Rock breaking device and method with ultrasonic vibration excitation and TBM

Abstract

This invention provides a rock-breaking device and method combining ultrasonic vibration excitation and TBM (Tunnel Boring Machine) technology, relating to the field of hard rock tunneling. It includes: a cutterhead frame, a main shaft, and a cutting cutterhead connected to the main shaft and located inside the cutterhead frame. The cutting cutterhead includes multiple spokes connected to the main shaft, distributed circumferentially around the central axis of the cutterhead frame. Each spoke has several roller cutters arranged along its length. An excitation cutterhead is disposed inside the cutterhead frame, and the main shaft passes through the excitation cutterhead. Multiple sets of ultrasonic vibration components are disposed inside the excitation cutterhead. A detection and drive component is disposed between the excitation cutterhead and the main shaft. The detection and drive component detects the spoke positions, drives the ultrasonic vibration components to retract and avoid them based on the spoke positions, and drives them to extend after the retraction is completed. This invention has a reasonable structure, effectively reducing TBM roller cutter wear, improving rock-breaking efficiency under hard rock conditions, and achieving safe and efficient TBM tunneling.

Description

Technical Field

[0001] This invention relates to the field of hard rock tunneling technology, specifically to a rock-breaking device and method combining ultrasonic vibration excitation and TBM. Background Technology

[0002] Rock breaking technology refers to the use of a power source to act on the rock mass, causing the rock to be compressed, deformed, broken or loosened, thereby realizing the rock fragmentation. It is applied in fields such as mineral resource mining, building construction, and tunnel excavation.

[0003] In existing technologies, when full-face tunnel boring machines (TBMs) operate in hard rock formations, especially high-strength hard rock, they primarily rely on the rotating cutterhead on the cutterhead frame to crush the rock through compression and shearing. This leads to rapid cutter wear, frequent cutter replacements, and reduced tunneling efficiency. Cutter wear not only directly increases construction costs, but the frequent cutterhead replacements are also extremely time-consuming and can easily cause significant engineering risks such as face instability and tunnel collapse. There is an urgent need for a rock-breaking device that combines ultrasonic vibration excitation with TBM technology to address these problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a rock-breaking device and method that combines ultrasonic vibration excitation with TBM (Tunnel Boring Machine) to solve the problems mentioned in the background. The present invention has a reasonable structure and can effectively reduce TBM cutter wear, improve rock-breaking efficiency under hard rock conditions, and achieve safe and efficient TBM tunneling.

[0005] To achieve the above objectives, the present invention provides a rock-breaking device combining ultrasonic vibration excitation and TBM (Toyota Microwave Oven), comprising:

[0006] The tool holder, the main shaft, and the cutting tool head are provided, wherein the main shaft is rotatably mounted on the tool holder, and the cutting tool head is connected to the main shaft and located inside the tool holder;

[0007] The cutting disc includes multiple spokes connected to the main shaft. The multiple spokes are distributed circumferentially around the central axis of the disc holder, and each spoke is provided with several hobbing cutters along its length.

[0008] The tool holder is equipped with an excitation tool disc, and the spindle passes through the excitation tool disc.

[0009] The excitation cutter head is equipped with multiple sets of ultrasonic vibration components. A detection and drive component is provided between the excitation cutter head and the main shaft. The detection and drive component is used to detect the spoke position, drive the ultrasonic vibration component to retract and avoid it according to the spoke position, and drive it to extend after the avoidance is completed.

[0010] Furthermore, a connecting disk is provided on the main shaft, and multiple spokes are connected to the side wall of the connecting disk, with gaps formed between adjacent spokes, and the main shaft and the excitation cutter head do not contact each other.

[0011] Furthermore, the excitation cutter head includes a first annular plate and a second annular plate spaced apart inside the cutter head holder, the first annular plate being located between the second annular plate and the cutting cutter head, and a plurality of connecting posts being provided between the first annular plate and the second annular plate;

[0012] On the end faces of the first annular plate and the second annular plate that are opposite to each other, a plurality of through slots are respectively opened at corresponding positions. A guide plate is provided between the first annular plate and the second annular plate, and a guide groove is provided inside the through slot. The guide plate has a through slot on its side wall that is connected to the through slot.

[0013] Furthermore, multiple sets of the ultrasonic vibration components are distributed circumferentially around the central axis of the cutter head holder;

[0014] The ultrasonic vibration assembly includes a transducer disposed inside the first annular plate, an amplitude transformer is disposed on the transducer, and an ultrasonic vibration drill bit extending between adjacent spokes is disposed on the amplitude transformer.

[0015] The second annular plate is provided with multiple ultrasonic generators, each of which corresponds to one of the multiple sets of ultrasonic vibration components. The output end of one ultrasonic generator is electrically connected to the transducer in one set of ultrasonic vibration components.

[0016] Furthermore, the detection drive assembly includes multiple sets of hydraulic cylinders disposed on the second annular plate near the end of the first annular plate and respectively connected to multiple sets of ultrasonic vibration components. Each set of hydraulic cylinders corresponds one-to-one with each set of ultrasonic vibration components. The main shaft is provided with a coaxial gear located between the first annular plate and the cutting disc. The coaxial gear is provided with multiple transmission gears corresponding to the multiple sets of hydraulic cylinders. Each of the multiple transmission gears is provided with a coordinator connected to the end of the first annular plate. A transmission shaft connected to the transmission gear is rotatably disposed on the coordinator. Hydraulic delivery pipes are provided on the side walls of the multiple coordinators. The end of the first annular plate near the second annular plate is provided with multiple sealed chambers respectively connected to the multiple hydraulic delivery pipes. Each of the multiple sealed chambers corresponds one-to-one with the multiple sets of hydraulic cylinders. A hydraulic guide pipe is provided between one of the sealed chambers and one of the corresponding sets of hydraulic cylinders.

[0017] The coordinator is configured such that, when the number of rotations of the transmission gear with the coaxial gear reaches a preset number of rotations corresponding to the spoke's position to be avoided, it squeezes the hydraulic oil in the hydraulic delivery pipe to flow through the sealed chamber and the hydraulic guide pipe to a corresponding set of hydraulic cylinders, thereby driving the set of hydraulic cylinders to retract the corresponding set of ultrasonic vibration components to avoid the spoke. When the number of rotations of the transmission gear with the coaxial gear deviates from the preset number of rotations, the coordinator releases the squeezing of the hydraulic oil in the hydraulic delivery pipe, and the set of hydraulic cylinders drives the corresponding set of ultrasonic vibration components to extend and reset.

[0018] Furthermore, the coordinator includes a mounting base disposed at one end of the first annular plate near the cutting disc. A rotating shaft connected to the drive shaft is rotatably disposed inside the mounting base. An annular pressure plate is disposed on the side wall of the rotating shaft. An annular limiting groove is formed on the side wall of the annular pressure plate. A protrusion is disposed on the inner wall of the annular limiting groove. A guide seat is disposed inside the mounting base. A pressing piston is disposed inside the guide seat. A steel ball located inside the annular limiting groove is disposed on the top of the pressing piston. A hydraulic delivery pipe is disposed at the bottom of the guide seat and communicates with the guide seat. Hydraulic oil is placed inside the guide seat.

[0019] Furthermore, each group of hydraulic cylinders includes multiple hydraulic cylinders, each group of ultrasonic vibration components includes multiple ultrasonic vibration components, the multiple hydraulic cylinders correspond one-to-one with the multiple ultrasonic vibration components, and the telescopic end of one hydraulic cylinder is connected to one ultrasonic vibration component.

[0020] The hydraulic cylinder is a single-acting hydraulic cylinder;

[0021] The hydraulic cylinder includes a cylinder body disposed at one end of the second annular plate near the first annular plate. A guide piston is disposed inside the cylinder body. A piston rod is disposed on the guide piston, one end of which protrudes from the cylinder body and is connected to the ultrasonic vibration component. A return spring is disposed between the end of the guide piston away from the piston rod and the inner wall of the cylinder body. The hydraulic guide pipe is connected to the cylinder body.

[0022] The hydraulic guide pipe is used to deliver hydraulic oil to the inside of the cylinder body to push the guide piston to squeeze the reset spring and retract the ultrasonic vibration component.

[0023] Furthermore, the inner wall of the cutter head holder is provided with a connecting component that is rotatably connected to the excitation cutter head, the inside of the cutter head holder is provided with a stop component for stopping the excitation cutter head, and the inside of the excitation cutter head is provided with a follower connection component for connecting to the spindle.

[0024] The connecting assembly includes an annular limiting plate disposed on the inner wall of the cutter head holder and located between the first annular plate and the cutting cutter head. An annular embedding groove is provided at one end of the annular limiting plate near the first annular plate. A connecting bearing is disposed inside the annular embedding groove. An annular connecting plate is disposed on the inner wall of the connecting bearing and is located inside the annular embedding groove and connected to the first annular plate.

[0025] The stop assembly includes a hollow hydraulic cylinder disposed inside the cutter head holder. The main shaft passes through the interior of the hollow hydraulic cylinder. Multiple fixing columns are disposed between the hollow hydraulic cylinder and the inner wall of the cutter head holder. A stop ring that fits against the second annular plate is disposed on the telescopic shaft of the hollow hydraulic cylinder. A connecting groove that communicates with the through groove is opened on the side of the stop ring away from the second annular plate.

[0026] The follower connection assembly includes a fixing plate disposed between the first annular plate and the second annular plate. A pressing electric push rod is disposed on the side of the fixing plate away from the main shaft. An arc-shaped plate is disposed on the telescopic shaft of the pressing electric push rod. An annular groove matching the arc-shaped plate is opened at the position corresponding to the arc-shaped plate on the side wall of the main shaft.

[0027] A method for rock breaking using a rock breaking device combining ultrasonic vibration excitation and TBM (Total Microwave Oxide) includes the following steps:

[0028] Step A: The main shaft drives the cutting disc to rotate and break the rock. The rotation of the main shaft drives the coaxial gear in the detection drive assembly to rotate and drive the transmission gear to rotate. The transmission gear drives the coordinator to move in sync.

[0029] Step B: The coordinator in the drive assembly extends the hydraulic cylinder, and the ultrasonic vibration drill bit in the ultrasonic vibration assembly adheres to the rock wall.

[0030] Step C: Activate the ultrasonic vibration component, causing microcracks to appear in the rock wall;

[0031] Step D: The coordinator detects that the rotating spokes in the cutting disc are approaching the corresponding ultrasonic vibration component, and triggers the corresponding hydraulic cylinder to drive the ultrasonic vibration component to avoid the spokes.

[0032] Step E: The coordinator detects that the rotating spokes in the cutting disc are moving away from the corresponding ultrasonic vibration component, and releases the corresponding hydraulic cylinder to drive the ultrasonic vibration component to avoid the spokes.

[0033] In step F, the cutting disc rotates with the main shaft, which drives the coaxial gear to rotate the transmission gear. Steps D-E are repeated to break the rock wall.

[0034] Furthermore, the step D, which involves triggering the corresponding hydraulic cylinder to drive the ultrasonic vibration assembly to avoid the spokes, includes the following steps:

[0035] Step D1: When the number of rotations of the transmission gear and the coaxial gear reaches the preset number of rotations corresponding to the position to be avoided by the spokes, the annular pressure plate in the coordinator rotates with the transmission gear. The protrusion on the annular pressure plate presses the steel ball, and the steel ball drives the pressing piston to squeeze the hydraulic oil inside the guide seat along the guide seat and into the hydraulic delivery pipe, thus squeezing the hydraulic pressure inside the hydraulic delivery pipe.

[0036] In step D2, the hydraulic oil in the hydraulic delivery pipe flows through the sealed chamber and the hydraulic guide pipe to a corresponding set of hydraulic cylinders, thereby driving the set of hydraulic cylinders to retract the corresponding set of ultrasonic vibration components to avoid the spokes.

[0037] Step E, which involves releasing the corresponding hydraulic cylinder-driven ultrasonic vibration assembly to avoid the spokes, includes the following steps:

[0038] In step E1, when the number of rotations of the transmission gear and the coaxial gear deviates from the preset number of rotations, the annular pressure plate in the coordinator continues to rotate with the transmission gear. The annular pressure plate in the coordinator causes the protrusion to detach from the steel ball, loses pressure on the pressing piston, and the coordinator releases the pressure on the hydraulic oil inside the hydraulic delivery pipe.

[0039] In step E2, the hydraulic cylinders corresponding to the hydraulic delivery pipe, driven by the return spring, extend and reset the corresponding ultrasonic vibration components. The hydraulic oil in the hydraulic cylinders flows back to the hydraulic delivery pipe and the guide seat. The hydraulic oil lifts the pressing piston and drives the steel ball back to the initial position.

[0040] Beneficial effects:

[0041] This invention utilizes a rotating cutterhead to break rock walls. During the rotation of the cutterhead's spokes, a detection and drive component detects the spoke positions and drives corresponding ultrasonic vibration components to retract and avoid them. After retraction, the corresponding ultrasonic vibration components extend and contact the rock wall, creating micro-cracks. This facilitates the cutting rollers on the cutterhead's spokes to break the rock, effectively reducing cutter wear. While the cutterhead drives the rollers to rotate, the detection and drive component simultaneously drives the ultrasonic vibration components to retract and re-extend the spokes to contact the rock wall. This allows the ultrasonic vibration components to break rock without stopping the cutterhead, improving rock-breaking efficiency in hard rock conditions and enabling safe and efficient TBM tunneling. It eliminates the need for frequent cutter replacements, reducing major engineering risks such as face instability and tunnel collapse caused by cutter changes.

[0042] The hollow hydraulic cylinder in the stop assembly operates to cause the stop ring to engage with the second annular plate for a stop. When the positions of multiple ultrasonic vibration components need to be adjusted, the hollow hydraulic cylinder operates to cause the stop ring to separate from the second annular plate. The electric push rod in the follower connection assembly operates to cause the arc plate to engage tightly with the annular groove on the side wall of the main shaft. The rotation of the main shaft, under the action of the tight engagement between the arc plate and the annular groove, applies force to the excitation cutter head. The excitation cutter head rotates under the action of the connecting bearing, the annular connecting plate, and the annular limiting plate, causing the positions of multiple ultrasonic vibration components inside the excitation cutter head to change, thus completing the adjustment of the positions of multiple ultrasonic vibration components. When the adjustment is to the appropriate position, the electric push rod operates to cause the arc plate to separate from the annular groove on the side wall of the main shaft, and the hollow hydraulic cylinder operates to cause the stop ring to engage with the second annular plate for a stop, thus stopping the adjusted position. Attached Figure Description

[0043] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 This is a perspective view of a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0045] Figure 2 This is a cross-sectional perspective view of a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0046] Figure 3 This is a partial perspective view of a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0047] Figure 4 A partial perspective view of a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0048] Figure 5 A perspective view of a stop component in a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0049] Figure 6 A cross-sectional perspective view of a stop component in a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0050] Figure 7 This is a perspective view of the connection between the connecting component and the excitation cutter head in a rock breaking device that combines ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0051] Figure 8This is a perspective view of the connection between the connecting component and the excitation cutter head in a rock breaking device that combines ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0052] Figure 9 This is a perspective view of the connection between the transmission gear and the coordinator in a rock-breaking device that combines ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0053] Figure 10 A perspective view of a hydraulic cylinder in a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention.

[0054] Figure 11 This is a side view of the ultrasonic vibration component in a rock-breaking device combining ultrasonic vibration excitation and TBM according to an embodiment of the present invention, when it comes into contact with the rock wall.

[0055] The components include: 1. Cutter head holder; 2. Cutting cutter head; 21. Connecting disc; 22. Spokes; 23. Hob; 24. Clearance; 3. Ultrasonic vibration assembly; 31. Ultrasonic vibrating drill bit; 32. Amplitude rod; 33. Transducer; 34. Ultrasonic generator; 4. Detection and drive assembly; 41. Coaxial gear; 42. Transmission gear; 421. Transmission shaft; 43. Hydraulic conveying pipe; 44. Coordinator; 441. Mounting base; 442. Annular pressure plate; 4421. Protrusion; 443. Rotating shaft; 444. Steel ball; 445. Pressing piston; 446. Guide seat; 45. Sealed chamber; 46. Hydraulic cylinder; 461. Oil. 462. Cylinder body; 463. Guide piston; 464. Return spring; 465. Piston rod; 47. Hydraulic guide pipe; 5. Connecting assembly; 51. Annular connecting plate; 52. Connecting bearing; 53. Annular limiting plate; 6. Excitation cutter head; 61. First annular plate; 611. Through groove; 62. Guide plate; 621. Guide groove; 63. Connecting column; 64. Second annular plate; 7. Stop assembly; 71. Fixed column; 72. Hollow hydraulic cylinder; 73. Stop ring; 731. Connecting groove; 8. Main shaft; 9. Follower connecting assembly; 91. Pressing electric push rod; 92. Fixed plate; 93. Arc plate; 94. Annular groove.

[0056] The accompanying drawings are provided to further understand the embodiments and form part of the specification. They are used together with the embodiments for explanation and do not constitute a limitation on the embodiments. Detailed Implementation

[0057] The technical solutions in 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, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection.

[0058] In the description of the embodiments, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments.

[0059] like Figure 1 As shown, an embodiment of the present invention provides a rock-breaking device combining ultrasonic vibration excitation and TBM, comprising:

[0060] The cutter head holder 1, the main shaft 8, and the cutting cutter head 2 are rotatably mounted on the cutter head holder 1, and the cutting cutter head 2 is connected to the main shaft 8 and located inside the cutter head holder 1.

[0061] The cutting disc 2 includes multiple spokes 22 connected to the main shaft 8. The multiple spokes 22 are distributed circumferentially around the central axis of the disc holder 1. Each spoke 22 is provided with several hobs 23 along its length.

[0062] The tool holder 1 is equipped with an excitation tool holder 6, and the spindle 8 passes through the excitation tool holder 6;

[0063] The excitation cutter head 6 is internally equipped with multiple sets of ultrasonic vibration components 3. A detection and drive component 4 is located between the excitation cutter head 6 and the main shaft 8. The detection and drive component 4 is used to detect the position of the spokes 22, and drives the ultrasonic vibration components 3 to retract and avoid them according to the position of the spokes 22, and then drives them to extend after the avoidance is completed. This design uses the rotating cutting cutter head 2 to break the rock wall. During the rotation of the cutting cutter head 2, the position of the spokes 22 is detected by the detection and drive component 4. According to the position of the spokes 22, the corresponding ultrasonic vibration components 3 are driven to retract and avoid them. After the avoidance is completed, the corresponding ultrasonic vibration components 3 are driven to extend. The extended ultrasonic vibration components 3 contact the rock wall, and the rock wall generates microcracks. This facilitates the cutting cutters 23 on the spokes 22 of the cutting cutter head 2 to break the rock wall with microcracks, which can effectively reduce the wear of the TBM's cutting cutters 23. While the excitation cutter head 6 drives the cutting cutters 23 to rotate, the detection and drive component 4 can drive the ultrasonic vibration components 23 to extend. The ultrasonic vibration component 3 avoids and retracts the spokes 22 on the excitation cutterhead 6 before extending and resetting to contact the rock wall. This allows the ultrasonic vibration component 3 to contact the rock wall and break the rock without stopping the excitation cutterhead 6, improving the rock breaking efficiency under hard rock conditions and enabling safe and efficient tunneling of the TBM. It also eliminates the need for frequent opening of the cutter head to replace the cutter rollers 23, reducing major engineering risks such as excavation face instability and tunnel collapse caused by cutter replacement. The pressure applied by the rotation of the spokes 22 causes the cutter rollers 23 to crush the rock surface, achieving brittle rock breaking. The cutter ring of the cutter rollers 23 is made of cemented carbide and is connected to the spokes 22 through the cutter shaft and high-hardness bearings, enabling it to withstand high pressure and impact loads.

[0064] Reference Figure 1 and Figure 2 A connecting disc 21 is provided on the main shaft 8, and multiple spokes 22 are connected to the side wall of the connecting disc 21. A gap 24 is formed between adjacent spokes 22, and the main shaft 8 and the excitation cutter head 6 do not contact each other. This design facilitates the connection between the cutting cutter head 2 and the main shaft 8 through the connection of the connecting disc 21 and the spokes 22. The gap 24 facilitates the extension of the ultrasonic vibration component 3 to contact the rock wall, causing micro-cracks to be generated in the rock wall. The connecting disc 21 is connected to the end of the main shaft 8. The main shaft 8 and the excitation cutter head 6 do not contact each other to prevent the excitation cutter head 6 from rotating with the main shaft 8.

[0065] Reference Figure 2 , Figure 6 and Figure 7 The excitation cutter head 6 includes a first annular plate 61 and a second annular plate 64 spaced apart inside the cutter head holder 1. The first annular plate 61 is located between the second annular plate 64 and the cutting cutter head 2. A plurality of connecting posts 63 are provided between the first annular plate 61 and the second annular plate 64.

[0066] On the opposite end faces of the first annular plate 61 and the second annular plate 64, multiple through slots 611 are respectively formed at corresponding positions. A guide plate 62 is provided between the first annular plate 61 and the second annular plate 64, located inside the through slot 611. The side wall of the guide plate 62 has a through guide groove 621 that is connected to the through slot 611. This design facilitates the flow of rock from the rock-breaking process by exciting the cutter head 6 through the through slots 611 and the guide grooves 621.

[0067] Reference Figure 1 , Figure 2 , Figure 3 and Figure 11 Multiple sets of ultrasonic vibration components 3 are distributed circumferentially around the central axis of the cutter head frame 1;

[0068] The ultrasonic vibration assembly 3 includes a transducer 33 disposed inside the first annular plate 61, an amplitude transformer 32 disposed on the transducer 33, and an ultrasonic vibration drill bit 31 extending between adjacent spokes 22 disposed on the amplitude transformer 32.

[0069] Multiple ultrasonic generators 34 are installed on the second annular plate 64, each corresponding to one of multiple sets of ultrasonic vibration components 3. The output of one ultrasonic generator 34 is electrically connected to a transducer 33 in one set of ultrasonic vibration components 3. This design utilizes the ultrasonic generators 34, transducers 33, and amplitude transformers 32. The ultrasonic vibration drill bit 31 transmits high-frequency vibration energy to the rock wall, inducing dense microcracks in the rock, reducing rock breaking resistance, and effectively reducing the wear of the TBM's cutter head 23 and improving rock breaking efficiency under hard rock conditions. The weakening effect of the ultrasonic vibration drill bit 31 on the rock wall is shown in the following formula: In the formula, R is the weakening radius of the rock wall by the ultrasonic vibration drill bit 31 under ultrasonic vibration, in meters; K1 is an empirical coefficient, taken as 1.2. P is Poisson's ratio; A is the power of the ultrasonic vibrating drill bit (kW); F is the applied static load (MPa); t is the vibration time (s); and c is the cohesion of the hard rock wall (MPa). In the formula, D is the weakening depth of the rock wall by the ultrasonic vibration drill bit 31 under ultrasonic vibration, in meters; K2 is an empirical coefficient, taken as 0.8. P is Poisson's ratio; A is the power of the ultrasonic vibrating drill bit (kW); t is the vibration time (s); and c is the cohesion of the hard rock wall (MPa). The normal stress acting on the shear plane is expressed in MPa. It is the internal friction angle.

[0070] When Poisson's ratio is 0.25, the power of ultrasonic vibrating drill bit 31 is 50kW, the amplitude is 0.1mm, the applied static load is 10MPa, the vibration time is 1500s, the cohesion of the hard rock wall is 10MPa, the normal stress acting on the shear surface is 5MPa, and the internal friction angle is 30°, the weakening radius of the ultrasonic vibrating drill bit 31 on the rock wall under ultrasonic vibration is 2.62m, and the weakening depth is 1.34m.

[0071] Reference Figure 2 and Figure 3 The detection drive assembly 4 includes multiple sets of hydraulic cylinders 46 disposed on the end of the second annular plate 64 near the end of the first annular plate 61 and respectively connected to multiple sets of ultrasonic vibration assemblies 3. Each set of hydraulic cylinders 46 corresponds to each set of ultrasonic vibration assemblies 3. The main shaft 8 is provided with a coaxial gear 41 located between the first annular plate 61 and the cutting disc 2. The coaxial gear 41 is provided with multiple transmission gears 42 corresponding to the multiple sets of hydraulic cylinders 46. Each of the multiple transmission gears 42 is provided with a coordinator 44 connected to the end of the first annular plate 61. A transmission shaft 421 connected to the transmission gear 42 is rotatably disposed on the coordinator 44. Each of the multiple coordinators 44 is provided with a hydraulic delivery pipe 43 on its sidewall. The end of the first annular plate 61 near the end of the second annular plate 64 is provided with multiple sealed chambers 45 respectively connected to multiple hydraulic delivery pipes 43. Each of the multiple sealed chambers 45 corresponds to multiple sets of hydraulic cylinders 46. A hydraulic guide pipe 47 is provided between one of the sealed chambers 45 and one of the corresponding sets of hydraulic cylinders 46.

[0072] The coordinator 44 is configured such that when the number of rotations of the transmission gear 42 with the coaxial gear 41 reaches a preset number of rotations corresponding to the position to be avoided by the spoke 22, the hydraulic oil in the hydraulic delivery pipe 43 is squeezed and flows through the sealed chamber 45 and the hydraulic guide pipe 47 to a corresponding set of hydraulic cylinders 46, so as to drive the set of hydraulic cylinders 46 to drive the corresponding set of ultrasonic vibration components 3 to retract, so as to avoid the spoke 22. When the number of rotations of the transmission gear 42 with the coaxial gear 41 is far from the preset number of rotations, the coordinator 44 releases the squeezing of the hydraulic oil in the hydraulic delivery pipe 43, and the set of hydraulic cylinders 46 drives the corresponding set of ultrasonic vibration components 3 to extend and reset. The design uses the main shaft 8 to drive the coaxial gear 41 and the cutting disc 2 to rotate. The cutting disc 2 contacts the rock wall and breaks the rock. At the same time, the coaxial gear 41 drives multiple transmission gears 42 corresponding to multiple sets of hydraulic cylinders 46. The rotation of multiple transmission gears 42 drives multiple corresponding coordinators 44 to operate. When the number of rotations of the transmission gears 42 with the coaxial gear 41 reaches the preset number of rotations corresponding to the position where the spokes 22 need to be avoided, the corresponding coordinator 44 squeezes the hydraulic oil inside the corresponding hydraulic delivery pipe 43. The squeezed hydraulic oil in the hydraulic delivery pipe 43 flows through the sealed chamber 45 and the hydraulic guide pipe 47 to the corresponding set of hydraulic cylinders 46, driving the set of hydraulic cylinders 46 to drive the corresponding set of ultrasonic vibration components 3 to retract, so as to avoid the spokes 22. When the transmission gears 42 rotate with the coaxial gear 41, the corresponding set of ultrasonic vibration components 3 retracts, thus avoiding the spokes 22. When the number of rotations of the coaxial gear 41 deviates from the preset number of rotations, the corresponding coordinator 44 releases the pressure on the hydraulic oil in the hydraulic delivery pipe 43. The corresponding set of hydraulic cylinders 46 drives the corresponding set of ultrasonic vibration components 3 to extend and reset. The ultrasonic vibration components 3 extend and contact the rock wall, causing micro-cracks in the rock wall. This facilitates the cutting cutter 23 on the spokes 22 of the cutting disc 2 to break the rock with micro-cracks, effectively reducing the wear of the TBM's cutting cutter 23. While the excitation disc 6 drives the cutting cutter 23 on it to rotate, the detection drive component 4 can drive the ultrasonic vibration components 3 to avoid and retract the spokes 22 on the excitation disc 6 before extending and resetting to contact the rock wall. This allows the ultrasonic vibration components 3 to contact the rock wall and break the rock without stopping the excitation disc 6, improving the rock breaking efficiency under hard rock conditions.

[0073] Reference Figure 2 , Figure 8 and Figure 9The coordinator 44 includes a mounting base 441 disposed at one end of the first annular plate 61 near the cutting disc 2. A rotating shaft 443 connected to the drive shaft 421 is rotatably disposed inside the mounting base 441. An annular pressure plate 442 is disposed on the side wall of the rotating shaft 443. An annular limiting groove is opened on the side wall of the annular pressure plate 442. A protrusion 4421 is disposed on the inner wall of the annular limiting groove. A guide seat 446 is disposed inside the mounting base 441. A pressing piston 445 is disposed inside the guide seat 446. A steel ball 444 located inside the annular limiting groove is disposed on the top of the pressing piston 445. A hydraulic delivery pipe 43 is disposed at the bottom of the guide seat 446 and communicates with the guide seat 446. Hydraulic oil is placed inside the guide seat 446. The design connects the coordinator 44 to the drive shaft 421 via the rotating shaft 443 in the coordinator 44. The rotation of the drive gear 42 drives the annular pressure plate 442 on the rotating shaft 443 to rotate. The rotation of the annular pressure plate 442 drives the protrusion 4421 to rotate and press the steel ball 444. The steel ball 444 presses the pressing piston 445. The pressing piston 445 pushes the hydraulic oil inside the guide seat 446 into the hydraulic delivery pipe 43, squeezing the hydraulic oil inside the hydraulic delivery pipe 43. The hydraulic oil flows sequentially through the corresponding sealed chamber 45 and the hydraulic guide pipe 47 into the hydraulic cylinder 46, driving the hydraulic cylinder 46 to drive the ultrasonic vibration component 3 on it to retract and avoid the spokes 22. Preferably, there are four spokes 22, which are made of high-strength wear-resistant steel. The connecting plate 21 is fixedly connected to the spokes 22. There is no closed panel at the connection between the connecting plate 21 and the spokes 22. The coaxial gear 41 is rigidly fixed to the main shaft 8 and meshes with the drive gear 42. The pitch circle diameter ratio between the cutting disc 42 and the transmission gear 42 is N:1, where N represents the same number as the spokes 22. When the cutting disc 2 rotates with the main shaft 8 to break rock, the coaxial gear 41 and the cutting disc 2 rotate synchronously at the same speed and with zero phase difference. After being accelerated by the coaxial gear 41, the transmission gear 42 and the coaxially mounted transmission shaft 421, rotating shaft 443 and annular pressure plate 442 rotate at four times the speed of the main shaft 8. When the cutting disc 2 rotates once, the four spokes 22 pass in front of the ultrasonic vibration drill bit 31 in each group of ultrasonic vibration components 3 in sequence. The corresponding protrusion 4421 completes exactly four rotations. A single protrusion 4421 triggers four avoidance actions in sequence. Each trigger precisely corresponds to the approach time of a spoke 22, ensuring that the avoidance sequence is strictly synchronized with the position of the spoke 22. The number of transmission gears 42 is the same as the number of coordinators 44. One transmission gear 42 corresponds to one coordinator 44 and one group of ultrasonic vibration components 3. Preferably, there are eight transmission gears 42.

[0074] Reference Figure 2 , Figure 3 and Figure 10Each set of hydraulic cylinders 46 includes multiple hydraulic cylinders 46, each set of ultrasonic vibration components 3 includes multiple ultrasonic vibration components 3, multiple hydraulic cylinders 46 correspond one-to-one with multiple ultrasonic vibration components 3, the extension end of one hydraulic cylinder 46 is connected to one ultrasonic vibration component 3, and multiple sets of hydraulic cylinders 46 correspond one-to-one with multiple sets of ultrasonic vibration components 3.

[0075] Hydraulic cylinder 46 is a single-acting hydraulic cylinder;

[0076] The hydraulic cylinder 46 includes a cylinder body 461 disposed at one end of the second annular plate 64 near the first annular plate 61. A guide piston 462 is disposed inside the cylinder body 461. A piston rod 464 is disposed on the guide piston 462, one end of which protrudes from the cylinder body 461 and is connected to the ultrasonic vibration component 3. A return spring 463 is disposed between the end of the guide piston 462 away from the piston rod 464 and the inner wall of the cylinder body 461. The hydraulic guide pipe 47 is connected to the cylinder body 461.

[0077] The hydraulic guide pipe 47 is used to deliver hydraulic oil to the inside of the cylinder body 461 to push the guide piston 462 to squeeze the return spring 463 to retract the ultrasonic vibration component 3. The design uses a coordinator 44 to compress the hydraulic oil inside the hydraulic guide pipe 47. The hydraulic oil flows sequentially through the sealed chamber 45 and the hydraulic guide pipe 47 into the hydraulic cylinder 46, compressing the piston. The piston pushes the return spring 463 to contract, simultaneously causing the piston rod 464 to retract. The piston rod 464 drives the ultrasonic vibration component 3 to retract and avoid contact. After the avoidance is completed, the transmission gear 42 rotates, causing the annular pressure plate 442 on the rotating shaft 443 to rotate. The rotation of the annular pressure plate 442 causes the protrusion 4421 to rotate and stop pressing the steel ball 444. At this point, the return spring 463 rebounds, sending the hydraulic oil into the guide seat 446. The hydraulic oil pushes the pressing piston 445, causing the steel ball 444 to return to its initial position. The rebound of the return spring 463 pushes the piston, causing the ultrasonic vibration component 3 on the piston rod 464 to extend and retract to contact the rock wall. The piston rod 464 in the hydraulic cylinder 46 is connected to the transducer 33 in the ultrasonic vibration component 3.

[0078] Reference Figure 2 , Figure 4 , Figure 5 , Figure 6 and Figure 7 The inner wall of the tool holder 1 is provided with a connecting component 5 that is rotatably connected to the excitation tool holder 6. The tool holder 1 is provided with a stop component 7 for stopping the excitation tool holder 6. The excitation tool holder 6 is provided with a follower connecting component 9 for connecting to the spindle 8.

[0079] The connecting component 5 includes an annular limiting plate 53 disposed on the inner wall of the cutter head holder 1 and located between the first annular plate 61 and the cutting cutter head 2. An annular embedding groove is provided at one end of the annular limiting plate 53 near the first annular plate 61. A connecting bearing 52 is provided inside the annular embedding groove. An annular connecting plate 51 is provided on the inner wall of the connecting bearing 52 and is located inside the annular embedding groove and connected to the first annular plate 61.

[0080] The stop assembly 7 includes a hollow hydraulic cylinder 72 disposed inside the cutter head holder 1. The main shaft 8 passes through the interior of the hollow hydraulic cylinder 72. Multiple fixing posts 71 are disposed between the hollow hydraulic cylinder 72 and the inner wall of the cutter head holder 1. A stop ring 73 that fits against the second annular plate 64 is disposed on the telescopic shaft of the hollow hydraulic cylinder 72. A connecting groove 731 that communicates with the through groove 611 is opened on the side of the stop ring 73 away from the second annular plate 64.

[0081] The follower connection assembly 9 includes a fixing plate 92 disposed between the first annular plate 61 and the second annular plate 64. A pressing electric push rod 91 is disposed on the side of the fixing plate 92 away from the main shaft 8. An arc plate 93 is disposed on the telescopic shaft of the pressing electric push rod 91. An annular groove 94 matching the arc plate 93 is opened at the position corresponding to the arc plate 93 on the side wall of the main shaft 8. The design uses the hollow hydraulic cylinder 72 in the stop assembly 7 to drive the stop ring 73 to engage with the second annular plate 64, thus stopping the excitation cutter head 6. When it is necessary to adjust the position of multiple ultrasonic vibration components 3, the main shaft 8 stops rotating. The push electric push rod 91 in the follower connection assembly 9 drives the arc plate 93 to engage tightly with the annular groove 94 on the side wall of the main shaft 8. The hollow hydraulic cylinder 72 drives the stop ring 73 to separate from the second annular plate 64. The main shaft 8 rotates slowly, and under the action of the tight engagement between the arc plate 93 and the annular groove 94, it applies force to the excitation cutter head 6. The excitation cutter head 6 is connected by the bearing 52, the annular connecting plate 51, and the annular limiting plate 53. Under the action of the rotating mechanism, the excitation cutter head 6 rotates, causing the positions of multiple sets of ultrasonic vibration components 3 inside the excitation cutter head 6 to change, thus adjusting the positions of the multiple sets of ultrasonic vibration components 3. When the position is adjusted to a suitable position, the main shaft 8 stops rotating, the excitation cutter head 6 stops rotating, and the hollow hydraulic cylinder 72 works to drive the stop ring 73 to fit against the second annular plate 64 to stop the excitation cutter head 6. This stops the adjusted position. Through the operation of the pressing electric push rod 91 in the follower connection component 9, the arc plate 93 is driven to separate from the annular groove 94 on the side wall of the main shaft 8. The main shaft 8 continues to rotate, driving the cutting cutter head 2 and the ultrasonic vibration components 3 after adjustment to perform rock breaking operation on the rock wall. To expand the excitation coverage as needed, the excitation cutterhead 6 switches to a state of synchronous rotation with the cutting cutterhead 2. The ultrasonic vibration drill bit 31 in the ultrasonic vibration assembly 3 adjusts its position circumferentially with the excitation cutterhead 6, enabling it to cover all difficult-to-break hard rock areas across the entire cross-section as required. This eliminates the blind spot of the fixed excitation effect, achieving an excitation weakening effect on the entire cross-section rock mass. It can meet both point weakening and full-section weakening needs, and can be selected according to different surrounding rock environments. This reduces the rock-breaking load and tool wear of the roller cutter 23, significantly improving the TBM tunneling efficiency in hard rock formations. During the adjustment process, the excitation cutterhead 6, the cutting cutterhead 2, the coaxial gear 41, and the transmission gear 42 all rotate with the main shaft 8. The spokes 22 and the ultrasonic vibration component 3 remain in relative position without changing. At the same time, the coaxial gear 41 and the transmission gear 42 remain relatively stationary and will not drive the coordinator 44 to send hydraulic oil to the corresponding set of hydraulic cylinders 46. The ultrasonic vibration component 3 will not extend or retract when adjusting its position. Therefore, it does not affect the use of the ultrasonic vibration component 3 after adjusting its position. Among them, a hollow conductive slip ring is provided between the second annular plate 64 and the stop ring 73 in the excitation cutter head 6. One end sidewall of the hollow conductive slip ring is connected to the inner wall of the second annular plate 64, and the other end sidewall of the hollow conductive slip ring is connected to the inner wall of the stop ring 73. The main shaft 8 passes through the hollow conductive slip ring and does not contact the main shaft 8.The first annular plate 61, the second annular plate 64, the stop ring 73, and the hollow hydraulic cylinder 72 are all equipped with annular channels at their connections to the main shaft 8. This facilitates the installation of the hollow conductive slip ring and the passage of wires. When the excitation cutterhead 6 is adjusted and rotated, it does not affect the power supply to the ultrasonic generator 34 and the electric push rod 91. To improve the stability of the excitation cutterhead 6's rotation, a pair of connecting components 5 can be symmetrically arranged on both sides of the excitation cutterhead 6. The first annular plate 61 in the excitation cutterhead 6 is connected to the annular connecting plate 51 in one of the connecting components 5, and the second annular plate 64 in the excitation cutterhead 6 is connected to the annular connecting plate 51 in the other connecting component 5. Only the size of the stop ring 73 needs to be adjusted accordingly, avoiding interference between the stop ring 73 and the connecting component 5. The cutterhead holder 1 is connected to the tunneling machine's propulsion system.

[0082] A method for rock breaking using a rock breaking device combining ultrasonic vibration excitation and TBM (Total Microwave Oxide) includes the following steps:

[0083] Step A: The main shaft 8 drives the cutting disc 2 to rotate and break the rock. The rotation of the main shaft 8 drives the coaxial gear 41 in the detection drive assembly 4 to rotate and drives the transmission gear 42 to rotate. The transmission gear 42 drives the coordinator 44 to move in sync.

[0084] Step B: The coordinator 44 in the detection drive assembly 4 drives the hydraulic cylinder 46 to extend, and the ultrasonic vibration drill bit 31 in the ultrasonic vibration assembly 3 adheres to the rock wall.

[0085] Step C: Activate ultrasonic vibration component 3 to generate microcracks in the rock wall;

[0086] Step D: The coordinator 44 detects that the rotating spokes 22 in the cutting disc 2 are approaching the corresponding ultrasonic vibration component 3, and triggers the corresponding hydraulic cylinder 46 to drive the ultrasonic vibration component 3 to avoid the spokes 22.

[0087] Step E: The coordinator 44 detects that the rotating spokes 22 in the cutting disc 2 are moving away from the corresponding ultrasonic vibration component 3, and releases the corresponding hydraulic cylinder 46 to drive the ultrasonic vibration component 3 to avoid the spokes 22.

[0088] In step F, the cutting disc 2 rotates with the main shaft 8, and the main shaft 8 drives the coaxial gear 41 to drive the transmission gear 42 to rotate, repeating steps D-E to break the rock wall.

[0089] Step D, which triggers the corresponding hydraulic cylinder 46 to drive the ultrasonic vibration assembly 3 to avoid the spokes 22, includes the following steps:

[0090] In step D1, when the number of rotations of the transmission gear 42 with the coaxial gear 41 reaches the preset number of rotations corresponding to the position to be avoided by the spoke 22, the annular pressure plate 442 in the coordinator 44 rotates with the transmission gear 42. The protrusion 4421 on the annular pressure plate 442 presses the steel ball 444. The steel ball 444 drives the pressing piston 445 to squeeze the hydraulic oil inside the guide seat 446 along the guide seat 446 and enter the hydraulic delivery pipe 43, squeezing the hydraulic pressure inside the hydraulic delivery pipe 43.

[0091] In step D2, the hydraulic oil in the hydraulic delivery pipe 43 flows through the sealed chamber 45 and the hydraulic guide pipe 47 to a corresponding set of hydraulic cylinders 46, so as to drive the set of hydraulic cylinders 46 to drive the corresponding set of ultrasonic vibration components 3 to retract, so as to avoid the spokes 22.

[0092] Step E, which involves releasing the corresponding hydraulic cylinder 46 to drive the ultrasonic vibration assembly 3 to avoid the spokes 22, includes the following steps:

[0093] In step E1, when the number of rotations of the transmission gear 42 with the coaxial gear 41 deviates from the preset number of rotations, the annular pressure plate 442 in the coordinator 44 continues to rotate with the transmission gear 42. The annular pressure plate 442 in the coordinator 44 drives the protrusion 4421 to disengage from the steel ball 444, losing pressure on the pressing piston 445. The coordinator 44 releases the pressure on the hydraulic oil inside the hydraulic delivery pipe 43.

[0094] In step E2, the hydraulic cylinder 46 corresponding to the hydraulic delivery pipe 43 is driven by the return spring 463 to extend and reset the corresponding ultrasonic vibration component 3. The hydraulic oil in the hydraulic cylinder 46 flows back to the hydraulic delivery pipe 43 and the guide seat 446. The hydraulic oil pushes up the pressing piston 445 and drives the steel ball 444 back to the initial position.

[0095] Reference Figures 1-11As an embodiment of the present invention: when rock breaking is required, the propulsion system of the tunneling machine connected to the cutterhead 1 pushes the cutterhead 1 to move, and the roller cutter 23 in the cutting cutterhead 2 contacts the rock wall. The main shaft 8 rotates, driving the spokes 22 in the cutting cutterhead 2 to rotate. The rotation of the spokes 22 drives the roller cutter 23 to rotate, breaking the rock wall. At the same time, the main shaft 8 drives the spokes 22 to rotate, and simultaneously drives the coaxial gear 41 in the detection drive assembly 4 to rotate. The coaxial gear 41 drives the transmission gear 42 to rotate. When the number of rotations of the transmission gear 42 with the coaxial gear 41 reaches the preset number of rotations corresponding to the position to be avoided by the spokes 22, the corresponding coordinator 44 follows... The shaft 443 of the transmission gear 42 rotates, which drives the annular pressure plate 442 to rotate. The rotation of the annular pressure plate 442 drives the protrusion 4421 to rotate and press the steel ball 444. The steel ball 444 presses the pressing piston 445. The pressing piston 445 pushes the hydraulic oil inside the guide seat 446 into the hydraulic delivery pipe 43, squeezing the hydraulic oil inside the corresponding hydraulic delivery pipe 43. The squeezed hydraulic oil in the hydraulic delivery pipe 43 flows through the sealed chamber 45 and the hydraulic guide pipe 47 to the corresponding set of hydraulic cylinders 46, so as to drive the set of hydraulic cylinders 46 to drive the corresponding set of ultrasonic vibration components 3 to retract and avoid the spokes 22.

[0096] When the number of rotations of the transmission gear 42 and the coaxial gear 41 deviates from the preset number of rotations, the annular pressure plate 442 in the coordinator 44 causes the protrusion 4421 to disengage from the steel ball 444, losing pressure on the pressing piston 445. The coordinator 44 then releases the pressure on the hydraulic delivery pipe 43. Correspondingly, the hydraulic cylinder 46, driven by the return spring 463, causes the corresponding ultrasonic vibration assembly 3 to extend and return to contact the rock wall. The ultrasonic vibration assembly 3 drives the rock wall to generate micro-cracks, facilitating the cutting cutter 23 on the spokes 22 of the cutting disc 2 to interact with the micro-cracks. Rock breaking on the rock face can effectively reduce the wear of the TBM cutterhead 23. While the excitation cutterhead 6 drives the cutterhead 23 to rotate, the detection and drive component 4 can drive the ultrasonic vibration component 3 to avoid and retract the spokes 22 on the excitation cutterhead 6 and then extend and reset to contact the rock face. This allows the ultrasonic vibration component 3 to contact the rock face and break the rock without stopping the excitation cutterhead 6, improving the rock breaking efficiency under hard rock conditions, and enabling safe and efficient tunneling of the TBM. It also eliminates the need for frequent opening of the cutterhead to replace the cutterhead 23, reducing major engineering risks such as excavation face instability and tunnel collapse caused by cutter replacement.

[0097] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0098] The embodiments have been described above, and such description is not restrictive. The figures shown are only one embodiment, and the actual structure is not limited to this. In short, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the inventive spirit, such design should fall within the scope of protection.

Claims

1. A rock-breaking device combining ultrasonic vibration excitation and TBM, characterized in that, include: The cutter head holder (1), the main shaft (8) and the cutting cutter head (2) are rotatably mounted on the cutter head holder (1) and the cutting cutter head (2) is connected to the main shaft (8) and located inside the cutter head holder (1). The cutting disc (2) includes multiple spokes (22) connected to the main shaft (8). The multiple spokes (22) are distributed circumferentially around the central axis of the disc holder (1). Each spoke (22) is provided with several hobs (23) along its length. The tool holder (1) is provided with an excitation tool holder (6), and the spindle (8) passes through the excitation tool holder (6). The excitation cutter head (6) is provided with multiple sets of ultrasonic vibration components (3). A detection drive component (4) is provided between the excitation cutter head (6) and the main shaft (8). The detection drive component (4) is used to detect the position of the spokes (22), drive the ultrasonic vibration component (3) to retract and avoid the spokes (22) according to the position of the spokes (22), and drive it to extend after the avoidance is completed.

2. The rock-breaking device combining ultrasonic vibration excitation and TBM according to claim 1, characterized in that, A connecting disk (21) is provided on the main shaft (8), and multiple spokes (22) are connected to the side wall of the connecting disk (21). A gap (24) is formed between adjacent spokes (22), and the main shaft (8) and the excitation cutter head (6) do not contact each other.

3. The rock-breaking device combining ultrasonic vibration excitation and TBM as described in claim 1, characterized in that, The excitation cutter head (6) includes a first annular plate (61) and a second annular plate (64) spaced apart inside the cutter head holder (1). The first annular plate (61) is located between the second annular plate (64) and the cutting cutter head (2). A plurality of connecting posts (63) are provided between the first annular plate (61) and the second annular plate (64). On the end faces of the first annular plate (61) and the second annular plate (64) facing each other, a plurality of through slots (611) are respectively provided at corresponding positions. A guide plate (62) is provided between the first annular plate (61) and the second annular plate (64) and is located inside the through slot (611). A guide groove (621) is provided on the side wall of the guide plate (62) and is connected to the through slot (611).

4. The rock-breaking device combining ultrasonic vibration excitation and TBM according to claim 3, characterized in that, Multiple sets of the ultrasonic vibration components (3) are distributed circumferentially around the central axis of the cutter head (1); The ultrasonic vibration assembly (3) includes a transducer (33) disposed inside the first annular plate (61), an amplitude transformer (32) disposed on the transducer (33), and an ultrasonic vibration drill bit (31) extending between adjacent spokes (22) disposed on the amplitude transformer (32). The second annular plate (64) is provided with multiple ultrasonic generators (34), and the multiple ultrasonic generators (34) correspond one-to-one with multiple sets of ultrasonic vibration components (3). The output end of one ultrasonic generator (34) is electrically connected to the transducer (33) in one set of ultrasonic vibration components (3).

5. The rock-breaking device combining ultrasonic vibration excitation and TBM according to claim 3, characterized in that, The detection drive assembly (4) includes multiple sets of hydraulic cylinders (46) disposed on the end of the second annular plate (64) near the end of the first annular plate (61) and respectively connected to multiple sets of ultrasonic vibration assemblies (3). Each set of hydraulic cylinders (46) corresponds one-to-one with each set of ultrasonic vibration assemblies (3). The main shaft (8) is provided with a coaxial gear (41) located between the first annular plate (61) and the cutting disc (2). The coaxial gear (41) is provided with multiple transmission gears (42) corresponding to the multiple sets of hydraulic cylinders (46). Each of the multiple transmission gears (42) is provided with a gear corresponding to the end of the first annular plate (61). A coordinator (44) is connected to the coordinator (44), and a transmission shaft (421) connected to the transmission gear (42) is rotatably provided on the coordinator (44). Hydraulic delivery pipes (43) are provided on the side walls of the coordinators (44). The end of the first annular plate (61) near the second annular plate (64) is provided with a plurality of sealed chambers (45) respectively connected to the plurality of hydraulic delivery pipes (43). The plurality of sealed chambers (45) correspond one-to-one with the plurality of sets of hydraulic cylinders (46). A hydraulic guide pipe (47) is provided between one of the sealed chambers (45) and one of the corresponding sets of hydraulic cylinders (46). The coordinator (44) is configured such that when the number of rotations of the transmission gear (42) with the coaxial gear (41) reaches a preset number of rotations corresponding to the position to be avoided by the spoke (22), the hydraulic oil in the hydraulic delivery pipe (43) is squeezed and flows through the sealed chamber (45) and the hydraulic guide pipe (47) to a corresponding set of hydraulic cylinders (46) to drive the set of hydraulic cylinders (46) to drive the corresponding set of ultrasonic vibration components (3) to retract in order to avoid the spoke (22). When the number of rotations of the transmission gear (42) with the coaxial gear (41) is far from the preset number of rotations, the coordinator (44) releases the squeezing of the hydraulic oil in the hydraulic delivery pipe (43), and the set of hydraulic cylinders (46) drives the corresponding set of ultrasonic vibration components (3) to extend and reset.

6. The rock-breaking device combining ultrasonic vibration excitation and TBM according to claim 5, characterized in that, The coordinator (44) includes a mounting base (441) disposed on the first annular plate (61) near the end of the cutting disc (2). A rotating shaft (443) connected to the transmission shaft (421) is rotatably disposed inside the mounting base (441). An annular pressure plate (442) is disposed on the side wall of the rotating shaft (443). An annular limiting groove is opened on the side wall of the annular pressure plate (442). A protrusion (4421) is disposed on the inner wall of the annular limiting groove. A guide seat (446) is disposed inside the mounting base (441). A pressing piston (445) is disposed inside the guide seat (446). A steel ball (444) located inside the annular limiting groove is disposed on the top of the pressing piston (445). A hydraulic delivery pipe (43) is disposed at the bottom of the guide seat (446) and communicates with the guide seat (446). Hydraulic oil is placed inside the guide seat (446).

7. The rock-breaking device combining ultrasonic vibration excitation and TBM according to claim 5, characterized in that, Each set of hydraulic cylinders (46) includes multiple hydraulic cylinders (46), and each set of ultrasonic vibration components (3) includes multiple ultrasonic vibration components (3). The multiple hydraulic cylinders (46) correspond one-to-one with the multiple ultrasonic vibration components (3), and the telescopic end of one hydraulic cylinder (46) is connected to one ultrasonic vibration component (3). The hydraulic cylinder (46) is a single-acting hydraulic cylinder (46); The hydraulic cylinder (46) includes a cylinder body (461) disposed on the second annular plate (64) near the end of the first annular plate (61). A guide piston (462) is disposed inside the cylinder body (461). A piston rod (464) is disposed on the guide piston (462) at one end exposed on the cylinder body (461) and connected to the ultrasonic vibration assembly (3). A return spring (463) is disposed between the end of the guide piston (462) away from the piston rod (464) and the inner wall of the cylinder body (461). The hydraulic guide pipe (47) is connected to the cylinder body (461). The hydraulic guide pipe (47) is used to deliver hydraulic oil to the inside of the cylinder body (461) to push the guide piston (462) to squeeze the reset spring (463) to retract the ultrasonic vibration assembly (3).

8. The rock-breaking device combining ultrasonic vibration excitation and TBM according to claim 3, characterized in that, The inner wall of the cutter head holder (1) is provided with a connecting component (5) that is rotatably connected to the excitation cutter head (6). The inside of the cutter head holder (1) is provided with a stop component (7) for stopping the excitation cutter head (6). The inside of the excitation cutter head (6) is provided with a follower connecting component (9) for connecting the spindle (8). The connecting component (5) includes an annular limiting plate (53) disposed on the inner wall of the cutter head holder (1) and located between the first annular plate (61) and the cutting cutter head (2). An annular embedding groove is provided at one end of the annular limiting plate (53) near the first annular plate (61). A connecting bearing (52) is provided inside the annular embedding groove. An annular connecting plate (51) is provided on the inner wall of the connecting bearing (52) and located inside the annular embedding groove and connected to the first annular plate (61). The stop assembly (7) includes a hollow hydraulic cylinder (72) disposed inside the cutter head holder (1). The main shaft (8) passes through the interior of the hollow hydraulic cylinder (72). A plurality of fixed columns (71) are disposed between the hollow hydraulic cylinder (72) and the inner wall of the cutter head holder (1). A stop ring (73) that fits against the second annular plate (64) is disposed on the telescopic shaft of the hollow hydraulic cylinder (72). A connecting groove (731) that communicates with the through groove (611) is opened on the side of the stop ring (73) away from the second annular plate (64). The follower connection assembly (9) includes a fixing plate (92) disposed between the first annular plate (61) and the second annular plate (64). A pressing electric push rod (91) is disposed on the side of the fixing plate (92) away from the main shaft (8). An arc plate (93) is disposed on the telescopic shaft of the pressing electric push rod (91). An annular groove (94) matching the arc plate (93) is opened at the position corresponding to the arc plate (93) on the side wall of the main shaft (8).

9. A method for rock breaking using a rock breaking device combining ultrasonic vibration excitation and TBM as described in any one of claims 1-8, characterized in that, Includes the following steps: Step A: The spindle (8) drives the cutting disc (2) to rotate and break the rock. The rotation of the spindle (8) drives the coaxial gear (41) in the detection drive assembly (4) to rotate and drives the transmission gear (42) to rotate. The transmission gear (42) drives the coordinator (44) to move synchronously. Step B, the coordinator (44) in the detection drive assembly (4) drives the hydraulic cylinder (46) to extend, and the ultrasonic vibration drill bit (31) in the ultrasonic vibration assembly (3) fits against the rock wall; Step C: Activate the ultrasonic vibration component (3), and microcracks will be generated in the rock wall; Step D: The coordinator (44) detects that the rotating spokes (22) in the cutting disc (2) are approaching the corresponding ultrasonic vibration component (3), and triggers the corresponding hydraulic cylinder (46) to drive the ultrasonic vibration component (3) to avoid the spokes (22). Step E: The coordinator (44) detects that the rotating spokes (22) in the cutting disc (2) are moving away from the corresponding ultrasonic vibration component (3), and releases the corresponding hydraulic cylinder (46) to drive the ultrasonic vibration component (3) to avoid the spokes (22). Step F: The cutting disc (2) rotates with the main shaft (8), and the main shaft (8) drives the coaxial gear (41) to drive the transmission gear (42) to rotate. Steps D-E are repeated to break the rock wall.

10. The method for rock breaking using a rock breaking device combining ultrasonic vibration excitation and TBM according to claim 9, characterized in that, The triggering of the corresponding hydraulic cylinder (46) in step D to drive the ultrasonic vibration component (3) to avoid the spokes (22) includes the following steps: In step D1, when the number of rotations of the transmission gear (42) with the coaxial gear (41) reaches the preset number of rotations corresponding to the position to be avoided by the spoke (22), the annular pressure plate (442) in the coordinator (44) rotates with the transmission gear (42), and the protrusion (4421) on the annular pressure plate (442) presses the steel ball (444), and the steel ball (444) drives the pressing piston (445) to squeeze the hydraulic oil inside the guide seat (446) along the guide seat (446) into the hydraulic delivery pipe (43), and squeeze the hydraulic pressure inside the hydraulic delivery pipe (43); In step D2, the hydraulic oil in the hydraulic delivery pipe (43) flows through the sealed chamber (45) and the hydraulic guide pipe (47) to a corresponding set of hydraulic cylinders (46) to drive the set of hydraulic cylinders (46) to drive the corresponding set of ultrasonic vibration components (3) to retract in order to avoid the spokes (22). The action of releasing the corresponding hydraulic cylinder (46) to drive the ultrasonic vibration component (3) to avoid the spokes (22) in step E includes the following steps: In step E1, when the number of rotations of the transmission gear (42) with the coaxial gear (41) deviates from the preset number of rotations, at this time, the annular pressure plate (442) in the coordinator (44) continues to rotate with the transmission gear (42), and the annular pressure plate (442) in the coordinator (44) drives the protrusion (4421) to disengage from the steel ball (444), loses the pressure on the pressing piston (445), and the coordinator (44) releases the pressure on the hydraulic oil inside the hydraulic delivery pipe (43); In step E2, the hydraulic cylinder (46) corresponding to the hydraulic delivery pipe (43) is driven by the return spring (463) to extend and reset the corresponding ultrasonic vibration component (3). The hydraulic oil in the hydraulic cylinder (46) flows back to the hydraulic delivery pipe (43) and the guide seat (446). The hydraulic oil lifts the pressing piston (445) and drives the steel ball (444) back to the initial position.

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