A milling heading machine, a heading machine and a heading method

Abstract

The present application relates to the technical field of geotechnical construction, and more particularly to a milling and digging head, a digging device and a digging method. The milling and digging head comprises a mounting base, a hydraulic drive mechanism, a cutting tooth seat and a cutting tooth assembly. The hydraulic drive mechanism comprises two groups of hydraulic motor modules arranged on the left and right sides of the mounting base. The cutting tooth seat is arranged between the two groups of hydraulic motor modules and is connected to the power output ends of the two groups of hydraulic motor modules simultaneously. The cutting tooth assembly comprises a plurality of first cutting tooth groups and a plurality of second cutting tooth groups. Each first cutting tooth group comprises a plurality of first cutting teeth arranged on the outer wall surface of the cutting tooth seat in a ring spiral inclined manner. Each second cutting tooth group comprises a plurality of second cutting teeth arranged on the outer wall surface of the cutting tooth seat in a concentric circle vertical dense manner. The milling and digging head adopts a partitioned cutting tooth structure of surface soil breaking + bottom hard rock breaking, which is specifically adapted to soft and hard alternating strata in mountainous areas and has the advantages of complete rock breaking, small resistance and strong rock-soil versatility.

Description

Technical Field

[0001] This invention relates to the field of geotechnical construction technology, and in particular to a milling excavation head, tunneling equipment, and tunneling method. Background Technology

[0002] Existing excavation heads for foundation pits mostly adopt a double-drum layout, resulting in a large and bulky overall size, making them unsuitable for the construction of small-diameter vertical foundation pits for power transmission towers. Furthermore, conventional excavation heads have limited torque output, limited adaptability to different geological formations, and insufficient versatility in cutting patterns. They exhibit low rock-breaking efficiency and poor stability during vertical excavation when facing complex formations such as soft soil, clay, weathered rock, and hard rock in mountainous areas, making them unable to complete the shaping of small-diameter foundation pits and demonstrating significant shortcomings in industry applicability. Summary of the Invention

[0003] The purpose of this invention is to provide a milling excavator head, tunneling equipment, and tunneling method to solve the aforementioned technical problems in the prior art. To achieve the above objectives, the present invention adopts the following technical solution: A milling and drilling head includes a mounting base, a hydraulic drive mechanism, a cutting tooth holder, and a cutting tooth assembly, wherein: The top of the mounting base has a connecting structure for rigidly connecting with the vertical working end of the tunneling equipment; The hydraulic drive mechanism includes two sets of hydraulic motor modules disposed on the left and right sides of the mounting base; The cutting tooth holder is disposed between the two sets of hydraulic motor modules and is simultaneously connected to the power output end of the two sets of hydraulic motor modules; The cutting tooth assembly includes several groups of first cutting tooth groups and several groups of second cutting tooth groups. Each group of first cutting tooth groups includes multiple first cutting teeth arranged in a ring-shaped spiral inclined manner on the outer wall surface of the cutting tooth holder. Each group of second cutting tooth groups includes multiple second cutting teeth arranged in a concentric circle vertical dense manner on the outer wall surface of the cutting tooth holder.

[0004] In some embodiments, the number of the first cutting tooth groups is at least two, and they are symmetrically arranged on both sides of all the second cutting tooth groups.

[0005] In some embodiments, a cutting tooth support is provided on the outer wall surface of the cutting tooth holder for each cutting tooth, and each cutting tooth is fixed to the corresponding cutting tooth support by means of threaded locking.

[0006] In some embodiments, the hydraulic drive mechanism further includes two sets of oil pipe assemblies, each set of oil pipe assemblies including an oil inlet pipe, an oil return pipe, and an oil drain pipe; The top of the mounting base has an oil pipe seat for connecting to the main hydraulic circuit, and the two sets of oil pipe assemblies are respectively connected between the two sets of hydraulic motor modules and the oil pipe seat.

[0007] In some embodiments, the hydraulic drive mechanism further includes a pressure regulating module disposed on the oil pipe seat; The pressure regulation module is configured to collect the formation hardness feedback pressure signal in real time and transmit it to the controller of the tunneling equipment. The controller is configured to adjust the output torque and rotational speed of the hydraulic drive mechanism based on the formation hardness feedback pressure signal. The pressure regulating module includes at least one of a first pressure sensor disposed on the oil inlet pipe, a second pressure sensor disposed on the oil return pipe, and a third pressure sensor disposed on the oil drain pipe.

[0008] In some embodiments, each group of hydraulic motor modules includes a large-displacement hydraulic motor and a load-bearing motor arranged in series; And / or, the hydraulic drive mechanism further includes a main shaft and a coaxial drive body, the main shaft being connected between the power output ends of the two sets of hydraulic motor modules, and the main shaft, the coaxial drive body, and the cutting tooth holder being fixedly mounted from the inside to the outside; And / or, the power output end of each hydraulic motor module is connected to the end of the main shaft via a splined shaft.

[0009] In some embodiments, a spindle mounting hole is provided on each of the left and right side walls of the mounting base; Both ends of the spindle are rotatably mounted in the spindle mounting hole on the same side via a bearing; The two sets of hydraulic motor modules are respectively assembled on the outer end faces of the two main shaft mounting holes.

[0010] In some embodiments, a Gladley ring is provided between the inner wall surface of each spindle mounting hole and the spindle; And / or, a clearance nut is fitted at each end of the main shaft, and the clearance nut is located between the bearing on the same side and the power output end of the hydraulic motor module; And / or, a coaxial drive body is respectively fitted at both ends of the spindle, and a sealing ring is provided between each coaxial drive body and the inner end face of the spindle mounting hole on the same side.

[0011] A tunneling device comprising a milling head as described in any of the preceding claims. A tunneling method applied to the aforementioned tunneling equipment, wherein the tunneling equipment further includes an equipment base, a rotary drive mechanism, a mounting arm, and a controller, wherein: the rotary drive mechanism is mounted on the equipment base, and its power output end can rotate around the longitudinal central axis; the upper end of the mounting arm is connected to the power output end of the rotary drive mechanism, and the lower end of the mounting arm is fixedly connected to the connecting structure; The tunneling method includes: The controller acquires the real-time differential pressure signal between the inlet and outlet oil pressures of the hydraulic drive mechanism, and outputs corresponding adjustment commands based on the real-time differential pressure signal. For every increase of a set pressure increment in the real-time differential pressure, the controller outputs a first adjustment command. The first adjustment command is used for synchronous control: the output torque of the hydraulic drive mechanism increases by a set torque increment, the rotation speed of the hydraulic drive mechanism decreases by a set rotation speed increment, and the rotation speed of the rotary drive mechanism decreases by a set rotation increment.

[0012] The beneficial effects of this invention are: This invention provides a milling excavator head and a tunneling device equipped with the milling excavator head. The milling excavator head includes a mounting base, a hydraulic drive mechanism, a cutting tooth holder, and a cutting tooth assembly. The mounting base has a connecting structure at its top for rigid connection to the vertical working end of the tunneling device. The hydraulic drive mechanism includes two sets of hydraulic motor modules disposed on the left and right sides of the mounting base. The cutting tooth holder is disposed between the two sets of hydraulic motor modules and is simultaneously connected to the power output ends of both sets of hydraulic motor modules. The cutting tooth assembly includes several sets of first cutting tooth groups and several sets of second cutting tooth groups. Each set of first cutting tooth groups includes multiple first cutting teeth arranged in a ring-shaped spiral inclined manner on the outer wall surface of the cutting tooth holder. Each set of second cutting tooth groups includes multiple second cutting teeth arranged in a concentric circle vertically dense manner on the outer wall surface of the cutting tooth holder.

[0013] This milling excavator head adopts a zoned cutting tooth structure that breaks the surface soil and fractures the hard rock at the bottom. It is specifically adapted to the alternating soft and hard strata in mountainous areas, and has advantages such as thorough rock breaking, low resistance, low tooth wear, and strong versatility in soil and rock conditions. It solves the problems of low rock breaking efficiency and easy tooth breakage of traditional general-purpose cutting tooth layouts. In addition, this milling excavator head is equipped with two sets of hydraulic motor modules, which have advantages such as large torque output, high vertical excavation accuracy, and simple and compact design.

[0014] The tunneling method applied to the aforementioned tunneling equipment includes: the controller acquires the real-time differential pressure signal between the inlet and outlet oil pressures of the hydraulic drive mechanism, and outputs a corresponding adjustment command based on the real-time differential pressure signal; for each increase in the real-time differential pressure by a set pressure amplitude, the controller outputs a first adjustment command once, which is used for synchronous control: increasing the output torque of the hydraulic drive mechanism by a set torque amplitude, decreasing the rotation speed of the hydraulic drive mechanism by a set rotation amplitude, and decreasing the rotation speed of the rotary drive mechanism by a set rotation amplitude.

[0015] This tunneling method is highly compatible with the segmented cutting teeth and dual-motor module structure of the aforementioned milling excavator head. It uses the real-time pressure difference between the inlet and outlet oil pressures of the hydraulic drive mechanism to determine changes in the hardness of the strata, and automatically matches and controls the output torque / speed of the hydraulic drive mechanism and the rotation speed of the slewing drive mechanism to achieve adaptive adjustment of working conditions. Specifically, when tunneling through shallow backfill soil, silty clay, loose weathered layers, or other low-load conditions, the equipment automatically switches to a high-speed, low-torque mode to reduce tunneling resistance, increase the advance and rotation speed, and reduce the involvement of the second cutting tooth, avoiding sticky soil from clogging the teeth and causing jamming. When tunneling through deep, dense hard soil, gravel interlayers, moderately weathered hard rock, or other high-load conditions, the equipment automatically switches to a low-speed, high-torque boost mode to fully amplify the synergistic output torque of the dual-motor module, allowing the second cutting tooth to fully participate in excavation and concentrate on breaking up hard rock and soil, effectively solving the defects of traditional equipment in hard rock tunneling such as stalling, stopping, and being unable to penetrate. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the line structure of a milling and drilling head provided in an embodiment of this application; Figure 2 This is a schematic diagram of the physical structure of the milling and drilling head provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the cutting tooth holder provided in an embodiment of this application; Figure 4 This is a partition layout diagram of the cutting tooth assembly provided in an embodiment of the present invention; Figure 5 A schematic diagram of the lateral structure of a milling and drilling head provided in an embodiment of this application; Figure 6 for Figure 5 Cross-sectional view at point AA; Figure 7 This is an assembly diagram of the milling excavation head and the mounting arm provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of the tunneling equipment provided in the embodiments of this application; Figure 9 A flowchart of a tunneling method provided in an embodiment of this application.

[0018] icon: 1-Mounting base; 11-Connecting structure; 12-Oil pipe seat; 2-Hydraulic drive mechanism; 201-Pressure regulating module; 202-Oil pipe assembly; 203-Hydraulic motor; 204-Carrier motor; 205-Spindle; 206-Coaxial drive body; 207-Glyd ring; 208-Splined shaft; 209-Bearing; 210-Clearance nut; 211-Sealing ring; 212-Screw; 3-Cutting tooth seat; 4-Cutting tooth assembly; 401-First cutting tooth; 402-Second cutting tooth; 100-Equipment base; 200-Rotation drive mechanism; 310-Mounting support arm. Detailed Implementation

[0019] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that in the description of this invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for 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 invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] It should be noted that in the description of this invention, the terms "connection" and "installation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or a connection through an intermediate medium; they can refer to a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] A first aspect of this application provides a milling head, referring to... Figures 1 to 7The milling excavator includes a mounting base 1, a hydraulic drive mechanism 2, a cutting tooth holder 3, and a cutting tooth assembly 4. The mounting base 1 has a connecting structure 11 at its top, which is used for rigid connection with the vertical working end of the excavating equipment. The hydraulic drive mechanism 2 includes two sets of hydraulic motor modules disposed on the left and right sides of the mounting base 1. The cutting tooth holder 3 is disposed between the two sets of hydraulic motor modules and is simultaneously connected to the power output ends of both sets of hydraulic motor modules. The cutting tooth assembly 4 includes several sets of first cutting teeth and several sets of second cutting teeth. Each set of first cutting teeth includes multiple first cutting teeth 401 arranged in a ring-shaped spiral inclined manner on the outer wall surface of the cutting tooth holder 3. Each set of second cutting teeth includes multiple second cutting teeth 402 arranged in a concentric circle vertical dense arrangement on the outer wall surface of the cutting tooth holder 3.

[0023] like Figure 1 As shown, the mounting base 1 is a vertically compact, dedicated installation structure with a significantly reduced overall envelope size. It abandons the redundant layout of traditional bases and is specifically adapted to the vertical excavation conditions and confined working spaces of foundation pits. The mounting base 1 adopts a vertical rigid connection structure with a flange-type connection structure 11 at its top. Through the flange-type connection structure 11, it is precisely aligned and rigidly locked with the vertical working end of the tunneling equipment, achieving vertical center assembly. This ensures that the overall vertical force of the tunneling head is uniform and the center of gravity is centered, completely eliminating the problems of offset, swaying, and tilting during vertical tunneling. It is perfectly adapted to the vertical drop drilling process of tower foundation pits, ensuring the vertical forming accuracy of the foundation pit from the installation foundation level.

[0024] The hydraulic drive mechanism 2 adopts a symmetrical drive structure with dual large-displacement hydraulic motor modules. Compared with the traditional single-motor tunneling head, the power output torque is increased by more than double, and it has sufficient rock-breaking power reserves, which can easily cope with high-resistance strata such as hard rock, dense clay, and gravel interlayers in mountainous areas.

[0025] The cutting tooth holder 3 adopts an integrated single-roller structure, which is rigidly connected to the power output end of the dual hydraulic motor module. This application adopts a more stable single-roller integrated structure, completely abandoning the bulky and redundant structure of the traditional double-roller structure. The overall layout is highly compact, and the outer diameter is precisely matched to the standard small-diameter foundation pit specifications of the iron tower. There are no extra external protrusions, which completely solves the defects of the traditional double-roller structure, such as excessive size, scraping against the pit wall, over-excavation of the hole diameter, and inability to form standard small-diameter foundation pits. The cutting tooth holder 3 can adopt an integral cast steel structure with no splicing gaps. It has high structural strength, strong impact resistance and deformation resistance, and can withstand the high-intensity impact milling load of hard rock in mountainous areas, making it suitable for complex and harsh construction conditions.

[0026] Unlike traditional general-purpose cutter teeth with a uniform arrangement, this application features a dedicated zoned arrangement design for the cutters in complex mountainous terrain. The first cutter tooth 401 is arranged at an angle; as a surface-breaking cutter group, it can quickly break through surface soil, clay layers, and weathered soft rock layers, reducing tunneling resistance. The second cutter tooth 402 is arranged vertically and uniformly; as a hard rock breaking cutter group, it can concentrate stress to break through hard rock layers and gravel interlayers. This zoned arrangement design can be specifically adapted to the complex geological conditions of mountainous areas, including undulating terrain, alternating hard and soft rock formations, and mixed soil and rock, effectively improving the thoroughness of rock breaking and milling stability under complex geotechnical conditions, while reducing cutter wear and the probability of equipment jamming.

[0027] Furthermore, the number of first cutting tooth groups is at least two, and they are symmetrically arranged on both sides of all second cutting tooth groups. In the embodiment shown in the accompanying drawings of this application (hereinafter collectively referred to as this embodiment), the number of first and second cutting tooth groups is two, and the first cutting tooth groups are symmetrically arranged on both sides of the two groups of second cutting tooth groups; the cutting radius of the second cutting tooth groups is larger than the cutting radius of the first cutting tooth groups. Figure 4 As shown, the axial distance from the tip of the second cutting tooth 402 to the cutting tooth holder 3 is slightly higher than the axial distance from the tip of the first cutting tooth 401 to the cutting tooth holder 3; in the circumferential direction of the cutting tooth holder 3, the first cutting tooth 401 and the second cutting tooth 402 are staggered. This specialized, functionally differentiated cutting tooth layout can fully adapt to the complex geological features of soft-over-hard and interwoven soft-hard formations in mountainous areas; the two sets of cutting teeth are arranged in an adjacent-layer staggered layout, which can avoid cutting dead zones, improve slag removal efficiency, and disperse instantaneous cutting impact.

[0028] During the shallow excavation stage, the first cutting tooth 401 is arranged in an inclined annular spiral on the outer wall of the cutting tooth base 3, forming a continuous rock and soil cutting edge. This allows for rapid stripping and cutting of surface clay and weathered loose soil, significantly reducing initial excavation resistance. Simultaneously, the inclined tooth body of the first cutting tooth 401 forms a muck guide channel, actively discharging muck, preventing sticking and clogging, ensuring smooth and efficient shallow excavation, and simultaneously allowing for slight trimming of the pit wall to avoid sidewall defects. Furthermore, the first cutting tooth group is symmetrically positioned on both sides of the two second cutting tooth groups. This design ensures the overall vertical symmetry of the excavation head, a centrally located center of gravity, and no lateral eccentricity throughout the process. It also allows for active muck discharge from both sides, preventing muck accumulation at the middle second cutting tooth 402 and providing favorable excavation conditions for the second cutting tooth 402.

[0029] During the deep hard rock excavation stage, the second cutting tooth 402 adopts a concentric circle vertical (vertical means the axis of the cutting tooth is perpendicular to the rotation center line of the cutting tooth seat 3) densely distributed structure. The force direction of the second cutting tooth 402 is completely coincident with the vertical excavation pressure, resulting in a significant stress concentration effect. It can achieve point-like compression and strong crushing of the underlying dense hard soil, gravel clumps, and weathered hard rock. Furthermore, the second cutting tooth 402 adopts a multi-layer tooth distribution design without dead angles, which can completely break up hard rock blocks. There are no residual protrusions or local height differences at the bottom of the foundation pit, ensuring that the bottom surface of the tower foundation pit is flat and meets the requirements of foundation bearing capacity and installation accuracy.

[0030] In typical mountainous tunneling conditions with varying rock and soil textures, the first cutting tooth 401 and the second cutting tooth 402 work together to relieve stress layer by layer and break rock in different zones. This avoids continuous overload and sudden stress changes in a single cutting tooth, significantly reducing the probability of tooth breakage, chipping, and rapid wear from a structural perspective, effectively improving the stability and continuous operation capability of milling in complex strata. Furthermore, depending on the hardness of the rock and soil, the type of cutting tooth primarily responsible for tunneling can be changed by adjusting the rotation speed. In softer rock and soil areas, increasing the rotation speed allows the first cutting tooth 401 to primarily handle tunneling, reducing the downward cutting action of the second cutting tooth 402; conversely, in harder rock and soil areas, decreasing the rotation speed increases the downward cutting action of the second cutting tooth 402.

[0031] As an optional implementation, each cutting tooth of the cutting tooth assembly 4 is made of high-strength tungsten carbide alloy and undergoes overall quenching and hardening treatment, with a hardness of not less than HRC60. These cutting teeth possess wear-resistant and impact-resistant properties, making them suitable for high-frequency hard rock impact conditions in mountainous areas.

[0032] Reference Figure 3 and Figure 4 Each cutting tooth is equipped with a cutting tooth support on the outer wall of the cutting tooth holder 3, and each cutting tooth is fixed to the corresponding cutting tooth support by threaded locking. All cutting teeth are fixed to the corresponding cutting tooth supports by detachable bolts, nuts and other fasteners. Individual cutting teeth can be quickly replaced after wear or breakage, without the need to disassemble the entire tunneling head. This makes field operation and maintenance convenient and efficient, significantly reducing later maintenance costs and construction downtime. The cutting tooth holder 3 adopts an integrated cast steel structure with the center of gravity in the middle. The outer wall of the drum body of the cutting tooth holder 3 is smooth and without protrusions except for the cutting tooth supports. Vertical milling has no extra scraping structure, which can effectively avoid problems such as over-excavation of small-diameter foundation pits, pit wall damage, and hole collapse, and achieve accurate one-time formation of foundation pits without the need for manual secondary pit repair.

[0033] Furthermore, the milling excavator adopts a vertically symmetrical structure with the center of gravity in the center, eliminating lateral eccentricity throughout the process. Combined with the synchronous and balanced drive of the dual-motor drive module and the adaptive load speed regulation function, it can achieve straight downward and precise shaping of small-diameter vertical foundation pits, effectively controlling the verticality deviation of the foundation pit and eliminating quality defects such as off-center holes, inclined holes, over-excavation, and edge collapse. After the foundation pit is formed, there is no need for manual secondary pit repair and leveling. One-time shaping can meet the high-precision construction standards of mountain power transmission tower foundations. It completely solves the technical shortcomings of traditional general-purpose excavator heads, such as poor working condition adaptability, insufficient torque, low forming accuracy, and easy damage and jamming. It realizes efficient, stable, precise, and universal milling construction of small-diameter vertical foundation pits for power transmission towers in mountainous areas, and is suitable for large-scale promotion and application in various complex mountainous geotechnical conditions.

[0034] As an optional implementation, the entire surface of the milling excavator head is coated with a wear-resistant and corrosion-resistant coating, which is suitable for the harsh construction environment of damp, dusty, and gravelly mountainous areas, delaying structural wear and corrosion and extending the service life of the equipment.

[0035] As an optional implementation, the hydraulic drive mechanism 2 further includes a main shaft 205 and a coaxial drive body 206. The main shaft 205 is connected between the power output ends of the two sets of hydraulic motor modules. The main shaft 205, the coaxial drive body 206, and the cutting gear seat 3 are fixedly mounted from the inside to the outside. The rigid connection between the main shaft 205 and the power output ends of the two sets of hydraulic motor modules ensures that the two sets of hydraulic motor modules output synchronously and avoids slight delays between them.

[0036] As an optional implementation, refer to Figure 6 Each hydraulic motor module includes a large-displacement hydraulic motor 203 and a load-bearing motor 204 arranged in series. The two hydraulic motor modules are respectively fastened to the left and right outer walls of the mounting base 1 by screws 212. Specifically, the large-displacement hydraulic motor 203 has a longer piston stroke and a larger cylinder diameter, enabling it to obtain high cutting torque; the load-bearing motor 204 has a built-in heavy-duty support bearing, and its output shaft can directly withstand radial and axial cutting impact loads. Each hydraulic motor module includes two types of motors, satisfying both the high-torque cutting requirements of soft and hard strata and directly bearing the impact from the cutting teeth. After construction begins, the two symmetrically arranged large-displacement hydraulic motors 203 and load-bearing motors 204 synchronously and collaboratively output power. Compared to traditional single-motor tunneling heads, the output torque is doubled, providing sufficient rock-breaking torque reserves for high-resistance conditions such as hard rock, gravel interlayers, and dense clay in mountainous areas.

[0037] Based on the above structure, the power output end of each hydraulic motor module is connected to the end of the main shaft 205 via a splined shaft 208. During transmission, the output power of the hydraulic motor module is synchronously transmitted to the main shaft 205 via the splined shaft 208, and then drives the cutting gear seat 3 to rotate synchronously as a whole via the coaxial drive body 206.

[0038] As an optional implementation, refer to Figure 6 The mounting base 1 has a spindle mounting hole on each of its left and right side walls. Both ends of the spindle 205 are rotatably mounted in the same side spindle mounting hole via a bearing 209. Two sets of hydraulic motor modules are respectively mounted on the outer end faces of the two spindle mounting holes. Furthermore, a clearance nut 210 is fitted onto each end of the spindle 205, positioned between the bearing 209 on the same side and the power output end of the hydraulic motor module. The bearing 209 stably supports the spindle 205, and the clearance nut 210 precisely adjusts the transmission clearance, thereby ensuring transmission accuracy and preventing axial movement during operation.

[0039] As an optional implementation, a Gladley ring 207 is provided between the inner wall surface of each spindle mounting hole and the spindle 205; and / or, a coaxial drive body 206 is respectively fitted at both ends of the spindle 205, and each coaxial drive body 206 abuts against the inner end face of the spindle mounting hole on the same side and a sealing ring 211 is provided between them.

[0040] The Glyd ring 207 seals between the inner wall of the spindle assembly hole and the spindle 205, while the sealing ring 211 seals between the inner end face of the spindle assembly hole (i.e., the end face furthest from the hydraulic motor module on the same side) and the coaxial drive body 206. The Glyd ring 207 and the sealing ring 211 form a double rotary seal structure, effectively preventing mud, dust, and fine debris from entering the spindle assembly hole, protecting the hydraulic, bearing, and spline transmission structures for long-term stable operation, and making it suitable for harsh construction environments characterized by dampness, dust, and gravel in mountainous areas.

[0041] Continue to refer to Figure 1 and Figure 2 The hydraulic drive mechanism 2 also includes two sets of oil pipe assemblies 202, each set of oil pipe assemblies 202 including an oil inlet pipe, an oil return pipe and an oil drain pipe; the top of the mounting base 1 has an oil pipe seat 12 for connecting to the main hydraulic oil circuit, and the two sets of oil pipe assemblies 202 are respectively connected between the two sets of hydraulic motor modules and the oil pipe seat 12.

[0042] like Figure 2 As shown, in each set of oil pipe assemblies 202, the thicker oil pipes on both sides are the inlet and return oil pipes, respectively, while the thinner oil pipe in the middle is the drain oil pipe. All oil pipes of the tunneling head are led out from the hydraulic motor and connected to the oil pipe seat 12, which is then connected to the main hydraulic circuit. The entire oil circuit structure is simple and easy to manage.

[0043] Based on the above structure, the hydraulic drive mechanism 2 also includes a pressure regulating module 201 mounted on the oil pipe seat 12. The pressure regulating module 201 is configured to collect the formation hardness feedback pressure signal in real time and transmit it to the controller of the tunneling equipment. The controller is configured to adjust the output torque and speed of the hydraulic motor module according to the formation hardness feedback pressure signal. The formation hardness can be judged by the inlet and outlet oil pressure difference of the hydraulic drive mechanism 2. The greater the inlet and outlet oil pressure difference of the hydraulic drive mechanism 2, the higher the formation hardness usually is.

[0044] Furthermore, the pressure regulation module 201 includes: a first pressure sensor disposed on the inlet pipe; and / or, a second pressure sensor disposed on the return pipe; and / or, a third pressure sensor disposed on the drain pipe. The first, second, and third pressure sensors are all located at the junction of the two sets of oil pipe assemblies 202, used to collect the oil pressure after merging. The first and second pressure sensors can detect the real-time inlet and outlet pressure difference of the hydraulic drive mechanism 2, thereby determining changes in formation hardness. The third pressure sensor can detect the drain pressure of the hydraulic drive mechanism 2, thereby determining whether the motor is malfunctioning.

[0045] During operation, the pressure regulation module 201 dynamically collects the hydraulic system pressure load signal (i.e., real-time inlet and outlet oil pressure) and transmits it to the controller. The controller intelligently identifies changes in the softness and hardness of the strata based on the pressure load signal, automatically matches the output speed and torque parameters, and realizes adaptive adjustment of working conditions.

[0046] Specifically, when tunneling through shallow backfill soil, silty clay, loose weathered layers, and other low-load conditions, the system automatically switches to a high-speed, low-torque mode to reduce tunneling resistance, increase the advance rate, and prevent sticky soil from sticking to the teeth and causing blockages. When tunneling through deep, dense, hard soil, gravel interlayers, moderately weathered hard rock, and other high-load conditions, the system automatically switches to a low-speed, high-torque boost mode to fully amplify the combined output torque of the dual motors, concentrate on breaking up hard rock and soil, and effectively solve the defects of traditional equipment in hard rock tunneling such as stalling, stopping, and being unable to break through.

[0047] As an optional implementation, each hydraulic motor module incorporates a built-in pressure-stabilizing and throttling structure. This pressure-stabilizing and throttling structure is existing technology and will not be elaborated upon here. The built-in structure ensures balanced oil intake and synchronized power output for both hydraulic motors, preventing uneven milling stress caused by unilateral power deviation, and further improving vertical excavation stability and the regularity of the foundation pit formation.

[0048] In summary, compared with the prior art, the beneficial effects of the tunneling head provided in this embodiment are as follows: 1. Exclusive partitioned cutting tooth layout, excellent adaptability to complex working conditions: Adopting a partitioned cutting tooth structure that breaks the surface soil and the hard rock at the bottom, it is specifically adapted to the soft and hard strata in mountainous areas. It breaks the rock thoroughly, with low resistance and low cutting tooth wear, solving the problems of low rock breaking efficiency and easy tooth breakage of traditional general cutting tooth layouts, and adapting to the normal complex construction conditions in mountainous areas.

[0049] 2. Compact single-roller structure, specially adapted for small-diameter iron tower foundation pits: This application abandons the bulky and redundant structure of traditional double-roller structures. The cutting tooth seat 3 adopts an integrated single-roller compact design. The overall size is precisely matched to the narrow construction space of small-diameter iron tower foundation pits. There are no external protruding scraping structures, which completely solves the pain points of traditional equipment such as over-excavation of hole diameter, pit wall damage, and inability to standardize the forming process, and realizes precise and regular forming of small-diameter foundation pits.

[0050] 3. Vertical exclusive structural design, extremely high vertical drilling accuracy: Adopting a vertical compact installation base 1 and a symmetrical structure with the center of gravity in the center, it is suitable for vertical drop drilling process. During the tunneling process, the force is uniform, there is no lateral load, no swaying or deviation, effectively eliminating the problems of skewed holes and tilted holes, greatly improving the verticality of the foundation pit, and ensuring the installation accuracy and long-term load-bearing stability of the tower foundation.

[0051] 4. Dual-motor high torque output, strong rock-breaking ability in complex strata: It adopts dual large-displacement hydraulic motors for coordinated drive, and the torque is doubled compared with the traditional single motor structure. With ample power reserve, it can easily deal with complex composite strata such as clay, weathered rock, hard rock, and soil-rock mixture in mountainous areas. It completely solves the problems of jamming, stalling, and weak rock-breaking power of traditional equipment. It has extremely strong adaptability to both soil and rock.

[0052] 5. Adaptive matching of strata, efficient construction and energy saving: Equipped with a hydraulic pressure adaptive adjustment module, it can intelligently switch between high-speed low torque and low-speed high torque working modes according to the hardness of the strata. It can quickly excavate soft soil and powerfully break rock in hard rock, dynamically adapting to the working conditions. This not only improves construction efficiency but also avoids equipment overload and wear, resulting in energy saving, energy saving and strong stability.

[0053] 6. Durable structure, convenient operation and maintenance, and high construction economy: The integrated cast steel roller structure has high strength, impact resistance, and corrosion resistance, making it suitable for harsh field working conditions; the cutting teeth can be disassembled and replaced individually, making field operation and maintenance simple and downtime short, significantly reducing equipment operation and maintenance costs, and significantly improving the efficiency of mechanized construction, making it suitable for the promotion of standardized batch construction of subway tower foundation pits in mountainous areas.

[0054] The second objective of this application is to provide a tunneling device that includes the milling head provided in any of the above embodiments. This tunneling device possesses all the technical features and effects of the aforementioned milling head, which will not be repeated here.

[0055] In some embodiments, refer to Figure 8The tunneling equipment also includes an equipment base 100, a rotary drive mechanism 200, a swing arm mechanism, and a controller. The equipment base 100 serves as the load-bearing support foundation for the entire equipment. The rotary drive mechanism 200 is mounted on the equipment base 100, and its power output end can rotate around the longitudinal central axis. The swing arm mechanism includes a swing arm support, a mounting arm 310, and a swing cylinder. The swing arm support is fixed to the power output end of the rotary drive mechanism 200. The upper end of the mounting arm 310 is hinged to the swing arm support, and the lower end of the mounting arm 310 is fixedly connected to the connection structure 11 of the mounting base 1. The two ends of the swing cylinder are respectively hinged to the swing arm support and the mounting arm 310. The controller is the core control unit of the entire equipment, coordinating the coordinated operation of all actuators of the machine.

[0056] During operation, the aforementioned tunneling equipment can be driven by the rotary drive mechanism 200 to rotate the entire swing arm mechanism around the longitudinal central axis, and the swing cylinder can drive the mounting arm 310 to swing around a horizontal axis. In conjunction with the hydraulic drive mechanism 2 of the tunneling head itself, the tunneling head can complete the lateral sweeping and excavation operations.

[0057] The third objective of this application is to provide a tunneling method applicable to the aforementioned tunneling equipment, referring to... Figure 9 The tunneling method includes: The inlet and outlet pressure signals of the hydraulic drive mechanism 2 are collected in real time by the first pressure sensor and the second pressure sensor, respectively. The controller receives the inlet pressure signal and the outlet pressure signal, and calculates the real-time pressure difference signal between the inlet pressure and the outlet pressure. The controller outputs the corresponding adjustment command based on the real-time pressure difference signal. The reference pressure difference ΔP0 of the hydraulic drive mechanism 2 in the initial state is used as the initial comparison reference; For every increase of a set pressure range in the real-time pressure difference △P1 (i.e., △P1-△P0≥△Pt), the controller outputs a first adjustment command once. The first adjustment command is used for synchronous control: the output torque of the hydraulic drive mechanism 2 increases by a set torque range, the speed of the hydraulic drive mechanism 2 decreases by a set speed range, and the rotation speed of the rotary drive mechanism 200 decreases by a set rotation range. After each adjustment, the reference pressure difference △P0 is refreshed. The refreshed reference pressure difference △P0 is equal to the sum of the original reference pressure difference △P0 and the set pressure amplitude △Pt.

[0058] Generally, the hardness of soil and rock increases with the depth of excavation. Therefore, in the initial state, the tunneling equipment typically operates at the minimum output torque, maximum tunneling speed, and maximum slewing speed, and the torque increases while the tunneling speed and slewing speed decrease as the depth of excavation increases.

[0059] If the formation hardness does not have a fixed variation pattern, the tunneling method further includes: for each time the real-time pressure difference decreases by a set pressure amplitude, the controller outputs a second adjustment command once. The second adjustment command is used to synchronously control: the output torque of the hydraulic drive mechanism 2 decreases by a set torque amplitude, the rotation speed of the hydraulic drive mechanism 2 increases by a set rotation speed amplitude, and the rotation speed of the slewing drive mechanism 200 increases by a set rotation amplitude; after each adjustment, the reference pressure difference △P0 is refreshed, and the refreshed reference pressure difference △P0 is equal to the difference between the original reference pressure difference △P0 and the set pressure amplitude △Pt.

[0060] Furthermore, the tunneling method also includes: acquiring the oil discharge pressure signal of the hydraulic drive mechanism 2 in real time through a third pressure sensor; the controller receiving the oil discharge pressure signal; when the oil discharge pressure is greater than or equal to the set pressure discharge threshold, the controller determines that the equipment is faulty and controls the equipment to stop and alarm; when the oil discharge pressure is lower than the set pressure discharge threshold, the controller outputs the corresponding adjustment command based on the real-time pressure difference signal.

[0061] In other words, when the tunneling head motor is running normally, for every set pressure increment that the real-time inlet and outlet pressure difference of the hydraulic drive mechanism 2 increases relative to the reference pressure difference, the output torque of the hydraulic drive mechanism 2 increases by one level, the output speed of the hydraulic drive mechanism 2 decreases by one level, and the rotation speed decreases by one level. Conversely, for every set pressure increment that the real-time inlet and outlet pressure difference of the hydraulic drive mechanism 2 decreases, the output torque of the hydraulic drive mechanism 2 decreases by one level, the output speed of the hydraulic drive mechanism 2 increases by one level, and the rotation speed increases by one level.

[0062] Generally, a two-level adjustment mechanism can be set for low and high load conditions, or a three-level adjustment mechanism can be set for low, medium, and high load conditions. Parameters such as thresholds and set amplitudes can be flexibly modified and adjusted according to the actual tunneling conditions. The controller can also be configured with a condition-determining delay stabilization control logic. Only after the current operating parameters have maintained a complete delay duration (e.g., 1s~3s) will the controller issue a gear switching command to filter instantaneous loads and improve the overall machine's operational stability.

[0063] When tunneling through hard soil layers, a high tunneling torque, low tunneling speed, and low slewing speed are used. The low slewing speed allows the vertically arranged second cutting tooth 402 in the middle sufficient time to break up the hard soil, enabling it to fully participate in the tunneling operation. When tunneling through soft mud, a low tunneling torque, high tunneling speed, and high slewing speed are used to achieve the following effects: 1. The spirally inclined first cutting tooth 401 on both sides is suitable for high-speed sweeping operations, quickly scraping away soft soil and shaping the cross-section; 2. The high slewing speed reduces the downward cutting action of the second cutting tooth 402, allowing the equipment to mainly rely on the high-speed slewing of the first cutting tooth 401 on both sides for excavation, avoiding the risk of the second cutting tooth 402 being encased in clay, leading to increased tunneling resistance or even jamming; 3. More soil is cut per unit time, significantly improving tunneling efficiency; 4. Soft soil easily adheres to the tooth seat; rapid rotation utilizes centrifugal force to shake off the soil, reducing mud blockage and interference from the side structures; 5. Low resistance eliminates the need for high torque, and high speed matched with small displacement output results in lower energy consumption.

[0064] When the output torque of the hydraulic drive mechanism 2 reaches its maximum or minimum value, the parameter is locked and will no longer be adjusted downwards or upwards; when the output speed of the hydraulic drive mechanism 2 reaches its maximum or minimum value, the parameter is locked and will no longer be adjusted downwards or upwards; when the rotation speed of the rotary drive mechanism 200 reaches its maximum or minimum value, the parameter is locked and will no longer be adjusted downwards or upwards.

[0065] In summary, this tunneling method is highly compatible with the partitioned cutting teeth and dual-motor module structure of the milling excavator head. By using the real-time pressure difference between the inlet and outlet oil pressures of the hydraulic drive mechanism 2 to determine the changes in the softness and hardness of the strata, and by automatically matching and controlling the output torque / speed of the hydraulic drive mechanism 2 and the rotation speed of the slewing drive mechanism 200, the working conditions can be adaptively adjusted, making it suitable for complex strata conditions such as soft soil, clay, weathered rock, and hard rock in mountainous areas.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A milling and drilling head, characterized in that, It includes a mounting base (1), a hydraulic drive mechanism (2), a cutting tooth holder (3), and a cutting tooth assembly (4), wherein: The top of the mounting base (1) has a connecting structure (11) for rigid connection with the vertical working end of the tunneling equipment; The hydraulic drive mechanism (2) includes two sets of hydraulic motor modules disposed on the left and right sides of the mounting base (1); The cutting tooth seat (3) is disposed between the two sets of hydraulic motor modules and is simultaneously connected to the power output end of the two sets of hydraulic motor modules; The cutting tooth assembly (4) includes several groups of first cutting tooth groups and several groups of second cutting tooth groups. Each group of first cutting tooth groups includes multiple first cutting teeth (401) arranged in a ring-shaped spiral inclined manner on the outer wall surface of the cutting tooth seat (3). Each group of second cutting tooth groups includes multiple second cutting teeth (402) arranged in a concentric circle vertical dense manner on the outer wall surface of the cutting tooth seat (3).

2. The milling head according to claim 1, characterized in that, The number of the first cutting tooth groups is at least two, and they are symmetrically arranged on both sides of all the second cutting tooth groups.

3. The milling head according to claim 1, characterized in that, The outer wall surface of the cutting tooth holder (3) is provided with a cutting tooth support for each cutting tooth, and each cutting tooth is fixed to the corresponding cutting tooth support by means of thread locking.

4. The milling head according to claim 1, characterized in that, The hydraulic drive mechanism (2) further includes two sets of oil pipe assemblies (202), each set of oil pipe assemblies (202) including an oil inlet pipe, an oil return pipe and an oil drain pipe; The top of the mounting base (1) has an oil pipe seat (12) for connecting to the main hydraulic oil circuit. The two sets of oil pipe assemblies (202) are respectively connected between the two sets of hydraulic motor modules and the oil pipe seat (12).

5. The milling head according to claim 4, characterized in that, The hydraulic drive mechanism (2) also includes a pressure regulating module (201) disposed on the oil pipe seat (12); The pressure regulation module (201) is configured to collect the formation hardness feedback pressure signal in real time and transmit it to the controller of the tunneling equipment; The controller is configured to adjust the output torque and rotational speed of the hydraulic drive mechanism (2) according to the formation hardness feedback pressure signal; The pressure regulating module (201) includes at least one of a first pressure sensor disposed on the oil inlet pipe, a second pressure sensor disposed on the oil return pipe, and a third pressure sensor disposed on the oil drain pipe.

6. The milling head according to claim 1, characterized in that, Each hydraulic motor module includes a large-displacement hydraulic motor (203) and a load-bearing motor (204) arranged in series. And / or, the hydraulic drive mechanism (2) further includes a main shaft (205) and a coaxial drive body (206), the main shaft (205) is connected between the power output ends of the two sets of hydraulic motor modules, and the main shaft (205), the coaxial drive body (206) and the cutting tooth seat (3) are fixedly mounted from the inside to the outside; And / or, the power output end of each hydraulic motor module is connected to the end of the main shaft (205) via a splined shaft (208).

7. The milling head according to claim 6, characterized in that, The mounting base (1) has a spindle assembly hole on each of its left and right side walls; The two ends of the main shaft (205) are respectively rotatably mounted in the main shaft mounting hole on the same side through a bearing (209); The two sets of hydraulic motor modules are respectively assembled on the outer end faces of the two main shaft mounting holes.

8. The milling and drilling head according to claim 7, characterized in that, A Gladius ring (207) is provided between the inner wall surface of each of the spindle mounting holes and the spindle (205). And / or, a clearance nut (210) is fitted at each end of the main shaft (205), and the clearance nut (210) is located between the bearing (209) on the same side and the power output end of the hydraulic motor module; And / or, a coaxial drive body (206) is respectively fitted at both ends of the spindle (205), and a sealing ring (211) is provided between each coaxial drive body (206) and the inner end face of the spindle mounting hole on the same side.

9. A tunneling device, characterized in that, Includes the milling head as described in any one of claims 1 to 8.

10. A tunneling method, characterized in that, The tunneling equipment described in claim 9 further includes an equipment base (100), a rotary drive mechanism (200), a mounting arm (310), and a controller, wherein: the rotary drive mechanism (200) is mounted on the equipment base (100), and its power output end can rotate around the longitudinal central axis; the upper end of the mounting arm (310) is connected to the power output end of the rotary drive mechanism (200), and the lower end of the mounting arm (310) is fixedly connected to the connecting structure (11); The tunneling method includes: The controller acquires the real-time differential pressure signal between the inlet and outlet oil pressures of the hydraulic drive mechanism (2) and outputs the corresponding adjustment command based on the real-time differential pressure signal. For every increase of a set pressure range in the real-time differential pressure, the controller outputs a first adjustment command. The first adjustment command is used for synchronous control: the output torque of the hydraulic drive mechanism (2) increases by a set torque range, the rotation speed of the hydraulic drive mechanism (2) decreases by a set rotation speed range, and the rotation speed of the rotary drive mechanism (200) decreases by a set rotation range.

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