A tunneling system and method

Abstract

The present application relates to the technical field of tunneling machine, in particular to a tunneling system and method.A tunneling system comprises: a tunneling assembly, which can tunnel along a tunneling direction; a rotating assembly, which is slidably arranged on the tunneling assembly; a crushing assembly, which comprises a first arm unit and a crushing unit; the first arm unit is arranged on one side of the rotating assembly; the crushing unit is arranged at one end of the first arm unit away from the tunneling assembly; a grabbing assembly, which comprises a second arm unit and a grabbing unit; the second arm unit is arranged on one side of the rotating assembly; the grabbing unit is arranged at one end of the second arm unit away from the tunneling assembly; the cleaning state of the tunneling system comprises: the crushing unit provides a preset crushing force in a preset direction, the rotating assembly moves or rotates by a preset angle, and the grabbing unit grabs the barrier, wherein the included angle between the preset direction and the tunneling direction has a preset range. In this way, the problem of how to improve the gangue cleaning efficiency when the collapsed gangue blocks the tunneling route is solved.

Description

Technical Field

[0001] This invention relates to the field of tunneling machine technology, and more specifically, to a tunneling system and method. Background Technology

[0002] During the excavation of underground tunnels, shafts, and mine shafts, the tunneling equipment often encounters areas with complex geological conditions as it advances along the designed route, especially fault fracture zones or sections with weak rock strata. In these areas, the surrounding rock stability is poor, and the roof or sidewalls are prone to local collapse due to excavation disturbances or stress release. Large amounts of gangue and broken rock blocks collapse instantly and accumulate between the excavation face and the existing tunnel, especially in the narrow space of the sidewalls, forming a mass that hinders the normal advancement of the equipment. Traditional clearing methods usually rely on manual labor with auxiliary tools for rake and transport. The operation is limited by the narrow space, and the equipment has a single function, often requiring multiple shutdowns for adjustment or replacement of operating devices.

[0003] However, using independent auxiliary equipment or manual labor for clearing not only increases equipment investment and personnel safety risks, but also leads to a significant amount of wasted work time due to the narrow working area and difficulty in flexibly scheduling auxiliary equipment caused by the proximity of the collapsed rock pile to the tunneling face. Furthermore, reliance on manual labor results in some large pieces of rock remaining uncrushed. Therefore, improving the efficiency of rock clearing when collapsed rock blocks the tunneling route is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] To address the problem of improving the efficiency of waste rock clearing when it obstructs the tunneling route, this invention provides a tunneling system and method.

[0005] In a first aspect, the present invention provides a tunneling system, comprising:

[0006] The tunneling assembly can tunnel along the tunneling direction;

[0007] The rotating component is slidably mounted on the tunneling component;

[0008] The crushing assembly includes a first arm unit and a crushing unit; the first arm unit is located on one side of the rotating assembly; the crushing unit is located at the end of the first arm unit away from the tunneling assembly.

[0009] The gripping assembly includes a second arm unit and a gripping unit; the second arm unit is located on one side of the rotating assembly; the gripping unit is located at the end of the second arm unit away from the tunneling assembly; the clearing state of the tunneling system includes: the crushing unit provides a preset crushing force in a preset direction, and the gripping unit grips the obstruction based on the rotation of the rotating assembly by a preset angle, wherein the angle between the preset direction and the tunneling direction has a preset range.

[0010] Optionally, the first arm unit includes a first crushing arm, a second crushing arm, and a third drive unit; the crushing unit includes a crushing head, a crushing drive unit, and a crushing connection unit; the third drive unit is drivenly connected to the first and second crushing arms; one end of the first crushing arm is movably connected to the rotating assembly, and the other end is movably connected to the second crushing arm; the crushing drive unit is located inside the crushing head; one end of the crushing connection unit is connected to the crushing head, and the other end is movably connected to the end of the second crushing arm away from the first crushing arm; in the clearing state, the kinetic energy of the tunneling assembly tunneling along the tunneling direction is converted into a first crushing force acting on the obstruction through the crushing assembly, while the drive crushing head provides a second crushing force; wherein, the preset crushing force is a composite impact acting on the obstruction formed by at least partial overlap of the first and second crushing forces in time.

[0011] Optionally, the preset range of the angle between the preset direction and the tunneling direction is less than or equal to 90°.

[0012] Optionally, the second arm unit includes a first gripping arm, a second gripping arm, and a fourth drive unit; the fourth drive unit is drivenly connected to the first gripping arm and the second gripping arm; the gripping unit includes a first gripping part, a second gripping part, and a gripping connecting part; one end of the first gripping arm is movably connected to a rotating assembly, and the other end is movably connected to the second gripping arm; the end of the second gripping arm away from the first gripping arm is movably connected to the gripping connecting part; the first gripping part and the second gripping part are arranged sequentially along the tunneling direction and movably connected to the gripping connecting part, and can be enclosed to form a gripping chamber; in the clearing state, the first gripping part and the second gripping part are driven to rotate around the gripping connecting part, and the first gripping part and the second gripping part retract and enclose to form the gripping chamber; or, the gripping chamber is opened; wherein, the orthographic projections of the first gripping part and the second gripping part along the tunneling direction coincide.

[0013] Optionally, the first gripping part and the second gripping part are arranged parallel to the bottom plate on the side facing the bottom plate; in the clearing state, at least part of the tunneling components are supported on the top plate and bottom plate of the rock stratum and move on the bottom plate along the tunneling direction; the top plate, side walls and bottom plate enclose the rock stratum.

[0014] Optionally, the rotating assembly includes a first rotating body, a second rotating body, and a third rotating body; the first rotating body is rotatably connected to the tunneling assembly; the second rotating body and the third rotating body are connected in sequence along the radial direction of the rock strata and are located on the side of the first rotating body away from the tunneling assembly; the end of the first arm unit away from the breaking unit is slidably connected to the second rotating body; the end of the second arm unit away from the gripping unit is slidably connected to the third rotating body.

[0015] Optionally, the crushing assembly further includes a first sliding unit; the first sliding unit includes a first sliding body, a plurality of first sliding rods, and a first sliding drive unit; the plurality of first sliding rods are disposed on a second rotating body; one side of the first sliding body is slidably connected to the first sliding rod, and the other end is movably connected to a first arm unit; the first sliding drive unit is drivenly connected to the first sliding rod; the gripping assembly further includes a second sliding unit; the second sliding unit includes a second sliding body, a plurality of second sliding rods, and a second sliding drive unit; the plurality of second sliding rods are disposed on a third rotating body; one side of the second sliding body is slidably connected to the second sliding rod, and the other end is movably connected to a second arm unit; the second sliding drive unit is drivenly connected to the second sliding rod.

[0016] Optionally, the tunneling assembly includes a cutterhead unit, a support unit, a main beam unit, and a conveying unit; the cutterhead unit is located on one end face of the support unit; the main beam unit is located on the other end of the support unit away from the cutterhead unit and extends in a direction away from the support unit; a rotating assembly, a crushing assembly, and a gripping assembly are located on the main beam unit; the conveying unit is located on the main beam unit; in the clearing state, the gripping assembly grips the obstruction and places it on the conveying unit.

[0017] Optionally, it also includes:

[0018] The support shoe assembly includes a first support shoe unit and a second support shoe unit respectively disposed on opposite sides of the tunneling assembly.

[0019] In a second aspect, the present invention provides a tunneling method applicable to any optional tunneling system of the first aspect, the tunneling method comprising:

[0020] Drive the tunneling components to tunnel along the tunneling direction;

[0021] The driving crushing unit provides a preset crushing force in a preset direction;

[0022] Based on the obstruction, the crushing component and the gripping component are moved or rotated by a preset angle, and the gripping unit grips the obstruction; wherein, the angle between the preset direction and the tunneling direction has a preset range.

[0023] To address the problem of improving the efficiency of waste rock clearing when it obstructs the tunneling route, this invention has the following advantages:

[0024] The rotating assembly is slidably mounted on the tunneling assembly, allowing the crushing and grabbing assemblies to move as a whole along the tunneling direction to adapt to obstacles at different locations. Simultaneously, the first arm unit of the crushing assembly and the second arm unit of the grabbing assembly are respectively arranged on both sides of the rotating assembly, allowing them to be located in confined spaces. This ensures that the crushing and grabbing units operate independently without interference, and their postures can be adjusted independently. In the clearing state, the crushing unit provides a preset crushing force in a preset direction. The angle between this preset direction and the tunneling direction is within a preset range, enabling it to impact obstacles at the optimal angle and avoiding ineffective impact or damage caused by the crushing force being parallel to the tunneling direction. Furthermore, based on the movement or rotation of the rotating assembly at a preset angle, the grabbing unit can promptly move to the crushed obstacle to perform the grabbing action, achieving a seamless connection between crushing and grabbing. Since the crushing and grabbing actions can be completed continuously in the same clearing state, there is no need to stop to change tools or repeatedly adjust the equipment position, effectively shortening the auxiliary time of the clearing operation, reducing equipment idle time and manual intervention, thereby improving the efficiency of waste rock clearing and ensuring the continuity and speed of tunneling operations. Attached Figure Description

[0025] Figure 1 A front view of a tunneling system according to one embodiment is shown;

[0026] Figure 2 A top view of one embodiment of a tunneling system is shown;

[0027] Figure 3 A three-dimensional structural diagram of a tunneling system according to one embodiment is shown;

[0028] Figure 4 A front view of the crushing component and gripping component of a tunneling system according to one embodiment is shown;

[0029] Figure 5 A perspective structural diagram of a tunneling system's crushing and gripping components according to one embodiment is shown.

[0030] Figure 6 Another perspective view of the crushing and gripping components of a tunneling system according to one embodiment is shown.

[0031] Figure label:

[0032] 10. Tunneling assembly; 11. Cutterhead unit; 12. Support unit; 13. Main beam unit; 14. Conveying unit; 15. Support column unit; 20. Support shoe assembly; 21. First support shoe unit; 22. Second support shoe unit; 23. First drive unit; 24. Second drive unit; 30. Rotating assembly; 31. First rotating body; 32. Second rotating body; 33. Third rotating body; 40. Crushing assembly; 41. First boom unit; 411. First crushing boom; 412. Second crushing boom; 413. Third drive unit; 4131. First telescopic rod; 4132. Second telescopic rod 42. Shrinking unit; 421. Shrinking head; 422. Shrinking connection part; 43. First sliding unit; 431. First sliding body; 432. First sliding rod; 50. Gripping assembly; 51. Second arm unit; 511. First gripping arm; 512. Second gripping arm; 513. Fourth drive part; 5131. Third telescopic rod; 5132. Fourth telescopic rod; 52. Gripping unit; 521. First gripping part; 522. Second gripping part; 523. Gripping connection part; 53. Second sliding unit; 531. Second sliding body; 532. Second sliding rod. Detailed Implementation

[0033] The invention will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are described merely to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0034] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily used to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements, or components to having a particular orientation or to be constructed and operated in a particular orientation.

[0035] Furthermore, some of the aforementioned terms, besides indicating orientation or positional relationships, may also have other meanings. For example, the term "above" may, in certain circumstances, indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. In addition, the terms "installed," "set," "equipped with," "connected," and "linked" should be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral structure; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the aforementioned terms in this invention based on the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0036] In underground tunneling operations, including tunnels and mine shafts, tunneling equipment often encounters complex geological sections such as fault fracture zones or weak rock strata as it advances along the designed route. The surrounding rock stability is poor, and due to tunneling disturbances or stress release, the roof or sidewalls are prone to localized collapses. Large amounts of waste rock and broken rock fragments instantly accumulate between the working face and the existing tunnel, especially in narrow spaces on the sidewalls, forming accumulations that obstruct the normal advance of the equipment. Traditional clearing methods rely heavily on manual labor and auxiliary tools for scraping and transporting. Using independent auxiliary equipment or manual clearing not only increases equipment investment and personnel safety risks, but also makes it difficult to schedule auxiliary equipment due to the proximity of the accumulation site to the working face and the narrow working area, resulting in a significant amount of wasted work time. Manual processing also struggles to break up large pieces of waste rock. Therefore, improving the efficiency of waste rock clearing when collapsed waste rock blocks the tunneling route is a pressing technical problem that needs to be solved.

[0037] Example 1

[0038] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 This embodiment provides a tunneling system, including:

[0039] Tunneling component 10 can tunnel along the tunneling direction X;

[0040] The rotating component 30 is slidably mounted on the tunneling component 10;

[0041] The crushing assembly 40 includes a first arm unit 41 and a crushing unit 42; the first arm unit 41 is located on one side of the rotating assembly 30; the crushing unit 42 is located at the end of the first arm unit 41 away from the tunneling assembly 10.

[0042] The gripping component 50 includes a second arm unit 51 and a gripping unit 52. The second arm unit 51 is located on one side of the rotating component 30. The gripping unit 52 is located at the end of the second arm unit 51 away from the tunneling component 10. Since the crushing component 40 and the gripping component 50 are located on opposite sides of the rotating component 30, their range of motion can be synchronously adjusted with the rotating component 30 as the reference center. This enables synchronous crushing and gripping by the crushing unit 42 and the gripping unit 52, as well as different working conditions of crushing followed by gripping. The clearing state of the tunneling system includes: the crushing unit 42 provides a preset crushing force in a preset direction, and the gripping unit 52 grips the obstruction based on the movement or rotation of the rotating component 30 at a preset angle. The angle between the preset direction and the tunneling direction X has a preset range α.

[0043] For details, please refer to Figure 3 and Figure 4 Based on the fact that the rotating component 30 is slidably mounted on the tunneling component 10, the crushing component 40 and the grabbing component 50 can move and rotate as a whole with the rotating component 30 during the uninterrupted tunneling process of the entire tunneling system. This allows for flexible adjustment of the working position according to the location of the obstruction, avoiding downtime for cleaning and thus improving cleaning efficiency. The crushing unit 42 provides a preset crushing force in a preset direction, which is the direction in which the crushing component 40 crushes the obstruction. The angle between this preset direction and the tunneling direction X has a preset range α, for example, the angle formed is an acute angle or a right angle, to prevent the crushing unit 42 from moving away from the obstruction as the tunneling system moves, thus affecting the crushing progress and efficiency. At the same time, by moving or rotating the rotating component 30 by a preset angle, the grabbing unit 52 can promptly grab the crushed obstruction, realizing continuous coordination of crushing and grabbing in the same cleaning state, reducing the auxiliary time of repeated equipment positioning, and improving cleaning efficiency.

[0044] Further, please refer to Figure 6 The preset range α of the angle between the preset direction and the tunneling direction X is less than or equal to 90°, ensuring that the direction of the breaking force does not face the rear of the tunneling component 10, thus avoiding ineffective components of the breaking force. When the angle is acute, the breaking force has a component along the tunneling direction X and a component perpendicular to the tunneling direction X. The former helps to push the obstruction to the side or front of the loose area in the tunneling direction X, while the latter helps to produce a splitting or shearing effect on the obstruction. The combination of the two can improve the breaking efficiency. When the angle is equal to 90°, the breaking force is completely perpendicular to the tunneling direction X, which is suitable for lateral breaking of obstructions that have collapsed on the sidewalls, avoiding affecting the propulsion stability of the tunneling component 10.

[0045] For details, please refer to Figure 4 , Figure 5 and Figure 6 The preset angle is preferably 180°. After the crushing unit 42 crushes the obstruction, it rotates 180° and the gripping unit 52 grips the crushed obstruction, realizing the exchange of crushing and gripping processes. When the crushing component 40 and the gripping component 50 are located in a confined space, the crushing unit 42 and the gripping unit 52 do not interfere with each other during operation and can adjust their postures independently. The preset angle can also be 30°, 35°, 40°, 45°, 50°, or 60°. Based on small-angle rotation, the position of the crushing component 40 and the rotating component 30 can be finely adjusted to achieve adaptive crushing and gripping of obstructions at different positions on the same side.

[0046] Further, the first arm unit 41 includes a first crushing arm 411, a second crushing arm 412, and a third drive unit 413; the crushing unit 42 includes a crushing head 421, a crushing drive unit, and a crushing connection unit 422; the third drive unit 413 is drivenly connected to the first crushing arm 411 and the second crushing arm 412; one end of the first crushing arm 411 is movably connected to the rotating assembly 30, and the other end is movably connected to the second crushing arm 412; the crushing drive unit is located inside the crushing head 421; one end of the crushing connection unit 422 is connected to the crushing head 421, and the other end is movably connected to the end of the second crushing arm 412 away from the first crushing arm 411; in the clearing state, the kinetic energy of the tunneling assembly 10 tunneling along the tunneling direction X is converted into a first crushing force acting on the obstruction by the crushing assembly 40, and at the same time, the drive crushing head 421 provides a second crushing force; wherein, the preset crushing force is a composite impact acting on the obstruction formed by at least partial overlap of the first crushing force and the second crushing force in time.

[0047] Understandably, in the clearing state, the kinetic energy of the tunneling component 10 advancing along the tunneling direction X is converted into a first crushing force acting on the obstacle by the crushing component 40, without the need for an additional propulsion power source. Simultaneously, the crushing drive unit drives the crushing head 421 to provide a second crushing force, and the first and second crushing forces overlap at least partially in time to form a composite impact. This superposition of dual kinetic energy allows the crushing head 421 to simultaneously withstand the impact force generated by the propulsion inertia of the tunneling component 10 and the impact force generated by its own drive at the moment of contact with the obstacle, thereby improving its crushing capacity for gangue. The composite impact refers, for example, to the first and second crushing forces acting on the obstacle simultaneously within the same time interval; both can reach their peak values ​​simultaneously, or they can be superimposed sequentially based on at least partial temporal overlap. At least partial temporal overlap means that the time windows of the two forces overlap, rather than being executed sequentially.

[0048] Specifically, the third drive unit 413 includes a first telescopic rod 4131 and a second telescopic rod 4132. One end of the first telescopic rod 4131 is connected to the first sliding body 431, and the other end is connected to the first crushing arm 411. By extending and retracting the first telescopic rod 4131, the first crushing arm 411 is driven to move around the connection point of the first sliding body 431 towards or away from the rotating component 30. The two ends of the second telescopic rod 4132 are respectively connected to the first crushing arm 411 and the second crushing arm 412. By extending and retracting the second telescopic rod 4132, the second crushing arm 412 is driven to move around the connection point of the first crushing arm 411 towards or away from the rotating component 30. Both the first telescopic rod 4131 and the second telescopic rod 4132 can adopt structures such as cylinders or hydraulic cylinders. The crushing drive unit can be a hydraulic impact mechanism or a pneumatic impact mechanism to achieve flexible adjustment of attitude and position.

[0049] Further, the second arm unit 51 includes a first gripping arm 511, a second gripping arm 512, and a fourth drive unit 513; the gripping unit 52 includes a first gripping part 521, a second gripping part 522, and a gripping connection part 523; the fourth drive unit 513 is drivenly connected to the first gripping arm 511 and the second gripping arm 512; one end of the first gripping arm 511 is movably connected to the rotating assembly 30, and the other end is movably connected to the second gripping arm 512; the end of the second gripping arm 512 away from the first gripping arm 511 is connected to the gripping connection part 523. The connecting part 523 is movably connected; the first gripping part 521 and the second gripping part 522 are sequentially movably connected to the gripping connecting part 523 along the tunneling direction X, and can be enclosed to form a gripping chamber; in the cleaning state, the first gripping part 521 and the second gripping part 522 are driven to rotate around the gripping connecting part 523, and the first gripping part 521 and the second gripping part 522 are retracted and enclosed to form a gripping chamber; or, the gripping chamber is opened; wherein, the orthographic projections of the first gripping part 521 and the second gripping part 522 along the tunneling direction X coincide.

[0050] Specifically, the gripping chamber refers to, for example, the accommodating space formed by the inner surfaces of the first gripping part 521 and the second gripping part 522 after they are closed. The first gripping arm 511 and the second gripping arm 512 extend and retract via the fourth drive part 513, allowing the gripping unit 52 to reach gripping positions at different distances and angles. The first gripping part 521 and the second gripping part 522 are arranged sequentially along the tunneling direction X and movably connected to the gripping connecting part 523, and can be closed to form a gripping chamber. In the clearing state, the two parts are driven to rotate around the gripping connecting part 523 to retract or open, achieving reliable clamping of obstructions. The orthographic projections of the first gripping part 521 and the second gripping part 522 along the tunneling direction X coincide, ensuring that the two parts are arranged sequentially in the tunneling direction X, ensuring that the gripping chamber is completely closed when the two parts are closed, and avoiding gaps in the gripping chamber due to projection misalignment, which could cause the gangue to fall off. The open gripping chamber can accommodate obstacles of different sizes, and when closed, it provides a stable clamping force, improving the versatility and reliability of the gripping operation. In this embodiment, the gripping unit 52 can also be provided with an independent drive unit for driving the closure or opening of the first gripping unit 521 and the second gripping unit 522.

[0051] For example, the first gripping part 521 and the second gripping part 522 may be provided with serrated or corrugated inner surfaces to increase the friction with the surface of the gangue and prevent slippage during gripping. The gripping connection part 523 may be a cross-hinged structure, so that the two gripping parts can not only rotate around the same axis, but also swing relative to each other to adapt to irregularly shaped obstacles.

[0052] Specifically, the fourth drive unit 513 includes a third telescopic rod 5131 and a fourth telescopic rod 5132. One end of the third telescopic rod 5131 is connected to the second sliding body 531, and the other end is connected to the first gripping arm 511. By extending and retracting the third telescopic rod 5131, the first gripping arm 511 is driven to move around the connection point of the second sliding body 531 toward the direction closer to or away from the rotating component 30. The two ends of the fourth telescopic rod 5132 are respectively connected to the first gripping arm 511 and the second gripping arm 512. By extending and retracting the fourth telescopic rod 5132, the second gripping arm 512 is driven to move around the connection point of the first gripping arm 511 toward the direction closer to or away from the rotating component 30. Both the third telescopic rod 5131 and the fourth telescopic rod 5132 can adopt structures such as cylinders or hydraulic cylinders to achieve flexible adjustment of posture and position.

[0053] Furthermore, the first gripping part 521 and the second gripping part 522 are arranged parallel to the bottom plate on the side facing the bottom plate; in the clearing state, at least part of the tunneling component 10 is supported on the top plate and bottom plate of the rock stratum and moves along the tunneling direction X on the bottom plate; the top plate, side walls and bottom plate enclose the rock stratum.

[0054] In related technologies, the grabbing structure for grabbing gangue typically opens or closes along the vertical side. When opening, it easily interferes with the side walls, leading to local collapse and the falling of more obstructions. Furthermore, during the closing process, the movement curve of the grabbing structure is arc-shaped, which can easily scratch the protective netting on the outside of the grabbing structure, affecting the overall support effect. At the same time, the fact that the grabbing structure opens or closes along the vertical side means that it occupies more space during the grabbing process, but since the space for grabbing and breaking is limited, the opening angle of the grabbing structure is limited, making it unable to grab more obstructions, thus affecting the cleaning efficiency.

[0055] In this embodiment, the top plate, side walls, and bottom plate enclose to form a rock stratum. The side walls are, for example, curved surfaces, and the cross-section of the top plate, side walls, and bottom plate is approximately circular. The first gripping part 521 and the second gripping part 522 are sequentially and movably connected to the gripping connection part 523 along the tunneling direction X, so that the opening and closing directions are parallel to the side walls rather than directly perpendicular to them. This avoids damage to the support structure on the side walls or further causes local collapse of the side walls, and allows for the grabbing of more obstacles in a confined space, thus improving cleaning efficiency.

[0056] Furthermore, since the first gripping part 521 and the second gripping part 522 are arranged parallel to the bottom plate on the side facing the bottom plate, they will not interfere with the curved surface of the sidewall and damage the protective net. At the same time, when the gripping part contacts the obstruction, it can insert into the bottom of the gangue pile in an attitude parallel to the bottom plate, which facilitates the scooping of a larger area of ​​gangue from below and improves the success rate of gripping. In the clearing state, at least part of the tunneling component 10 is supported on the top and bottom plates of the rock strata and moves along the tunneling direction X on the bottom plate, ensuring the stability of the tunneling system during operation and providing a reliable support reference for the crushing unit 42 and the gripping unit 52.

[0057] Understandably, the floor is the lower surface of the rock tunnel, which is the support surface for the tunneling system; the roof is the upper surface of the rock tunnel, opposite to the floor; and the sidewalls are the two side walls that connect the roof and the floor.

[0058] Further, please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6 The rotating assembly 30 includes a first rotating body 31, a second rotating body 32, and a third rotating body 33; the first rotating body 31 is rotatably connected to the tunneling assembly 10; the second rotating body 32 and the third rotating body 33 are connected in sequence along the radial direction of the rock strata and are located on the side of the first rotating body 31 away from the tunneling assembly 10; the end of the first arm unit 41 away from the crushing unit 42 is slidably connected to the second rotating body 32; the end of the second arm unit 51 away from the gripping unit 52 is slidably connected to the third rotating body 33.

[0059] Specifically, the first rotating body 31 is rotatably connected to the tunneling component 10, providing the entire rotating component 30 with rotational freedom relative to the tunneling component 10. This allows the breaking component 40 and the grabbing component 50 to be rotated as a whole to any position within the rock stratum cross-section during continuous tunneling. The second rotating body 32 and the third rotating body 33 are connected sequentially along the radial direction of the rock stratum (i.e., perpendicular to the tunneling direction X) and are located on the side of the first rotating body 31 away from the tunneling component 10. This allows the first arm unit 41 and the second arm unit 51 to be independently adjusted in position within the radial cross-section of the rock stratum via the second rotating body 32 and the third rotating body 33, respectively. Through the arrangement of the three rotating bodies, the breaking component 40 and the grabbing component 50 can not only rotate as a whole with the first rotating body 31, but also swing independently via the second rotating body 32 and the third rotating body 33, adjusting their respective working positions within the radial cross-section without interference, thus meeting the needs of large-scale, multi-angle clearing operations.

[0060] Furthermore, the crushing assembly 40 also includes a first sliding unit 43; the first sliding unit 43 includes a first sliding body 431, a plurality of first sliding rods 432, and a first sliding drive unit; the plurality of first sliding rods 432 are disposed on the second rotating body 32 along the tunneling direction X; one side of the first sliding body 431 is slidably connected to the first sliding rod 432, and the other end is movably connected to the first arm unit 41; the first sliding drive unit is drivenly connected to the first sliding rod 432; the gripping assembly 50 also includes a second sliding unit 53; the second sliding unit 53 includes a second sliding body 531, a plurality of second sliding rods 532, and a second sliding drive unit; the plurality of second sliding rods 532 are disposed on the third rotating body 33; one side of the second sliding body 531 is slidably connected to the second sliding rod 532, and the other end is movably connected to the second arm unit 51; the second sliding drive unit is drivenly connected to the second sliding rod 532.

[0061] Specifically, through the slidable connection between the first sliding body 431 and multiple first sliding rods 432, and the drive of the first sliding drive unit, the first arm unit 41 can slide relative to the second rotating body 32, realizing the translational adjustment of the crushing assembly 40 in the axial direction. Similarly, the second sliding unit 53 realizes the translational adjustment of the gripping assembly 50 in the axial direction. The cooperation between the sliding drive unit and the sliding rods provides the power for the translational movement, enabling the crushing unit 42 and the gripping unit 52 to translate axially in addition to the rotational adjustment of their respective rotating bodies, increasing the flexibility and coverage of the cleaning operation.

[0062] Furthermore, the tunneling assembly 10 includes a cutterhead unit 11, a support unit 12, a main beam unit 13, and a conveying unit 14; the cutterhead unit 11 is located on one end face of the support unit 12; the main beam unit 13 is located on the other end of the support unit 12 away from the cutterhead unit 11 and extends in a direction away from the support unit 12; the rotating assembly 30, the crushing assembly 40, and the gripping assembly 50 are located on the main beam unit 13; the conveying unit 14 is located on the main beam unit 13; in the clearing state, the gripping assembly 50 grips the obstruction and places it on the conveying unit 14.

[0063] Specifically, the cutterhead unit 11 is located at one end of the support unit 12 and is used to cut rock strata to achieve tunneling. The main beam unit 13 is located at the other end of the support unit 12 away from the cutterhead unit 11 and extends away from the support unit 12, providing a mounting base for the rotating assembly 30, the crushing assembly 40, and the grabbing assembly 50. This positions these components behind the tunneling assembly 10, utilizing the support stability of the tunneling assembly 10 while ensuring that the clearing operation does not affect the normal tunneling of the cutterhead unit 11. The conveying unit 14 is located on the main beam unit 13. In the clearing state, after the grabbing assembly 50 grabs the obstruction, it can be directly placed on the conveying unit 14, which then transports the gangue out, further improving the clearing efficiency.

[0064] For example, the conveying unit 14 can be a scraper conveyor or a belt conveyor. The gripping assembly 50 can place the obstruction directly at the receiving port of the conveying unit 14. The main beam unit 13 may also be equipped with a crushing station for secondary crushing of the gripped large pieces of gangue before conveying.

[0065] Specifically, the tunneling assembly 10 also includes a support unit 15 disposed on the main beam unit 13, the support unit 15 being used to support the main beam unit 13 in order to maintain the stability of the tunneling system support.

[0066] Further, please refer to Figure 1 , Figure 2 and Figure 3 A tunneling system also includes:

[0067] The support shoe assembly 20 includes a first support shoe unit 21 and a second support shoe unit 22 respectively disposed on opposite sides of the tunneling assembly 10.

[0068] Specifically, the first support shoe unit 21 and the second support shoe unit 22 can extend outward to support the rock strata sidewalls when the tunneling system requires stable support, providing additional radial support force to the tunneling assembly 10. This prevents the tunneling assembly 10 from radially shifting or vibrating due to impact reaction force when the crushing unit 42 provides the preset crushing force in the preset direction, thus ensuring the stability and safety of the crushing operation. At the same time, the support shoe assembly 20 also provides a reaction force support point for the advancement of the tunneling assembly 10 along the tunneling direction X, ensuring that the tunneling kinetic energy can be effectively converted into the first crushing force through the crushing assembly 40.

[0069] Understandably, the support shoe assembly 20 also includes a first drive unit 23 and a second drive unit 24, used to drive the first support shoe unit 21 and the second support shoe unit 22 to move radially and axially, respectively. That is, at least two first drive units 23 are located on both sides of the main beam unit 13, and the two ends of the first drive units 23 are connected to the main beam unit 13 and the first support shoe unit 21 and the second support shoe unit 22, respectively. The extension and retraction of the first drive units 23 provides driving force for the advancement of the tunneling assembly 10 along the tunneling direction X. The second drive unit 24 is connected to the first support shoe unit 21 and the second support shoe unit 22 radially. When the tunneling system needs stable support, it extends outward to tighten the rock sidewall, providing additional radial support force for the tunneling assembly 10 and preventing the impact reaction force from causing radial displacement or vibration of the tunneling assembly 10.

[0070] Example 2

[0071] This embodiment provides a tunneling method, applied to any of the tunneling systems in Embodiment 1. The tunneling method includes the following steps S10-S30:

[0072] Step S10: Drive the tunneling assembly 10 to tunnel along the tunneling direction X;

[0073] Step S20: Drive the crushing unit 42 to provide a preset crushing force in a preset direction;

[0074] In step S30, based on the obstruction, the crushing component 40 and the gripping component 50 are moved or rotated by a preset angle, and the gripping unit 52 grips the obstruction; wherein, the angle between the preset direction and the tunneling direction X has a preset range α.

[0075] Specifically, the driving tunneling assembly 10 advances along the tunneling direction X, providing the propulsion kinetic energy for the crushing operation. The driving crushing unit 42 provides a preset crushing force in a preset direction, with the angle between this direction and the tunneling direction X having a preset range α, ensuring that the crushing force acts on the obstacle at the optimal angle. When an obstacle is encountered, the crushing assembly 40 and the gripping assembly 50 are moved or rotated by a preset angle, enabling the gripping unit 52 to accurately grasp the crushed obstacle. This method organically connects the three actions of tunneling, crushing, and gripping. When an obstacle is encountered during tunneling, there is no need to stop and switch operating modes; the entire process from crushing to gripping can be completed through angle adjustment and position movement, simplifying the operation steps and improving the clearing efficiency.

[0076] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes can be made in form and detail without departing from the scope of the present invention.

Claims

1. A tunneling system, characterized in that, include: The tunneling assembly can tunnel along the tunneling direction; A rotating component is slidably mounted on the tunneling component; The crushing assembly includes a first arm unit and a crushing unit; the first arm unit is located on one side of the rotating assembly; the crushing unit is located at the end of the first arm unit away from the tunneling assembly. The gripping assembly includes a second arm unit and a gripping unit; the second arm unit is located on one side of the rotating assembly; the gripping unit is located at the end of the second arm unit away from the tunneling assembly; the clearing state of the tunneling system includes: the crushing unit provides a preset crushing force in a preset direction, and the gripping unit grips the obstruction based on the movement or rotation of the rotating assembly at a preset angle, wherein the angle between the preset direction and the tunneling direction has a preset range.

2. The tunneling system according to claim 1, characterized in that, The first arm unit includes a first crushing arm, a second crushing arm, and a third drive unit; the crushing unit includes a crushing head, a crushing drive unit, and a crushing connection unit; the third drive unit is drivenly connected to the first crushing arm and the second crushing arm; one end of the first crushing arm is movably connected to the rotating assembly, and the other end is movably connected to the second crushing arm; the crushing drive unit is disposed inside the crushing head; one end of the crushing connection unit is connected to the crushing head, and the other end is movably connected to the end of the second crushing arm away from the first crushing arm; in the clearing state, the kinetic energy of the tunneling assembly tunneling along the tunneling direction is converted into a first crushing force acting on the obstruction by the crushing assembly, and at the same time, the crushing head is driven to provide a second crushing force; wherein, the preset crushing force is a composite impact acting on the obstruction formed by at least partial overlap of the first crushing force and the second crushing force in time.

3. A tunneling system according to claim 2, characterized in that, The preset range of the angle between the preset direction and the tunneling direction is less than or equal to 90°.

4. A tunneling system according to claim 2, characterized in that, The second arm unit includes a first gripping arm, a second gripping arm, and a fourth drive unit; the fourth drive unit is drivenly connected to the first gripping arm and the second gripping arm; the gripping unit includes a first gripping part, a second gripping part, and a gripping connecting part; one end of the first gripping arm is movably connected to the rotating assembly, and the other end is movably connected to the second gripping arm; the end of the second gripping arm away from the first gripping arm is movably connected to the gripping connecting part; the first gripping part and the second gripping part are arranged sequentially along the tunneling direction and movably connected to the gripping connecting part, and can be enclosed to form a gripping chamber; in the clearing state, the first gripping part and the second gripping part are driven to rotate around the gripping connecting part, and the first gripping part and the second gripping part retract and enclose to form the gripping chamber; or, the gripping chamber is opened; wherein, the orthographic projections of the first gripping part and the second gripping part along the tunneling direction coincide.

5. A tunneling system according to claim 4, characterized in that, The first gripping part and the second gripping part are arranged parallel to the bottom plate on the side facing the bottom plate; in the clearing state, at least part of the tunneling component is supported on the top plate and bottom plate of the rock stratum and moves on the bottom plate along the tunneling direction; the top plate, side walls and the bottom plate enclose the rock stratum.

6. A tunneling system according to claim 1, characterized in that, The rotating assembly includes a first rotating body, a second rotating body, and a third rotating body; the first rotating body is rotatably connected to the tunneling assembly; the second rotating body and the third rotating body are connected in sequence along the radial direction of the rock strata and are located on the side of the first rotating body away from the tunneling assembly; the end of the first arm unit away from the crushing unit is slidably connected to the second rotating body; the end of the second arm unit away from the gripping unit is slidably connected to the third rotating body.

7. A tunneling system according to claim 6, characterized in that, The crushing assembly further includes a first sliding unit; the first sliding unit includes a first sliding body, a plurality of first sliding rods, and a first sliding drive unit; the plurality of first sliding rods are disposed on the second rotating body; one side of the first sliding body is slidably connected to the first sliding rod, and the other end is movably connected to the first arm unit; the first sliding drive unit is drivenly connected to the first sliding rod; the gripping assembly further includes a second sliding unit; the second sliding unit includes a second sliding body, a plurality of second sliding rods, and a second sliding drive unit; the plurality of second sliding rods are disposed on the third rotating body; one side of the second sliding body is slidably connected to the second sliding rod, and the other end is movably connected to the second arm unit; the second sliding drive unit is drivenly connected to the second sliding rod.

8. A tunneling system according to claim 1, characterized in that, The tunneling assembly includes a cutterhead unit, a support unit, a main beam unit, and a conveying unit; the cutterhead unit is located on one end face of the support unit; the main beam unit is located on the other end of the support unit away from the cutterhead unit and extends away from the support unit; the rotating assembly, the crushing assembly, and the gripping assembly are located on the main beam unit; the conveying unit is located on the main beam unit; in the clearing state, the gripping assembly grips the obstruction and places it on the conveying unit.

9. A tunneling system according to claim 1, characterized in that, Also includes: The support shoe assembly includes a first support shoe unit and a second support shoe unit respectively disposed on opposite sides of the tunneling assembly.

10. A tunneling method, characterized in that, The tunneling method, applied to the tunneling system according to any one of claims 1-9, comprises: Drive the tunneling components to tunnel along the tunneling direction; The driving crushing unit provides a preset crushing force in a preset direction; Based on the obstruction, the crushing component and the gripping component are moved or rotated by a preset angle, and the gripping unit grips the obstruction; wherein, the angle between the preset direction and the tunneling direction has a preset range.

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