Long-distance large-gradient inclined shaft full-face rock tunneling machine and method

Abstract

This invention discloses a long-distance, steep-slope, full-face rock tunneling machine and method, relating to the field of tunneling machine technology. The tunneling machine includes a shield and a main body, and also includes a laser total station. The laser total station is fixedly connected to the outside of the main body of the tunneling machine. A laser target cylinder for aiming is fixedly connected to the outside of the shield. A cleaning mechanism drives a transmission mechanism to clean the surface of the glass protective cover, thereby ensuring that the laser total station can always clearly scan and identify the laser target through the glass protective cover, ensuring the continuity and accuracy of coordinate positioning. At the same time, the originally unfavorable tunneling vibration is transformed into the driving force of the cleaning mechanism, which not only solves the potential interference of vibration on measurement accuracy, but also transforms it into useful work that is conducive to maintaining measurement conditions, realizing the integration of "vibration-based vibration control" and "self-cleaning" functions.

Description

Technical Field

[0001] This invention relates to the field of tunneling machine technology, and in particular to a long-distance, steep-slope, full-face rock tunneling machine and method. Background Technology

[0002] In long-distance, steeply inclined tunnel boring machines (TBMs), the rock tunnel boring machine has been widely used due to its high efficiency and safety. However, such construction environments are extremely complex. The strong and continuous vibrations generated by the TBM during rock breaking, the high concentration of dust, and the humidity changes in the narrow space pose severe challenges to the equipment's navigation and positioning system.

[0003] The laser total station combined with a laser target forms the core guiding measurement system, ensuring the TBM's precise excavation along the designed axis. In actual construction, the laser total station is typically installed on the lined section or supporting structure, with a glass protective cover in front to isolate it from the harsh external environment. However, due to rock debris splashing, dust settling, and water vapor condensation caused by the TBM's vibration, the surface of the glass protective cover is easily contaminated. Currently, on-site cleaning relies heavily on regular manual cleaning or high-pressure gas purging. However, in long inclined shafts with slopes exceeding 10%, the frequency of manual maintenance is difficult to guarantee due to high-frequency vibrations and confined spaces, and conventional purging has limited effectiveness in removing adhesive wet dust and condensate films. Once the light-transmitting surface is covered, the laser beam's penetration rate will significantly decrease, causing the total station to be unable to stably identify the laser target, and even resulting in prolonged interruptions in coordinate positioning data, leaving the TBM in a "blind excavation" state. Especially under steep slope conditions, the increased elevation angle of the measurement line of sight amplifies the ranging error along the tunneling axis, and any brief signal loss can easily lead to the accumulation of axis deviation, ultimately causing the breakthrough error to exceed the limit.

[0004] Therefore, it is necessary to provide a long-distance, steep-slope, full-face rock tunneling machine and method suitable for this extreme working condition to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a long-distance, steep-slope, full-face rock tunneling machine and method to solve the defects of the prior art mentioned in the background section.

[0006] Based on the above ideas, the present invention provides the following technical solution: Firstly, a long-distance, steep-slope inclined shaft full-face rock tunneling machine is provided, including a shield body and a tunneling machine body, and further including: A laser total station, fixed to the outside of the tunneling machine, is used to emit tracking lasers and calculate the spatial pose data of the shield body; A laser target cylinder is fixed to the outside of the shield body. A glass protective cover is fixedly connected to the end of the target cylinder near the laser total station, and a partition is fixedly connected inside the target cylinder. A mass block is provided on the side of the partition away from the glass protective cover, and a laser target is fixedly connected to the side near the glass protective cover. The laser target is used to receive the tracking laser that passes through the glass protective cover and cooperate with the laser total station for positioning. An oscillation mechanism, disposed inside the laser target cylinder, is used to drive the mass block to reciprocate along the axis of the laser target cylinder under the vibration generated during the tunneling of the shield body; A cleaning mechanism, located outside the laser target cylinder, is used to clean the surface of the glass protective cover; A transmission mechanism is disposed between the mass block and the cleaning mechanism, and is used to convert the reciprocating motion of the mass block into the rotational motion of the cleaning mechanism.

[0007] As a further aspect of the present invention: the oscillation mechanism includes a connecting block, which is fixedly connected to the top of the mass block. A sliding rod is fixedly connected between the end wall of the laser target cylinder away from the glass protective cover and the partition. The sliding rod passes through the connecting block and is slidably connected to the connecting block. A first spring is fixedly connected to both ends of the mass block. The ends of the two first springs that are far apart from each other are fixedly connected to the laser target cylinder and the partition, respectively, so that the mass block is located at the equilibrium position of the two first springs when there is no vibration.

[0008] As a further aspect of the present invention: the oscillation mechanism further includes a plurality of small balls of mass, the mass block is configured as a cavity, and a non-Newtonian fluid is disposed inside the mass block, with the plurality of small balls of mass disposed inside the mass block.

[0009] As a further aspect of the present invention: the cleaning mechanism includes a cleaning cylinder, which is rotatably connected to the outside of the laser target cylinder. Multiple rotating plates are arranged near the end of the cleaning cylinder close to the glass protective cover. Each rotating plate has a cleaning brush fixedly connected to its bottom. The rotating plates are arranged in a ring around the center of the glass protective cover. Multiple fixed cylinders are arranged inside the cleaning cylinder and are fixedly connected to it. A transmission rod is arranged inside each fixed cylinder, passing through it and rotatably connected to it. A meshing element is provided between the transmission rod and the rotating plates. A second gear is fixedly connected to the outside of the transmission rod. An external gear ring is fixedly connected to the outside of the laser target cylinder, and the external gear ring meshes with the multiple second gears.

[0010] As a further embodiment of the present invention: the meshing component includes a rotating shaft, which is fixedly connected to the bottom of one end of the rotating plate, and multiple vertical plates are fixedly connected to the outside of the rotating shaft. A connecting cylinder is fixedly connected to the top of the transmission rod, the rotating shaft extends into the interior of the connecting cylinder and is slidably connected to the connecting cylinder, and a groove is provided inside the connecting cylinder, the groove being adapted to the vertical plates. A fixing frame is fixedly connected to the bottom of the rotating plate, and a rotating ring is rotatably connected to the bottom of the fixing frame. A spring is fixedly connected between the rotating ring and the connecting cylinder for pulling the rotating ring down.

[0011] As a further embodiment of the present invention: a fixed frame is sleeved on the outside of the transmission rod, the fixed frame is fixedly connected to the outside of the cleaning cylinder, an installation cylinder is fixedly connected inside the fixed frame, a gear disk is connected to the outside of the transmission rod through a one-way bearing, and a lifting member is provided inside the installation cylinder for lifting the rotating ring when the rotating shaft reverses.

[0012] As a further embodiment of the present invention: the lifting member includes a second reciprocating screw, which passes through the bottom of the mounting cylinder and is rotatably connected to the mounting cylinder. A third gear is fixedly connected to the outside of the second reciprocating screw, and the third gear meshes with a gear disc. A push plate is connected to the outside of the second reciprocating screw through a ball nut pair. A partition plate is fixedly connected inside the mounting cylinder. A lifting plate is provided on the top of the partition plate. A push rod is fixedly connected to the top of the lifting plate. The push rod passes through the mounting cylinder and is slidably connected to the mounting cylinder. A top plate is fixedly connected to the top of the push rod. The partition plate has multiple flow grooves. Extrusion fluid is provided between the partition plate and the push plate.

[0013] As a further embodiment of the present invention: multiple nozzles are fixedly connected to the outside of the rotating plate; the rotating plate is connected to the rotating shaft; a flexible hose is rotatably connected between the bottom end of the rotating shaft and the transmission rod; a first reciprocating screw is fixedly connected to the outside of the transmission rod; a pressing plate is connected to the outside of the first reciprocating screw through a ball nut pair; the pressing plate is slidably connected inside the fixed cylinder; an airbag is fixedly connected between the pressing plate and the fixed cylinder; one end of the airbag is fixedly connected to the transmission rod; and a one-way air inlet valve is provided on the outside of the airbag.

[0014] As a further embodiment of the present invention: the transmission mechanism includes a rack, which is fixedly connected to the bottom of the mass block, and a rotating rod is rotatably passed through the inside of the laser target cylinder. A first gear is connected to the outside of the rotating rod through a one-way bearing. The first gear meshes with the rack. Both ends of the rotating rod are fixedly connected to a winding reel. A fixed disk is fixedly connected to the outside of the laser target cylinder. A fixed plate is fixedly connected inside the fixed disk. A sliding block is fixedly connected to one side of the cleaning cylinder. The sliding block extends into the inside of the fixed disk and is slidably connected to the fixed disk. A second spring is fixedly connected between the sliding block and the fixed plate. A traction steel wire is fixedly wound around the outside of the winding reel. The traction steel wire passes through the fixed disk and is fixedly connected to the sliding block.

[0015] Secondly, a method for long-distance, steep-slope, full-face rock tunneling in inclined shafts, employing a long-distance, steep-slope, full-face rock tunneling machine as described in the first aspect, the method comprising the following steps: Step 1: The main body of the tunnel boring machine moves the shield through hydraulic cylinders, and the shield excavates the tunnel. Step 2: The mechanical vibration generated during the shield excavation process is transmitted to the inside of the laser target cylinder. Under the action of vibration, the oscillation mechanism drives the mass block to reciprocate along the axis of the laser target cylinder. This reciprocating motion is converted into the rotational motion of the cleaning mechanism through the transmission mechanism, so that the cleaning mechanism cleans the surface of the glass protective cover. Step 3: While the shield continues to advance, each time the shield advances forward to a preset distance, the laser total station is activated to perform positioning measurements, thereby determining the accuracy of the shield's position after movement.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention incorporates a mass block inside a laser target cylinder, along with an oscillation mechanism, a transmission mechanism, and a cleaning mechanism. Its working principle is as follows: vibrations generated during shield tunneling drive the mass block to reciprocate along the axis of the laser target cylinder via the oscillation mechanism. This reciprocating motion is then converted into power to drive the cleaning mechanism's rotation, allowing the cleaning mechanism to automatically clean the surface of the glass protective cover. Since the mass block's motion originates directly from tunneling vibrations, no external power source is required, achieving on-site collection and conversion of vibration energy. The entire cleaning process is synchronized with the tunneling operation, requiring no manual intervention. This fundamentally avoids the problem of insufficient frequency of manual maintenance in long-distance, steep-slope inclined shafts, ensuring that the tracking laser of the laser total station can always clearly penetrate the glass protective cover, maintaining the continuity and accuracy of coordinate positioning, and preventing the tunneling machine from entering a blind tunneling state due to signal interruption.

[0017] This invention couples a mass block, an oscillation mechanism, and a transmission mechanism inside the laser target cylinder, transforming the originally unfavorable tunneling vibration into useful work that drives the cleaning mechanism to continuously clean the glass protective cover. This mechanism avoids direct interference from vibration on the measurement system while utilizing the presence of vibration to maintain the light transmittance and cleanliness of the glass protective cover, ensuring that the laser total station can always stably receive the return signal from the laser target. This fundamentally eliminates the problem of accumulated axis deviation caused by signal loss and avoids the risk of exceeding the limit of breakthrough error in long-distance, steep-slope inclined shaft construction.

[0018] Compared to existing maintenance methods that rely on regular manual cleaning or high-pressure gas purging, the self-cleaning mechanism of this invention keeps the glass protective cover clean throughout the entire tunneling process, significantly reducing the frequency of manual intervention. It is especially suitable for special working conditions where personnel passage is difficult and maintenance operations are high-risk in long-distance inclined shafts with slopes exceeding a certain limit (slopes exceeding 10%), significantly reducing equipment operation and maintenance costs and safety risks. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the laser target cylinder structure of the present invention; Figure 3 This is a schematic cross-sectional view of the laser target tube of the present invention; Figure 4 This is a schematic cross-sectional view of the mass block structure of the present invention; Figure 5 This is a schematic diagram of the cleaning cylinder structure of the present invention; Figure 6 This is a schematic diagram of the fixed disk structure of the present invention; Figure 7 This is a schematic diagram of the fixed cylinder structure of the present invention; Figure 8 This is a schematic cross-sectional view of the fixed cylinder structure of the present invention; Figure 9 This is a schematic diagram of the rotating plate structure of the present invention; Figure 10 This is a schematic cross-sectional view of the fixed frame structure of the present invention; Figure 11 This is a cross-sectional view of the mounting cylinder structure of the present invention; Figure 12 This is a cross-sectional view of the partition plate structure of the present invention.

[0021] In the diagram: 1. Shield body; 2. Laser target cylinder; 200. Partition plate; 201. Glass protective cover; 202. Laser target; 3. Laser total station; 4. Cleaning cylinder; 5. Mass block; 500. Mass ball; 501. First spring; 502. Connecting block; 503. Sliding rod; 601. Rack; 602. First gear; 603. Rotating rod; 604. Rewinding reel; 605. Fixed plate; 606. Sliding block; 607. Second spring; 608. Fixed plate; 609. Traction wire; 7. Fixed cylinder; 701. Airbag; 702. First reciprocating screw; 703, Second gear; 704, Extrusion plate; 705, Transmission rod; 706, External gear ring; 8, Rotating plate; 800, Nozzle; 801, Cleaning brush; 901, Connecting cylinder; 902, Rotating shaft; 903, Vertical plate; 904, Fixing frame; 905, Rotating ring; 906, Fixing frame; 907, Mounting cylinder; 9070, Flow groove; 9071, Second reciprocating screw; 9072, Third gear; 9073, Push plate; 9074, Divider plate; 9075, Lifting plate; 9077, Push rod; 9078, Top plate; 908, Gear disk. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0024] Example 1: like Figures 1 to 12 As shown, this embodiment provides a long-distance, steep-slope inclined shaft full-face rock tunneling machine, including a shield body 1 and a tunneling machine body, and also includes: Laser total station 3, fixed outside the main body of the tunneling machine, is used to emit tracking laser and calculate the spatial pose data of shield 1; The laser target cylinder 2 is fixed to the outside of the shield body 1. A glass protective cover 201 is fixedly connected to the end of the cylinder near the laser total station 3, and a partition 200 is fixedly connected inside the cylinder. A mass block 5 is provided on the side of the partition 200 away from the glass protective cover 201, and a laser target 202 is fixedly connected to the side near the glass protective cover 201. The laser target 202 is used to receive the tracking laser passing through the glass protective cover 201 and cooperate with the laser total station 3 for positioning. An oscillation mechanism is installed inside the laser target cylinder 2 to drive the mass block 5 to reciprocate along the axis of the laser target cylinder 2 under the vibration generated during the tunneling of the shield body 1. A cleaning mechanism, located outside the laser target cylinder 2, is used to clean the surface of the glass protective cover 201; A transmission mechanism is provided between the mass block 5 and the cleaning mechanism to convert the reciprocating motion of the mass block 5 into the rotational motion of the cleaning mechanism for cleaning the glass protective cover 201.

[0025] The laser total station 3 features an automatic tracking function, specifically an automatic target recognition function. During implementation, the tunnel boring machine (TBM) propels the shield 1 forward via hydraulic cylinders as the TBM excavates the tunnel. After the shield 1 has excavated a certain distance, the automatically tracking laser total station 3 scans and positions the glass protective cover 201 inside the laser target cylinder 2, thus determining the accuracy of the shield 1's position after movement. Simultaneously, the vibration generated during the shield 1's excavation excites the mass block 5 to reciprocate. After movement, the mass block 5 drives a cleaning mechanism via a transmission mechanism to clean the surface of the glass protective cover 201. This ensures that the laser total station 3 can clearly penetrate the glass protective cover 201 to scan and identify the laser target 202, guaranteeing the continuity and accuracy of coordinate positioning. Furthermore, it transforms the existing excavation vibration into the driving force of the cleaning mechanism, solving the potential interference of vibration on measurement accuracy and converting it into useful work that helps maintain measurement conditions. This achieves the integration of "vibration-based vibration control" and "self-cleaning" functions.

[0026] In this embodiment, the oscillation mechanism includes a connecting block 502, which is fixedly connected to the top of the mass block 5. A sliding rod 503 is fixedly connected between the end wall of the laser target cylinder 2 away from the glass protective cover 201 and the partition plate 200. The sliding rod 503 passes through the connecting block 502 and is slidably connected to the connecting block 502. Both ends of the mass block 5 are fixedly connected to a first spring 501. The ends of the two first springs 501 that are far apart from each other are fixedly connected to the laser target cylinder 2 and the partition plate 200, respectively, so that the mass block 5 is located in the middle balance position of the two first springs 501 when there is no vibration.

[0027] The oscillation mechanism also includes multiple small balls 500, and the mass block 5 is configured as a cavity, with a non-Newtonian fluid disposed inside the mass block 5. In this embodiment, the non-Newtonian fluid can be a shear-thickening fluid.

[0028] In practice, when the shield body 1 is excavated and broken, the vibration generated drives the connecting block 502 at the top of the mass block 5 to move back and forth along the slide bar 503. Through the elastic energy storage effect of the first spring 501, the vibration response amplitude is amplified and the continuity of the reciprocating motion is ensured. At the same time, it ensures that the mass block 5 can automatically return to the equilibrium position after the vibration stops.

[0029] Furthermore, this scheme sets the mass block 5 as a hollow structure, which is filled with multiple small spheres 500 and a non-Newtonian fluid. Its adaptive response mechanism is as follows: Under normal tunneling low-speed micro-vibration conditions, the non-Newtonian fluid exhibits low-viscosity liquid characteristics, and the internal mass ball 500 can roll freely. At this time, the overall equivalent stiffness of the mass block 5 is low, which can sensitively absorb the energy of small vibrations and drive the cleaning mechanism to perform cleaning actions through the rack 601.

[0030] When a violent impact occurs, such as jamming or a sign of impending collapse, the non-Newtonian fluid instantly thickens and hardens, temporarily solidifying the internal mass spheres 500 into a single unit. This makes the mass block 5 instantly equivalent to a highly inertial rigid body, significantly increasing inertial resistance and acting as a buffer protection similar to a "hydraulic lock".

[0031] Meanwhile, high-frequency vibrations, such as the micro-vibrations generated by a hobbing cutter cutting rock, cause non-Newtonian fluids to exhibit high-hardness solid-state characteristics. This prevents the small ball 500 from following the high-frequency vibrations, effectively creating a rigid connection with the mass block 5. Therefore, the mass block 5 only responds to low-frequency, large-amplitude machine body swings or step-changing impacts. This ensures that the cleaning mechanism operates only under effective working conditions, avoiding excessively frequent operation of the cleaning mechanism due to high-frequency micro-vibrations, thereby reducing unnecessary wear and extending the service life of the cleaning mechanism.

[0032] Furthermore, the cleaning mechanism includes a cleaning cylinder 4, which is rotatably connected to the outside of the laser target cylinder 2. Multiple rotating plates 8 are provided near one end of the cleaning cylinder 4 close to the glass protective cover 201. Each rotating plate 8 has a cleaning brush 801 fixedly connected to its bottom. The rotating plates 8 are arranged in a ring around the center of the glass protective cover 201. Multiple fixed cylinders 7 are provided inside the cleaning cylinder 4 and are fixedly connected to it. A transmission rod 705 is provided inside the fixed cylinder 7, passing through and rotatably connected to it. A meshing element is provided between the transmission rod 705 and the rotating plates 8. A second gear 703 is fixedly connected to the outside of the transmission rod 705. An external gear ring 706 is fixedly connected to the outside of the laser target cylinder 2, and the external gear ring 706 meshes with the multiple second gears 703.

[0033] The meshing component includes a rotating shaft 902, which is fixedly connected to the bottom of one end of the rotating plate 8. Multiple vertical plates 903 are fixedly connected to the outside of the rotating shaft 902. A connecting cylinder 901 is fixedly connected to the top of the transmission rod 705. The rotating shaft 902 extends into the interior of the connecting cylinder 901 and is slidably connected to the connecting cylinder 901. A groove is provided inside the connecting cylinder 901, which is adapted to the vertical plates 903. A fixing frame 904 is fixedly connected to the bottom of the rotating plate 8. A rotating ring 905 is rotatably connected to the bottom of the fixing frame 904. A spring is fixedly connected between the rotating ring 905 and the connecting cylinder 901 to pull the rotating ring 905 down.

[0034] In practice, when the transmission mechanism drives the cleaning cylinder 4 to rotate, the cleaning cylinder 4 drives multiple fixed cylinders 7 to revolve around the glass protective cover 201 together. During the revolution of the fixed cylinders 7, the second gear 703 rotates synchronously under the meshing action with the external gear ring 706, thereby driving the transmission rod 705 fixedly connected to it to rotate. The transmission rod 705 slides with the vertical plate 903 on the outside of the rotating shaft 902 through the groove opened inside the connecting cylinder 901, realizing torque transmission and driving the rotating shaft 902 to drive the rotating plate 8 to rotate. At the same time, the spring pulls the rotating ring 905, so that the cleaning brush 801 at the bottom of the rotating plate 8 is in close contact with the surface of the glass protective cover 201. When the rotating plate 8 rotates, multiple rotating plates 8 simultaneously clean the surface of the glass protective cover 201. The cleaning cylinder 4 drives the fixed cylinder 7 to revolve, while the second gear 703 meshes with the external gear ring 706 to drive the transmission rod 705 to rotate, thereby driving the rotating plate 8 to rotate around its own axis. This causes the cleaning brush 801 to rotate on its own axis while revolving around the glass protective cover 201, forming a composite cleaning motion trajectory, which effectively improves the cleaning efficiency and coverage area of ​​the surface of the glass protective cover 201.

[0035] It should be noted that the distance from the end of each rotating plate 8 to the center of the rotating shaft 902 is less than the distance from the center of the rotating shaft 902 to the center of the glass protective cover 201, to avoid mutual interference between the multiple rotating plates 8 during rotation and cleaning. Simultaneously, for the center position of the glass protective cover 201, a centripetal bristle bundle made of soft rubber is added to the end of each rotating plate 8, extending into the central area in its natural state. When the bristles of multiple rotating plates 8 converge at the center during their revolution, the flexibility of the bristles causes them to elastically bend or avoid each other upon contact. After convergence, the bristles automatically rebound to their original position to continue cleaning. This solution eliminates the need for complex phase angle calculations, relying entirely on the physical properties of the materials to avoid hard collisions, thereby ensuring thorough cleaning of the surface of the glass protective cover 201. Furthermore, when the laser total station 3 performs scanning measurements, the rotating plates 8 are located outside the cleaning cylinder 4, preventing obstruction or interference with the laser transmission path.

[0036] In this embodiment, multiple nozzles 800 are fixedly connected to the outside of the rotating plate 8. The rotating plate 8 is connected to the rotating shaft 902, and a flexible hose is rotatably connected between the bottom end of the rotating shaft 902 and the transmission rod 705. A first reciprocating screw 702 is fixedly connected to the outside of the transmission rod 705. A pressing plate 704 is connected to the outside of the first reciprocating screw 702 through a ball nut pair. The pressing plate 704 is slidably connected inside the fixed cylinder 7. An airbag 701 is fixedly connected between the pressing plate 704 and the fixed cylinder 7. The airbag 701 is disposed inside the fixed cylinder 7. Both ends of the airbag 701 are fixedly connected to the pressing plate 704 and the fixed cylinder 7, respectively. The air outlet of the airbag 701 is rotatably and sealed to the internal airflow channel of the transmission rod 705 through a rotary joint to ensure that the air supply pipeline does not twist when the transmission rod rotates. A one-way air inlet valve is provided on the outside of the airbag 701.

[0037] In practice, when the transmission rod 705 rotates, it drives the first reciprocating screw 702 on its outer side to rotate synchronously. The first reciprocating screw 702 drives the extrusion plate 704 to move axially along the fixed cylinder 7 via the ball nut pair. When the extrusion plate 704 moves, it extrudes the airbag 701. The gas inside the airbag is sequentially transported to the interior of the rotating plate 8 through the internal channel of the transmission rod 705 and the hose, and is sprayed out by the nozzle 800 to purge the surface of the glass protective cover 201. A one-way air outlet valve is provided on the connection passage between the airbag 701 and the transmission rod 705 to ensure that the gas flows only in one direction towards the rotating plate 8. A one-way air inlet valve is located at the end of the airbag 701 near the rotating plate 8. The one-way air inlet valve communicates with the outside air through a connecting pipe through the fixed cylinder 7 and is used to replenish the outside air when the extrusion plate 704 resets.

[0038] Furthermore, the nozzle 800 is angled to the surface of the glass cover 201. During the cleaning process of the cleaning brush 801, the gas sprayed from the nozzle 800 pre-blows away the particles attached to the surface of the glass cover 201, and then the cleaning brush 801 performs contact cleaning. Through the synergistic effect of air blowing and brushing, the cleaning effect on the glass cover 201 is effectively improved.

[0039] The nozzle 800 is tilted at an angle to the surface of the glass cover 201, so that the ejected gas impacts the glass surface at an oblique angle. Under the same air pressure conditions, it can generate a greater tangential force, which is conducive to more efficiently peeling off and blowing away the dust, mud and other pollutants attached to the mirror surface from the mirror area, and avoiding the accumulation of pollutants in the center area of ​​the mirror caused by the airflow blowing directly.

[0040] Furthermore, the transmission mechanism includes a rack 601, which is fixedly connected to the bottom of the mass block 5. A rotating rod 603 is rotatably passed through the inside of the laser target cylinder 2. A first gear 602 is connected to the outside of the rotating rod 603 through a one-way bearing. The first gear 602 meshes with the rack 601. Both ends of the rotating rod 603 are fixedly connected to a winding reel 604. A fixed disk 605 is fixedly connected to the outside of the laser target cylinder 2. A fixed plate 608 is fixedly connected inside the fixed disk 605. A sliding block 606 is fixedly connected to one side of the cleaning cylinder 4. The sliding block 606 extends into the inside of the fixed disk 605 and is slidably connected to the fixed disk 605. A second spring 607 is fixedly connected between the sliding block 606 and the fixed plate 608. A traction steel wire 609 is fixedly wound around the outside of the winding reel 604. The traction steel wire 609 passes through the fixed disk 605 and is fixedly connected to the sliding block 606.

[0041] In practice, when the mass block 5 reciprocates due to vibration, the rack 601 at the bottom of the mass block 5 meshes with the first gear 602. The first gear 602 drives the rotating rod 603 to rotate unidirectionally via a one-way bearing. The rotating rod 603 drives the winding reel 604, which is fixedly connected to it, to rotate synchronously. The winding reel 604 winds up the traction steel wire 609 wound around its outer side. The traction steel wire 609 pulls the sliding block 606, causing the sliding block 606 to slide along the fixed plate 605. Since the sliding block 606 is fixedly connected to the cleaning cylinder 4, the sliding of the sliding block 606 drives the cleaning cylinder 4 to rotate synchronously, thereby driving the cleaning mechanism to operate.

[0042] When the mass block 5 resets or the vibration direction changes, the one-way bearing disengages the rotating rod 603 from the first gear 602. At the same time, after the traction force is released, the second spring 607 pulls the sliding block 606 to reset in the opposite direction, preparing for the next cleaning action.

[0043] It should be noted that the one-way bearing ensures that the cleaning cylinder 4 is driven to rotate only when the mass block 5 moves in one direction. When the mass block 5 moves in the opposite direction or resets, the rotating rod 603 disengages from the first gear 602, preventing the cleaning cylinder 4 from reciprocating and causing the cleaning actions to cancel each other out. Simultaneously, the reset force of the second spring 607 is set opposite to the tension of the traction wire 609, allowing the sliding block 606 to automatically reset after completing one cleaning stroke. This enables the cleaning mechanism to operate intermittently, avoiding excessive friction on the glass protective cover 201 caused by continuous operation.

[0044] In this embodiment, a fixing frame 906 is sleeved on the outside of the transmission rod 705. The fixing frame 906 is fixedly connected to the outside of the cleaning cylinder 4. An installation cylinder 907 is fixedly connected inside the fixing frame 906. A gear disk 908 is connected to the outside of the transmission rod 705 through a one-way bearing. A lifting member is provided inside the installation cylinder 907 to lift the rotating ring 905 when the rotating shaft 902 reverses.

[0045] The lifting component includes a second reciprocating screw 9071, which passes through the bottom of the mounting cylinder 907 and is rotatably connected to the mounting cylinder 907. A third gear 9072 is fixedly connected to the outside of the second reciprocating screw 9071 and meshes with a gear disc 908. A push plate 9073 is connected to the outside of the second reciprocating screw 9071 through a ball nut pair. A partition plate 9074 is fixedly connected inside the mounting cylinder 907. A lifting plate 9075 is provided on the top of the partition plate 9074. A push rod 9077 is fixedly connected to the top of the lifting plate 9075. The push rod 9077 passes through the mounting cylinder 907 and is slidably connected to the mounting cylinder 907. A top plate 9078 is fixedly connected to the top of the push rod 9077. Multiple flow grooves 9070 are opened through the partition plate 9074. Extrusion fluid is provided between the partition plate 9074 and the push plate 9073.

[0046] In practice, when the rotating plate 8 in the cleaning mechanism cleans the glass protective cover 201, if the cleaning cylinder 4 rotates in the reverse direction, the rotating plate 8 will also rotate in the reverse direction along with the transmission chain. At this time, if the cleaning brush 801 is still in contact with the glass protective cover 201, the dust that has been swept away during the reversal process can easily be crushed again and re-adhere to the glass surface.

[0047] Therefore, in this design, a gear disk 908 is connected to the outside of the transmission rod 705 via a one-way bearing. When the transmission rod 705 rotates in one direction, it is locked by the one-way bearing and drives the gear disk 908 to rotate synchronously. When the transmission rod 705 rotates in the other direction, the one-way bearing disengages from the transmission, and the gear disk 908 does not rotate with it. When the rotating plate 8 reverses, the gear disk 908 drives the third gear 9072 meshing with it to rotate, and the third gear 9072 drives the second reciprocating lead screw 9071 fixedly connected to it to rotate synchronously. The second reciprocating screw 9071 drives the push plate 9073 to rise axially via the ball nut pair. The push plate 9073 presses the extruded liquid above it into the space above the partition plate 9074 through the flow groove 9070 opened on the partition plate 9074, thereby pushing the lifting plate 9075 to rise. The lifting plate 9075 drives the push rod 9077 to rise synchronously. The push rod 9077 drives the top plate 9078 to rise so that it abuts against the bottom of the rotating ring 905. In turn, the rotating ring 905 drives the rotating plate 8 to rise, and the cleaning brush 801 disengages from the glass protective cover 201, thereby preventing the dust from being crushed and adhered again during the reversal process.

[0048] When the push plate 9073 descends, the flow groove 9070 on the partition plate 9074 is frustoconical, and its throttling characteristic slows down the downward flow of the extrusion fluid (such as hydraulic oil or silicone oil), thus causing the rotating plate 8 to slowly descend and reset. During the reversal process, the cleaning brush 801 remains out of contact with the glass protective cover 201. When the push plate 9073 rises again, the rotating plate 8 oscillates up and down, and in conjunction with its own rotational motion, it shakes off the dust and debris adhering to the cleaning brush 801, achieving self-cleaning of the cleaning brush 801.

[0049] In summary, the status of our organization at different stages of work is as follows: Forward cleaning stage: The transmission rod 705 rotates forward, driving the rotating plate 8 to rotate through the meshing parts. The cleaning brush 801 adheres to the surface of the glass protective cover 201 for cleaning under the action of spring preload. At the same time, the one-way bearing disengages the gear disk 908 from the transmission rod 705, and the lifting part does not move.

[0050] Reverse reset stage: The transmission rod 705 rotates in the reverse direction, the one-way bearing locks and drives the gear disk 908 to rotate, and through the third gear 9072, the second reciprocating screw 9071 and the extrusion fluid transmission, the top plate 9078 is driven to lift the rotating ring 905, so that the cleaning brush 801 is disengaged from the glass protective cover 201 to avoid reverse dust grinding.

[0051] Self-cleaning stage: During the repeated reciprocating motion of the cleaning cylinder 4, the rotating plate 8 generates periodic up-and-down fluctuations, which, together with its own rotation, shake off the dust attached to the cleaning brush 801, thus completing the self-cleaning process.

[0052] It should be noted that during the reversal and reset phase, since the cleaning brush 801 has detached from the surface of the glass cover 201, the main function of the air jet is to assist the cleaning brush 801 in dust removal by air blowing, rather than cleaning the glass. When the cleaning brush 801 slowly resets to fit the surface of the glass cover 201 under hydraulic delay, the air jet direction is exactly restored to a state of being tilted at an angle to the surface of the glass cover 201, thus achieving air-brush synergy.

[0053] The long-distance, steep-slope, full-face rock tunneling machine provided in this embodiment has the following advantages: 1. After the mass block moves, the transmission mechanism drives the cleaning mechanism to clean the surface of the glass protective cover, thereby ensuring that the laser total station can always clearly scan and identify the laser target through the glass protective cover, ensuring the continuity and accuracy of coordinate positioning. At the same time, the originally unfavorable tunneling vibration is transformed into the driving force of the cleaning mechanism, which not only solves the potential interference of vibration on measurement accuracy, but also transforms it into useful work that is conducive to maintaining measurement conditions, realizing the integration of the functions of "vibration control" and "self-cleaning".

[0054] 2. The cleaning cylinder drives the fixed cylinder to revolve, while the second gear meshes with the external gear ring to drive the transmission rod to rotate, which in turn drives the rotating plate to rotate around its own axis. This causes the cleaning brush to revolve around the glass cover while rotating on its own axis, forming a composite cleaning motion trajectory, which effectively improves the cleaning efficiency and coverage area of ​​the glass cover surface.

[0055] 3. The gas sprayed from the nozzle blows away the particles attached to the surface of the glass cover before the cleaning brush performs contact cleaning. Through the synergistic effect of air blowing and brushing, the cleaning effect on the glass cover is effectively improved.

[0056] 4. During the reversal process, the cleaning brush remains detached from the glass protective cover. When the push plate rises again, the rotating plate oscillates up and down, and in conjunction with its own rotational motion, it shakes off the dust and debris adhering to the cleaning brush, achieving self-cleaning of the cleaning brush.

[0057] Example 2: This embodiment provides a method for long-distance, steep-slope, full-face rock tunneling, employing a long-distance, steep-slope, full-face rock tunneling machine as described in Embodiment 1. This tunneling method follows a control logic of "synchronous and parallel propulsion tunneling and self-cleaning, with positioning and measurement performed periodically at intervals," and specifically includes the following steps: Step 1: The main body of the tunnel boring machine moves the shield 1 through the hydraulic cylinder, and the tunnel is excavated through the shield 1; Specifically, the tunneling machine body supplies oil to the cylinders through the hydraulic system. The piston rod of the cylinder extends and pushes the shield 1 forward. The cutter at the front end of the shield 1 crushes the rock, thereby realizing full-face rock tunneling construction. During the tunneling process, continuous and strong mechanical vibrations are generated.

[0058] Step 2: The mechanical vibration generated during the tunneling process of the shield body 1 is transmitted to the inside of the laser target cylinder 2. Under the action of vibration, the oscillation mechanism drives the mass block 5 to reciprocate along the axis of the laser target cylinder 2. This reciprocating motion is converted into the rotational motion of the cleaning mechanism through the transmission mechanism, so that the cleaning mechanism cleans the surface of the glass protective cover 201. Specifically, step two is completely parallel to step one in terms of timing, meaning the self-cleaning process is synchronized and continuous with the tunneling of shield 1, ensuring that the glass protective cover 201 remains transparent and clean throughout the entire tunneling process. Whenever shield 1 vibrates during tunneling, the mass block 5 continuously reciprocates under the excitation of vibration, and the cleaning mechanism continuously cleans the glass protective cover 201. Through this parallel mechanism, when the laser total station 3 performs positioning measurements, the glass protective cover 201 remains clean, avoiding signal interruption due to glass contamination.

[0059] Step 3: While shield 1 is in the process of tunneling, every time shield 1 advances forward to a preset distance, the laser total station 3 is activated to perform positioning measurements, thereby determining the accuracy of the position of shield 1 after it has moved. Specifically, the laser total station 3 emits a tracking laser, which passes through the continuously cleaned glass protective cover 201 and illuminates the laser target 202. The laser target 202 receives the laser signal and returns it to the laser total station 3, which calculates the current spatial pose data of the shield body 1. The calculated data is compared with the design axis, and if there is a deviation, the tunneling parameters are adjusted to correct the deviation. After the measurement and correction are completed, the process returns to steps one and two to enter the next tunneling cycle.

[0060] Step 3 is executed in an overlapping manner with Steps 1 and 2. Step 3 is triggered at preset distance intervals, and a positioning measurement is performed every time the shield 1 advances a preset distance.

[0061] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A long-distance, steep-slope inclined shaft full-face rock tunneling machine, comprising a shield body (1) and a tunneling machine body, characterized in that, Also includes: A laser total station (3) is fixed outside the main body of the tunneling machine and is used to emit tracking lasers and calculate the spatial pose data of the shield (1); A laser target cylinder (2) is fixedly mounted on the outside of the shield body (1). A glass protective cover (201) is fixedly connected to one end of the cylinder near the laser total station (3), and a partition (200) is fixedly connected inside the cylinder. A mass block (5) is provided on the side of the partition (200) away from the glass protective cover (201), and a laser target (202) is fixedly connected to the side near the glass protective cover (201). The laser target (202) is used to receive the tracking laser passing through the glass protective cover (201) and cooperate with the laser total station (3) for positioning. An oscillation mechanism is installed inside the laser target cylinder (2) to drive the mass block (5) to reciprocate along the axis of the laser target cylinder (2) under the vibration generated when the shield (1) is excavating; A cleaning mechanism is installed outside the laser target cylinder (2) and is used to clean the surface of the glass protective cover (201); A transmission mechanism is provided between the mass block (5) and the cleaning mechanism to convert the reciprocating motion of the mass block (5) into the rotational motion of the cleaning mechanism.

2. The long-distance, steep-slope inclined shaft full-face rock tunneling machine according to claim 1, characterized in that: The oscillation mechanism includes a connecting block (502), which is fixedly connected to the top of the mass block (5). A sliding rod (503) is fixedly connected between the end wall of the laser target cylinder (2) away from the glass protective cover (201) and the partition plate (200). The sliding rod (503) slides through the connecting block (502). Both ends of the mass block (5) are fixedly connected to a first spring (501). The ends of the two first springs (501) that are far apart from each other are fixedly connected to the laser target cylinder (2) and the partition plate (200) respectively, so that the mass block (5) is in the equilibrium position of the two first springs (501) when there is no vibration.

3. The long-distance, steep-slope inclined shaft full-face rock tunneling machine according to claim 2, characterized in that: The oscillation mechanism also includes multiple small balls (500), the mass block (5) is set as a cavity, and a non-Newtonian fluid is provided inside the mass block (5), and the multiple small balls (500) are disposed inside the mass block (5).

4. The long-distance, steep-slope inclined shaft full-face rock tunneling machine according to claim 1, characterized in that: The cleaning mechanism includes a cleaning cylinder (4), which is rotatably connected to the outside of the laser target cylinder (2). A plurality of rotating plates (8) are provided at one end of the cleaning cylinder (4) near the glass protective cover (201). A cleaning brush (801) is fixedly connected to the bottom of each of the rotating plates (8). The rotating plates (8) are arranged in a ring around the center of the glass protective cover (201). A plurality of fixed cylinders (7) are provided inside the cleaning cylinder (4). The fixed cylinders (7) are fixedly connected to the cleaning cylinder (4). A transmission rod (705) is provided inside the fixed cylinder (7). The transmission rod (705) passes through the fixed cylinder (7) and is rotatably connected to the fixed cylinder (7). A meshing part is provided between the transmission rod (705) and the rotating plate (8). A second gear (703) is fixedly connected to the outside of the transmission rod (705). An external gear ring (706) is fixedly connected to the outside of the laser target cylinder (2). The external gear ring (706) meshes with the plurality of second gears (703).

5. A long-distance, steep-slope inclined shaft full-face rock tunneling machine according to claim 4, characterized in that: The meshing component includes a rotating shaft (902), which is fixedly connected to the bottom of one end of the rotating plate (8), and multiple vertical plates (903) are fixedly connected to the outside of the rotating shaft (902). A connecting cylinder (901) is fixedly connected to the top of the transmission rod (705). The rotating shaft (902) extends into the inside of the connecting cylinder (901) and slides in connection with the connecting cylinder (901). A groove is provided inside the connecting cylinder (901), which is adapted to the vertical plates (903). A fixing frame (904) is fixedly connected to the bottom of the rotating plate (8). A rotating ring (905) is rotatably connected to the bottom of the fixing frame (904). A spring is fixedly connected between the rotating ring (905) and the connecting cylinder (901) for pulling the rotating ring (905) down.

6. A long-distance, steep-slope inclined shaft full-face rock tunneling machine according to claim 5, characterized in that: A fixing frame (906) is fitted on the outside of the transmission rod (705). The fixing frame (906) is fixedly connected to the outside of the cleaning cylinder (4). An installation cylinder (907) is fixedly connected inside the fixing frame (906). A gear disk (908) is connected to the outside of the transmission rod (705) through a one-way bearing. A lifting member is provided inside the installation cylinder (907) to lift the rotating ring (905) when the rotating shaft (902) reverses.

7. A long-distance, steep-slope, full-face rock tunneling machine according to claim 6, characterized in that: The lifting component includes a second reciprocating screw (9071), which passes through the bottom of the mounting cylinder (907) and is rotatably connected to the mounting cylinder (907). A third gear (9072) is fixedly connected to the outside of the second reciprocating screw (9071), and the third gear (9072) meshes with a gear disc (908). A push plate (9073) is connected to the outside of the second reciprocating screw (9071) through a ball nut pair. A partition plate (9073) is fixedly connected inside the mounting cylinder (907). 074), the top of the partition plate (9074) is provided with a lifting plate (9075), the top of the lifting plate (9075) is fixedly connected with a push rod (9077), the push rod (9077) passes through the mounting cylinder (907) and is slidably connected to the mounting cylinder (907), the top of the push rod (9077) is fixedly connected with a top plate (9078), the partition plate (9074) is provided with multiple flow grooves (9070), and the partition plate (9074) and the push plate (9073) are provided with extrusion fluid.

8. A long-distance, steep-slope, full-face rock tunneling machine according to claim 7, characterized in that: Multiple nozzles (800) are fixedly connected to the outside of the rotating plate (8). The rotating plate (8) is connected to the rotating shaft (902), and a flexible hose is rotatably connected between the bottom end of the rotating shaft (902) and the transmission rod (705). A first reciprocating screw (702) is fixedly connected to the outside of the transmission rod (705). A pressing plate (704) is connected to the outside of the first reciprocating screw (702) through a ball nut pair. The pressing plate (704) is slidably connected inside the fixed cylinder (7). An airbag (701) is fixedly connected between the pressing plate (704) and the fixed cylinder (7). One end of the airbag (701) is fixedly connected to the transmission rod (705), and a one-way air inlet valve is provided on the outside of the airbag (701).

9. A long-distance, steep-slope, full-face rock tunneling machine according to claim 4, characterized in that: The transmission mechanism includes a rack (601), which is fixedly connected to the bottom of the mass block (5). A rotating rod (603) is rotatably passed through the inside of the laser target cylinder (2). A first gear (602) is connected to the outside of the rotating rod (603) through a one-way bearing. The first gear (602) meshes with the rack (601). Both ends of the rotating rod (603) are fixedly connected to a winding reel (604). A fixed disk (605) is fixedly connected to the outside of the laser target cylinder (2). 5) An internal fixed plate (608) is fixedly connected. A sliding block (606) is fixedly connected to one side of the cleaning cylinder (4). The sliding block (606) extends into the fixed plate (605) and is slidably connected to the fixed plate (605). A second spring (607) is fixedly connected between the sliding block (606) and the fixed plate (608). A traction steel wire (609) is fixedly wound around the outside of the winding reel (604). The traction steel wire (609) passes through the fixed plate (605) and is fixedly connected to the sliding block (606).

10. A method for long-distance, steep-slope, full-face rock tunneling in inclined shafts, employing a long-distance, steep-slope, full-face rock tunneling machine as described in any one of claims 1 to 9, characterized in that: The tunneling method includes the following steps: Step 1: The main body of the tunnel boring machine moves the shield (1) through the hydraulic cylinder and excavates the tunnel through the shield (1); Step 2: The mechanical vibration generated during the tunneling process of the shield body (1) is transmitted to the inside of the laser target cylinder (2). Under the action of vibration, the oscillation mechanism drives the mass block (5) to reciprocate along the axis of the laser target cylinder (2). This reciprocating motion is converted into the rotational motion of the cleaning mechanism through the transmission mechanism, so that the cleaning mechanism cleans the surface of the glass protective cover (201). Step 3: While the shield (1) is in the process of tunneling, whenever the shield (1) advances forward to a preset distance, the laser total station (3) is activated to perform positioning measurement, thereby determining the accuracy of the position of the shield (1) after it moves.

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