Folding boom system and tunnel engineering machine

Abstract

The utility model relates to a kind of folding arm support system and tunnel engineering machinery, it includes mounting seat, pitch hinge seat, first pitch telescopic device, folding telescopic device and multiple folding arms, which relates to engineering machinery technical field.Pitch hinge seat is rotatably connected with mounting seat, one end of first pitch telescopic device is rotatably connected with mounting seat, the other end is rotatably connected with pitch hinge seat;Each folding arm includes first connecting rod, second connecting rod, hinged support and force transmission connecting rod;In adjacent folding arms, the first connecting rod and second connecting rod of folding arm away from mounting seat are rotatably connected with the hinged support of folding arm close to mounting seat, and the force transmission connecting rod of folding arm close to mounting seat is rotatably connected with the second connecting rod of folding arm away from mounting seat;Folding telescopic device cooperates with folding arm.The arm support system can reduce the number of driving source, reduce failure rate, reduce cost, and also improve operation safety.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and more specifically, to a folding boom system and tunnel engineering machinery. Background Technology

[0002] Currently in the tunnel construction industry, regardless of whether it's rock drilling or bolting, the boom system in tunnel drilling and blasting operations all adopts a nested inner and outer boom structure. That is, the inner boom is placed inside the outer boom cavity, and the boom's extension and retraction function is achieved through the relative sliding of the inner and outer booms. This nested inner and outer boom structure has the following problems: 1. When the boom needs to be long, multi-stage telescopic design is required, which means that multiple boom sections need to be nested and combined. Therefore, when driving the boom telescopic design, multiple hydraulic cylinders are required to drive the telescopic design of each boom section. This requires increasing the use of drive hydraulic cylinders. Especially in multi-stage telescopic boom structures, the boom cavity may need to be enlarged to meet the reasonable arrangement of hydraulic cylinders. 2: When the boom needs to be long, the nested structure of the multi-section boom makes the cavity of each section gradually smaller. The closer to the end of the boom, the smaller the cavity structure of the boom becomes, and the worse its stress condition becomes, making it prone to deformation or even breakage. 3. The nested structure of the inner and outer booms requires some drive cylinders to be placed inside the boom cavity, thus increasing assembly difficulty. Furthermore, when boom cylinders are damaged or require maintenance, the entire boom must be disassembled, further complicating maintenance. 4. Each boom section requires a hydraulic cylinder for drive, resulting in a high failure rate and high manufacturing and maintenance costs. In addition, it increases the difficulty of pipeline laying and pipeline layout, and increases the risk of damage such as friction and compression of the pipeline during boom operation, which is detrimental to operational safety. Summary of the Invention

[0003] The present invention aims to provide a folding boom system and tunnel construction machinery that can reduce the number of drive sources, reduce failure rate, reduce cost, and improve operational safety.

[0004] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a folding boom system, comprising: The system comprises a mounting base, a pitch hinge, a first pitch telescopic member, a folding telescopic member, and multiple folding arms; the pitch hinge is rotatably connected to the mounting base, and one end of the first pitch telescopic member is rotatably connected to the mounting base, while the other end is rotatably connected to the pitch hinge. Each of the folding arms includes a first link, a second link, a hinge bracket, and a force transmission link; one end of the first link and the second link of the folding arm located on the side are rotatably connected to the pitch hinge, the other end of the first link is rotatably connected to the force transmission link, the position of the first link between its two ends and the other end of the second link are rotatably connected to the hinge bracket; the first link and the second link of any folding arm are arranged at intervals; In the adjacent folding arms, the first link and the second link of the folding arm away from the mounting base are rotatably connected to the hinge bracket of the folding arm close to the mounting base, and the force transmission link of the folding arm close to the mounting base is rotatably connected to the second link of the folding arm away from the mounting base. The folding telescopic device cooperates with the folding arm to adjust the angle of the first link or the second link relative to the pitch hinge or the hinge bracket.

[0005] In an optional embodiment, one end of the folding telescopic device is rotatably connected to the pitch hinge, and the other end of the folding telescopic device is rotatably connected to a second link of the folding arm connected to the pitch hinge.

[0006] In an optional embodiment, the first link of the adjacent folding arm is coaxial with the rotation axis of the hinge bracket, and the second link is coaxial with the rotation axis of the hinge bracket.

[0007] In an optional embodiment, the pitch hinge and the folding arm connected thereto cooperate to form a parallelogram linkage structure; the two hinged supports of adjacent folding arms and the first and second links between them cooperate to form a parallelogram linkage structure.

[0008] In an alternative implementation, the hinged bracket is configured as a structural plate or frame.

[0009] In an optional embodiment, the folding boom system further includes a first yaw telescoping device and a first yaw seat, the first yaw seat being rotatably connected to the mounting base, one end of the first yaw telescoping device being rotatably connected to the mounting base, and the other end being rotatably connected to the first yaw seat; the pitch hinge is rotatably connected to the first yaw seat, and the first pitch telescoping device is connected between the first yaw seat and the pitch hinge.

[0010] Secondly, the present invention provides a tunnel construction machine, the tunnel construction machine comprising: The power system, the execution system, and the folding boom system described in any of the foregoing embodiments, wherein the mounting base of the folding boom system is connected to the power system, and the folding boom remote from the mounting base is connected to the execution system.

[0011] In an optional embodiment, the execution system includes a connecting seat, a pitch seat, a second yaw seat, a second pitch telescoping device, a second yaw telescoping device, and a rock-breaking device; the connecting seat is rotatably connected to both the first connecting rod and the second connecting rod; the pitch seat is rotatably connected to the connecting seat, and the second pitch telescoping device is rotatably connected to both the connecting seat and the pitch seat; the second yaw seat is rotatably connected to the pitch seat, and the second yaw telescoping device is rotatably connected to both the pitch seat and the second yaw seat; the rock-breaking device is connected to the second yaw seat.

[0012] In an optional embodiment, the rock-breaking device includes a steering mechanism and a rock-breaking cutter head, wherein the steering mechanism is connected to the second sway seat, and the rock-breaking cutter head is connected to the steering mechanism.

[0013] In an optional embodiment, the second pitch telescoping device is mounted below the connecting seat and the pitch seat.

[0014] The beneficial effects of the folding boom system and tunnel engineering machinery provided in the embodiments of the present invention include: In summary, the folding boom system provided in this embodiment allows for boom length adjustment. Activating the folding telescopic mechanism drives the second connecting rod connected to it to rotate relative to the pitch hinge, causing the first connecting rod and the hinged support to move together. The hinged support can then move forward, while the first connecting rod rotates relative to the hinged support, driving the force transmission link to rotate. The force transmission link functions similarly to the folding telescopic mechanism; its rotation drives the second connecting rod of the next folding boom section to rotate relative to the hinged support. Thus, multiple folding boom sections can move, allowing the folding boom system to extend or shorten. A single folding telescopic mechanism can drive the movement of all folding boom sections, reducing the number of drive sources and pipelines, thus minimizing risks such as pipeline compression and scratching, improving operational safety and convenience, and saving on drive source costs. Furthermore, regardless of boom length, the thickness of the load-bearing members in the boom telescopic structure is not limited by the boom length; the thickness of the end members does not decrease with increasing boom length, resulting in high overall structural strength, resistance to deformation, and stable and reliable support. When the total length of the folding boom system needs to be adjusted, the number of folding booms can be increased or decreased as needed. It is easy to assemble and disassemble, flexible and convenient to adjust, and highly adaptable to the environment. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural schematic diagram of the folding boom system provided in this embodiment from a first-view perspective; Figure 2 This is a structural schematic diagram of the folding boom system provided in this embodiment from a second perspective; Figure 3 This is a simplified structural diagram of the folding boom system provided in this embodiment.

[0017] icon: 100-Mounting base; 200-Pitch hinge; 300-First pitch telescopic device; 400-Folding telescopic device; 500-First folding arm; 501-First link; 502-Second link; 503-First hinge bracket; 504-First force transmission link; 510-Second folding arm; 511-Third link; 512-Fourth link; 513-Second hinge bracket; 514-Second force transmission link; 530-Third folding arm; 5 31-Fifth Link; 532-Sixth Link; 533-Third Hinge Bracket; 534-Third Force Transmission Link; 550-Fourth Folding Arm; 551-Seventh Link; 552-Eighth Link; 553-Fourth Hinge Bracket; 554-Fourth Force Transmission Link; 570-Fifth Folding Arm; 571-Ninth Link; 572-Tenth Link; 573-Fifth Hinge Bracket; 600-First Yaw Point Expansion Joint; 700-First Yaw Point Seat; 001-Connecting seat; 002-Pitch seat; 003-Second yaw seat; 004-Second pitch telescopic device; 005-Second yaw telescopic device; 006-Rock breaking device; 061-Steering mechanism; 062-Rock breaking cutter head. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0021] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0022] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0023] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0024] The following detailed description of the overall structure, working principle, and technical effects of the folding boom system provided by the present invention, through embodiments and in conjunction with the accompanying drawings, is a practical example.

[0025] Please combine Figures 1-3This embodiment provides a folding boom system, which includes a mounting base 100, a pitch hinge 200, a first pitch telescopic device 300, a folding telescopic device 400, and multiple folding booms. The pitch hinge 200 is rotatably connected to the mounting base 100, one end of the first pitch telescopic device 300 is rotatably connected to the mounting base 100, and the other end is rotatably connected to the pitch hinge 200. Each folding boom includes a first link 501, a second link 502, a hinge bracket, and a force transmission link. For the folding boom located on the side, one end of the first link 501 and the second link 502 are rotatably connected to the pitch hinge 200, and the other end of the first link 501 is rotatably connected to the force transmission link. The position of the first link 501 between its two ends and the other end of the second link 502 are... The first link 501 and the second link 502 of any folding arm are arranged at intervals. In adjacent folding arms, the first link 501 and the second link 502 of the folding arm away from the mounting base 100 are rotatably connected to the hinge bracket of the folding arm close to the mounting base 100, and the force transmission link of the folding arm close to the mounting base 100 is rotatably connected to the second link 502 of the folding arm away from the mounting base 100. The folding telescopic device 400 cooperates with the folding arm to adjust the angle of the first link 501 or the second link 502 relative to the pitch hinge 200 or the hinge bracket.

[0026] As described above, the working principle of the folding boom system provided in this embodiment is as follows: When the boom length of the folding boom system needs to be adjusted, the folding telescopic device 400 is activated. The telescopic movement of the folding telescopic device 400 can drive the second link 502 connected to it to rotate relative to the pitch hinge 200, thereby causing the first link 501 and the articulated bracket to move together. The articulated bracket can move forward, and at the same time, the first link 501 rotates relative to the articulated bracket, which drives the force transmission link to rotate. The force transmission link has the same function as the folding telescopic device 400. When the force transmission link rotates, it can drive the second link 502 of the next folding boom section to rotate relative to the articulated bracket. In this way, multiple folding boom sections can move, thereby extending or shortening the folding boom system.

[0027] It should be noted that a single 400mm folding telescopic unit can drive the movement of all folding booms, reducing the number of drive sources and pipelines, thus minimizing the risks of pipeline compression and scratches, improving operational safety and convenience, and saving on drive source costs. Furthermore, regardless of boom length, the thickness of the load-bearing members in the boom telescopic structure is not limited by the boom length; the thickness of the end members will not decrease with increasing boom length, resulting in high overall structural strength, resistance to deformation, and stable and reliable support. When the overall length of the folding boom system needs adjustment, the number of folding booms can be increased or decreased as needed. It is easy to assemble and disassemble, flexible and convenient to adjust, and highly adaptable to various environments.

[0028] The following embodiments illustrate the details of the folding boom system of this application by way of example.

[0029] Please combine Figures 1-3 In this embodiment, optionally, the folding boom system includes a mounting base 100, a pitch hinge base 200, a first pitch telescopic device 300, a folding telescopic device 400, a first folding arm 500, a second folding arm 510, a third folding arm 530, a fourth folding arm 550, a fifth folding arm 570, a first yaw telescopic device 600, and a first yaw seat 700. The first yaw seat 700 is rotatably connected to the mounting base 100. One end of the first yaw telescopic device 600 is rotatably connected to the mounting base 100, and the other end is rotatably connected to the first yaw seat 700. The first yaw telescopic device 600 is located on the side of the first yaw seat 700. When the first yaw telescopic device 600 extends or retracts, it can drive the first yaw seat 700 to swing horizontally. The pitch hinge 200 is rotatably connected to the first yaw seat 700. One end of the first pitch telescopic device 300 is rotatably connected to the first yaw seat 700, and the other end is rotatably connected to the pitch hinge 200. When the first pitch telescopic device 300 extends or retracts, it can drive the pitch hinge 200 and all folding arms to pitch together, adjusting the pitch angle. Furthermore, the first pitch telescopic device 300 is located below the pitch hinge 200, which can prevent falling rocks from damaging the first pitch telescopic device 300 and extend its service life. The first folding arm 500, the second folding arm 510, the third folding arm 530, the fourth folding arm 550, and the fifth folding arm 570 are connected in sequence, and the first folding arm 500 is connected to the pitch hinge 200. The folding telescopic device 400 is connected to both the pitch hinge 200 and the first folding arm 500. Through the telescopic movement of the folding telescopic device 400, the first folding arm 500, the second folding arm 510, the third folding arm 530, the fourth folding arm 550, and the fifth folding arm 570 can be simultaneously unfolded or folded. When unfolded, the overall length of the boom can be increased, and when folded, the overall length of the boom can be decreased. Adjustment can be made as needed.

[0030] Obviously, in some embodiments, the number of folding arms is not limited to five. The number of folding arms can be selected according to the overall length requirements of the boom, and the number of folding arms can be increased or decreased as needed, allowing for flexible design. This embodiment only uses five folding arms as an example for illustration.

[0031] It should be understood that the structural principle of multiple folding arms can be set to be the same, which facilitates processing and manufacturing and can also reduce assembly costs.

[0032] Please combine Figures 1-3Optionally, the first folding arm 500 includes a first link 501, a second link 502, a first hinge bracket 503, and a first force transmission link 504. One end of the first link 501 is rotatably connected to the pitch hinge seat 200, and the position of the first link 501 between its two ends is rotatably connected to the first hinge bracket 503. The other end of the first link 501 is rotatably connected to the first force transmission link 504. One end of the second link 502 is rotatably connected to the pitch hinge seat 200, and the other end of the second link 502 is rotatably connected to the first hinge bracket 503. The first link 501 and the second link 502 are arranged in parallel and spaced apart, and the pitch hinge seat 200, the first link 501, the second link 502, and the first hinge bracket 503 cooperate to form a four-bar structure, and this four-bar structure is a parallelogram structure. When the first folding arm 500 is connected to the pitch hinge 200, the first pitch telescopic device 300 is rotatably connected to the second link 502, and the first link 501 is located on the side of the second link 502 closer to the pitch hinge 200.

[0033] Please combine Figures 1-3 Optionally, the second folding arm 510 includes a third link 511, a fourth link 512, a second hinge bracket 513, and a second force transmission link 514. One end of the third link 511 is rotatably connected to the first hinge bracket 503, and the rotation axis of the third link 511 and the first hinge bracket 503 is coaxial with the rotation axis of the second link 502 and the first hinge bracket 503, improving structural compactness. The third link 511 is rotatably connected to the second hinge bracket 513 at a position between its two ends, and the other end of the third link 511 is rotatably connected to the second force transmission link 514; one end of the fourth link 512 is rotatably connected to the pitch hinge seat 200, and the other end of the fourth link 512 is rotatably connected to the second hinge bracket 513. The third link 511 and the fourth link 512 are arranged in parallel at intervals, and the first hinge bracket 503, the third link 511, the fourth link 512, and the second hinge bracket 513 cooperate to form a four-link structure, which is a parallelogram structure. When the first folding arm 500 is connected to the second folding arm 510, the third link 511 is located on the side of the fourth link 512 closer to the pitch hinge seat 200. The end of the first force transmission link 504 away from the first link 501 is rotatably connected to the fourth link 512.

[0034] Please combine Figures 1-3Optionally, the third folding arm 530 includes a fifth link 531, a sixth link 532, a third hinge bracket 533, and a third force transmission link 534. One end of the fifth link 531 is rotatably connected to the second hinge bracket 513, and the position of the fifth link 531 between its two ends is rotatably connected to the third hinge bracket 533. The rotation axis of the fifth link 531 and the second hinge bracket 513 is coaxial with the rotation axis of the fourth link 512 and the second hinge bracket 513, improving the structural compactness. The other end of the fifth link 531 is rotatably connected to the third force transmission link 534; one end of the sixth link 532 is rotatably connected to the second hinge bracket 513, and the other end of the sixth link 532 is rotatably connected to the third hinge bracket 533. The fifth link 531 and the sixth link 532 are arranged in parallel intervals, and the second hinge bracket 513, the fifth link 531, the sixth link 532, and the third hinge bracket 533 cooperate to form a four-link structure, which is a parallelogram structure. When the second folding arm 510 is connected to the third folding arm 530, the fifth link 531 is located on the side of the sixth link 532 closer to the pitch hinge seat 200. The end of the second force transmission link 514 away from the third link 511 is rotatably connected to the sixth link 532.

[0035] Please combine Figures 1-3 Optionally, the fourth folding arm 550 includes a seventh link 551, an eighth link 552, a fourth hinge bracket 553, and a fourth force transmission link 554. One end of the seventh link 551 is rotatably connected to the third hinge bracket 533, and the rotation axis of the seventh link 551 and the third hinge bracket 533 is coaxial with the rotation axis of the sixth link 532 and the third hinge bracket 533, improving structural compactness. The position of the seventh link 551 between its two ends is rotatably connected to the fourth hinge bracket 553, and the other end of the seventh link 551 is rotatably connected to the fourth force transmission link 554; one end of the eighth link 552 is rotatably connected to the third hinge bracket 533, and the other end of the eighth link 552 is rotatably connected to the fourth hinge bracket 553. The seventh link 551 and the eighth link 552 are arranged in parallel intervals, and the third hinge bracket 533, the seventh link 551, the eighth link 552, and the fourth hinge bracket 553 cooperate to form a four-link structure, which is a parallelogram structure. When the third folding arm 530 is connected to the fourth folding arm 550, the seventh link 551 is located on the side of the eighth link 552 closer to the pitch hinge seat 200. The end of the third force transmission link 534 away from the fifth link 531 is rotatably connected to the eighth link 552.

[0036] Please combine Figures 1-3Optionally, the fifth folding arm 570 includes a ninth link 571, a tenth link 572, and a fifth hinge bracket 573. One end of the ninth link 571 is rotatably connected to the fourth hinge bracket 553, and the other end is rotatably connected to the fifth hinge bracket 573. One end of the tenth link 572 is rotatably connected to the fourth hinge bracket 553, and the other end is rotatably connected to the fifth hinge bracket 573. The ninth link 571 and the tenth link 572 are arranged in parallel with each other, with the ninth link 571 located on the side of the tenth link 572 closer to the pitch hinge seat 200. The fourth hinge bracket 553, the ninth link 571, the tenth link 572, and the fifth hinge bracket 573 cooperate to form a four-bar structure, and the four-bar structure is a parallelogram structure. The end of the fourth force transmission link 554 away from the seventh link 551 is rotatably connected to the tenth link 572.

[0037] Please consider this design. Figure 3 When the folding telescopic arm 400 extends, it drives the second link 502 to rotate clockwise, causing the first hinge bracket 503 to translate downwards to the right. Simultaneously, the first link 501 rotates clockwise, causing the first force transmission link 504 to move to the right. The first force transmission link 504 then pushes the fourth link 512 to rotate counterclockwise, causing the second hinge bracket 513 to translate upwards to the right. The third link 511 rotates counterclockwise, causing the second force transmission link 514 to move to the right. The second force transmission link 514 then pushes the fifth link 531 to rotate clockwise, and then the fifth link 531 drives the third hinge bracket 533 to translate downwards to the right, and so on, ultimately achieving the extension of the entire boom. It should be understood that, taking the folding arm connected to the pitch hinge 200 as the first position, the movement of the folding arms in odd-numbered positions is the same, and the movement of the folding arms in even-numbered positions is the same. Furthermore, the movement directions of the folding arms in odd-numbered and even-numbered positions are opposite.

[0038] Obviously, when it is necessary to shorten the boom length, the folding telescopic device can be retracted 400 degrees.

[0039] It should be understood that since the second link 502 and the third link 511 have the same hinge position on the first hinge bracket 503, the fourth link 512 and the fifth link 531 have the same hinge position on the second hinge bracket 513, the sixth link 532 and the seventh link 551 have the same hinge position on the third hinge bracket, and the eighth link 552 and the ninth link 571 have the same hinge position on the fourth hinge bracket 553, that is, adjacent folding arms share one hinge bracket, and each hinge bracket has three hinge points. Figure 3The three hinge points are shown as a, b, and c, respectively, and are located at the three vertices of an equilateral triangle. Simultaneously, adjacent folding arms form a parallelogram linkage structure. Thus, when the first pitch telescopic device 300 remains stationary, i.e., when the angle of the pitch hinge 200 is determined, activating the folding telescopic device 400 to extend or fold multiple folding arms ensures that all hinged supports move in a translational manner. This means that the relative angles between the three sides of the equilateral triangle formed by the three hinge points on the hinged support and the X and Y axes remain unchanged, guaranteeing the accuracy of the boom operation.

[0040] It should be understood that all hinged supports can be constructed as structural plates or frames, etc. Furthermore, all links can adopt an "H"-shaped structure, etc., which can improve structural strength and connection stability.

[0041] The folding boom system provided in this embodiment requires only one power source to achieve boom extension and retraction. Compared with telescopic booms with nested inner and outer boom structures, it reduces the use of drive sources, lowers the failure rate, and reduces operating costs. Furthermore, the number of folding booms can be adjusted according to the actual boom length requirements, and the structure is simple, easy to install, and highly adjustable.

[0042] Please combine Figure 1 and Figure 2 This embodiment also provides a tunnel boring machine, which includes a power system (not shown), an execution system, and the folding boom system described in the above embodiment. The mounting base 100 of the folding boom system is connected to the power system, and the folding boom furthest from the mounting base 100 is connected to the execution system, i.e., the farthest folding boom is connected to the execution system. Referring to the above embodiment, the execution system is mounted on the fifth folding boom 570. When the boom extends or retracts, the position of the execution system can be adjusted as needed, facilitating construction.

[0043] Optionally, the execution system includes a connecting seat 001, a pitch seat 002, a second yaw seat 003, a second pitch telescopic device 004, a second yaw telescopic device 005, and a rock-breaking device 006. The connecting seat 001 is rotatably connected to both the ninth link 571 and the tenth link 572. The pitch seat 002 is rotatably connected to the connecting seat 001, and the second pitch telescopic device 004 is rotatably connected to both the connecting seat 001 and the pitch seat 002. The second pitch telescopic device 004 is located below the connecting seat 001 and the pitch seat 002, making it less susceptible to damage from falling rocks and ensuring a long service life. The second yaw seat 003 is rotatably connected to the pitch seat 002, and the second yaw telescopic device 005 is rotatably connected to both the pitch seat 002 and the second yaw seat 003. The rock-breaking device 006 is connected to the second yaw seat 003. The second swaying telescopic device 005 can adjust the angle of the rock-breaking device 006 in the horizontal plane, that is, the left and right swing angle.

[0044] It should be understood that the rock-breaking device 006 includes a steering mechanism 061 and a rock-breaking cutter head 062. The steering mechanism 061 is connected to the second sway seat 003, and the rock-breaking cutter head 062 is connected to the steering mechanism 061. It should be noted that the structural type of the rock-breaking device 006 can be adjusted according to requirements to meet the needs of tunnel construction in different scenarios. Furthermore, the steering mechanism 061 can adjust the position in different dimensions, making operation flexible and convenient. In addition, the steering mechanism 061 of the rock-breaking device 006 can be a two-dimensional platform or a three-dimensional platform, enabling multi-dimensional angle adjustment. Furthermore, the steering mechanism 061 can be one or more combinations of a motor, reducer, swing cylinder, or linkage mechanism.

[0045] It should be noted that the first pitch telescopic device 300, the folding telescopic device 400, the first yaw telescopic device 600, the second pitch telescopic device 004, and the second yaw telescopic device 005 can all be configured as hydraulic cylinders, etc.

[0046] In addition, the fifth hinge bracket 573 can be replaced by the connector 001, and the two can be integrated into a single structure.

[0047] The tunnel construction machinery provided in this embodiment has at least the following advantages: 1. It can shorten the length of the boom when it is retracted, shorten the overall vehicle length, reduce the turning radius, and improve the equipment's maneuverability; 2: The extension and retraction of the boom only requires one drive source to achieve the extension and retraction of booms of different lengths. Fewer drive sources mean less pipe and cable routing, which can reduce the risk of pipe compression and scratches, improve operational safety, and increase operational convenience; at the same time, it saves on drive source costs (traditional nested telescopic boom structures require multiple hydraulic cylinders to drive when the boom has multiple extension and retraction sections). 3: Regardless of the boom length, the thickness of the load-bearing members of the boom telescopic structure is not limited by the boom length. The thickness of the end members will not decrease as the boom length increases, thus improving structural strength, support stability, and safety. (In traditional nested telescopic boom structures, when multiple boom sections are nested, the cavity of each boom section gradually decreases. The closer to the end of the boom, the smaller the cavity structure becomes, resulting in poorer stress conditions and a higher risk of deformation or even breakage.) 4. The folding expansion joint 400 does not need to be placed in a closed cavity, which facilitates the maintenance and repair of the folding expansion joint 400 and makes disassembly and installation convenient; 5. Highly expandable; when the boom length needs to be increased, the maximum boom length can be adjusted by adding a corresponding folding arm. 6: The steering mechanism 061 of the rock breaking device 006 uses a reducer as the drive source, replacing the traditional hydraulic cylinder articulation structure, saving structural space and increasing the convenience, operability and good operating visibility of construction operations; 7. The kinematic pairs of the boom system can be independent of each other and have no coupling relationship, making operation convenient and simple; 8: The first pitch extension device 300 and the second pitch extension device 004 are located below the boom, which can prevent them from being damaged by falling rocks and extend their service life.

[0048] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A folding boom system, characterized in that, include: The system comprises a mounting base, a pitch hinge, a first pitch telescopic member, a folding telescopic member, and multiple folding arms; the pitch hinge is rotatably connected to the mounting base, and one end of the first pitch telescopic member is rotatably connected to the mounting base, while the other end is rotatably connected to the pitch hinge. Each of the folding arms includes a first link, a second link, a hinge bracket, and a force transmission link; one end of the first link and the second link of the folding arm located on the side are rotatably connected to the pitch hinge, the other end of the first link is rotatably connected to the force transmission link, the position of the first link between its two ends and the other end of the second link are rotatably connected to the hinge bracket; the first link and the second link of any folding arm are arranged at intervals; In the adjacent folding arms, the first link and the second link of the folding arm away from the mounting base are rotatably connected to the hinge bracket of the folding arm close to the mounting base, and the force transmission link of the folding arm close to the mounting base is rotatably connected to the second link of the folding arm away from the mounting base. The folding telescopic device cooperates with the folding arm to adjust the angle of the first link or the second link relative to the pitch hinge or the hinge bracket; One end of the folding telescopic device is rotatably connected to the pitch hinge, and the other end of the folding telescopic device is rotatably connected to the second link of the folding arm connected to the pitch hinge. The first link of the adjacent folding arm is coaxial with the rotation axis of the hinge bracket, and the second link is coaxial with the rotation axis of the hinge bracket. The pitch hinge and the folding arm connected thereto cooperate to form a parallelogram linkage structure; the two hinged supports of the adjacent folding arms and the first and second connecting rods between them cooperate to form a parallelogram linkage structure.

2. The folding boom system according to claim 1, characterized in that: The hinged bracket is configured as a structural plate or frame.

3. The folding boom system according to any one of claims 1-2, characterized in that: The folding boom system further includes a first yaw telescopic device and a first yaw seat. The first yaw seat is rotatably connected to the mounting base. One end of the first yaw telescopic device is rotatably connected to the mounting base, and the other end is rotatably connected to the first yaw seat. The pitch hinge is rotatably connected to the first yaw seat, and the first pitch telescopic device is connected between the first yaw seat and the pitch hinge.

4. A tunnel construction machine, characterized in that, The tunnel construction machinery includes: The power system, the execution system, and the folding boom system according to any one of claims 1-3, wherein the mounting base of the folding boom system is connected to the power system, and the folding boom remote from the mounting base is connected to the execution system.

5. The tunnel engineering machinery according to claim 4, characterized in that: The execution system includes a connecting seat, a pitch seat, a second yaw seat, a second pitch telescoping device, a second yaw telescoping device, and a rock-breaking device; the connecting seat is rotatably connected to both the first connecting rod and the second connecting rod; the pitch seat is rotatably connected to the connecting seat, and the second pitch telescoping device is rotatably connected to both the connecting seat and the pitch seat; the second yaw seat is rotatably connected to the pitch seat, and the second yaw telescoping device is rotatably connected to both the pitch seat and the second yaw seat; the rock-breaking device is connected to the second yaw seat.

6. The tunnel engineering machinery according to claim 5, characterized in that: The rock-breaking device includes a steering mechanism and a rock-breaking cutter head. The steering mechanism is connected to the second sway seat, and the rock-breaking cutter head is connected to the steering mechanism.

7. The tunnel engineering machinery according to claim 6, characterized in that: The second pitch telescopic device is installed below the connecting seat and the pitch seat.

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