Multi-axis attitude control frame type tunneling system

Abstract

The invention discloses a multi-axis attitude control frame-type tunneling system, and relates to the technical field of underground engineering construction, the multi-axis attitude control frame-type tunneling system comprises tunneling equipment, and the tunneling equipment comprises a frame assembly used for adjustment and control, a cutting assembly connected with the frame assembly, a crushing assembly connected with the frame assembly and a conveying assembly connected with the crushing assembly; the invention has the following advantages: 12 electro-hydraulic actuators at the front end complete the cutting operation by cooperatively controlling the attitude actuator group of the cutting assembly; in the cutting process, a cutting roller makes contact with a cutting face in the tunneling direction to form counter-acting force, and all the counter-acting force is transmitted to a laneway side to be counteracted through a first electro-hydraulic actuator, a second electro-hydraulic actuator, a third electro-hydraulic actuator, a fourth electro-hydraulic actuator and a steel beam in a frame assembly by a cutting assembly posture actuator set. Therefore, the cutting power is not limited by the weight and the size of the whole machine any more, a cutting motor with higher power can be selected, and the tunneling efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of underground engineering construction, and in particular to a multi-axis attitude controlled frame-type tunneling system. Background Art

[0002] When designing a tunnel boring machine, the weight of the whole machine must be designed based on the cutting power. That is, the higher the cutting power, the heavier the weight of the whole machine. As the demand for tunneling efficiency continues to increase, the cutting power is further increased, and the weight of the whole machine increases accordingly, causing the weight and volume of the tunneling equipment to continue to rise. However, due to the bearing capacity of the base plate and the limitation of the underground working space, the weight and volume of the equipment cannot continue to increase, which in turn restricts the increase in cutting power and makes it impossible to improve tunneling efficiency.

[0003] Most of the existing tunneling equipment is driven by crawlers. The superposition effect of the heavy machine body and crawlers causes the crawlers to continuously damage the bottom plate of the working surface during construction. When the bottom plate is soft, broken, muddy, or when the construction is cornered, turned, and repeatedly rolled, the crawlers will cause particularly serious damage to the bottom plate, causing the equipment to bottom out, deflect, and be unable to move, affecting the progress of tunneling construction;

[0004] The crawler drive cannot provide lateral translation capability for equipment movement, and lacks flexibility in narrow spaces. When constructing large sections or requiring small angle turns, the crawler drive needs to back off and turn multiple times to achieve lateral displacement. The crawler differential during movement can cause serious damage to the bottom plate road surface.

[0005] The existing tunneling equipment structure has led to a situation where tunneling efficiency, cutting power, equipment weight and volume are contradictory, which restricts the further improvement of equipment performance;

[0006] The existing large-width horizontal axis cutting type tunneling equipment has a relatively fixed cutting range and cannot flexibly change the construction section;

[0007] Most of the existing tunneling equipment is semi-automatic or manually operated, with a low level of automation. It is unable to provide key data such as equipment movement, posture, displacement, spatial position relationship, etc., and it is difficult to provide a data basis for automated closed-loop control.

[0008] To this end, we propose a multi-axis attitude control frame tunneling system. Summary of the invention

[0009] The purpose of the present invention is to provide a multi-axis attitude control frame type tunneling system.

[0010] To achieve the above object, the present invention provides the following technical solution: a multi-axis attitude control frame-type excavation system, comprising an excavation device, wherein the excavation device comprises a frame assembly for adjustment and control, a cutting assembly connected to the frame assembly, a crushing assembly connected to the frame assembly, and a conveying assembly connected to the crushing assembly;

[0011] The frame assembly includes a first electro-hydraulic actuator, a control box, a steel beam, a second electro-hydraulic actuator, a third electro-hydraulic actuator and a fourth electro-hydraulic actuator. The ends of the twelve first electro-hydraulic actuators that are close to each other are fixedly connected to one end of the control box through a digital universal joint, wherein the ends of four first electro-hydraulic actuators that are away from the control box are connected to the sides of the second electro-hydraulic actuators through a digital universal joint, the front and rear ends of four second electro-hydraulic actuators are fixedly connected to the steel beam through a digital universal joint, the ends of eight first electro-hydraulic actuators that are away from the control box are fixedly connected to the steel beam through a digital universal joint, the front and rear ends of the four third electro-hydraulic actuators are fixedly connected to the steel beam through a digital universal joint, and the upper and lower ends of the four fourth electro-hydraulic actuators are fixedly connected to the steel beam through a digital universal joint.

[0012] As a further solution of the present invention: the cutting assembly includes a signal collector, a data transmitter, a three-phase asynchronous motor and a cutting drum, the signal collector is electrically connected to the first electro-hydraulic actuator, the second electro-hydraulic actuator, the third electro-hydraulic actuator, the fourth electro-hydraulic actuator, the digital universal joint and the data transmitter, the signal collector, the data transmitter and the three-phase asynchronous motor are respectively installed inside the control box from back to front, the output end of the three-phase asynchronous motor is fixedly connected to a transmission rod, one end of the transmission rod extends to the outside of the control box, the front end of the transmission rod is provided with a bevel gear meshing with the bevel gear of the cutting drum, and the side of the cutting drum is provided with a dust reduction nozzle.

[0013] As a further solution of the present invention: the crushing assembly includes a crushing bracket and a crushing barrel, the bottom surface of the mounting plate is fixedly connected to the top surface of the crushing bracket, the two ends of the crushing barrel are rotatably connected to the inner wall of the crushing bracket, and one end of the crushing barrel is fixedly connected to a progressive motor.

[0014] As a further solution of the present invention: the conveying assembly includes a shovel plate and a scraper chain, the bottom surface of the shovel plate is fixedly installed on the bottom of the inner wall of the crushing bracket, and the scraper chain is installed on the top surface of the shovel plate.

[0015] As a further solution of the present invention: the shovel plates decrease in sequence from back to front, the front end bottom surface of the shovel plate is fixedly connected with a shovel plate, and the top front end sides of the shovel plate are fixedly connected with rake plates.

[0016] By adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The present invention adjusts different angles of the control box through the first electro-hydraulic actuator, utilizes the telescopic movement of the second electro-hydraulic actuator, the third electro-hydraulic actuator and the fourth electro-hydraulic actuator to drive the control box and the cutting assembly forward, so that the cutting assembly cuts the front end, utilizes the first electro-hydraulic actuator at the four corners of the front end of the control box to drive the cutting assembly forward through telescopic movement, and utilizes the second electro-hydraulic actuator and the third electro-hydraulic actuator to push the position of the control box, thereby enabling the horizontal components of the first electro-hydraulic actuator, the second electro-hydraulic actuator and the third electro-hydraulic actuator to all participate in the cutting, thereby increasing the thrust and achieving stronger stability, and utilizing the twelve first electro-hydraulic actuators to achieve a more stable cutting. The hydraulic actuator controls the control box to perform pitch, swing, twist and other actions. By collaboratively controlling the cutting assembly posture actuator group, the first electro-hydraulic actuator, the third electro-hydraulic actuator and the fourth electro-hydraulic actuator at the front end, a total of 12 electro-hydraulic actuators, complete the cutting operation. During the cutting process, the reaction force formed by the contact between the cutting drum and the cutting surface in the excavation direction is completely transmitted to the tunnel wall by the cutting assembly posture actuator group through the first electro-hydraulic actuator, the second electro-hydraulic actuator, the third electro-hydraulic actuator, the fourth electro-hydraulic actuator and the steel beam in the frame assembly to offset it. Therefore, the cutting power is no longer limited by the weight and volume of the whole machine, and a more powerful cutting motor can be selected to improve the excavation efficiency.

[0018] 2. The present invention drives the control box and the cutting drum to move through the frame assembly, and uses the tooth seat, spiral blades, cutting teeth and dust suppression nozzles provided in the cutting drum to perform excavation. The frame assembly is convenient for adjusting the cutting surface of the cutting drum through multiple electro-hydraulic actuators, and the data of the electro-hydraulic actuators are collected by the signal collector and the data transmitter, so as to control and adjust the subsequent electro-hydraulic actuators, thereby achieving the effect of facilitating the adjustment of cutting;

[0019] 3. The present invention deploys the first electro-hydraulic actuator, the second electro-hydraulic actuator and the third electro-hydraulic actuator in the frame assembly in the tunnel to fix the four walls, and then uses the first electro-hydraulic actuator at the front end of the control box and the fourth electro-hydraulic actuator at the front end to retract, and then uses the second electro-hydraulic actuator to deploy, and then deploys the first electro-hydraulic actuator and the fourth electro-hydraulic actuator, and retracts the second electro-hydraulic actuator, so that the frame assembly can be moved, so that the frame assembly can adapt to various tasks and geological conditions;

[0020] 4. The present invention enables the frame to be supported on the inner wall of the lane by the cooperation between the first electro-hydraulic actuator, the second electro-hydraulic actuator, the third electro-hydraulic actuator, the fourth electro-hydraulic actuator and the digital universal joint;

[0021] 5. The present invention restricts the frame assembly by the second electro-hydraulic actuator, the third electro-hydraulic actuator, the fourth electro-hydraulic actuator and the digital universal joint, and then utilizes the first electro-hydraulic actuator and the digital universal joint to cooperate with each other, so that the cutting assembly can perform multi-angle movement and rotation cutting;

[0022] 6. The present invention achieves a mobile cutting effect in a narrow space by cooperating between the second electro-hydraulic actuator, the first electro-hydraulic actuator and the digital universal joint, thereby allowing the frame assembly to translate laterally.

[0023] Other advantages, objectives and features of the present invention will be set forth in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional schematic diagram of a tunneling device in an embodiment of the present invention;

[0025] Figure 2 A side cross-sectional schematic diagram of a tunneling device in an embodiment of the present invention;

[0026] Figure 3 A schematic diagram of the connection relationship of the frame components in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the connection relationship of the crushing components in an embodiment of the present invention;

[0028] Figure 5 A schematic diagram of the connection relationship of a three-phase asynchronous motor in an embodiment of the present invention;

[0029] Figure 6 A schematic diagram of the connection relationship of connected components in an embodiment of the present invention;

[0030] Figure 7 It is a first schematic diagram of the retracted state of the tunneling equipment in an embodiment of the present invention;

[0031] Figure 8 A second schematic diagram of a tunneling device in a retracted state according to an embodiment of the present invention;

[0032] Fig. 9 This is a schematic diagram of the expansion and fixing of the tunneling equipment in an embodiment of the present invention;

[0033] Fig.10 This is a schematic diagram of a first posture of a tunneling device in an embodiment of the present invention;

[0034] Fig.11 A schematic diagram of a second posture of a tunneling device in an embodiment of the present invention;

[0035] Fig.12 This is a first schematic diagram of the movement of a tunneling device in complex terrain according to an embodiment of the present invention;

[0036] Fig.13 A second schematic diagram of the movement of a tunneling device in complex terrain according to an embodiment of the present invention;

[0037] Fig.14 It is a schematic diagram of small-angle steering tunneling operation of a multi-axis attitude control frame-type tunnel boring machine system in an embodiment of the present invention.

[0038] In the figure: 1. Excavation equipment; 2. Frame assembly; 21. First electro-hydraulic actuator; 22. Control box; 23. Steel beam; 24. Second electro-hydraulic actuator; 25. Third electro-hydraulic actuator; 26. Fourth electro-hydraulic actuator; 3. Cutting assembly; 31. Signal collector; 32. Data transmitter; 33. Three-phase asynchronous motor; 34. Cutting drum; 5. Crushing assembly; 51. Crushing bracket; 52. Crushing drum; 6. Conveying assembly; 61. Shovel board; 62. Scraper chain; 63. Second scraper; 64. Shovel board; 65. Rake plate. DETAILED DESCRIPTION

[0039] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0040] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] Please refer to the attached Figure 1 -Attached Figure 6 The multi-axis attitude control frame type excavation system of the present invention comprises an excavation device 1, wherein the excavation device 1 comprises a frame assembly 2 for adjusting and controlling, a cutting assembly 3 connected to the frame assembly 2, a crushing assembly 5 connected to the frame assembly 2, and a conveying assembly 6 connected to the crushing assembly 5;

[0042] The frame assembly 2 includes a first electro-hydraulic actuator 21, a control box 22, a steel beam 23, a second electro-hydraulic actuator 24, a third electro-hydraulic actuator 25 and a fourth electro-hydraulic actuator 26. The ends of the twelve first electro-hydraulic actuators 21 close to each other are fixedly connected to one end of the control box 22 through a digital universal joint, and the ends of four first electro-hydraulic actuators 21 away from the control box 22 are connected to the side of the second electro-hydraulic actuator 24 through a digital universal joint. The front and rear ends of the four second electro-hydraulic actuators 24 are fixedly connected to the steel beam 23 through a digital universal joint. The ends of the eight first electro-hydraulic actuators 21 away from the control box 22 are fixedly connected to the steel beam 23 through a digital universal joint. One end of the control box 22 is fixedly connected to the steel beam 23 through a digital universal joint, the front and rear ends of the four third electro-hydraulic actuators 25 are fixedly connected to the steel beam 23 through digital universal joints, and the upper and lower ends of the four fourth electro-hydraulic actuators 26 are fixedly connected to the steel beam 23 through digital universal joints. The telescopic range of the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25 and the fourth electro-hydraulic actuator 26 is 1m-3m, and the supporting force of the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25 and the fourth electro-hydraulic actuator 26 is 120KN-500KN;

[0043] The digital universal joint is a posture-sensing universal joint device that integrates universal joints with sensors such as angles, angular velocity, and gyroscopes. It is a movable device that connects the two ends of each steel beam of the telescopic frame assembly and the two ends of the electro-hydraulic actuator, so that the telescopic frame assembly and the cutting assembly can move with multiple degrees of freedom through each end of the electro-hydraulic actuator, and can provide the electro-hydraulic actuator integrated controller with the action posture parameters of the mechanism connected by the digital universal joint;

[0044] By connecting the digital universal joint, the displacement, angle and angular velocity data can be output. The telescopic frame component space coordinate system can be established through calculation, providing spatial positioning parameters for the cutting component posture control, thereby realizing the cutting drum motion control and establishing the full cutting space data control.

[0045] The control box 22 is adjusted at different angles by the first electro-hydraulic actuator 21, and the control box 22 and the cutting assembly 3 are moved forward by the extension and retraction of the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25 and the fourth electro-hydraulic actuator 26, so that the cutting assembly 3 cuts the front end. The first electro-hydraulic actuator 21 at the four corners of the front end of the control box 22 is used to drive the cutting assembly 3 to move forward by extension and retraction. At the same time, the second electro-hydraulic actuator 24 and the third electro-hydraulic actuator 25 are used to push the position of the control box 22, so that the horizontal components of the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24 and the third electro-hydraulic actuator 25 will all participate in the cutting, and the thrust is increased and the stability is stronger. The twelve first electro-hydraulic actuators 21 are used to control the control box 22 to move forward, backward, pitch, swing, twist and other actions, so as to adjust the posture of the cutting assembly 3, thereby improving the excavation efficiency of the excavation system, and effectively solving the problem that the weight and volume of the equipment cannot be continuously increased, thereby restricting the increase of cutting power, and thus making it difficult to improve the excavation efficiency.

[0046] The cutting assembly 3 includes a signal collector 31, a data transmitter 32, a three-phase asynchronous motor 33 and a cutting drum 34. The signal collector 31 is electrically connected to the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25, the fourth electro-hydraulic actuator 26, the digital universal joint and the data transmitter 32. The signal collector 31, the data transmitter 32 and the three-phase asynchronous motor 33 are respectively installed inside the control box 22 from back to front. The output end of the three-phase asynchronous motor 33 is fixedly connected to a transmission rod, one end of the transmission rod extends to the outside of the control box 22, and the front end of the transmission rod is provided with a bevel gear that meshes with the bevel gear of the cutting drum 34. The side of the cutting drum 34 is provided with a dust suppression nozzle, the crushing assembly 5 includes a crushing bracket 51 and a crushing barrel 52, the bottom surface of the mounting plate 43 is fixedly connected to the top surface of the crushing bracket 51, the two ends of the crushing barrel 52 are rotatably connected to the inner wall of the crushing bracket 51, one end of the crushing barrel 52 is fixedly connected to a progressive motor, the conveying assembly 6 includes a shovel plate 61 and a scraper chain 62, the bottom surface of the shovel plate 61 is fixedly installed on the bottom of the inner wall of the crushing bracket 51, the scraper chain 62 is installed on the top surface of the shovel plate 61, the shovel plate 61 decreases from back to front, the front bottom surface of the shovel plate 61 is fixedly connected to a shovel plate 64, and the top front ends of the shovel plate 61 are fixedly connected to rake plates 65 on both sides;

[0047] Specifically, the control box 22 and the cutting drum 34 are driven to move by the frame assembly 2, and excavation is performed using the tooth seat, spiral blades, cutting teeth and dust reduction nozzles provided in the cutting drum 34. The frame assembly 2 is then used to adjust the cutting surface of the cutting drum 34 through multiple electro-hydraulic actuators, and the data of the electro-hydraulic actuators are collected using the signal collector 31 and the data transmitter 32, so as to control and adjust the subsequent electro-hydraulic actuators, thereby achieving the effect of facilitating the adjustment of cutting.

[0048] Specifically, the data of the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25 and the fourth electro-hydraulic actuator 26 are transmitted through the cables in the pipeline 41 by the processor 74 and the controller 73, so that the processor 74 can more conveniently adjust and control according to the electro-hydraulic actuator.

[0049] Specifically, through the cooperation between the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25, the fourth electro-hydraulic actuator 26, the steel beam 23 and the digital universal joint, the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25 and the fourth electro-hydraulic actuator 26 can be telescopically adjusted to contact the complex inner wall of the tunnel, thereby forming a good temporary support effect for the top and side.

[0050] Specifically, compared with the full-section cutting drum 34 of a traditional tunnel boring machine, the cutting drum 34 of the present invention is smaller in size and is a non-full-section cutting drum 34. The cutting drum 34 is moved laterally to complete full-section cutting by utilizing the coordinated action of the cutting assembly attitude actuator group in the frame-type tunnel boring machine. Due to the small size of the cutting drum 34, the contact area with the cutting surface is small, the pressure is large, and the rock breaking ability is strong. At the same time, the cutting assembly attitude actuator group can coordinate the action to complete variable-section cutting as needed.

[0051] Specifically, the entire fuselage is supported by the frame assembly 2 and the electro-hydraulic actuator. The middle telescopic square steel of the four groups of steel beams 23 is actuated by the second electro-hydraulic actuator 24 to realize the front and rear movement of the frame-type tunnel boring machine. The four steel beams 23 are actuated by the third electro-hydraulic actuator 25 to realize the left and right movement of the frame-type tunnel boring machine. The steel beams 23 connected by the second electro-hydraulic actuator 24 and the third electro-hydraulic actuator 25 work together to realize the horizontal inclination movement, lateral movement and horizontal movement of the frame-type tunnel boring machine. The fourth electro-hydraulic actuator 26 coordinates with the cutting assembly posture actuator group to realize turning, stepping, and partial suspension movements, so that it can adapt to a variety of tasks and geological conditions.

[0052] Working principle:

[0053] First, the frame assembly 2 is supported around the inner wall of the tunnel by cooperating with the first electro-hydraulic actuator 21, the second electro-hydraulic actuator 24, the third electro-hydraulic actuator 25 and the fourth electro-hydraulic actuator 26, and the frame assembly 2 and the cutting assembly 3 are fixed. Then, the twelve first electro-hydraulic actuators 21 cooperate with each other to drive the cutting assembly 3 to move forward, backward, pitch, swing, twist and other movements to complete the cutting of the front end. After the cutting is completed, the first electro-hydraulic actuator 21 around the front end of the control box 22 cooperates with the fourth electro-hydraulic actuator 26 at the front end of the control box 22 to make the front end of the frame assembly 2 shrink or expand, so as to facilitate the fixing and movement of the frame assembly 2 in the tunnel, and then the moving assembly 7 is used to drive the conveying assembly 6 and the crushing assembly 5 to move. At this point, the entire workflow is completed.

[0054] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0056] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0057] It is apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the invention, and the changes still fall within the protection scope of the invention.

Claims

1. A multi-axis attitude control frame type tunneling system, comprising a tunneling device (1), characterized in that: The excavation equipment (1) comprises a frame assembly (2) for adjusting and controlling, a cutting assembly (3) connected to the frame assembly (2), a crushing assembly (5) connected to the frame assembly (2), and a conveying assembly (6) connected to the crushing assembly (5); The frame assembly (2) comprises a first electro-hydraulic actuator (21), a control box (22), a steel beam (23), a second electro-hydraulic actuator (24), a third electro-hydraulic actuator (25) and a fourth electro-hydraulic actuator (26), wherein the ends of the twelve first electro-hydraulic actuators (21) close to each other are fixedly connected to one end of the control box (22) through a digital universal joint, and the ends of the four first electro-hydraulic actuators (21) far from the control box (22) are fixedly connected to the second electro-hydraulic actuator (24) through a digital universal joint. The four second electro-hydraulic actuators (24) are connected laterally, and both front and rear ends are fixedly connected to the steel beam (23) through digital universal joints; the ends of the eight first electro-hydraulic actuators (21) away from the control box (22) are fixedly connected to the steel beam (23) through digital universal joints; the front and rear ends of the four third electro-hydraulic actuators (25) are fixedly connected to the steel beam (23) through digital universal joints; and the upper and lower ends of the four fourth electro-hydraulic actuators (26) are fixedly connected to the steel beam (23) through digital universal joints.

2. The multi-axis attitude control frame type tunneling system according to claim 1 is characterized in that: The cutting assembly (3) comprises a signal collector (31), a data transmitter (32), a three-phase asynchronous motor (33) and a cutting drum (34); the signal collector (31) is electrically connected to a first electro-hydraulic actuator (21), a second electro-hydraulic actuator (24), a third electro-hydraulic actuator (25), a fourth electro-hydraulic actuator (26), a digital universal joint and the data transmitter (32); the signal collector (31), the data transmitter (32) and the three-phase asynchronous motor (33) are respectively installed inside a control box (22) from back to front; the output end of the three-phase asynchronous motor (33) is fixedly connected to a transmission rod; one end of the transmission rod extends to the outside of the control box (22); a bevel gear is provided at the front end of the transmission rod to mesh with the bevel gear of the cutting drum (34); a dust suppression nozzle is provided on the side of the cutting drum (34).

3. The multi-axis attitude control frame type tunneling system according to claim 2 is characterized in that: The crushing assembly (5) comprises a crushing bracket (51) and a crushing barrel (52); the bottom surface of the mounting plate (43) is fixedly connected to the top surface of the crushing bracket (51); both ends of the crushing barrel (52) are rotatably connected to the inner wall of the crushing bracket (51); and one end of the crushing barrel (52) is fixedly connected to a step-up motor.

4. The multi-axis attitude control frame type tunneling system according to claim 3 is characterized in that: The conveying assembly (6) comprises a shovel plate (61) and a scraper chain (62), wherein the bottom surface of the shovel plate (61) is fixedly mounted on the bottom of the inner wall of the crushing bracket (51), and the scraper chain (62) is mounted on the top surface of the shovel plate (61).

5. The multi-axis attitude control frame type tunneling system according to claim 4 is characterized in that: The shovel plate (61) decreases in size from the back to the front, the front bottom surface of the shovel plate (61) is fixedly connected to a shovel plate (64), and the top front ends of the shovel plate (61) are fixedly connected to raking plates (65) on both sides.

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