A large-slope tunneling machine and a tunneling method thereof

Abstract

The application discloses a large-gradient tunneling machine and a tunneling method thereof, and the tunneling machine comprises a tunneling machine body and an anti-skid step self-moving device; the anti-skid step self-moving device comprises a sliding device, a pushing device and an anti-skid supporting device; the sliding device is arranged below the tunneling machine body, and a sliding part of the sliding device is fixed to the bottom of a chassis of the tunneling machine body; the anti-skid supporting device is arranged on a fixed part of the sliding device and is used for supporting the tunneling machine body to be off the ground and lowering the tunneling machine body to the ground; when the anti-skid supporting device supports the tunneling machine body to be off the ground, the bottom of the anti-skid supporting device is on the ground and the anti-skid supporting device has an anti-skid function; the sliding part is slidable relative to the fixed part along a first direction, and the first direction is an advancing direction of the tunneling machine body; the pushing device is arranged on the fixed part and is used for pushing the tunneling machine body to move along the first direction when the tunneling machine body is in an off-the-ground state. The anti-skid step self-moving tunneling of the tunneling machine can be realized, the situation of sliding and sliding down is avoided, and the problems existing in the current large-gradient roadway tunneling mode of the tunneling machine can be solved.

Description

Technical Field

[0001] This invention relates to the field of tunneling equipment technology, and in particular to a steep-slope tunneling machine and its tunneling method. Background Technology

[0002] Currently, when tunneling equipment is excavating in roadways with steep gradients (exceeding 25° and even reaching 30°-40°), the tunneling equipment and its supporting equipment experience significant sliding inertia due to their own weight, posing a safety risk of "slippage." For this steep-angle condition, the industry currently commonly uses manual drilling and blasting, which not only presents difficulties in muck removal and transportation, and low container advance efficiency, but also poses personal safety hazards, thus failing to achieve safe, high-yield, and high-efficiency operations. Summary of the Invention

[0003] In view of this, the present invention provides a tunnel boring machine with a large slope, which can realize anti-slip stepping self-moving tunneling. During this tunneling process, it can avoid slippage and runaway, which helps to solve the problems existing in the current tunnel boring machine method for large slope roadway tunneling.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A tunneling machine with a large gradient includes: a tunneling machine body and an anti-slip stepping self-moving device;

[0006] The anti-slip stepping self-movement device includes: a sliding device, a pushing device, and an anti-slip support device;

[0007] The sliding device is located below the main body of the tunneling machine, and its sliding part is fixed to the bottom of the chassis of the main body of the tunneling machine;

[0008] The anti-slip support device is disposed on the fixed part of the sliding device and is used to lift the tunneling machine body off the ground and lower the tunneling machine body to the ground; wherein, when the anti-slip support device lifts the tunneling machine body off the ground, its bottom touches the ground and has an anti-slip function; the sliding part of the sliding device can slide relative to the fixed part along a first direction, the first direction being the forward direction of the tunneling machine body;

[0009] The pushing device is disposed on the fixed part of the sliding device, and is used to push the tunneling machine body to move along the first direction when the tunneling machine body is in the off-ground state.

[0010] Preferably, the sliding device includes two sliding components;

[0011] The anti-slip support device includes two anti-slip support boots;

[0012] The pushing device includes two pushing components;

[0013] Two sliding assemblies are arranged in parallel between the two tracked traveling parts of the tunneling machine body, and their sliding parts are respectively fixed to the bottom of the chassis; wherein, the sliding assemblies are parallel to the tracked traveling parts;

[0014] Two anti-slip support boots are respectively disposed at the bottom of the two sliding component fixing parts, and are used to jointly lift the tunneling machine body off the ground and jointly lower the tunneling machine body to the ground; wherein, the bottom of the anti-slip support boot has the anti-slip function;

[0015] The two pushing components are respectively disposed on the fixed parts of the two sliding components, and are used to push the tunneling machine body together to move along the first direction when the tunneling machine body is in the off-ground state.

[0016] Preferably, the anti-slip support boot includes: multiple support cylinders and an anti-slip boot;

[0017] Multiple support cylinders are respectively disposed at the bottom of the sliding assembly fixing part and are collinearly distributed along the first direction; wherein, the bottom end of each support cylinder is a movable end;

[0018] The anti-slip boots are located at the movable ends of the plurality of supporting hydraulic cylinders.

[0019] Preferably, the top end of the supporting cylinder is rotatably connected to the bottom of the fixing part, and the bottom end is rotatably connected to the top of the anti-slip boot or universally connected, so that the anti-slip boot can adapt to and fit the bottom plate of the sloping roadway.

[0020] Preferably, the anti-slip support boot further includes a leveling sensor;

[0021] The leveling sensor is installed on the chassis and is used to detect the levelness of the chassis;

[0022] The control module of the tunneling machine body is communicatively connected to the leveling sensor and the multiple support cylinders, and can control the extension and retraction length of the multiple support cylinders according to the feedback of the leveling sensor.

[0023] Preferably, the anti-slip support boot further includes multiple pressure sensors;

[0024] Multiple pressure sensors are respectively disposed on the bottom of the anti-slip boot, and each corresponds to one of the multiple support cylinders;

[0025] The control module of the tunneling machine body is also connected to multiple pressure sensors and can control the pressure of multiple support cylinders one by one according to the feedback of the multiple pressure sensors.

[0026] Preferably, the anti-slip boot includes: a boot body and anti-slip components;

[0027] The top of the boot body is located at the bottom end of the supporting hydraulic cylinder;

[0028] The anti-slip component is embedded in the bottom of the boot.

[0029] Preferably, the sliding assembly includes: a slide rail and a sliding shoe;

[0030] The pushing assembly includes a pushing cylinder;

[0031] The slide rail is disposed between the two track running parts along the first direction and is parallel to the track running parts;

[0032] The slipper can be slidably disposed on the slide rail along the first direction, and its top is fixed to the bottom of the chassis;

[0033] The anti-slip support boot is located at the bottom of the middle part of the slide rail;

[0034] One end of the pushing cylinder is rotatably connected to the bottom of the front end of the slide rail, and the other end is rotatably connected to the bottom of the chassis.

[0035] Preferably, the anti-slip stepping self-movement device further includes two buffer cylinders;

[0036] One end of each of the two buffer cylinders is connected to the rear of the tunneling machine body, and the other end is used to connect to the fixing device of the rear working face of the tunneling machine.

[0037] Preferably, it also includes two robotic arms;

[0038] The two robotic arms are slidably mounted on the left and right sides of the tunneling machine body, respectively, and are both used for cleaning slag; wherein the sliding direction of the robotic arms is the first direction.

[0039] A tunneling method using a steep gradient tunneling machine, as described above, includes the following steps:

[0040] S1. The main body of the tunneling machine is lifted off the ground by the anti-slip support device;

[0041] S2. The main body of the tunneling machine is moved along the first direction by the pushing component;

[0042] S3. Lower the main body of the tunneling machine to the ground using the anti-slip support device;

[0043] S4. Reset the pushing assembly to drive the fixed part of the sliding device to move along the first direction.

[0044] As can be seen from the above technical solution, the large-slope tunneling machine provided by the present invention has a sliding device between the bottom of the tunneling machine chassis and the anti-slip support device. The sliding part of the sliding device is fixed to the bottom of the chassis, and the fixed part is fixed to the anti-slip support device below. In this way, when the anti-slip support device lifts the tunneling machine body off the ground, it can play an anti-slip supporting role for the tunneling machine body. Moreover, at this time, the tunneling machine body can move forward relative to the fixed part of the sliding device and the anti-slip support device. And the tunneling machine body is pushed forward by the pushing device. After that, the anti-slip support device lowers the tunneling machine body to the ground, and the pushing device resets and drives the fixed part of the sliding device to move forward. Thus, the tunneling machine can realize anti-slip stepping self-moving tunneling. During this tunneling process, there will be no slippage or rollover. This helps to solve the problems existing in the current large-slope tunneling methods of tunneling machines. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the structure of a high-gradient tunneling machine provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the anti-slip support for a high-gradient tunneling machine on a sloped roadway, provided in an embodiment of the present invention.

[0048] Figure 3 A simplified schematic diagram of an anti-slip stepping self-moving device installed on the chassis of a tunneling machine body provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the anti-slip stepping self-movement device provided in an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of the anti-slip stepping self-movement device provided in an embodiment of the present invention from another perspective.

[0051] Figure 6 This is a schematic diagram of the structure of the sliding component provided in an embodiment of the present invention;

[0052] Figure 7 This is a schematic diagram of the anti-slip support boot provided in an embodiment of the present invention;

[0053] Figure 8 A simplified structural diagram of the anti-slip boot provided in an embodiment of the present invention;

[0054] Figure 9 A schematic diagram showing a buffer cylinder installed at the rear of a tunneling machine with a large gradient, provided in an embodiment of the present invention;

[0055] Figure 10 This is a schematic diagram showing the robotic arms installed on the left and right sides of a tunneling machine with a large slope, as provided in an embodiment of the present invention.

[0056] Among them, 1 is the chassis, 2 is the anti-slip support shoe, 21 is the support cylinder, 22 is the anti-slip shoe, 221 is the support plate, 222 is the rubber pad, 3 is the sliding assembly, 31 is the slide rail, 32 is the sliding shoe, 4 is the pushing assembly, 41 is the pushing cylinder, 5 is the track walking part, 6 is the buffer cylinder, 7 is the robot arm, 8 is the slope roadway, 9 is the upper hinge seat, 10 is the working face fixing device, 11 is the tail connecting rod, 12 is the first slide rail, and 13 is the lower hinge seat. Detailed Implementation

[0057] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] The steep slope tunneling machine provided in this embodiment of the invention includes: a tunneling machine body and an anti-slip stepping self-moving device;

[0059] The anti-slip self-moving device includes: a sliding device, a pushing device, and an anti-slip support device;

[0060] like Figure 3 As shown, the sliding device is located below the main body of the tunneling machine, and its sliding part is fixed to the bottom of the chassis 1 of the main body of the tunneling machine;

[0061] The anti-slip support device is installed on the fixed part of the sliding device and is used to lift the tunneling machine body off the ground and lower the tunneling machine body to the ground; wherein, when the anti-slip support device lifts the tunneling machine body off the ground, its bottom touches the ground and has an anti-slip function; the sliding part of the sliding device can slide relative to the fixed part along a first direction, the first direction being the forward direction of the tunneling machine body;

[0062] The pushing device is located at the fixed part of the sliding device and is used to push the tunneling machine body to move along the first direction when the tunneling machine body is in the off-ground state.

[0063] It should be noted that the structure of the main body of the tunneling machine can be referenced. Figure 1 As shown; Figure 3 As shown, the anti-slip stepping self-moving device can be integrated into the bottom of the chassis 1 of the tunneling machine body, and is located between the two tracked walking parts 5 of the tunneling machine body;

[0064] The sliding device has a sliding part and a fixed part that supports the sliding part, and the sliding part can slide relative to the fixed part in a first direction; such as Figure 3 As shown, the sliding device can be installed below the chassis 1 of the tunneling machine body, and its sliding part is connected and fixed to the bottom of the chassis 1; in this way, when the tunneling machine body is lifted off the ground by the anti-slip support device, the tunneling machine body can slide along the first direction with the sliding part relative to the fixed part, that is, when the tunneling machine body is off the ground, it can move forward relative to the fixed part of the sliding device and the anti-slip support device.

[0065] The anti-slip support device can be installed at the bottom of the fixed part of the sliding device, and is used to support the main body of the tunneling machine until its two tracked traveling parts 5 are off the ground, and to lower the main body of the tunneling machine until its two tracked traveling parts 5 touch the ground; wherein, the anti-slip support device can be an anti-slip telescopic support device, and its bottom can extend and retract vertically, and has an anti-slip function or is equipped with anti-slip components; specifically, such as Figure 2 As shown, the bottom of the anti-slip support device can extend downwards to support the main body of the tunneling machine until its two tracked walking parts 5 are off the ground. At this time, the bottom of the anti-slip support device is on the ground or in contact with the ground, and it will not slide down due to its anti-slip function. It can play an anti-slip supporting role for the main body of the tunneling machine. The bottom of the anti-slip support device can press against the bottom plate of the steep roadway 8 (the inclination angle can exceed 25°) and provide a continuous, stable and huge static friction force to prevent the main body of the tunneling machine from sliding down. In addition, the bottom of the anti-slip support device can retract upwards to lower the main body of the tunneling machine until its tracked walking parts 5 are on the ground. Of course, at this time, the anti-slip support device will retract into the underside of the chassis 1.

[0066] The pushing device can be installed at the bottom of the fixed part of the sliding device, and is used to push the tunneling machine body forward relative to the fixed part of the sliding device when the tunneling machine body is off the ground. Of course, based on the anti-slip support device, the tunneling machine body will not slip or slide during the process of being pushed forward by the pushing device. Afterwards, the anti-slip support device lowers the tracked walking part 5 of the tunneling machine body to the ground, and then the pushing device resets and pulls the fixed part of the sliding device forward, thereby realizing the tunneling machine's one-step anti-slip self-moving tunneling. Moreover, it has an anti-slip effect during the tunneling process and will not slip or slide. That is, the tunneling machine can prevent slipping during the stepping self-moving process. Of course, the stepping self-moving of the tunneling machine body is based on the anti-slip support device as the fulcrum. In this way, this solution can help solve the problems existing in the current large-slope tunneling method of tunneling machines, and the tunneling is stable, efficient, and safe. Of course, the anti-slip stepping self-moving of the tunneling machine can also be used for tunneling machines to tunnel downhill.

[0067] In addition, the working process of this steep slope tunneling machine can be as follows: control (the control module of the tunneling machine body controls) the anti-slip support device to lift the tunneling machine body off the ground, and its bottom is pressed against the bottom plate of the steep slope roadway 8 without slipping. Then, control the pushing component to push the tunneling machine body forward with the anti-slip support device as the fulcrum. Then, control the anti-slip support device to lower the tunneling machine body to the ground. Finally, control the pushing component to reset and drive the fixed part of the sliding device to move forward, thereby realizing the anti-slip stepping self-moving tunneling of the tunneling machine.

[0068] In other words, the steep-slope tunneling machine provided in this solution has a sliding device between the bottom of the main chassis and the anti-slip support device. The sliding part of the sliding device is fixed to the bottom of the chassis, and the fixed part is fixed to the anti-slip support device below. In this way, when the anti-slip support device lifts the main body of the tunneling machine off the ground, it can provide an anti-slip support effect. At this time, the main body of the tunneling machine can move forward relative to the fixed part of the sliding device and the anti-slip support device. The pushing device pushes the main body of the tunneling machine forward. Then, the anti-slip support device lowers the main body of the tunneling machine to the ground, and the pushing device resets, causing the fixed part of the sliding device to move forward. This enables the tunneling machine to perform anti-slip stepping self-moving tunneling without slipping or sliding during the tunneling process. This helps to solve the problems existing in the current steep-slope tunneling methods. Of course, this steep-slope tunneling machine can be used for steep-slope tunnels and can be used in coal mines, non-coal mines, and other scenarios.

[0069] Therefore, this solution provides a self-propelled, anti-slip tunneling machine capable of traversing steep slopes, offering a solution for tunneling in steep roadways. Specifically, an anti-slip, self-propelled device can be added to a traditional tracked tunneling machine. When the tunneling machine is ready to move and excavate, the anti-slip support device at the bottom of the machine supports the main body of the machine until its tracked walking section 5 is not in contact with the ground. Then, the pushing device under the chassis pushes the main body of the machine forward or backward to a suitable position. Next, the anti-slip support device lowers the main body of the machine until its tracked walking section 5 touches the ground. At this point, the anti-slip support device retracts under the chassis. Afterward, the pushing device resets, which can move the fixed part of the sliding device forward. This repeated action enables the tunneling machine to move with anti-slip, self-propelled movement.

[0070] In this plan, such as Figure 3 and Figure 4 As shown, the sliding device includes two sliding components 3;

[0071] The anti-slip support device includes two anti-slip support boots 2;

[0072] The pushing device includes two pushing components 4;

[0073] Two sliding components 3 are arranged in parallel between the two tracked traveling parts 5 of the tunneling machine body, and their sliding parts are respectively fixed to the bottom of the chassis 1; wherein, the sliding components 3 are parallel to the tracked traveling parts 5;

[0074] Two anti-slip support boots 2 are respectively installed at the bottom of the two sliding components 3 fixing parts, and are used to lift the tunneling machine body off the ground together and lower the tunneling machine body to the ground together; wherein, the bottom of the anti-slip support boots 2 has an anti-slip function;

[0075] Two pushing components 4 are respectively disposed on the fixed parts of two sliding components 3, and are used to push the tunneling machine body together to move along the first direction when the tunneling machine body is in the state of being off the ground.

[0076] It should be noted that, as Figure 3 As shown, two sliding components 3 can be arranged in parallel below the chassis 1 of the tunneling machine body, and located between the two tracked walking parts 5; wherein, the distance from each sliding component 3 to the adjacent tracked walking part 5 is equal, and it is parallel to the adjacent tracked walking part 5; of course, the sliding components 3 can be distributed along a first direction; on this basis, two anti-slip support shoes 2 are respectively arranged at the bottom of the fixed part of the two sliding components 3, and are used to lift the tunneling machine body together until its two tracked walking parts 5 are off the ground, and to lower the tunneling machine body together until its two tracked walking parts 5 are on the ground; wherein, the bottom of each anti-slip support shoe 2 has an anti-slip function or is provided with an anti-slip component; two pushing components 4 are respectively arranged at the fixed part of the two sliding components 3, and are used to push the tunneling machine body forward together when the tunneling machine body is in the off-ground state; of course, the sliding device, the anti-slip support device, and the pushing device all adopt a left and right double component design, so as to provide the tunneling machine with stable and reliable anti-slip stepping self-movement; in addition, Figure 3 A simplified diagram of an anti-slip stepping self-moving device that can be installed on the chassis of a tunneling machine; of course, in reality, when the two anti-slip support boots 2 are retracted into the underside of the chassis 1, the bottom of the two anti-slip support boots 2 is higher than the bottom of the two track running parts 5, ensuring that the two track running parts 5 are on the ground.

[0077] Specifically, such as Figure 7 As shown, the anti-slip support boot 2 includes: multiple support cylinders 21 and an anti-slip boot 22;

[0078] like Figure 5 As shown, multiple support cylinders 21 are respectively disposed at the bottom of the fixed part of the sliding assembly 3 and are collinearly distributed along the first direction; wherein, the bottom end of the support cylinder 21 is the movable end;

[0079] like Figure 7 As shown, the anti-slip boot 22 is located at the movable end of multiple support cylinders 21.

[0080] It should be noted that, as Figure 5As shown, multiple support cylinders 21 are respectively disposed at the bottom of the fixing part of the sliding assembly 3, and can be arranged along the length direction of the fixing part; wherein, the movable end of the support cylinder 21 (such as the end of the cylinder body of the support cylinder 21) can be distributed downward; of course, the multiple support cylinders 21 serve as the supporting power source for the anti-slip support shoe 2; as Figure 7 As shown, the top of the anti-slip shoe 22 is connected and fixed to the movable ends of multiple support cylinders 21; the anti-slip shoe 22 can be distributed along the length direction of the sliding component fixing part, and its bottom has an anti-slip function or is equipped with an anti-slip component; of course, the anti-slip support shoe 22 is pressed against the bottom plate of the steep roadway by a hydraulic cylinder, and can provide continuous, stable and huge static friction force to prevent the equipment from sliding down; and when the multiple support cylinders 21 extend downward to drive the anti-slip shoe 22 to the ground, the anti-slip shoe 22 can adaptively conform to the bottom plate of the steep roadway 8; specifically, when the tunneling machine is ready to move, the multiple support cylinders 21 of the anti-slip support shoes 2 on both sides can extend downward to hold the tunneling machine body The machine is supported until its tracked walking section 5 is off the ground. Then, the pushing assembly moves the main body of the tunneling machine forward to a suitable position. Next, the multiple support cylinders 21 of the anti-slip support shoes 2 on both sides can retract upwards to allow the tracked walking section 5 of the tunneling machine to touch the ground. Of course, at this time, the anti-slip support shoes 2 on both sides have retracted below the chassis 1. Then, the pushing assembly resets and drives the fixing part back to the initial position, thereby realizing the anti-slip stepping movement of the tunneling machine. Of course, the anti-slip support shoes 2 are designed in this way, which makes the structure simple, stable and reliable, and convenient for anti-slip support. Moreover, during the process of lowering the main body of the tunneling machine to the ground with the anti-slip support shoes 2, the multiple support cylinders 21 drive the anti-slip shoes 22 to retract below the chassis 1.

[0081] Furthermore, the top end of the supporting cylinder 21 is rotatably connected to the bottom of the fixed part, and the bottom end is rotatably connected or universally connected to the top of the anti-slip shoe 22, such as... Figure 2 As shown, this allows the anti-slip boot 22 to adapt to the bottom plate of the sloped tunnel 8. Wherein, as... Figure 6 As shown, the end (top) of the cylinder body of the supporting cylinder 21 can be hinged to the bottom of the fixed part through the upper hinge seat 9, as shown. Figure 7 As shown, the end (bottom) of the piston rod of the support cylinder 21 can be connected to the top of the anti-slip shoe 22 via the lower hinge seat 13 or a universal joint, allowing the anti-slip shoe 22 to adapt to the inclination angle of the roadway floor within a certain angle range; wherein, both hinges can rotate around the horizontal direction, which can be perpendicular to the first direction; in this way, when multiple support cylinders 21 drive the anti-slip shoe 22 downward to the ground, as Figure 2As shown, the anti-slip shoe 22 can adaptively fit onto the floor of the slope roadway 8, thereby increasing the contact area between the anti-slip shoe 22 and the floor of the slope roadway to provide the maximum static friction force. In other words, this allows the anti-slip shoe 22 to adapt to the uneven roadway floor, ensuring maximum contact area and friction force. Of course, this also facilitates the leveling of the tunneling machine body, as detailed below.

[0082] Furthermore, the anti-slip support boot 2 also includes a leveling sensor;

[0083] The leveling sensor is installed on chassis 1 and is used to detect the levelness of chassis 1;

[0084] The control module of the tunneling machine body is connected to the leveling sensor and multiple support cylinders 21, and can control the extension and retraction length of the multiple support cylinders 21 according to the feedback of the leveling sensor.

[0085] It should be noted that the leveling sensor can be installed on the chassis 1 or the fixed part of the sliding assembly, and is used to detect the levelness or horizontality of the chassis 1 or the fixed part when the tunneling machine body is in a state of being off the ground; the control module of the tunneling machine body can control the extension and retraction length of multiple support cylinders 21 based on the feedback from the leveling sensor, such as Figure 2 As shown, multiple support cylinders 21 can support the chassis 1 of the tunneling machine body to a near-horizontal or horizontal position on the steep slope roadway floor, thus facilitating the forward movement of the tunneling machine body to a set stroke while maintaining a near-horizontal position and reducing the possibility of slippage. Each support cylinder 21 can be equipped with a built-in displacement sensor to monitor its extension length or stroke, providing feedback for the extension and retraction of the cylinders. The control module is also communicatively connected to the displacement sensors of the multiple support cylinders 21 and can control the extension length or stroke of the corresponding support cylinder based on the feedback from each sensor. Furthermore, to achieve leveling of the tunneling machine body, the control module can further control the extension length of the corresponding support cylinder 21 using feedback from multiple displacement sensors.

[0086] In this design, the anti-slip support boot 2 also includes multiple pressure sensors;

[0087] Multiple pressure sensors are respectively installed on the bottom of the anti-slip boot 22, and each corresponds to a multiple support cylinder 21;

[0088] The control module of the tunneling machine body is also connected to multiple pressure sensors and can control the pressure of multiple support cylinders 21 one by one according to the feedback of multiple pressure sensors.

[0089] Multiple pressure sensors are arranged in an array at the bottom of the anti-slip shoe 22, corresponding one-to-one with multiple support cylinders 21, thus detecting the pressure applied to the anti-slip shoe 22 by each support cylinder 21. The control module of the tunneling machine can fine-tune the pressure of the multiple support cylinders 21 based on the feedback from the multiple pressure sensors, thereby facilitating uniform contact between the anti-slip shoe 22 and the steep roadway floor, ensuring uniform force distribution on the anti-slip shoe 22. In other words, in the anti-slip self-moving device provided by this solution, the anti-slip support shoe 2, in conjunction with leveling sensors, pressure sensors, displacement sensors, etc., can achieve linkage between the anti-slip self-moving device and the tunneling machine's main control system (control module), thereby realizing automated and intelligent control of the self-moving process, improving the safety and ease of operation of the self-moving process, and providing technical support for the construction of intelligent mines. Of course, the above design also helps to form a closed-loop intelligent control strategy.

[0090] Specifically, the anti-slip boot 22 includes: a boot body and anti-slip components;

[0091] The top of the boot body is located at the bottom end of the supporting cylinder 21;

[0092] Anti-slip components are embedded in the bottom of the boot. For example, ... Figure 8 As shown, the boot body can be a support plate 221, which can be welded from high-strength steel plates; the anti-slip components can include multiple rubber pads 222 or nylon blocks with high coefficient of friction, which are detachably embedded in the bottom surface of the support plate 221; the bottom surface of the support plate 221 can have multiple slots, and these rubber pads 222 or nylon blocks are snapped into the multiple slots on the bottom surface of the support plate 221 and can be fixed by bolts; of course, these rubber pads 222 or nylon blocks are all anti-slip and wear-resistant modules; and the anti-slip boot 22 is designed in this way to provide continuous, stable and strong static friction to prevent the equipment from slipping.

[0093] Furthermore, such as Figure 6 As shown, the sliding assembly 3 includes: a slide rail 31 and a sliding shoe 32;

[0094] like Figure 5 As shown, the pushing assembly 4 includes a pushing cylinder 41;

[0095] like Figure 3 As shown, the slide rail 31 is disposed between the two tracked traveling parts 5 along the first direction and is parallel to the tracked traveling parts 5;

[0096] like Figure 3 As shown, the sliding shoe 32 can be slidably disposed on the slide rail 31 along the first direction, and its top is fixed to the bottom of the chassis 1;

[0097] Anti-slip support boot 2 is located at the bottom of the middle part of the slide rail 31;

[0098] One end of the push cylinder 41 is rotatably connected to the bottom of the front end of the slide rail 31, and the other end is rotatably connected to the bottom of the chassis 1.

[0099] It should be noted that the slide rail 31 is the fixing part of the sliding assembly 3, such as Figure 3 As shown, the slide rail 31 can be arranged below the chassis 1 along the first direction, and is located between the two tracked traveling parts 5 and parallel to the tracked traveling parts 5; of course, the distance between each slide rail 31 and the adjacent tracked traveling part 5 is equal; as Figure 6 As shown, the sliding shoe 32 is the sliding part of the sliding assembly 3, and can be an I-shaped sliding shoe. The lower part of the I-shaped sliding shoe can be slidably mounted on the top of the slide rail 31 along the first direction, and the upper part (top) can be connected and fixed to the bottom of the chassis 1 by bolt assembly, or can be detachably connected to the bottom of the chassis 1 by a dedicated connecting frame or mounting base; of course, a mutually cooperating anti-detachment structure is provided between the lower part of the I-shaped sliding shoe and the top of the slide rail 31, and this anti-detachment structure can be referred to as Figure 6 As shown, this will not be repeated here; as Figure 5 As shown, multiple support cylinders 21 on the same side can be hinged to the bottom of the slide rail 31 through the upper hinge seat 9, and these multiple support cylinders 21 can be distributed along the length direction of the slide rail 31; the end of the piston rod of the push cylinder 41 can be hinged to the bottom of the front end of the slide rail 31 through the hinge seat, and the end of the cylinder body can be hinged to the bottom of the chassis 1 through the hinge seat, thereby ensuring that the push cylinder 41 can push the tunneling machine body forward; of course, the sliding assembly 3 and the push assembly 4 are designed in this way, which makes the structure simple, the push convenient, stable and reliable.

[0100] When the tunneling machine needs to move forward, the support cylinders 21 of the anti-slip support boots 2 on both sides first support the main body of the tunneling machine to a near-horizontal position, and then the push cylinder 41 pushes the main body of the tunneling machine forward to the set stroke. Then, all the support cylinders 21 of the anti-slip support boots 2 retract and lower the track walking part of the main body of the tunneling machine to the ground. After that, the push cylinder 41 retracts to pull back the slide rail 31, thereby realizing the anti-slip stepping self-movement of the tunneling machine on steep roadways.

[0101] Furthermore, such as Figure 9 As shown, the anti-slip stepping self-moving device also includes two buffer cylinders 6;

[0102] One end of each of the two buffer cylinders 6 is connected to the rear of the tunneling machine body, and the other end is connected to the fixing device 10 at the rear working face of the tunneling machine. Buffer cylinders 6 can be installed on the left and right sides of the rear of the tunneling machine body (which can be the tail connecting rod), and the end of their piston rods can be connected to the fixing devices such as ground anchors, winches, or rack rails at the rear working face of the tunneling machine for safe traction and buffering, preventing the tunneling machine from slipping and sliding in unexpected situations. Combined with the anti-slip support boots 2, this provides a double anti-slip design for the tunneling machine, effectively ensuring construction safety and operational efficiency.

[0103] In this plan, such as Figure 10 As shown, the steep slope tunneling machine provided in this embodiment of the invention also includes two robotic arms 7;

[0104] Two robotic arms 7 are slidably mounted on the left and right sides of the tunneling machine body, and both are used for cleaning slag; the sliding direction of the robotic arms 7 is the first direction.

[0105] Among them, such as Figure 10 As shown, the left and right sides of the tunneling machine body can each be provided with a first slide rail 12 along the first direction. Two robotic arms 7 can be slidably mounted on the two first slide rails 12 through sliding blocks, and can be pushed by hydraulic cylinders to slide back and forth along the first slide rails 12. In this way, after the tunneling machine stops cutting, it is convenient to perform cleaning operations at different positions on the left or right side of the tunneling machine body through the robotic arms 7, which can reduce the labor intensity of workers and improve work efficiency. Among them, the robotic arms 7 can be multi-degree-of-freedom robotic arms.

[0106] In addition, the steep slope tunneling machine provided in this solution can achieve the following objectives:

[0107] 1. Solving the problem of equipment slippage: The newly added anti-slip stepping self-moving device can work in conjunction with the original track walking part of the tunneling machine. This increases the friction between the equipment and the bottom of the roadway, effectively counteracting the slippage force, thus enabling the tunneling machine to achieve anti-slip stepping self-moving in steep roadways. Of course, the anti-slip support boots provide strong and controllable support friction, fundamentally solving the problem of equipment slippage during steep tunneling.

[0108] 2. Improve construction efficiency: By realizing mechanized tunneling of steep roadways, the previous practice of using blasting to excavate steep roadways has been changed, which greatly improves work efficiency and safety.

[0109] 3. Reduce safety risks: Reliable anti-slip support boots can eliminate the risk of the tunneling machine slipping backward and avoid safety accidents caused by equipment slippage due to loss of control; at the same time, the modular design of each device of the anti-slip stepping self-moving device facilitates maintenance, and the anti-slip wear-resistant module adopts a replaceable design, resulting in low maintenance costs and high construction efficiency.

[0110] 4. Enhanced equipment stability: Anti-slip cylinders on the left and right sides of the rear of the system can prevent the tunneling machine from sliding; adaptive leveling can enable the anti-slip boots to effectively adapt to uneven roadway floors, ensuring maximum contact area and friction.

[0111] 5. Achieve intelligent control: By combining with leveling sensors, pressure sensors, displacement sensors, etc., it can achieve linkage with the main control system of the tunneling machine, realize automated and intelligent control of the stepping process, improve safety and ease of operation, and provide technical support for the construction of intelligent mines.

[0112] Of course, the steep slope tunneling machine provided in this solution may have the following characteristics:

[0113] 1. High integration and systematization: Designed specifically for steep slope conditions, it organically combines anti-slip, support, and stepping functions to provide anti-slip protection throughout the entire working process of the equipment;

[0114] 2. Active and reliable support and anti-slip: The anti-slip boots are actively pressed against the tunnel floor through hydraulic and other means, providing continuous, stable and huge static friction force to fundamentally prevent the equipment from sliding down;

[0115] 3. Step-by-step self-movement, improving efficiency: It realizes step-by-step self-movement with anti-slip support boots as fulcrum, with a high degree of automation, which greatly reduces manual intervention and auxiliary operation time, and improves tunneling operations under steep slope conditions;

[0116] 4. Excellent modularity and adaptability: The extension length of the anti-slip support boots can be adjusted according to the actual roadway conditions, enabling the tunneling machine to flexibly adapt to roadway conditions with different slopes, making it more versatile.

[0117] In summary, this solution provides a method that can be integrated into the chassis of a tunneling machine, enables the equipment to move independently while stepping, and provides continuous and reliable anti-slip support. To achieve this, this solution adds a specially designed anti-slip self-moving device to the underside of the tunneling machine chassis, aiming to achieve the following technical effects:

[0118] 1. Provides reliable anti-slip force: When the equipment needs to move, the anti-slip support boots extend and press against the tunnel floor, providing huge static friction force to directly offset the downward force of the equipment;

[0119] 2. Achieve safe stepping self-movement: Using anti-slip support boots as temporary stable fulcrums, the pushing cylinder can stably push the main body of the tunneling machine to complete a step distance movement, thereby achieving a controllable stepping self-movement cycle;

[0120] 3. Maintain the integration and adaptability of the equipment: The anti-slip stepping self-moving device is integrated into the chassis as a modular design, without significantly changing the main structure of the tunneling machine, so that it can better adapt to different working conditions of steep slopes and general roadways.

[0121] Furthermore, this invention also provides a tunneling method using a steep-gradient tunneling machine, which includes the following steps:

[0122] S1. The main body of the tunneling machine is lifted off the ground by the anti-slip support device;

[0123] S2. The main body of the tunneling machine is moved along the first direction by the pushing component;

[0124] S3. Lower the main body of the tunneling machine to the ground using the anti-slip support device;

[0125] S4. Reset the pushing assembly to drive the fixed part of the sliding device to move along the first direction.

[0126] It should be noted that, as mentioned above, the anti-slip support device (i.e., two anti-slip support boots 2) can be controlled by the control module of the tunneling machine body to lift the tunneling machine body off the ground. At this time, the bottom of the anti-slip support device is pressed against the bottom plate of the steep slope roadway 8 and will not slide down. Then, the pushing component (i.e., two pushing cylinders 41) is controlled to push the tunneling machine body forward to a suitable position with the anti-slip support device as the fulcrum. Then, the anti-slip support device is controlled to lower the tunneling machine body to the ground. Of course, at this time, the anti-slip support device will retract back to the chassis of the tunneling machine body. Finally, the pushing component is controlled to reset and drive the fixed part of the sliding device (i.e., the slide rail 31) to move forward. This action is repeated, so as to realize the anti-slip stepping self-moving tunneling of the tunneling machine. Of course, since this solution uses the above-mentioned steep slope tunneling machine for tunneling, it also has corresponding beneficial effects, which can be referred to the previous explanation and will not be repeated here.

[0127] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0128] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tunnel boring machine with a steep gradient, characterized in that, include: Tunneling machine body and anti-slip self-propelled movement device; The anti-slip stepping self-movement device includes: a sliding device, a pushing device, and an anti-slip support device; The sliding device is located below the main body of the tunneling machine, and its sliding part is fixed to the bottom of the chassis (1) of the main body of the tunneling machine; The anti-slip support device is disposed on the fixed part of the sliding device and is used to lift the tunneling machine body off the ground and lower the tunneling machine body to the ground; wherein, when the anti-slip support device lifts the tunneling machine body off the ground, its bottom touches the ground and has an anti-slip function; the sliding part of the sliding device can slide relative to the fixed part along a first direction, the first direction being the forward direction of the tunneling machine body; The pushing device is disposed on the fixed part of the sliding device, and is used to push the tunneling machine body to move along the first direction when the tunneling machine body is in the off-ground state.

2. The steep gradient tunneling machine according to claim 1, characterized in that, The sliding device includes two sliding components (3); The anti-slip support device includes two anti-slip support boots (2); The pushing device includes two pushing components (4); Two sliding components (3) are arranged in parallel between the two tracked walking parts (5) of the tunneling machine body, and their sliding parts are respectively fixed to the bottom of the chassis (1); wherein, the sliding components (3) are parallel to the tracked walking parts (5); Two anti-slip support boots (2) are respectively installed at the bottom of the two sliding components (3) fixing parts, and are used to lift the tunneling machine body off the ground together and lower the tunneling machine body to the ground together; wherein, the bottom of the anti-slip support boots (2) has the anti-slip function; The two pushing components (4) are respectively disposed on the fixed parts of the two sliding components (3), and are used to push the tunneling machine body together to move along the first direction when the tunneling machine body is in the off-ground state.

3. The steep gradient tunneling machine according to claim 2, characterized in that, The anti-slip support boot (2) includes: multiple support cylinders (21) and anti-slip boot (22); Multiple support cylinders (21) are respectively disposed at the bottom of the fixed part of the sliding assembly (3) and are collinearly distributed along the first direction; wherein, the bottom end of the support cylinder (21) is the movable end; The anti-slip boot (22) is located at the movable end of the plurality of support cylinders (21).

4. The steep gradient tunneling machine according to claim 3, characterized in that, The top of the support cylinder (21) is rotatably connected to the bottom of the fixing part, and the bottom is rotatably connected to the top of the anti-slip boot (22) or universally connected, so that the anti-slip boot (22) can adapt to the bottom plate of the slope roadway (8).

5. The steep gradient tunneling machine according to claim 4, characterized in that, The anti-slip support boot (2) also includes a leveling sensor; The leveling sensor is disposed on the chassis (1) and is used to detect the levelness of the chassis (1); The control module of the tunneling machine body is connected to the leveling sensor and the multiple support cylinders (21) respectively, and can control the extension and retraction length of the multiple support cylinders (21) according to the feedback of the leveling sensor.

6. The steep gradient tunneling machine according to claim 5, characterized in that, The anti-slip support boot (2) also includes multiple pressure sensors; Multiple pressure sensors are respectively disposed on the bottom of the anti-slip boot (22) and correspond one-to-one with multiple support cylinders (21); The control module of the tunneling machine body is also connected to multiple pressure sensors and can control the pressure of multiple support cylinders (21) one by one according to the feedback of multiple pressure sensors.

7. The steep gradient tunneling machine according to claim 3, characterized in that, The anti-slip boot (22) includes: a boot body and anti-slip components; The top of the boot body is located at the bottom end of the supporting cylinder (21); The anti-slip component is embedded in the bottom of the boot.

8. The steep gradient tunneling machine according to claim 2, characterized in that, The sliding assembly (3) includes: a slide rail (31) and a sliding shoe (32); The pushing assembly (4) includes a pushing cylinder (41); The slide rail (31) is disposed between the two tracked traveling parts (5) along the first direction and is parallel to the tracked traveling parts (5); The slipper (32) can be slidably disposed on the slide rail (31) along the first direction, and its top is fixed to the bottom of the chassis (1); The anti-slip support boot (2) is located at the bottom of the middle part of the slide rail (31); One end of the push cylinder (41) is rotatably connected to the bottom of the front end of the slide rail (31), and the other end is rotatably connected to the bottom of the chassis (1).

9. The steep gradient tunneling machine according to any one of claims 1-8, characterized in that, The anti-slip stepping self-movement device also includes two buffer cylinders (6). One end of each of the two buffer cylinders (6) is connected to the rear of the tunneling machine body, and the other end is used to connect to the tunneling machine rear working face fixing device (10).

10. The tunnel boring machine with a large gradient according to any one of claims 1-8, characterized in that, It also includes two robotic arms (7); The two robotic arms (7) are respectively slidably disposed on the left and right sides of the tunneling machine body, and both are used for cleaning slag; wherein, the sliding direction of the robotic arms (7) is the first direction.

11. A tunneling method for a steep gradient tunneling machine, characterized in that, The tunneling method, which employs a high-gradient tunneling machine as described in any one of claims 1-10, comprises the following steps: S1. The main body of the tunneling machine is lifted off the ground by the anti-slip support device; S2. The main body of the tunneling machine is moved along the first direction by the pushing component; S3. Lower the main body of the tunneling machine to the ground using the anti-slip support device; S4. Reset the pushing assembly to drive the fixed part of the sliding device to move along the first direction.

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