Cantilever type self-adaptive heading machine

Abstract

The invention discloses a cantilever type self-adaptive heading machine, which belongs to heading machine equipment and comprises a vehicle body and a cantilever heading mechanism, the cantilever heading mechanism comprises a supporting cantilever, a floating adjusting mechanism and a cutting mechanism, and the floating adjusting mechanism is correspondingly connected to the front end of the supporting cantilever. The supporting cantilever provides upward 43-degree swing amplitude adjustment, downward 23-degree swing amplitude adjustment, leftward 35-degree swing amplitude adjustment and rightward 35-degree swing amplitude adjustment for the floating adjusting mechanism. The cutting mechanism is mounted at the front end of the floating adjusting mechanism, and the floating adjusting mechanism drives the cutting mechanism to adjust a plurality of tunneling angles; the cutting mechanism comprises a fixed cutter cylinder and a cutter head, a plurality of positive hobs are arranged in the center of the cutter head, and a plurality of side hobs and cutting knives which are distributed at intervals are arranged on the outer circumference of the cutter head; a plurality of side hobbing cutter assemblies are arranged in the circumferential direction of the fixed cutter cylinder; the rear end of the fixed cutter cylinder is connected with a power driving mechanism. The method has high geological adaptability and application scene diversity, the hard rock tunneling efficiency is improved, and the cutter replacement frequency is reduced.

Description

Technical Field

[0001] The invention relates to tunnel boring machine equipment, in particular to a cantilever type adaptive tunnel boring machine. Background Art

[0002] Although cantilevered tunnel boring machines are widely used in the construction of mountain tunnels and urban subway projects, their limitations in performance and functionality have gradually become a key bottleneck restricting engineering efficiency and cost control. These limitations are mainly reflected in the low efficiency of hard rock excavation. Due to the rapid wear of the cutters, frequent replacement leads to increased construction costs and extended construction periods. In addition, the excavation section shape of the cantilevered tunnel boring machine is fixed. Once set, it is difficult to adjust during the construction process, limiting its application in diversified engineering needs. At the same time, traditional cantilevered tunnel boring machines also have shortcomings in geological adaptability, especially in rocks with higher hardness, where the excavation speed drops significantly and the cost of the cutters increases sharply. These problems not only affect construction efficiency, but also increase the complexity and cost of the project.

[0003] In the actual construction process, due to the limitation of the cross-section size, the internal working space of small-section tunnels is limited, resulting in frequent cross-processes and great mutual interference, so that drilling and slag removal can only be carried out periodically during construction, and large-scale and efficient mechanical equipment cannot be effectively used. In addition, cantilevered tunnel boring machines cannot achieve parallel operations during the excavation, support, and transportation processes. The temporary support has insufficient protection capabilities, poor safety, high labor intensity, and low monthly footage. These factors limit the application of cantilevered tunnel boring machines in complex geological conditions, especially in rocks with higher hardness. The excavation speed drops significantly and the tool cost increases sharply, leading to further increases in construction costs. Summary of the invention

[0004] Technical problems to be solved: In response to the technical problems existing in the operation of cantilever tunneling machines in the prior art, the present invention provides a cantilever adaptive tunneling machine with high geological adaptability and diversity of application scenarios, which can improve the efficiency of hard rock tunneling and reduce the frequency of tool replacement.

[0005] Technical solution: The cantilever adaptive tunnel boring machine described in the present invention comprises a vehicle body and a cantilever tunnel boring mechanism fixedly connected to the vehicle body; the cantilever tunnel boring mechanism comprises: A supporting cantilever, the rear end of which is connected to the main frame of the vehicle body; A floating adjustment mechanism, wherein the floating adjustment mechanism is correspondingly connected to the front end of the supporting cantilever, and the supporting cantilever provides the floating adjustment mechanism with a swing range of 43° upward, 23° downward, 35° leftward, and 35° rightward for adjusting the excavation position; A cutting mechanism, wherein the cutting mechanism is correspondingly mounted at the front end of the floating adjustment mechanism, and the floating adjustment mechanism drives the cutting mechanism to adjust multiple excavation angles in the excavation vertical plane; Wherein, the rear end of the cutting mechanism is connected to a power drive mechanism, and the power drive mechanism drives the cutting mechanism as a whole to perform a rotational cutting action along its axis.

[0006] Preferably, the supporting cantilever comprises a cantilever base connected to the main frame of the vehicle body, the front end of the cantilever base is rotatably connected to a horizontal turntable, and both sides of the cantilever base are respectively provided with a slewing adjustment hydraulic cylinder hinged to both sides of the horizontal turntable, and the slewing adjustment hydraulic cylinder can drive the horizontal turntable to swing within a range of 35° to the left and 35° to the right in the horizontal plane; The front end of the horizontal turntable is hinged with a pitch platform, and both sides of the lower side of the horizontal turntable are respectively provided with pitch adjustment hydraulic cylinders hinged with both sides of the front end of the pitch platform, and the pitch adjustment hydraulic cylinders drive the pitch platform to swing within an amplitude of 43° upward and 23° downward in the vertical plane; The front end of the pitch platform is correspondingly provided with an end plate for fixing and connecting the floating adjustment mechanism.

[0007] Preferably, the floating adjustment mechanism includes an annular fixed seat and a movable seat arranged along a coaxial line, and a plurality of driving hydraulic cylinders are arranged in parallel along the circumferential direction between the movable seat and the annular fixed seat, and a hydraulic valve group and a displacement sensor are arranged on each of the driving hydraulic cylinders, and the hydraulic valve group is connected with the driving hydraulic cylinder through a hydraulic pipe; the two ends of the driving hydraulic cylinder are fixedly connected with the annular fixed seat and the movable seat through a first spherical hinge seat and a second spherical hinge seat respectively; the displacement sensor detects the stroke of the corresponding driving hydraulic cylinder piston rod, and feeds back information to coordinately adjust the action of the driving hydraulic cylinder through multiple groups of hydraulic valve groups to adjust the working angle of the movable seat.

[0008] Preferably, the driving hydraulic cylinders include six cylinders arranged along the circumference of the annular fixing seat, and each two driving hydraulic cylinders form a group, providing six degrees of freedom for angle adjustment; The movable seat is a hexagonal structure, and the first spherical hinge seats of the two driving hydraulic cylinders in each group are adjacently connected to the annular fixed seat, and the second spherical hinge seats of the two driving hydraulic cylinders are respectively connected to the other two sides of the movable seat at intervals from one side of the movable seat, so that the angle between the two driving hydraulic cylinders in each group is 15~30°.

[0009] Preferably, the power drive mechanism includes an axle seat corresponding to the center of the movable seat and a transmission shaft rotatably connected to the axle seat, the front end of the transmission shaft is transmission-connected to a connecting sleeve arranged at the rear end of the fixed knife cylinder, the rear end of the transmission shaft is connected to one end of a transmission connecting rod through a universal joint, and the other end of the transmission connecting rod is connected to the drive shaft through a universal joint, and the drive shaft passes through an annular fixed seat and is transmission-connected to a cutting drive motor arranged in the vehicle body.

[0010] Preferably, the cutting mechanism includes a fixed knife cylinder and a knife disc arranged at the front end of the fixed knife cylinder, a knife seat with a telescopic adjustment structure is arranged in the center of the knife disc, and a plurality of positive rollers arranged perpendicular to the knife disc surface are installed on the knife seat; a plurality of side rollers with a certain inclination angle are arranged on the outer circumference of the knife disc, and cutting knives are arranged between adjacent side rollers on the outer circumference of the knife disc; a plurality of side roller assemblies with autonomous cutting capabilities are arranged in a certain trajectory in the circumferential direction of the fixed knife cylinder; a monitoring sensor is arranged at the rear end of the fixed knife cylinder, and the rear end of the fixed knife cylinder is connected to a power drive mechanism, and the power drive mechanism drives the fixed knife cylinder as a whole to perform a rotational cutting action.

[0011] Preferably, a telescopic driving hydraulic cylinder is arranged on the back side of the knife seat, and four positive rollers are arranged at equal intervals at the front end of the knife seat; The outer circumference of the cutter disc is evenly distributed with three side cutters and three cutting cutters. The angle between adjacent side cutters is 120°, the angle between adjacent cutting cutters is 120°, and the angle between adjacent side cutters and cutting cutters is 60°.

[0012] Preferably, eight side roller cutter assemblies are arranged in the circumferential direction of the fixed knife cylinder, four side roller cutter assemblies form a group, and two groups of side roller cutter assemblies are arranged on different circumferential surfaces along the axial direction of the fixed knife cylinder.

[0013] Preferably, the side roller assembly comprises a side roller, a side roller seat and an eccentric drive mechanism, the side roller is connected to a slot on the side of the fixed cutter cylinder through the side roller seat, and the eccentric drive mechanism is correspondingly arranged in another side slot of the side roller; The eccentric driving mechanism includes a driving motor and a planetary gear set, and the planetary gear set includes a sun gear, a planetary carrier, a planetary gear and a driving ring gear. A mounting cavity is opened at one end of the driving ring gear, and the driving ring gear is located inside the mounting cavity and is provided with an inner tooth area in the circumferential direction. The planetary carrier is correspondingly arranged in the center of the mounting cavity, and a plurality of planetary gears are mounted on the planetary carrier and meshingly connected with the inner tooth area for transmission. The sun gear is correspondingly arranged in the center of a plurality of planetary gears and meshingly connected for transmission. A driving rod is connected to the center of the sun gear, and the driving rod passes through the axis of the driving ring gear and is connected to the driving motor. One of the planetary gears is connected to an output shaft by a key, and the side roller is connected to the output shaft by a key.

[0014] Preferably, the tunneling method of the tunnel boring machine comprises the following steps: Step 1: After the tunnel boring machine travels to a suitable position on the working surface, the cantilever tunneling mechanism is in the initial position, the supporting cantilever and the floating adjustment mechanism are both in a retracted state, and the cutting mechanism is in a horizontal state ready for work; Step 2: The cutting mechanism collects rock formation data information and transmits it to the operation control mechanism for analysis. The working parameters of the supporting cantilever, floating adjustment mechanism and eccentric drive mechanism are adjusted according to the instructions, and the fixed knife barrel is controlled to rotate and cut through the cutting drive motor, and the side roller cutter rotates under the drive of the eccentric drive mechanism to cut the rock formation around the cutting mechanism; Step 3: During the excavation process in step 2, the floating adjustment mechanism provides six degrees of freedom angle adjustment for the fixed cutter barrel according to the instructions of the operation control mechanism, and implements the expansion of the contour shape of the excavation wall; Step 4: During the expansion process of step 3, the floating adjustment mechanism and the cutting mechanism are driven by controlling the supporting cantilever to swing within the range of 43° upward, 23° downward, 35° left and 35° right on the excavation surface to adjust the excavation position, and the rock strata on the working surface are cut off in coordination with the rotation of the cutting mechanism.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The tunnel boring machine of the present invention has stronger geological adaptability, especially in rocks with higher hardness, can maintain a higher tunneling speed, reduce tool costs, improve construction efficiency and safety, reduce workers' labor intensity, increase monthly footage, and ultimately achieve effective control of engineering costs; it can maintain the flatness of the cutting surface, improve the tunneling quality, reduce subsequent processing work, and can adjust the shape of the cutting surface according to tunnel design requirements and geological conditions to meet different engineering needs; it has the ability to flexibly adjust the shape of the excavation section to meet diverse engineering needs; 2. The cutting mechanism can adjust the excavation pressure of the front cutter through the telescopic drive hydraulic cylinder, effectively improving the rock breaking ability of hard rock; the side cutters and cutting cutters on the outer circumference of the cutter disc can improve the cutting mechanism's expansion ability to the excavation hole wall; the eccentric drive mechanism can drive the side cutters to rotate, and the side cutter assembly can rotate while the cutting mechanism rotates, which can enhance the adaptability and rock breaking effect of rocks in different directions. The cutting mechanism optimizes the cutter layout line, making the cutter layout more reasonable, improving the rock breaking efficiency and cutter life, which can improve the hard rock excavation efficiency, reduce the frequency of cutter replacement, and reduce construction costs; 3. This floating adjustment mechanism can provide stable, six-degree-of-freedom angle adjustment for the movable seat through three groups of six driving hydraulic cylinders arranged in parallel, so as to adjust the position and angle of the cutting mechanism. It has good flexibility and is easy to control, which can meet the excavation of the cutting mechanism with multiple contours in the vertical plane of excavation, maintain the flatness of the cutting surface, improve the excavation quality, and reduce the subsequent processing work; 4. The supporting cantilever can provide the floating adjustment mechanism and the cutting mechanism connected to its front end with an upward swing range of 43°, a downward swing range of 23°, a leftward swing range of 35° and a rightward swing range of 35° for the excavation position adjustment, so as to meet the spatial position adjustment within a large range, so as to facilitate the cutting mechanism to expand and enlarge the contour shape of the excavation wall during the excavation process, and meet the requirements of different excavation wall shapes and sizes; 5. The power drive mechanism places the driving force at the rear, which can avoid the problems of top-heavy and poor heat dissipation of the cantilever excavation mechanism, and improve its stability and work efficiency; 6. The tunnel boring machine can realize adaptive control, and can adaptively adjust the parameters such as thrust and rotation speed according to the parameters of the cutting rock layer to ensure that both soft and hard rocks can be effectively cut; the cutting mechanism integrates the detector function, which can automatically adjust the cutting strategy according to the geological conditions, enhancing the intelligence level of the tunnel boring machine; the shape of the cutting surface can be adjusted according to the tunnel design requirements and geological conditions to meet different engineering needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the structure of the tunnel boring machine of the present invention; Figure 2 for Figure 1 Top view of the middle tunnel boring machine structure; Figure 3 for Figure 1 Schematic diagram of the three-dimensional structure of the middle tunnel boring machine; Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the middle support cantilever from the first perspective; Figure 5 yes Figure 4 Schematic diagram of the stereoscopic structure of the middle support cantilever from the second perspective; Figure 6 yes Figure 4 Front view of the middle support cantilever structure; Figure 7 for Figure 1 A schematic diagram of the three-dimensional structure of the central floating adjustment mechanism from the first perspective; Figure 8 for Figure 7 The main view of the floating adjustment mechanism structure; Fig. 9 for Figure 7 Left view of the center floating adjustment mechanism structure; Fig.10 for Figure 1 A schematic diagram of the three-dimensional structure of the middle cutting mechanism from the first perspective; Fig.11 for Fig.10 A schematic diagram of the three-dimensional structure of the middle cutting mechanism from the second viewing angle; Fig.12 for Fig.10Side view of the structure of the middle cutting mechanism; Fig.13 for Fig.12 Schematic diagram of the internal structure of the eccentric drive mechanism; Fig.14 for Figure 1 The main view of the walking mechanism structure; Fig.15 for Fig.14 Cross-sectional view of the walking mechanism; Fig.16 The present invention is a flow chart of the working principle of the control system of the tunnel boring machine.

[0017] Figure numerals: 100, tunnel boring machine; 1, vehicle body; 101, main frame; 102, operation control mechanism; 103, waterway control mechanism; 104, walking mechanism; 1041, walking frame; 1042, chain support plate; 1043, load-bearing plate; 1044, walking crawler; 1045, walking motor; 1046, guide wheel; 1047, tensioning mechanism; 1048, driving sprocket; 105, electrical assembly; 106, slag transport mechanism; 107, fuel tank assembly; 108, hydraulic system; 2, cantilever tunneling mechanism; 3, supporting cantilever; 301, cantilever base; 302, horizontal rotary table; 303, rotary adjustment hydraulic cylinder; 304, pitching table; 305, first articulated seat; 306, pitching adjustment hydraulic cylinder; 307, mounting end plate; 308, second articulated seat; 3 09. The third articulated seat; 4. Floating adjustment mechanism; 401. Annular fixed seat; 402. Movable seat; 403. Shaft seat; 404. Transmission shaft; 405. Driving hydraulic cylinder; 406. The first spherical hinge seat; 407. Hydraulic valve group; 408. Transmission connecting rod; 409. Universal joint; 410. Driving shaft; 411. The second spherical hinge seat; 5. Cutting mechanism; 501. Fixed knife cylinder; 502. Knife disc; 503. Knife seat; 504. Positive hob; 505. Cutting knife; 506. Side hob; 507. Eccentric driving mechanism; 5071. Driving motor; 5072. Driving gear ring; 5073. Planetary gear; 5074. Sun gear; 5075. Planetary carrier; 508. Connecting sleeve; 509. Monitoring sensor; 510. Side hob; 511. Side hob seat. DETAILED DESCRIPTION

[0018] To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the following will be combined with the attached Figure 1-Figure 16 The technical solutions of the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0019] Example 1: Figure 1-Figure 3 and Figure 14-15 As shown, the present invention discloses a cantilever adaptive tunneling machine, the tunneling machine 100 includes a vehicle body 1 and a cantilever tunneling mechanism 2 fixedly connected to the vehicle body 1; wherein the vehicle body 1 includes a main frame 101, an operation control mechanism 102, a waterway control mechanism 103, a traveling mechanism 104, an electrical assembly 105, a slag transport mechanism 106, a fuel tank assembly 107 and a hydraulic system 108; the traveling mechanism 104 includes two groups symmetrically arranged along both sides of the vehicle body 1 and having the same structure, and the traveling form of the traveling mechanism 104 is crawler type, mainly composed of a guide wheel 1046, a tensioning mechanism 1047, a load-bearing plate 1043, a chain support plate 1042, a traveling frame 1041, a traveling crawler 1044, a driving sprocket 1048 and a traveling motor 1045, and its working mode or working principle can refer to Chinese patents CN105370295A and CN112832757A.

[0020] like Figure 1-Figure 3 As shown, the cantilever excavation mechanism 2 of the embodiment of the present invention includes a supporting cantilever 3, a floating adjustment mechanism 4 and a cutting mechanism 5.

[0021] like Figure 4-Figure 6 As shown, the supporting cantilever 3 includes a cantilever base 301 connected to the main frame 101 of the vehicle body, the front end of the cantilever base 301 is rotatably connected to a horizontal turntable 302, and second articulated seats 308 are respectively arranged on both sides of the horizontal turntable 302. Rotation adjusting hydraulic cylinders 303 articulated to the second articulated seats 308 on both sides of the horizontal turntable 302 are respectively arranged on both sides of the cantilever base 301, and the rotation adjusting hydraulic cylinders 303 can drive the horizontal turntable 302 to swing within an amplitude of 35° to the left and 35° to the right in the horizontal plane. The front end of the horizontal rotating platform 302 is hinged with a pitching platform 304, and the first hinge seats 305 are respectively arranged on both sides below the front end of the horizontal rotating platform 302, and the third hinge seats 309 are respectively arranged on both sides of the front end of the pitching platform 304. The first hinge seats 305 on both sides below the horizontal rotating platform 302 are respectively connected to the pitch adjustment hydraulic cylinders 306 that are hinged to the third hinge seats 309 on both sides of the front end of the pitching platform 304. The pitch adjustment hydraulic cylinders 306 drive the pitching platform 304 to swing within the range of 43° upward and 23° downward in the vertical plane. The front end of the pitching platform 304 is correspondingly provided with an end plate 307 for fixedly connecting and installing the floating adjustment mechanism 4. The supporting cantilever 3 can provide the floating adjustment mechanism 4 and the cutting mechanism 5 connected to its front end with an upward swing amplitude of 43°, a downward swing amplitude of 23°, a leftward swing amplitude of 35° and a rightward swing amplitude of 35° for the excavation position adjustment as a whole, so as to meet the spatial position adjustment in a larger range, so as to facilitate the cutting mechanism 5 to expand and increase the contour shape of the excavation wall during the excavation process, so as to meet the requirements of different excavation wall shapes and sizes.

[0022] like Figure 7-Figure 9As shown, the floating adjustment mechanism 4 is correspondingly connected to the front end of the supporting cantilever 3 , and the floating adjustment mechanism 4 includes an annular fixed seat 401 and a movable seat 402 arranged along the coaxial line, and the annular fixed seat 401 is correspondingly installed on the mounting end plate 307 at the front end of the supporting cantilever 3 . A plurality of driving hydraulic cylinders 405 are arranged in parallel along the circumferential direction between the movable seat 402 and the annular fixed seat 401, and a hydraulic valve group 407 and a displacement sensor are arranged on each driving hydraulic cylinder 405. The hydraulic valve group 407 is connected with the driving hydraulic cylinder 405 through a hydraulic pipe; the two ends of the driving hydraulic cylinder 405 are fixedly connected with the annular fixed seat 401 and the movable seat 402 through a first spherical hinge seat 406 and a second spherical hinge seat 411 respectively; the displacement sensor detects the piston rod stroke of the corresponding driving hydraulic cylinder 405, and feeds back the information to coordinately adjust the action of the driving hydraulic cylinder 405 through a plurality of hydraulic valve groups 407 to adjust the working angle of the movable seat 402, and the cutting mechanism 5 is correspondingly installed at the front end of the floating adjustment mechanism 4, and the floating adjustment mechanism 4 can drive the cutting mechanism 5 to make multiple excavation angle adjustments in the vertical plane of excavation.

[0023] In a preferred embodiment, if Fig. 9 As shown, the driving hydraulic cylinder 405 includes six driving hydraulic cylinders 405 arranged along the circumference of the annular fixed seat 401, and each two driving hydraulic cylinders 405 form a group, providing six degrees of freedom angle adjustment. The movable seat 402 is a hexagonal structure, and the first spherical hinge seat 406 of each group of two driving hydraulic cylinders 405 is adjacently connected to the annular fixed seat 401, and the second spherical hinge seats 411 of the two driving hydraulic cylinders 405 are respectively connected to the other two sides of the movable seat 402 at intervals, so that the angle between each group of two driving hydraulic cylinders 405 is 15~30°. The floating adjustment mechanism 4 of this structure can provide stable and six degrees of freedom angle adjustment for the movable seat 402 through three groups of six driving hydraulic cylinders 405 arranged in parallel, realize the adjustment of the position and angle of the cutting mechanism 5, have good flexibility, are easy to control, and meet the excavation of the cutting mechanism 5 in the vertical plane of the excavation of multiple contours of the cave wall. It should be noted that the configuration of the driving hydraulic cylinder 405 of the floating adjustment mechanism 4 can also be evolved according to actual needs, and the topological structure of the configuration can be adopted to achieve the angle and position adjustment functions.

[0024] like Figure 10-12As shown, the cutting mechanism 5 includes a fixed knife barrel 501 and a knife disc 502 arranged at the front end of the fixed knife barrel 501. A knife seat 503 with a telescopic adjustment structure is arranged in the center of the knife disc 502. A plurality of positive rollers 504 arranged perpendicular to the disc surface of the knife disc 502 are installed on the knife seat 503; a plurality of side rollers 506 with a certain inclination angle are arranged on the outer circumference of the knife disc 502, and a cutting knife 505 is arranged between adjacent side rollers 506 on the outer circumference of the knife disc 502. The fixed knife barrel 501 is provided with a plurality of side roller assemblies with autonomous cutting capabilities in a certain trajectory in the circumferential direction; a monitoring sensor 509 is arranged at the rear end of the fixed knife barrel 501, and the rear end of the fixed knife barrel 501 is connected to a power drive mechanism, which drives the fixed knife barrel 501 as a whole to perform a rotating cutting action.

[0025] In a preferred embodiment, if Figure 10-12 As shown, a telescopic driving hydraulic cylinder is arranged on the back side of the cutter seat 503, and four positive rollers 504 are arranged at equal intervals at the front end of the cutter seat 503. The excavation pressure of the positive rollers 504 can be adjusted by the telescopic driving hydraulic cylinder, which effectively improves the rock breaking ability of hard rock. Three side rollers 506 and three cutting knives 505 are evenly distributed on the outer circumference of the cutter disc 502. The angle between adjacent side rollers 506 is 120°, the angle between adjacent cutting knives 505 is 120°, and the angle between adjacent side rollers 506 and cutting knives 505 is 60°. The side rollers 506 and cutting knives 505 on the outer circumference of the cutter disc 502 can improve the expansion ability of the cutting mechanism 5 to the excavation tunnel wall. The fixed knife barrel 501 is provided with eight side roller cutter assemblies in the circumferential direction, and each group of four side roller cutter assemblies is provided. Two groups of side roller cutter assemblies are provided on different circumferential surfaces along the axial direction of the fixed knife barrel 501, thereby increasing the rock breaking working area and rock breaking capacity in the circumferential direction of the fixed knife barrel 501. The cutting mechanism 5 optimizes the cutter layout line, makes the cutter layout more reasonable, and improves the rock breaking efficiency and the service life of the cutters.

[0026] In a specific embodiment, if Figure 12-13As shown, the side roller assembly includes a side roller 510, a side roller seat 511 and an eccentric drive mechanism 507. The side roller 510 is connected to the slot on the side of the fixed knife cylinder 501 through the side roller seat 511, and the eccentric drive mechanism 507 is correspondingly arranged in the other side slot of the side roller 510. The eccentric drive mechanism 507 includes a drive motor 5071 and a planetary gear set. The planetary gear set includes a sun gear 5074, a planet carrier 5075, planetary gears 5073 and a drive ring gear 5072. A mounting cavity is opened at one end of the drive ring gear 5072, and the drive ring gear 5072 is located inside the mounting cavity and has an inner tooth area in the circumferential direction. The planet carrier 5075 is correspondingly arranged in the center of the mounting cavity. A plurality of planetary gears 5073 are mounted on the planet carrier 5075 and mesh with the inner tooth area for transmission connection. The sun gear 5074 corresponds to It is arranged in the center of multiple planetary gears 5073 and is meshed with each other for transmission connection. A driving rod is connected to the center of the sun gear 5074. The driving rod passes through the axis of the driving ring gear 5072 and is connected to the driving motor 5071. One of the planetary gears 5073 is connected to an output shaft (not shown in the figure) through a key. The side roller 510 is connected to the output shaft through a key. The eccentric drive mechanism 507 can drive the side roller 510 to rotate. The side roller assembly can rotate while the cutting mechanism 5 rotates, which can enhance the adaptability to rocks in different directions and the rock breaking effect.

[0027] like Figure 8 As shown, the power drive mechanism includes a shaft seat 403 correspondingly arranged in the center of the movable seat 402 and a transmission shaft 404 rotatably connected in the shaft seat 403, the front end of the transmission shaft 404 is transmission-connected with a connecting sleeve 508 arranged at the rear end of the fixed knife cylinder 501, the rear end of the transmission shaft 404 is connected to one end of a transmission connecting rod 408 through a universal joint 409, and the other end of the transmission connecting rod 408 is connected to a drive shaft 410 through a universal joint 409, and the drive shaft 410 passes through the annular fixed seat 401 and is transmission-connected with a cutting drive motor (not shown in the figure) arranged in the vehicle body 1, and the cutting drive motor can realize the rotation drive of the cutting mechanism 5 through the drive shaft 410, the transmission connecting rod 408 and the transmission shaft 404 to complete the excavation operation. The power drive mechanism of the present invention places the driving force at the rear, which can avoid the problems of top-heavy and poor heat dissipation of the cantilever excavation mechanism 2, and improve its stability and work efficiency.

[0028] The tunnel boring machine of the present invention has stronger geological adaptability, especially in rocks with higher hardness, and can maintain a higher tunneling speed, reduce tool costs, improve construction efficiency and safety, reduce the labor intensity of workers, increase monthly advances, and ultimately achieve effective control of engineering costs; it can maintain the flatness of the cutting surface, improve the tunneling quality, reduce subsequent processing work, and can adjust the shape of the cutting surface according to tunnel design requirements and geological conditions to meet different engineering needs; it has the ability to flexibly adjust the shape of the excavation section to meet diverse engineering needs.

[0029] Embodiment 2: The tunneling method of the tunnel boring machine of the present invention comprises the following steps: Step 1: After the tunnel boring machine 100 travels to a suitable position on the working surface, when the cantilever tunneling mechanism 2 is in the initial position, the slewing adjustment hydraulic cylinder 303 and the pitch adjustment hydraulic cylinder 306 supporting the cantilever 3 and the driving hydraulic cylinder 405 of the floating adjustment mechanism 4 are all in a retracted state, and the central axis of the transmission shaft 404 coincides with the central axis of the driving shaft 410. At this time, the cutting mechanism 5 is in a horizontal waiting state for work.

[0030] Step 2: The monitoring sensor 509 provided in the cutting mechanism 5 collects rock formation data information and transmits it to the operation control mechanism 102 for analysis. The working parameters of the slewing adjustment hydraulic cylinder 303 and the pitch adjustment hydraulic cylinder 306 of the supporting cantilever 3, the driving hydraulic cylinder 405 of the floating adjustment mechanism 4 and the eccentric drive mechanism 507 are adjusted according to the instructions issued by the operation control mechanism 102, and the fixed knife drum 501 is controlled to rotate and cut through the cutting drive motor, and the side roller 510 is driven by the eccentric drive mechanism 507 to rotate and cut the rock formation around the cutting mechanism 5, and the excavation includes but is not limited to horseshoe, rectangular, and circular contour shapes.

[0031] Step 3: During the excavation process in step 2, the driving hydraulic cylinder 405 of the floating adjustment mechanism 4 detects the extension and contraction amount of the driving hydraulic cylinder 405 according to its displacement sensor, and controls the movement of multiple driving hydraulic cylinders 405 through the hydraulic valve group 407 according to the instruction of the operation control mechanism 102 to provide six degrees of freedom angle adjustment for the fixed cutter barrel 501, thereby implementing the expansion of the contour shape of the excavation wall.

[0032] Step 4: During the expansion process of step 3, the floating adjustment mechanism 4 and the cutting mechanism 5 are driven by controlling the rotation adjustment hydraulic cylinder 303 and the pitch adjustment hydraulic cylinder 306 of the supporting cantilever 3 to swing and adjust the excavation position within the range of 43° upward, 23° downward, 35° left and 35° right on the excavation surface, and the cutting mechanism 5 is coordinated with the rotation to complete the cutting of the rock layer on the working surface and cut out a tunnel with the required shape and section.

[0033] The working principle of the control system of the tunnel boring machine of the present invention is as follows: Fig.16 As shown, the control system of the tunnel boring machine of the embodiment of the present invention adopts an advanced closed-loop control system, which is composed of a human-machine interface (HMI), a programmable logic controller (PLC), an actuator and a sensor. The control system is mainly responsible for realizing the start / stop control of the tunnel boring machine, that is, controlling the start and stop of the cutting mechanism 5; speed regulation, dynamically adjusting the speed of the cutting mechanism 5 according to geological conditions; torque limitation, monitoring the torque to prevent the cutting mechanism 5 from overloading; swing arm control, realizing the up and down and left and right swings of the cutting mechanism 5; and propulsion speed control, automatically adjusting the propulsion speed according to the load. In addition, the system also includes protection mechanisms, such as overload protection, over-temperature protection and abnormal alarm, to ensure the safe operation of the tunnel boring machine.

[0034] The PLC controller achieves precise control through the cutting mechanism 5 speed signal fed back by the speed sensor, the load signal monitored by the hydraulic system 108 pressure sensor, and the geological information obtained by the three-way force sensor and vibration signal. The PLC control program includes key functions such as initialization program, cutting mechanism start and stop control logic, speed and torque control logic, swing action cycle control logic, propulsion speed control logic, abnormal signal alarm, data storage and transmission; the host computer or HMI control program provides users with an intuitive operation interface to facilitate monitoring and adjustment of the working status of the tunnel boring machine.

[0035] The tunnel boring machine of the present invention can realize adaptive control, for example, when cutting hard rock, the thrust is reduced and the rotation speed is increased, so as to ensure effective cutting under both soft and hard rock conditions. In addition, the cutting mechanism 5 of the present invention integrates a detector function, which can automatically adjust the cutting strategy according to the geological conditions, significantly enhancing the intelligence level of the tunnel boring machine, making it more adaptable and efficient in complex and changeable geological environments.

[0036] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A cantilever adaptive tunnel boring machine, characterized in that: The tunnel boring machine (100) comprises a vehicle body (1) and a cantilever tunnel boring mechanism (2) fixedly connected to the vehicle body (1); the cantilever tunnel boring mechanism (2) comprises: A supporting cantilever (3), wherein the rear end of the supporting cantilever (3) is connected to a main frame (101) of the vehicle body (1); A floating adjustment mechanism (4), the floating adjustment mechanism (4) being correspondingly connected to the front end of the supporting cantilever (3), the supporting cantilever (3) providing the floating adjustment mechanism (4) with an upward swing amplitude of 43°, a downward swing amplitude of 23°, a leftward swing amplitude of 35°, and a rightward swing amplitude of 35° for adjusting the excavation position; A cutting mechanism (5), the cutting mechanism (5) being mounted correspondingly at the front end of the floating adjustment mechanism (4), the floating adjustment mechanism (4) driving the cutting mechanism (5) to adjust a plurality of excavation angles within an excavation vertical plane; The rear end of the cutting mechanism (5) is connected to a power drive mechanism, and the power drive mechanism drives the cutting mechanism (5) as a whole to perform a rotational cutting action along its axis.

2. The cantilever adaptive tunnel boring machine according to claim 1, characterized in that: The supporting cantilever (3) comprises a cantilever base (301) connected to the main frame (101) of the vehicle body, the front end of the cantilever base (301) is rotatably connected to a horizontal turntable (302), and both sides of the cantilever base (301) are respectively provided with a slewing adjustment hydraulic cylinder (303) hinged to both sides of the horizontal turntable (302), and the slewing adjustment hydraulic cylinder (303) can drive the horizontal turntable (302) to swing within a range of 35° to the left and 35° to the right on a horizontal plane; The front end of the horizontal rotating platform (302) is hingedly connected to a pitch platform (304), and both sides below the horizontal rotating platform (302) are respectively provided with pitch adjustment hydraulic cylinders (306) hingedly connected to both sides of the front end of the pitch platform (304), and the pitch adjustment hydraulic cylinders (306) drive the pitch platform (304) to swing within an amplitude of 43° upward and 23° downward in a vertical plane; The front end of the pitch platform (304) is correspondingly provided with an end plate (307) for fixedly connecting and mounting the floating adjustment mechanism (4).

3. The cantilever adaptive tunnel boring machine according to claim 2, characterized in that: The floating adjustment mechanism (4) comprises an annular fixed seat (401) and a movable seat (402) arranged along a coaxial line; a plurality of driving hydraulic cylinders (405) are arranged in parallel between the movable seat (402) and the annular fixed seat (401) along the circumferential direction thereof; each driving hydraulic cylinder (405) is provided with a hydraulic valve group (407) and a displacement sensor; the hydraulic valve group (407) is connected to the driving hydraulic cylinder (405) through a hydraulic pipe; two ends of the driving hydraulic cylinder (405) are fixedly connected to the annular fixed seat (401) and the movable seat (402) through a first spherical hinge seat (406) and a second spherical hinge seat (411) respectively; the displacement sensor detects the stroke of the piston rod of the corresponding driving hydraulic cylinder (405), and feeds back information to coordinately adjust the action of the driving hydraulic cylinder (405) through the plurality of hydraulic valve groups (407) to adjust the working angle of the movable seat (402).

4. The cantilever adaptive tunnel boring machine according to claim 3, characterized in that: The driving hydraulic cylinders (405) include six cylinders arranged along the circumference of the annular fixing seat (401), with two driving hydraulic cylinders (405) forming a group, providing six degrees of freedom for angle adjustment; The movable seat (402) is a hexagonal structure, and the first spherical hinge seats (406) of the two driving hydraulic cylinders (405) of each group are adjacently connected to the annular fixed seat (401), and the second spherical hinge seats (411) of the two driving hydraulic cylinders (405) are respectively spaced apart from one side of the movable seat (402) and correspondingly connected to the other two sides of the movable seat (402), so that the angle between the two driving hydraulic cylinders (405) of each group is 15~30°.

5. The cantilever adaptive tunnel boring machine according to claim 4, characterized in that: The power drive mechanism comprises a shaft seat (403) correspondingly arranged at the center of the movable seat (402) and a transmission shaft (404) rotatably connected to the shaft seat (403); the front end of the transmission shaft (404) is transmission-connected to a connecting shaft sleeve (508) arranged at the rear end of the fixed knife cylinder (501); the rear end of the transmission shaft (404) is connected to one end of a transmission connecting rod (408) via a universal joint (409); and the other end of the transmission connecting rod (408) is connected to a driving shaft (410) via a universal joint (409); the driving shaft (410) passes through the annular fixed seat (401) and is transmission-connected to a cutting driving motor arranged in the vehicle body (1).

6. The cantilever adaptive tunnel boring machine according to any one of claims 1 to 5, characterized in that: The cutting mechanism (5) comprises a fixed knife barrel (501) and a knife disc (502) arranged at the front end of the fixed knife barrel (501); a knife seat (503) having a telescopic adjustment structure is arranged in the center of the knife disc (502); a plurality of positive rollers (504) arranged perpendicular to the knife disc (502) are mounted on the knife seat (503); a plurality of side rollers (506) having a certain inclination angle are arranged on the outer circumference of the knife disc (502); and a cutting knife (505) is arranged between adjacent side rollers (506) on the outer circumference of the knife disc (502); a plurality of side roller assemblies having an autonomous cutting capability are arranged in a circumferential direction of the fixed knife barrel (501) according to a certain trajectory; a monitoring sensor (509) is arranged at the rear end of the fixed knife barrel (501), and the rear end of the fixed knife barrel (501) is connected to a power drive mechanism, and the power drive mechanism drives the fixed knife barrel (501) as a whole to perform a rotating cutting action.

7. The cantilever adaptive tunnel boring machine according to claim 6, characterized in that: A telescopic driving hydraulic cylinder is arranged on the back side of the knife seat (503), and four positive rollers (504) are arranged at equal intervals on the front end of the knife seat (503); Three side cutters (506) and three cutting knives (505) are evenly spaced on the outer circumference of the cutter disc (502); the angle between adjacent side cutters (506) is 120°, the angle between adjacent cutting knives (505) is 120°, and the angle between adjacent side cutters (506) and cutting knives (505) is 60°.

8. The cantilever adaptive tunnel boring machine according to claim 7, characterized in that: The fixed knife cylinder (501) is provided with eight side roller cutter assemblies in the circumferential direction, with four side roller cutter assemblies forming a group, and two groups of side roller cutter assemblies are arranged on different circumferential surfaces along the axial direction of the fixed knife cylinder (501).

9. The cantilever adaptive tunnel boring machine according to claim 8, characterized in that: The side roller cutter assembly comprises a side roller cutter (510), a side roller cutter seat (511) and an eccentric drive mechanism (507); the side roller cutter (510) is connected to a slot on a side of a fixed cutter cylinder (501) via the side roller cutter seat (511); and the eccentric drive mechanism (507) is correspondingly arranged in another side slot of the side roller cutter (510); The eccentric drive mechanism (507) comprises a drive motor (5071) and a planetary gear set, wherein the planetary gear set comprises a sun gear (5074), a planet carrier (5075), planetary gears (5073) and a drive ring gear (5072), wherein a mounting cavity is provided at one end of the drive ring gear (5072), and the drive ring gear (5072) is provided with an inner tooth area in the circumferential direction of the inner side of the mounting cavity, and the planet carrier (5075) is correspondingly arranged in the center of the mounting cavity, and a plurality of planetary gears (5073) are provided in the drive ring gear (5072). 073) is installed on the planet carrier (5075) and is meshed and connected with the inner gear zone. The sun gear (5074) is correspondingly arranged in the center of the plurality of planetary gears (5073) and is meshed and connected. The center of the sun gear (5074) is connected with a driving rod, and the driving rod passes through the axis of the driving gear ring (5072) and is connected to the driving motor (5071). One of the planetary gears (5073) is connected with an output shaft via a key, and the side roller (510) is connected to the output shaft via a key.

10. The cantilevered adaptive tunnel boring machine according to claim 9, characterized in that: The excavation method of the roadheader comprises the following steps: Step 1: After the tunnel boring machine (100) travels to a suitable position on the working surface, the cantilever tunneling mechanism (2) is in an initial position, the supporting cantilever (3) and the floating adjustment mechanism (4) are both in a retracted state, and the cutting mechanism (5) is in a horizontal state ready for work; Step 2: The cutting mechanism (5) collects rock formation data information and transmits it to the operation control mechanism (102) for analysis. The working parameters of the supporting cantilever (3), the floating adjustment mechanism (4) and the eccentric drive mechanism (507) are adjusted according to the instructions, and the fixed knife barrel (501) is controlled by the cutting drive motor to rotate and cut, and the side roller (510) is driven by the eccentric drive mechanism (507) to rotate and cut the rock formation around the cutting mechanism (5); Step 3: During the excavation process of step 2, the floating adjustment mechanism (4) provides six degrees of freedom angle adjustment for the fixed cutter cylinder (501) according to the instruction of the operation control mechanism (102), so as to implement the expansion of the contour shape of the excavated hole wall; Step 4: During the expansion process of step 3, the supporting cantilever (3) is controlled to drive the floating adjustment mechanism (4) and the cutting mechanism (5) to swing and adjust the excavation position within the range of 43° upward, 23° downward, 35° leftward and 35° rightward on the excavation surface, and the rock stratum on the working surface is cut off in coordination with the rotation of the cutting mechanism (5).

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