a strong force amplification effect through a reasonably structured support shoe clamping unit. Under the same force input conditions, it can achieve more stable support for the shaft tunneling machine constructed by the single-degree-of-freedom folding support shoe mechanism, and the control is simpler.

[0010] In some embodiments, the upper half of a single support shoe base, the upper support, and the plurality of connecting rods located between the single support shoe base and the upper support constitute a plurality of parallelograms in a vertical plane; the lower half of a single support shoe base, the lower support, and the plurality of connecting rods located between the plurality of support shoe bases and the lower support also constitute a plurality of parallelograms in a vertical plane.

[0011] In some embodiments, four connecting rods are connected between the upper half of a single support shoe base and the upper support, and between the lower half of a single support shoe base and the lower support. The upper half of a single support shoe base, the upper support, and the four connecting rods located between the single support shoe base and the upper support form two parallelograms in a vertical plane. The lower half of a single support shoe base, the lower support, and the four connecting rods located between the single support shoe base and the lower support also form two parallelograms in a vertical plane.

[0012] In some embodiments, the motor assembly includes a motor base and a motor reducer. The motor base is located inside the support shoe base and fixed to the support shoe base. The motor reducer is fixed to the motor base. The transmission assembly includes a transmission screw and a transmission nut. One end of the transmission screw is connected to the motor reducer, and the other end of the transmission screw is connected to the transmission nut via a screw pair. The transmission nut is connected to the support shoe via a third rotating pair.

[0013] The second aspect of the present invention also proposes a shaft tunneling machine constructed with a single-degree-of-freedom folding support shoe mechanism.

[0014] A shaft boring machine constructed using a single-degree-of-freedom folding and extending support shoe mechanism according to a second aspect of the present invention includes, from top to bottom, the single-degree-of-freedom folding and extending support shoe mechanism, the cutterhead attitude adjustment mechanism, and the cutterhead module as described in any embodiment of the first aspect of the present invention; the cutterhead attitude adjustment mechanism includes multiple identical attitude adjustment branches; each attitude adjustment branch is driven by a second sliding joint; the upper end of each attitude adjustment branch is connected to the lower support of the single-degree-of-freedom folding and extending support shoe mechanism, and the lower end of each attitude adjustment branch is connected to the cutterhead base of the cutterhead module; the multiple attitude adjustment branches are controlled in the unfolded and tightened state of the single-degree-of-freedom folding and extending support shoe mechanism to achieve attitude adjustment of the cutterhead module; the multiple attitude adjustment branches are controlled in the folded and retracted state of the single-degree-of-freedom folding and extending support shoe mechanism to achieve overall propulsion of the shaft boring machine.

[0015] The shaft boring machine constructed using a single-degree-of-freedom folding and unfolding support shoe mechanism according to a second aspect embodiment of the present invention, employing the single-degree-of-freedom folding and unfolding support shoe mechanism of the first aspect embodiment, utilizes a smaller number of clamping cylinders and generates a strong force amplification effect through a rationally structured support shoe clamping unit. Under the same force input conditions, it can achieve more stable support for the shaft boring machine constructed using this single-degree-of-freedom folding and unfolding support shoe mechanism. Simultaneously, controlling multiple attitude adjustment chains in the folded-back state of the single-degree-of-freedom folding and unfolding support shoe mechanism enables the overall propulsion of the shaft boring machine. Controlling multiple attitude adjustment chains in the unfolded and tightened state of the single-degree-of-freedom folding and unfolding support shoe mechanism allows for flexible adjustment of the cutterhead module, thereby enabling timely correction of construction errors that may occur during the tunneling process. Furthermore, the control of the shaft boring machine constructed using the single-degree-of-freedom folding and unfolding support shoe mechanism according to the second aspect embodiment of the present invention is relatively simple.

[0016] In some embodiments, the cutter head attitude adjustment mechanism is a three-degree-of-freedom cutter head attitude adjustment mechanism, and includes three attitude adjustment branches. The upper end of each attitude adjustment branch is connected to the lower support through a fourth revolute joint, and the lower end of each attitude adjustment branch is connected to the cutter head base through a first ball joint.

[0017] In some embodiments, the cutter head attitude adjustment mechanism is a three-degree-of-freedom cutter head attitude adjustment mechanism, and includes three attitude adjustment branches. The upper end of each attitude adjustment branch is connected to the lower support through a second ball joint, and the lower end of each attitude adjustment branch is connected to the cutter head base through a fifth revolute joint.

[0018] In some embodiments, the tool head attitude adjustment mechanism is a six-degree-of-freedom tool head attitude adjustment mechanism, and includes six attitude adjustment branches. The upper end of each attitude adjustment branch is connected to the lower support through a third ball joint, and the lower end of each attitude adjustment branch is connected to the tool head base through a universal joint.

[0019] In some embodiments, there are multiple sets of single-degree-of-freedom folding support shoe mechanisms, and the multiple sets of single-degree-of-freedom folding support shoe mechanisms are arranged vertically in sequence. The two adjacent sets of single-degree-of-freedom folding support shoe mechanisms are connected by a central module. During the advancement of the shaft tunneling machine, the central module is used to move the single-degree-of-freedom folding support shoe mechanism connected to the upper side of the central module downward.

[0020] In some embodiments, there are two sets of the single-degree-of-freedom folding support shoe mechanism; the central module includes a central column and a plurality of propulsion cylinders, the central column is fixedly connected to the upper support of the single-degree-of-freedom folding support shoe mechanism located on the lower side of the central module, the plurality of propulsion cylinders are symmetrically arranged on the outer periphery of the central column, and the upper end of each propulsion cylinder is connected to the lower support of the single-degree-of-freedom folding support shoe mechanism located on the upper side of the central module, and the lower end of each propulsion cylinder is connected to the central column through a sixth revolute joint.

[0021] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0023] Figure 1 This is a schematic diagram of the structure of a single-degree-of-freedom folding support shoe mechanism according to an embodiment of the first aspect of the present invention;

[0024] Figure 2 This is a top view of a single-degree-of-freedom folding support shoe mechanism according to an embodiment of the first aspect of the present invention;

[0025] Figure 3 for Figure 2 Sectional view at point AA;

[0026] Figure 4This is a schematic diagram of the folding and unfolding process of the support shoe clamping unit of the single-degree-of-freedom folding and unfolding support shoe mechanism according to an embodiment of the first aspect of the present invention;

[0027] Figure 5 This is a schematic diagram illustrating the adjustment process of the support shoe position adjustment unit of a single-degree-of-freedom folding support shoe mechanism according to an embodiment of the first aspect of the present invention.

[0028] Figure 6 This is a schematic diagram of the structure of the A1 shaft tunneling machine according to an embodiment of the second aspect of the present invention;

[0029] Figure 7 This is a schematic diagram illustrating the adjustment process of the three-degree-of-freedom cutterhead attitude adjustment mechanism of an A1 shaft tunneling machine according to an embodiment of the second aspect of the present invention.

[0030] Figure 8 This is a schematic diagram of the structure of the B1 shaft tunneling machine according to another embodiment of the second aspect of the present invention;

[0031] Figure 9 This is a schematic diagram of the structure of the C1 shaft tunneling machine according to another embodiment of the second aspect of the present invention;

[0032] Figure 10 This is a schematic diagram of the structure of the A2 shaft tunneling machine according to another embodiment of the second aspect of the present invention;

[0033] Figure 11 This is a schematic diagram of the tunneling progress of the A2 shaft tunneling machine, which is another embodiment of the second aspect of the present invention.

[0034] Figure Labels

[0035] Single-degree-of-freedom folding support shoe mechanism 1000; support shoe clamping unit 1; upper bracket 101; lower bracket 102; support shoe base 103; connecting rod 104; clamping cylinder 105; first rotary joint 106; second rotary joint 107; support shoe position adjustment unit 2; motor assembly 201; motor base 2011; motor reducer 2012; transmission assembly 202; transmission screw 2021; transmission nut 2022; third rotary joint 2023; support shoe 203; first sliding joint 204; shaft boring machine 2000; cutterhead attitude adjustment mechanism 3; attitude adjustment support chain 301; fourth rotary joint 302; first ball joint 303; second ball joint 304; fifth rotary joint 305; third ball joint 306; universal joint 307; cutterhead module 4; cutterhead base 401; center module 5; center column 501; propulsion cylinder 502; sixth rotary joint 503. Detailed Implementation

[0036] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0037] The following is combined with Figures 1 to 11 This invention describes a single-degree-of-freedom folding support shoe mechanism 1000 and a shaft tunneling machine 2000 constructed therefrom.

[0038] like Figures 1 to 5 As shown, the single-degree-of-freedom folding support shoe mechanism 1000 according to the first aspect of the present invention includes a support shoe pressing unit 1 and a support shoe position adjusting unit 2.

[0039] The support shoe clamping unit 1 is based on a folding unit design and includes an upper support 101, a lower support 102, a support shoe base 103, a connecting rod 104, and a clamping cylinder 105. The upper support 101 is located above the lower support 102. There are at least three support shoe bases 103, which are arranged symmetrically around the outer periphery of the upper support 101 and the lower support 102, for example... Figure 1 and Figure 2 As shown, four support shoe bases 103 are schematically arranged symmetrically on the left, right, front, and rear sides of the upper support 101 and the lower support 102. Multiple connecting rods 104 are connected in parallel between the upper half of each support shoe base 103 and the upper support 101, and between the lower half of each support shoe base 103 and the lower support 102. Each support shoe base 103, upper support 101, and lower support 102 is connected to its corresponding connecting rod 104 via a first revolute joint 106, and all first revolute joints 106 are parallel to each other; for example, Figure 1 and Figure 2 The upper half of the left-side support shoe base 103 and the upper bracket 101 are each connected in parallel with four connecting rods 104, and the lower half of the left-side support shoe base 103 and the lower bracket 102 are each connected in parallel with four connecting rods 104. That is, the left-side support shoe base 103 is connected to a total of eight connecting rods 104. The left-side support shoe base 103 is connected to the eight connecting rods 104, the upper bracket 101 is connected to four of the eight connecting rods 104, and the lower bracket 102 is connected to the other four of the eight connecting rods 104, all through first revolute joints 106, and these first revolute joints 106 are parallel to each other. Similarly, Figure 1 and Figure 2The upper half of the support shoe base 103 on the middle and rear sides is connected in parallel with the upper support 101, and the lower half of the support shoe base 103 on the rear sides is connected in parallel with the lower support 102. That is, the support shoe base 103 on the rear side is connected with a total of eight links 104. The support shoe base 103 on the rear side is connected to the eight links 104, the upper support 101 is connected to four of the eight links 104, and the lower support 102 is connected to the other four links 104 through first revolute joints 106, and these first revolute joints 106 are parallel to each other. Similarly, Figure 1 and Figure 2 The structure in which the right-side support base 103 is connected to the upper support 101 and the lower support 102 via a connecting rod 104. Figure 1 and Figure 2 The construction method in which the support shoe base 103 on the front side is connected to the upper support 101 and the lower support 102 via the connecting rod 104 is the same as... Figure 1 and Figure 2 The left-hand support base 103 is connected to the upper support 101 and lower support 102 via connecting rods 104 in a similar manner. The upper half of a single support base 103, the upper support 101, and the plurality of connecting rods 104 located between the single support base 103 and the upper support 101 constitute at least one parallelogram in a vertical plane, and / or the lower half of a single support base 103, the lower support 102, and the plurality of connecting rods 104 located between the single support base 103 and the lower support 102 constitute at least one parallelogram in a vertical plane; for example, Figure 1 and Figure 2Four connecting rods 104 are connected in parallel between the upper half of the left support base 103 and the upper bracket 101, and between the lower half of the left support base 103 and the lower bracket 102. The upper half of the left support base 103, the upper bracket 101, and the four connecting rods 104 between the left support base 103 and the upper bracket 101 form two parallelograms in the vertical plane. The lower half of the left support base 103, the lower bracket 102, and the four connecting rods 104 between the left support base 103 and the lower bracket 102 form two parallelograms in the vertical plane. The clamping cylinder 105 is connected to the upper support 101 and the lower support 102 respectively through the second rotating joint 107. The clamping cylinder 105 drives the upper support 101 to move up and down relative to the lower support 102, and then drives the support shoe base 103 to retract inward and press outward through the connecting rod 104. For example, the fixed part of the clamping cylinder 105 is connected to the lower support 102, and the movable part of the clamping cylinder 105 is connected to the upper support 101. The clamping cylinder 105 drives the upper support 101 to move up and down. For example, when the clamping cylinder 105 drives the upper support 101 to move down, the support shoe base 103 is driven to move outward through the connecting rod 104 to press the support shoe 203. When the clamping cylinder 105 drives the upper support 101 to move up, the support shoe base 103 is driven to move inward through the connecting rod 104 to retract the support shoe base 103.

[0040] Therefore, the support shoe clamping unit 1 has one degree of freedom. If the lower support 102 is the frame, the support shoe base 103 can fold inward and outward during the single-degree-of-freedom motion of the support shoe clamping unit 1. The upper support 101 has only one translational degree of freedom relative to the lower support 102, with the direction perpendicular to the axis of the first revolute joint 106 on all connecting rods 104. By using the clamping cylinder 105, the distance between the upper support 101 and the lower support 102 can be adjusted, controlling the support shoe base 103 to press outward or retract inward. The folding and unfolding process of the support shoe clamping unit 1 is as follows: Figure 4 As shown. The support shoe clamping unit 1, designed based on the folding and unfolding unit, has a significant force amplification effect, achieving more stable support under the same force input conditions. Furthermore, the support shoe clamping unit 1 has an automatic centering function during the opening and clamping process; that is, the outer edges of all support shoe bases 103 are always on the same circumference with a continuously increasing radius. Without complex control, it ensures that the center of the shaft boring machine 2000 constructed by this single-degree-of-freedom folding and unfolding support shoe mechanism 1000 coincides with the center of the shaft, providing stable support for the cylindrical shaft wall. The support shoe clamping unit 1 has only one degree of freedom, making control simpler.

[0041] The support shoe position adjustment unit 2 includes a motor assembly 201, a transmission assembly 202, and support shoes 203. The number of support shoes 203 is the same as the number of support shoe bases 103. The support shoes 203 are arranged one-to-one on the outer side of each support shoe base 103. Each support shoe 203 is connected to the support shoe base 103 via a first sliding joint 204, and the movement direction is perpendicular to the support shoe base 103. The motor assembly 201 is fixed to the support shoe base 103 and connected to the support shoe 203 via the transmission assembly 202. The motor assembly 201 drives the transmission assembly 202 to move the support shoe 203 inward and outward relative to the support shoe base 103 in a direction perpendicular to the support shoe base 103. It should be noted that providing multiple support shoe bases 103 and support shoes 203 can provide more uniform support. Grooves or friction-enhancing materials can be added to the surface of the support shoes 203 to increase the coefficient of friction between the support shoes 203 and the shaft wall, providing more stable support.

[0042] According to the first aspect of the present invention, the single-degree-of-freedom folding support shoe mechanism 1000, when it is necessary to unfold and press against the well wall, first drives the transmission assembly 202, so that the support shoe 203 moves outward relative to the support shoe base 103 in a direction perpendicular to the support shoe base 103 and contacts the well wall. Then, the pressing cylinder 105 drives the upper support 101 to move, for example, drives the upper support 101 to move downward, and drives the support shoe base 103 to move outward through the connecting rod 104, so that the support shoe 203 presses against the well wall to generate frictional force to resist the vertical shaft boring machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000. The shaft boring machine 2000, constructed by the single-degree-of-freedom folding support shoe mechanism 1000, is stably supported by its own weight and the reverse torque generated during the tunneling process. In addition, the support shoe clamping unit 1 has an automatic centering function during the opening and clamping process, that is, the outer edges of all support shoe bases 103 are always on the same circumference with a constantly increasing radius. Without complicated control, it can ensure that the center of the shaft boring machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 coincides with the center of the cylindrical shaft, thus providing stable support for the cylindrical shaft wall. The support shoe clamping unit 1 has only one degree of freedom, making the control simpler.

[0043] According to the first aspect of the present invention, the single-degree-of-freedom folding support shoe mechanism 1000 utilizes a smaller number of clamping cylinders 105 and generates a stronger force amplification effect through the support shoe clamping unit 1 with a reasonable structure. Under the same force input conditions, it can achieve more stable support for the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000, and the control is simpler.

[0044] In some embodiments, the upper half of a single support shoe base 103, the upper support 101, and the multiple connecting rods 104 located between the single support shoe base 103 and the upper support 101 form multiple parallelograms in a vertical plane; the lower half of a single support shoe base 103, the lower support 102, and the multiple connecting rods 104 located between the multiple support shoe bases 103 and the lower support 102 also form multiple parallelograms in a vertical plane. Thus, the support shoe pressing unit 1 has one degree of freedom. If the lower support 102 is the frame, the support shoe base 103 can fold inwards and outwards during the single-degree-of-freedom movement of the support shoe pressing unit 1. The upper support 101 has only one translational degree of freedom relative to the lower support 102, with the direction perpendicular to the axis of the first revolute joint 106 on all connecting rods 104. By using the pressing cylinder 105, the distance between the upper support 101 and the lower support 102 can be adjusted, controlling the support shoe base 103 to press outwards or retract inwards. The support shoe clamping unit 1, designed based on the folding and unfolding unit, exhibits a significant force amplification effect, achieving more stable support under the same force input conditions. Furthermore, the support shoe clamping unit 1 features automatic centering during the opening and closing process; that is, the outer edges of all support shoe bases 103 remain on the same circumference with a continuously increasing radius. Without complex control, it ensures that the center of the shaft boring machine 2000 constructed by this single-degree-of-freedom folding and unfolding support shoe mechanism 1000 coincides with the center of the cylindrical shaft, providing stable support for the cylindrical shaft wall. The support shoe clamping unit 1 has only one degree of freedom, making control simpler.

[0045] In some embodiments, four connecting rods 104 are connected between the upper half of a single support shoe base 103 and the upper support 101, and between the lower half of a single support shoe base 103 and the lower support 102. The upper half of a single support shoe base 103, the upper support 101, and the four connecting rods 104 located between the single support shoe base 103 and the upper support 101 form two parallelograms in the vertical plane; the lower half of a single support shoe base 103, the lower support 102, and the four connecting rods 104 located between the single support shoe base 103 and the lower support 102 also form two parallelograms in the vertical plane. Thus, the support shoe clamping unit 1 has one degree of freedom. If the lower support 102 is the frame, the support shoe base 103 can fold inward and outward during the single-degree-of-freedom movement of the support shoe clamping unit 1. The upper support 101 has only one translational degree of freedom relative to the lower support 102, the direction of which is perpendicular to the axis of the first revolute joint 106 on all connecting rods 104. By using the clamping cylinder 105, the distance between the upper support 101 and the lower support 102 can be adjusted, controlling the outward or inward retraction of the support shoe base 103. The support shoe clamping unit 1, designed based on the folding and unfolding unit, has a significant force amplification effect, achieving more stable support under the same force input conditions. Furthermore, the support shoe clamping unit 1 has an automatic centering function during the opening and closing process; that is, the outer edges of all support shoe bases 103 are always on the same circumference with a continuously increasing radius. Without complex control, it ensures that the center of the shaft boring machine 2000 constructed by this single-degree-of-freedom folding and unfolding support shoe mechanism 1000 coincides with the center of the cylindrical shaft, providing stable support for the cylindrical shaft wall. The support shoe clamping unit 1 has only one degree of freedom, making control simpler.

[0046] In some embodiments, the motor assembly 201 includes a motor base 2011 and a motor reducer 2012. The motor base 2011 is located inside and fixed to the support shoe base 103, and the motor reducer 2012 is fixed to the motor base 2011. The transmission assembly 202 includes a transmission screw 2021 and a transmission nut 2022. One end of the transmission screw 2021 is connected to the motor reducer 2012, and the other end of the transmission screw 2021 is connected to the transmission nut 2022 via a helical pair. The transmission nut 2022 is connected to the support shoe 203 via a third rotating pair 2023. The motor reducer 2012 drives the support shoe 203 to move inward and outward in a direction perpendicular to the support shoe base 103 via the helical drive. Simultaneously, the helical drive can achieve reverse self-locking when subjected to external loads.

[0047] like Figures 1 to 11 As shown, the second aspect of the present invention also proposes a shaft tunneling machine 2000 constructed by a single-degree-of-freedom folding support shoe mechanism 1000.

[0048] like Figures 1 to 11As shown, a shaft tunneling machine 2000 constructed by a single-degree-of-freedom folding support shoe mechanism 1000 according to a second aspect embodiment of the present invention includes, from top to bottom, a single-degree-of-freedom folding support shoe mechanism 1000, a cutterhead attitude adjustment mechanism 3, and a cutterhead module 4, as described in any embodiment of the first aspect of the present invention. The cutterhead attitude adjustment mechanism 3 includes multiple identical attitude adjustment branches 301. Each attitude adjustment branch 301 is driven by a second locating pair. The attitude adjustment branch 301 can be an attitude adjustment cylinder. The upper end of each attitude adjustment branch 301 is connected to the lower support 102 of the support shoe 203 mechanism, and the lower end of each attitude adjustment branch 301 is connected to the cutterhead base 401 of the cutterhead module 4. When the support shoe 203 mechanism is unfolded and tightened, multiple attitude adjustment branches 301 are controlled to adjust the attitude of the cutterhead module 4. When the support shoe 203 mechanism is folded and retracted, multiple attitude adjustment branches 301 are controlled to achieve the overall propulsion of the shaft tunneling machine 2000.

[0049] The shaft boring machine 2000 constructed using the single-degree-of-freedom folding support shoe mechanism 1000 according to the second aspect embodiment of the present invention, due to the adoption of the single-degree-of-freedom folding support shoe mechanism 1000 according to the first aspect embodiment of the present invention, utilizes a smaller number of clamping cylinders 105 and generates a stronger force amplification effect through a rationally structured support shoe clamping unit 1. Under the same force input conditions, it can achieve more stable support for the shaft boring machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000; at the same time, in single-degree-of-freedom... When the folding and unfolding support shoe mechanism 1000 is folded back, multiple attitude adjustment chains 301 are controlled to achieve the overall propulsion of the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding and unfolding support shoe mechanism 1000. When the single-degree-of-freedom folding and unfolding support shoe mechanism 1000 is unfolded and tightened, multiple attitude adjustment chains 301 are controlled to flexibly adjust the attitude of the cutterhead module 4, thereby timely correcting construction errors that may occur during the tunneling process. In addition, the control of the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding and unfolding support shoe mechanism 1000 in the second aspect embodiment of the present invention is relatively simple.

[0050] The shaft tunneling machine 2000 constructed using the single-degree-of-freedom folding support shoe mechanism 1000 in the second aspect embodiment of the present invention can be configured with different cutterhead attitude adjustment mechanisms 3, thereby achieving different attitude adjustment effects and propulsion requirements for the cutterhead module 4. Below are some examples of shaft tunneling machines 2000 constructed using the single-degree-of-freedom folding support shoe mechanism 1000 with different cutterhead attitude adjustment mechanisms 3.

[0051] In some embodiments, such as Figure 6As shown, the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 is called the A1 shaft tunneling machine 2000. The A1 shaft tunneling machine 2000 can realize the support and forward movement of the main structure of the A1 shaft tunneling machine 2000 and the orientation adjustment of the cutterhead module 4. The cutterhead attitude adjustment mechanism 3 of the A1 shaft tunneling machine 2000 is a three-degree-of-freedom cutterhead attitude adjustment mechanism 3, and includes three attitude adjustment branches 301. The upper end of each attitude adjustment branch 301 is connected to the lower support 102 through the fourth revolute joint 302, and the lower end of each attitude adjustment branch 301 is connected to the cutterhead base 401 through the first ball joint 303. The three-degree-of-freedom cutterhead attitude adjustment mechanism 3 has three degrees of freedom, such as Figure 7 As shown, when the single-degree-of-freedom folding support shoe mechanism 1000 is unfolded and tightened, controlling the attitude adjustment chain 301 enables the three-degree-of-freedom cutterhead attitude adjustment mechanism 3 to adjust the attitude of the cutterhead module 4. When the single-degree-of-freedom folding support shoe mechanism 1000 is folded and retracted, controlling the attitude adjustment chain 301 enables the three-degree-of-freedom cutterhead attitude adjustment mechanism 3 to achieve the overall propulsion of the shaft boring machine 2000.

[0052] In some embodiments, as shown in Figure 8, the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 is referred to as the B1 shaft tunneling machine 2000. The B1 shaft tunneling machine 2000 can realize the support and forward movement of the main structure of the B1 shaft tunneling machine 2000 and the orientation adjustment of the cutterhead module 4. The single-degree-of-freedom folding support shoe mechanism 1000 of the B1 shaft tunneling machine 2000 is the same as the single-degree-of-freedom folding support shoe mechanism 1000 of the A1 shaft tunneling machine 2000. The cutterhead attitude adjustment mechanism 3 of the B1 shaft tunneling machine 2000 is a three-degree-of-freedom cutterhead attitude adjustment mechanism 3, and includes three attitude adjustment branches 301. The upper end of each attitude adjustment branch 301 is connected to the lower support 102 through a second ball joint 304, and the lower end of each attitude adjustment branch 301 is connected to the cutterhead base 401 through a fifth revolute joint 305. The three-degree-of-freedom cutterhead attitude adjustment mechanism 3 has three degrees of freedom. When the single-degree-of-freedom folding support shoe mechanism 1000 is unfolded and tightened, controlling the attitude adjustment chain 301 allows for attitude adjustment of the cutterhead module 4. When the single-degree-of-freedom folding support shoe mechanism 1000 is folded back, controlling the attitude adjustment chain 301 allows for the overall propulsion of the B1 shaft tunneling machine 2000. Compared to the three-degree-of-freedom cutterhead attitude adjustment mechanism 3 of the A1 shaft tunneling machine 2000, the three-degree-of-freedom cutterhead attitude adjustment mechanism 3 of the B1 shaft tunneling machine 2000 results in less rotation of the cutterhead module 4 when controlling the same radial offset.

[0053] In some embodiments, such as Figure 9As shown, the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 is called the C1 shaft tunneling machine 2000. The C1 shaft tunneling machine 2000 can realize the support and forward movement of the main structure of the C1 shaft tunneling machine 2000 and the orientation adjustment of the cutterhead module 4. The single-degree-of-freedom folding support shoe 203 mechanism of the C1 shaft tunneling machine 2000 is the same as the single-degree-of-freedom folding support shoe mechanism 1000 of the A1 shaft tunneling machine 2000. The cutterhead attitude adjustment mechanism 3 of the C1 shaft tunneling machine 2000 is a six-degree-of-freedom cutterhead attitude adjustment mechanism 3, and includes six attitude adjustment branches 301. The upper end of each attitude adjustment branch 301 is connected to the lower support 102 through a third ball joint 306, and the lower end of each attitude adjustment branch 301 is connected to the cutterhead base 401 through a universal joint 307. The six-degree-of-freedom cutterhead attitude adjustment mechanism 3 has six degrees of freedom. When the single-degree-of-freedom folding support shoe mechanism 1000 is extended and tightened, controlling the attitude adjustment chain 301 enables the six-degree-of-freedom cutterhead attitude adjustment mechanism 3 to adjust the attitude of the cutterhead module 4. When the single-degree-of-freedom folding support shoe mechanism 1000 is folded back, controlling the attitude adjustment chain 301 enables the overall propulsion of the C1 shaft tunneling machine 2000. Compared to the three-degree-of-freedom cutterhead attitude adjustment mechanism 3 of the A1 shaft tunneling machine 2000, the six-degree-of-freedom cutterhead attitude adjustment mechanism 3 of the C1 shaft tunneling machine 2000 has more degrees of freedom and can achieve more complex cutterhead attitude adjustment movements.

[0054] The shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 in the second aspect embodiment of the present invention adopts multiple sets of single-degree-of-freedom folding support shoe mechanisms 1000, which can form different folding support shoe 203 shaft tunneling machines 2000, thereby achieving more stable support and more complex gait.

[0055] In some embodiments, such as Figure 10 As shown, there are multiple sets of single-degree-of-freedom folding support shoe mechanisms 1000, arranged vertically in sequence. Adjacent sets of these mechanisms are connected by a central module 5. During the advancement of the shaft tunneling machine 2000, the central module 5 is used to lower the single-degree-of-freedom folding support shoe mechanisms 1000 connected to its upper side. By employing multiple sets of single-degree-of-freedom folding support shoe mechanisms 1000, different shaft tunneling machines 2000 can be constructed, achieving more stable support and more complex gaits.

[0056] In some embodiments, such as Figure 10As shown, there are two sets of single-degree-of-freedom folding support shoe mechanisms 1000. The central module 5 includes a central column 501 and multiple propulsion cylinders 502. The central column 501 is fixedly connected to the upper support 101 of the single-degree-of-freedom folding support shoe mechanism 1000 located on the lower side of the central module 5. The multiple propulsion cylinders 502 are symmetrically arranged on the outer periphery of the central column 501. The upper end of each propulsion cylinder 502 is connected to the lower support 102 of the single-degree-of-freedom folding support shoe mechanism 1000 located on the upper side of the central module 5, and the lower end of each propulsion cylinder 502 is connected to the central column 501 through a sixth revolute joint 503. The shaft boring machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 of this embodiment can achieve more stable support and complex gait.

[0057] In a specific example, such as Figure 10 As shown, the shaft tunneling machine 2000 constructed by the single-degree-of-freedom folding support shoe mechanism 1000 is called the A2 shaft tunneling machine 2000. The A2 shaft tunneling machine 2000 has two sets of single-degree-of-freedom folding support shoe mechanisms 1000. The cutterhead adjustment mechanism 3 in the A2 shaft tunneling machine 2000 is the same as the cutterhead adjustment mechanism 3 in the A1 shaft tunneling machine 2000, and both are three-degree-of-freedom cutterhead adjustment mechanisms 3. Besides enabling the support and forward movement of the main structure and the orientation adjustment of the cutterhead module 4, the A2 shaft tunneling machine 2000 can also achieve more stable support and complex gait. The central module 5 of the A2 shaft tunneling machine 2000 includes a central column 501 and four propulsion cylinders 502. The central column 501 is fixedly connected to the upper support 101 of the single-degree-of-freedom folding support shoe mechanism 1000 located on the lower side of the central module 5. Four push cylinders 502 are symmetrically arranged on the outer periphery of the central column 501. The upper end of each push cylinder 502 is connected to the lower support 102 of the support shoe 203 mechanism located on the upper side of the central module 5, and the lower end of each push cylinder 502 is connected to the central column 501 through a sixth revolute joint 503. Figure 11As shown, during the advancement of the A2 shaft tunneling machine 2000, the support shoe 203 of the single-degree-of-freedom folding support shoe mechanism 1000 located on the lower side of the central module 5 can be deployed and tightened, while the support shoe 203 of the single-degree-of-freedom folding support shoe mechanism 1000 located on the upper side of the central module 5 can be retracted. The single-degree-of-freedom folding support shoe mechanism 1000 located on the upper side of the central module 5 is then moved downwards by the advancement cylinder 502 of the central module 5; subsequently, the single-degree-of-freedom folding support shoe mechanism 1000 located on the upper side of the central module 5 is deployed and tightened. The support shoe 203 of the A2 shaft tunneling machine 2000 retracts from the single-degree-of-freedom folding support shoe mechanism 1000 located below the central module 5. The single-degree-of-freedom folding support shoe mechanism 1000 is then lowered via the propulsion cylinder 502 of the central module 5 and the adjustment support chain 301 of the three-degree-of-freedom cutterhead adjustment mechanism 3. Then, the support shoe 203 of the single-degree-of-freedom folding support shoe mechanism 203 located below the central module 5 is deployed and tightened, allowing the cutterhead module 4 of the A2 shaft tunneling machine 2000 to continue tunneling. Throughout this process, at least one set of single-degree-of-freedom folding support shoe mechanisms 1000 is always deployed and tightened, thus enabling the A2 shaft tunneling machine 2000 to achieve more stable support.

[0058] Finally, it should be noted that the clamping cylinder 105, the attitude adjustment chain 301, and the propulsion cylinder 502 can be hydraulic cylinders such as oil cylinders or pneumatic cylinders.

[0059] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0060] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A single-degree-of-freedom folding and unfolding support shoe mechanism, characterized in that, include: The support shoe clamping unit includes an upper bracket, a lower bracket, support shoe bases, connecting rods, and a clamping cylinder. The upper bracket is located above the lower bracket. There are at least three support shoe bases, which are arranged symmetrically around the outer periphery of the upper and lower brackets. Multiple connecting rods are connected in parallel between the upper half of each support shoe base and the upper bracket, and between the lower half of each support shoe base and the lower bracket. Each support shoe base, the upper bracket, and the lower bracket are connected to their respective connecting rods via first rotating joints, and all first rotating joints are parallel to each other. The upper half of a single support shoe base, the upper bracket, and the plurality of connecting rods located between the single support shoe base and the upper bracket constitute at least one parallelogram in a vertical plane, or / and the lower half of a single support shoe base, the lower bracket, and the plurality of connecting rods located between the single support shoe base and the lower bracket constitute at least one parallelogram in a vertical plane; the pressing cylinder is connected to the upper bracket and the lower bracket respectively through a second rotating joint, and the pressing cylinder drives the upper bracket to move up and down relative to the lower bracket, thereby driving the support shoe base to retract inward and press outward through the connecting rods; The support shoe position adjustment unit includes a motor assembly, a transmission assembly, and support shoes. The number of support shoes is the same as the number of support shoe bases. The support shoes are arranged one-to-one on the outer side of the support shoe base. The support shoes are connected to the support shoe bases through a first sliding joint, and the movement direction is perpendicular to the support shoe bases. The motor assembly is fixed to the support shoe bases and is connected to the support shoes through the transmission assembly. The motor assembly drives the transmission assembly to move the support shoes inward and outward relative to the support shoe bases in a direction perpendicular to the support shoe bases.

2. The single-degree-of-freedom folding and unfolding support shoe mechanism according to claim 1, characterized in that, The upper half of a single support shoe base, the upper bracket, and the plurality of connecting rods located between the single support shoe base and the upper bracket constitute a plurality of parallelograms in a vertical plane; the lower half of a single support shoe base, the lower bracket, and the plurality of connecting rods located between the plurality of support shoe bases and the lower bracket also constitute a plurality of parallelograms in a vertical plane.

3. The single-degree-of-freedom folding and unfolding support shoe mechanism according to claim 2, characterized in that, Four connecting rods are connected between the upper half of a single support shoe base and the upper bracket, and between the lower half of a single support shoe base and the lower bracket. The upper half of a single support shoe base, the upper bracket, and the four connecting rods located between the single support shoe base and the upper bracket form two parallelograms in the vertical plane. The lower half of a single support shoe base, the lower bracket, and the four connecting rods located between the single support shoe base and the lower bracket also form two parallelograms in the vertical plane.

4. The single-degree-of-freedom folding and unfolding support shoe mechanism according to any one of claims 1-3, characterized in that, The motor assembly includes a motor base and a motor reducer. The motor base is located inside the support shoe base and is fixed to the support shoe base. The motor reducer is fixed to the motor base. The transmission assembly includes a transmission screw and a transmission nut. One end of the transmission screw is connected to the motor reducer, and the other end of the transmission screw is connected to the transmission nut through a screw pair. The transmission nut is connected to the support shoe through a third rotating pair.

5. A shaft boring machine constructed with a single-degree-of-freedom folding support shoe mechanism, characterized in that, The system includes, arranged sequentially from top to bottom, a single-degree-of-freedom folding and extending support shoe mechanism, a cutterhead attitude adjustment mechanism, and a cutterhead module as described in any one of claims 1-4; the cutterhead attitude adjustment mechanism comprises multiple identical attitude adjustment branches; each attitude adjustment branch is driven by a second sliding joint; the upper end of each attitude adjustment branch is connected to the lower support of the single-degree-of-freedom folding and extending support shoe mechanism, and the lower end of each attitude adjustment branch is connected to the cutterhead base of the cutterhead module; the system controls the movement of multiple attitude adjustment branches when the single-degree-of-freedom folding and extending support shoe mechanism is unfolded and tightened to adjust the attitude of the cutterhead module; the system controls the movement of multiple attitude adjustment branches when the single-degree-of-freedom folding and extending support shoe mechanism is folded and retracted to achieve the overall propulsion of the shaft boring machine; the attitude adjustment branches are hydraulic cylinders or pneumatic cylinders.

6. The shaft boring machine constructed using the single-degree-of-freedom folding support shoe mechanism according to claim 5, characterized in that, The tool head attitude adjustment mechanism is a three-degree-of-freedom tool head attitude adjustment mechanism, and includes three attitude adjustment branches. The upper end of each attitude adjustment branch is connected to the lower support through a fourth revolute joint, and the lower end of each attitude adjustment branch is connected to the tool head base through a first ball joint.

7. The shaft boring machine constructed using the single-degree-of-freedom folding support shoe mechanism according to claim 5, characterized in that, The tool head attitude adjustment mechanism is a three-degree-of-freedom tool head attitude adjustment mechanism, and includes three attitude adjustment branches. The upper end of each attitude adjustment branch is connected to the lower support through a second ball joint, and the lower end of each attitude adjustment branch is connected to the tool head base through a fifth revolute joint.

8. The shaft boring machine constructed using the single-degree-of-freedom folding support shoe mechanism according to claim 5, characterized in that, The tool head attitude adjustment mechanism is a six-degree-of-freedom tool head attitude adjustment mechanism, and includes six attitude adjustment branches. The upper end of each attitude adjustment branch is connected to the lower support through a third ball joint, and the lower end of each attitude adjustment branch is connected to the tool head base through a universal joint.

9. A shaft boring machine constructed using a single-degree-of-freedom folding support shoe mechanism according to any one of claims 6-8, characterized in that, There are multiple sets of single-degree-of-freedom folding support shoe mechanisms, and these multiple sets of single-degree-of-freedom folding support shoe mechanisms are arranged vertically in sequence. The two adjacent sets of single-degree-of-freedom folding support shoe mechanisms are connected through a central module. During the advancement of the shaft tunneling machine, the central module is used to move the single-degree-of-freedom folding support shoe mechanism connected to the upper side of the central module downward.

10. The shaft boring machine constructed using the single-degree-of-freedom folding support shoe mechanism according to claim 9, characterized in that, There are two sets of the single-degree-of-freedom folding and unfolding support shoe mechanism; the central module includes a central column and multiple propulsion cylinders. The central column is fixedly connected to the upper support of the single-degree-of-freedom folding and unfolding support shoe mechanism located on the lower side of the central module. The multiple propulsion cylinders are symmetrically arranged on the outer periphery of the central column. The upper end of each propulsion cylinder is connected to the lower support of the single-degree-of-freedom folding and unfolding support shoe mechanism located on the upper side of the central module, and the lower end of each propulsion cylinder is connected to the central column through a sixth revolute joint.

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