Electro-hydraulic series drive gripper shoe and heading machine

Abstract

The utility model discloses an electro-hydraulic series drive supporting shoe and a heading machine, and solves the problems of complicated hydraulic pipeline and low long-distance liquid supply efficiency caused by the fact that a supporting shoe only depends on hydraulic drive in the prior art. The electro-hydraulic series drive supporting shoe comprises a supporting shoe body and a supporting outer shell, a hydraulic oil cylinder is arranged between the supporting shoe body and the supporting outer shell, a lifting mechanism driven by a motor is arranged in the supporting outer shell, and a lifting piece of the lifting mechanism is connected with the hydraulic oil cylinder to form an electro-hydraulic series mechanism. The electric drive system with the self-locking function is adopted to control the supporting shoe to stretch out and retract, the hydraulic drive system only controls application and removal of pressure between the supporting shoe and a rock wall, the long-distance liquid supply amount can be effectively reduced, and the problems that a hydraulic pipeline is complex and long-distance liquid supply efficiency is low due to the fact that a traditional supporting shoe only depends on hydraulic drive are solved. And a monitoring control system is arranged, so that the complex problems of instability of the supporting shoe and the like caused by failure of a hydraulic system can be effectively avoided, and the construction efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of tunneling machine technology, and in particular to a support shoe structure. Background Technology

[0002] During the construction of full-face hard rock tunnel boring machines (TBMs), traditional support shoes rely solely on hydraulic systems for drive, resulting in complex and redundant hydraulic pipeline layouts. Extending these pipelines not only faces challenges such as difficult installation and limited space, but also requires addressing a series of severe challenges related to pressure loss, flow fluctuations, and system response delays in long-distance fluid supply; these pose significant challenges for TBMs requiring long-distance fluid supply.

[0003] Existing technologies, such as the patent with publication number CN214997652U, replace the original replacement of the entire support shoe by replacing the outer arc plate of the support shoe, reducing operational difficulty and saving costs; the patent with publication number CN114593098B has a two-stage and three-stage deployment mode, which changes the contact area between the support shoe and the surrounding rock according to the surrounding rock conditions, avoiding excessive local stress that could cause rock damage; while the patent with publication number CN113606205B evenly applies the pressure of the support shoe cylinder to the inner wall of the surrounding rock through distributed active plungers, effectively avoiding stress concentration. All of these patents improve the support shoe's performance by modifying its structural form; however, none of them change the traditional hydraulic drive method. Chinese patent CN 114592873 A discloses a fully circumferentially adjustable distributed TBM rear support device, which, although using hydraulic cylinders and electric mechanisms, aims to achieve full support around the hydraulic cylinders. Therefore, it is necessary to design an electro-hydraulic series drive support shoe to reduce long-distance fluid supply while ensuring the support shoe stroke, so as to adapt to tunneling machines with long-distance fluid supply. Utility Model Content

[0004] To address the shortcomings in the aforementioned background technology, this utility model proposes an electro-hydraulic series-driven support shoe and tunneling machine, which solves the problems of complex hydraulic pipelines and low efficiency of long-distance hydraulic supply caused by the support shoe relying solely on hydraulic drive in the prior art.

[0005] The technical solution of this utility model is achieved as follows: an electro-hydraulic series-driven support shoe includes a support shoe body and a supporting outer shell. A hydraulic cylinder is connected between the support shoe body and the supporting outer shell. A motor-driven lifting mechanism is provided inside the supporting outer shell. The lifting component of the lifting mechanism is connected to the hydraulic cylinder to form an electro-hydraulic series mechanism. This effectively reduces the amount of hydraulic fluid supplied over long distances and solves the problems of complex hydraulic pipelines and low efficiency of long-distance hydraulic supply caused by traditional support shoes relying solely on hydraulic drive. At the same time, it can also effectively avoid a series of complex problems caused by hydraulic system failure, such as support shoe instability and tunneling operation stagnation.

[0006] In a further preferred embodiment, the lifting mechanism includes a lifting component and a transmission component. The transmission component is connected to both the motor and the lifting component, and the motor drives the lifting component to move up and down via the transmission component. The transmission component converts the rotation of the motor into the up-and-down movement of the lifting component.

[0007] In a further preferred embodiment, the lifting component is a lifting sleeve, which slides into a groove formed on the supporting outer shell; the top of the lifting sleeve is connected to the cylinder of the hydraulic cylinder, and the lifting sleeve has an internal thread; the transmission component includes a screw, which is threaded into the lifting sleeve and is connected to a motor for transmission. The motor drives the screw to rotate, and the rotation of the screw drives the lifting sleeve to move up and down, thereby realizing its lifting action.

[0008] In one embodiment, a driven bevel gear is connected to the bottom of the screw, the motor is located outside the support housing, a coupling is provided on the output shaft of the motor, and a driving bevel gear is provided at one end of the transmission shaft of the coupling that extends into the support housing, and the driving bevel gear meshes with the driven bevel gear.

[0009] Further preferably, the supporting housing is provided with a supporting base, the bottom of the screw is connected to the supporting base through a rolling bearing, the driven bevel gear has a mounting hole in the middle, the screw passes through the mounting hole and is connected to the driven bevel gear through a key.

[0010] In one embodiment, the motor is disposed inside the supporting housing, and a coupling is provided on the output shaft of the motor, which is connected to the bottom of the screw.

[0011] In a further preferred embodiment, the lifting sleeve is provided with a top plate at the top, the cylinder of the hydraulic cylinder is provided with a connecting plate at the bottom, the connecting plate is fixed on the top plate, the piston of the hydraulic cylinder is connected to the support shoe body, and a pressure sensor is provided between the piston and the support shoe body.

[0012] Further preferably, the cross-section of the lifting sleeve is elliptical, rectangular, or circular, and the cross-section of the groove on the supporting outer shell is correspondingly elliptical, rectangular, or circular. When the cross-section of the lifting sleeve and the cross-section of the groove are circular, a slider is provided on the outer wall of the lifting sleeve, and the slider cooperates with the vertical guide groove opened on the inner wall of the groove.

[0013] A tunneling machine includes the aforementioned electro-hydraulic series drive support shoe. The electro-hydraulic series drive support shoe is mounted on the main body of the tunneling machine, and at least two electro-hydraulic series drive support shoes are symmetrically arranged on the left and right sides of the main body of the tunneling machine.

[0014] The beneficial effects of this invention are as follows: Compared with the prior art, this electro-hydraulic series drive fork shoe can change the traditional fork shoe driving method. The motor-driven lifting mechanism drives the hydraulic cylinder and the fork shoe body to extend and retract, forming the first stroke. The hydraulic cylinder drives the fork shoe body to extend and retract, forming the second stroke. This reduces the stroke of the traditional single hydraulic cylinder and the fluid supply distance, making it suitable for tunneling machine models that require long-distance fluid supply. This invention uses an electric drive system with a self-locking function to control the extension and retraction of the fork shoe. The hydraulic drive system only controls the application and release of pressure between the fork shoe and the rock wall, which can effectively reduce the amount of fluid supplied over long distances. It solves the problems of complex hydraulic pipelines and low efficiency of long-distance fluid supply caused by traditional fork shoes relying solely on hydraulic drive. Furthermore, the equipped monitoring and control system can effectively avoid complex problems such as fork shoe instability caused by hydraulic system failure, improving construction efficiency and ensuring construction safety. Attached Figure Description

[0015] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the electro-hydraulic series drive support shoe of this utility model;

[0017] Figure 2 This is a schematic diagram of the built-in structure of the motor in this utility model;

[0018] Figure 3 This is a schematic diagram showing the fit between the lifting sleeve and the supporting outer shell when the cross-section of the lifting sleeve is circular.

[0019] Figure 4 This is a schematic diagram showing the state when the cross-section of the lifting sleeve is elliptical.

[0020] Figure 5 This is a schematic diagram showing the state when the cross-section of the lifting sleeve is rectangular.

[0021] Figure 6 This is a schematic diagram illustrating the working principle of the monitoring and control system.

[0022] Figure 7 This is a schematic diagram of an electro-hydraulic series-driven support shoe used in a tunneling machine. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example 1, such as Figure 1 As shown, an electro-hydraulic series-driven support shoe includes a support shoe body 3-18 and a support shell 3-1. The support shoe body extends and braces against the rock wall, providing TBM drilling reaction force. A hydraulic cylinder 3-8 is provided between the support shoe body 3-18 and the support shell 3-1. The hydraulic cylinder provides power to the support shoe body, enabling it to brace against the rock wall and stabilize pressure. A motor-driven lifting mechanism is installed inside the support shell 3-1, forming an electric drive system. The lifting component of the lifting mechanism is connected to the hydraulic cylinder 3-8 to form an electro-hydraulic series mechanism. The motor-driven lifting mechanism drives the hydraulic cylinder and the support shoe body to extend and retract, forming a first stroke, while the hydraulic cylinder drives the support shoe body to extend and retract, forming a second stroke. This reduces the stroke of a traditional single hydraulic cylinder and reduces the amount of hydraulic fluid supplied over long distances. The support shoe relies on electro-hydraulic series drive. The electric drive system controls the extension and retraction of the support shoe and has a self-locking function, while the hydraulic drive system only controls the application and removal of pressure between the support shoe and the rock wall. The aforementioned electro-hydraulic series mechanism can effectively reduce the amount of hydraulic fluid supplied over long distances, solving the problems of complex hydraulic pipelines and low efficiency of long-distance fluid supply caused by traditional support shoes relying solely on hydraulic drive. At the same time, it can effectively avoid a series of complex problems caused by hydraulic system failures, such as support shoe instability and tunneling operation stagnation.

[0025] The lifting mechanism described in this embodiment includes a lifting component and a transmission component. The transmission component is connected to both the motor 3-3 and the lifting component. The motor 3-3 drives the lifting component to move up and down via the transmission component. The transmission component converts the rotation of the motor 3-3 into the up-and-down movement of the lifting component. The three components work together to form an easily controllable electric drive system. The motor 3-3 can be a reversible motor as needed, which can rotate in both directions to drive the motor output shaft to rotate; its reversible rotation drives the lifting component to move up and down.

[0026] Example 2 provides an electro-hydraulic series-driven support shoe, further optimized from Example 1. In this example, the lifting component is a lifting sleeve 3-13, which slides into a groove on the supporting outer shell 3-1. The vertically oriented groove guides the lifting of the sleeve. The top of the lifting sleeve 3-13 is connected to the cylinder 3-8-1 of the hydraulic cylinder 3-8; the hydraulic cylinder 3-8 rises and falls synchronously with the lifting sleeve 3-13. The lifting sleeve 3-13 has an internal thread. The transmission component includes a screw 3-12, which is threaded into the lifting sleeve 3-13 and connected to a motor 3-3. The screw can be rotated forward and backward to raise and lower the shoe. In practical use, the motor rotates forward to raise the lifting sleeve, causing the support shoe body to extend. After the support shoe body contacts the rock wall, the hydraulic cylinder extends to tighten the support shoe body against the rock wall and stabilize the contact pressure between the support shoe and the rock wall. When the TBM changes steps, the hydraulic cylinder retracts, relieving the contact pressure between the support shoe body and the rock wall. Then, the motor reverses, causing the lifting sleeve to descend, thereby retracting the support shoe body. The entire process has a self-locking function, improving the stability of the support shoe.

[0027] This embodiment, as one implementation of the transmission mechanism, has a driven bevel gear 3-2 connected to the bottom of the screw 3-12, and the motor 3-3 is located outside the supporting housing 3-1; if space permits, the motor 3-3 can also be located inside the supporting housing 3-1. A coupling 3-5 is provided on the output shaft 3-4 of the motor 3-3, and a driving bevel gear 3-7 is provided at one end of the transmission shaft 3-6 of the coupling 3-5 that extends into the supporting housing 3-1. The motor output shaft and the transmission shaft are connected through the coupling to transmit rotation and torque; the driving bevel gear 3-7 meshes with the driven bevel gear 3-2 to change the direction of force, converting the motor's rotation into the lifting motion of the lifting sleeve. The left side of the motor output shaft 3-4 is connected to the reversible motor 3-3 (e.g., flange connection), and the right side is connected to the coupling 3-5. The left side of the driven shaft 3-6 is connected to the coupling 3-5, and the right side is connected to the driving bevel gear 3-7 (e.g., key connection). The reversible motor 3-3 transmits rotation and torque sequentially to the driving bevel gear 3-7 through the motor output shaft 3-4, coupling 3-5, and driven shaft 3-6. The outer side of the driven bevel gear 3-2 is connected to the driving bevel gear 3-7, and the inner side is connected to the screw key. The driving bevel gear 3-7 can sequentially drive the driven bevel gear 3-2 and the screw 3-12 to rotate.

[0028] In this embodiment, to improve the stability of the screw, a support base 3-9 is provided inside the support housing 3-1. The bottom of the screw 3-12 is connected to the support base 3-9 through a rolling bearing 3-10. The inner side of the rolling bearing contacts the screw, and the outer side contacts the support base, allowing the screw to rotate relative to the support base. A mounting hole is opened in the middle of the driven bevel gear 3-2, through which the screw 3-12 passes and is connected to the driven bevel gear 3-2 through a key. This achieves an integrated design of the screw and the driven bevel gear, ensuring synchronous rotation of both.

[0029] Example 3, as Figure 2 As shown, an electro-hydraulic series-driven support shoe is further optimized based on Embodiment 1. The difference between this embodiment and Embodiment 2 is that the motor 3-3 is located inside the support housing 3-1, and a coupling 3-5 is provided on the output shaft 3-4 of the motor 3-3. The coupling 3-5 is connected to the bottom of the screw 3-12. That is, as a second implementation of the transmission mechanism, the motor 3-3 is directly connected to the screw via the coupling, and the motor 3-3 is internally mounted. The driving bevel gear 3-7 and the driven bevel gear 3-2 are eliminated. That is, through the operation of the motor 3-3, the screw 3-12 is driven to rotate sequentially through the motor output shaft 3-4 and the coupling 3-5, resulting in more direct torque transmission.

[0030] Furthermore, it should be noted that the cross-section of the lifting sleeve 3-13 is elliptical, rectangular, or circular, and the cross-section of the groove on the supporting outer shell 3-1 is correspondingly elliptical, rectangular, or circular. When both the cross-section of the lifting sleeve 3-13 and the cross-section of the groove are circular, such as... Figure 3 As shown, a slider 3-14 is provided on the outer wall of the lifting sleeve 3-13, and the slider 3-14 cooperates with the vertical guide groove formed on the inner wall of the slide groove. Alternatively, the inner side of the slider contacts the slide groove of the lifting sleeve, and the outer side is fixedly connected to the outer shell; its main purpose is to limit the rotation of the lifting sleeve, but does not affect the up and down sliding action of the lifting sleeve. The irregular cross-section of the lifting sleeve is not limited to... Figure 4 elliptical cross section and Figure 5 A rectangular cross-section.

[0031] Example 4: An electro-hydraulic series-driven support shoe, further optimized based on Example 2 or 3. In this example, the top of the lifting sleeve 3-13 is provided with a top plate 3-15, which is the final force transmission component of the electric drive system and is located between the connecting plate and the lifting sleeve; the bottom of the cylinder 3-8-1 of the hydraulic cylinder 3-8 is provided with a connecting plate 3-16, which is fixed on the top plate 3-15. The connecting plate is used to connect the cylinder of the hydraulic cylinder and the top plate so that the two do not move relative to each other; the connecting plate 3-16 is fixed on the top plate 3-15 by bolts. When the forward and reverse motor rotates forward, it sequentially drives the motor output shaft 3-4, driven shaft 3-6, driving bevel gear 3-7, driven bevel gear 3-2, and screw 3-12 to rotate. When the screw 3-12 rotates, it drives the lifting sleeve 3-13 to rise. The lower part of the top plate 3-15 is connected to the lifting sleeve 3-13, and the upper part is connected to the connecting plate 3-16 and the cylinder 3-8-1 of the hydraulic cylinder 3-8 by bolts. When the lifting sleeve rises, it can push the top plate 3-15, connecting plate 3-16, hydraulic cylinder 3-8, and support shoe body 3-18 to rise. When the support shoe body 3-18 contacts the rock wall 2, the control system controls the piston 3-8-2 of the hydraulic cylinder 3-8 to extend, thereby ensuring that the support shoe body 3-18 supports the rock wall 2 tightly and stabilizes the pressure between the support shoe body 3-18 and the rock wall 2. When the support shoe retracts, the control system first controls the piston 3-8-2 of the hydraulic cylinder 3-8 to retract, relieving the pressure between the support shoe body 3-18 and the rock wall 2. Then, the forward and reverse motor 3-3 is controlled to reverse, causing the lifting sleeve 3-13 to descend, thereby retracting the support shoe body 3-18.

[0032] The piston 3-8-2 of the hydraulic cylinder 3-8 is connected to the support shoe body 3-18, and a pressure sensor 3-17 is installed between the piston 3-8-2 and the support shoe body 3-18. The pressure sensor 3-17 is electrically connected to the monitoring and control system 3-11. During the process of the support shoe tightening the rock wall, the pressure sensor can monitor the pressure between the support shoe and the rock wall in real time. When it detects that the contact pressure value is lower than a preset safety threshold due to a failure of the hydraulic power system, an early warning is activated and the electric drive system is controlled to compensate. Specifically, as follows... Figure 6 As shown, the working principle of the monitoring and control system is as follows:

[0033] S1, Pressure sensor 3-17 measures the contact pressure between the support shoe body 3-18 and the rock wall 2 in real time. S2, Pressure acquisition module acquires the pressure values ​​from pressure sensor 3-17 in real time. S3, Pressure storage module stores the pressure values ​​acquired by pressure acquisition module. S4, Pressure judgment module judges the pressure values ​​stored in pressure storage module. When the pressure value falls below a preset safety threshold, an early warning module is activated, indicating a hydraulic system malfunction that prevents the support shoe from firmly supporting the rock wall. S5, After the early warning module is activated, the control system intervenes and controls the electric drive system to compensate, ensuring the support shoe continues to firmly support the rock wall.

[0034] It should be noted that this utility model improves the equipment components and does not involve improvements to the circuit or control program. This utility model only controls the operation and shutdown of various electronic devices through a PLC control system. Since the PLC control system is a mature automatic control system in industry, this utility model will not elaborate on the circuit and control program content.

[0035] Example 5: A tunneling machine (TBM) includes the electro-hydraulic series-driven support shoe 3 described in Examples 1, 2, 3, or 4. The electro-hydraulic series-driven support shoe 3 is mounted on the TBM main unit 1, supporting the outer casing 3-1 which is connected to the TBM main unit, thus fixing the support shoe to the TBM main unit and preventing relative movement. At least two electro-hydraulic series-driven support shoes 3 are symmetrically arranged on the left and right sides of the TBM main unit 1; as described in this example... Figure 7 As shown, the tunneling machine (TBM) main unit 1 is equipped with four electro-hydraulic series-driven support shoes 3. In actual use, the forward rotation of the reversible motor first raises the lifting sleeve, thereby extending the support shoe body. After the support shoe body extends and contacts the rock wall, the hydraulic cylinder extends to tighten the support shoe body against the rock wall and stabilize the contact pressure between the support shoe and the rock wall. When the TBM changes steps, the hydraulic cylinder retracts, relieving the contact pressure between the support shoe body and the rock wall. Then, the reversible motor reverses, lowering the lifting sleeve and retracting the support shoe body. The entire process has a self-locking function. During the process of the support shoe tightening against the rock wall, the monitoring and control system can monitor the pressure between the support shoe and the rock wall in real time. When the hydraulic power system fails and the contact pressure value falls below the preset safety threshold, an early warning is activated and the electric drive system is controlled to compensate.

[0036] In the description of this utility model, it should be understood that the terms "vertical", "horizontal", "up", "down", "front", "back", "left", "right", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An electro-hydraulic series-driven support shoe, comprising a support shoe body (3-18) and a support outer shell (3-1), characterized in that: A hydraulic cylinder (3-8) is provided between the main support shoe body (3-18) and the outer support shell (3-1). A motor-driven lifting mechanism is provided inside the outer support shell (3-1). The lifting component of the lifting mechanism is connected to the hydraulic cylinder (3-8) to form an electro-hydraulic series mechanism.

2. The electro-hydraulic series-driven support shoe according to claim 1, characterized in that: The lifting mechanism includes a lifting component and a transmission component. The transmission component is connected to the motor (3-3) and the lifting component respectively. The motor (3-3) drives the lifting component to lift and lower through the transmission component.

3. The electro-hydraulic series-driven support shoe according to claim 2, characterized in that: The lifting component is a lifting sleeve (3-13), which slides in a groove on the supporting outer shell (3-1). The top of the lifting sleeve (3-13) is connected to the cylinder (3-8-1) of the hydraulic cylinder (3-8), and the lifting sleeve (3-13) is provided with an internal thread. The transmission component includes a screw (3-12), which is threaded in the lifting sleeve (3-13) and is connected to the motor (3-3) for transmission.

4. The electro-hydraulic series-driven support shoe according to claim 3, characterized in that: The bottom of the screw (3-12) is connected to a driven bevel gear (3-2). The motor (3-3) is located outside the support housing (3-1). The output shaft (3-4) of the motor (3-3) is equipped with a coupling (3-5). The drive shaft (3-6) of the coupling (3-5) extends into the support housing (3-1) and is equipped with a driving bevel gear (3-7). The driving bevel gear (3-7) meshes with the driven bevel gear (3-2).

5. The electro-hydraulic series-driven support shoe according to claim 4, characterized in that: The supporting housing (3-1) is provided with a supporting base (3-9). The bottom of the screw (3-12) is connected to the supporting base (3-9) through a rolling bearing (3-10). The driven bevel gear (3-2) has a mounting hole in the middle. The screw (3-12) passes through the mounting hole and is connected to the driven bevel gear (3-2) through a key.

6. The electro-hydraulic series-driven support shoe according to claim 3, characterized in that: The motor (3-3) is installed inside the supporting housing (3-1), and a coupling (3-5) is provided on the output shaft (3-4) of the motor (3-3). The coupling (3-5) is connected to the bottom of the screw (3-12).

7. The electro-hydraulic series-driven support shoe according to any one of claims 3 to 6, characterized in that: The top of the lifting sleeve (3-13) is provided with a top plate (3-15), and the bottom of the cylinder (3-8-1) of the hydraulic cylinder (3-8) is provided with a connecting plate (3-16). The connecting plate (3-16) is fixed on the top plate (3-15). The piston (3-8-2) of the hydraulic cylinder (3-8) is connected to the support shoe body (3-18), and a pressure sensor (3-17) is provided between the piston (3-8-2) and the support shoe body (3-18).

8. The electro-hydraulic series-driven support shoe according to claim 7, characterized in that: The cross-section of the lifting sleeve (3-13) is elliptical, rectangular or circular, and the cross-section of the slide groove on the supporting outer shell (3-1) is elliptical, rectangular or circular. When the cross-section of the lifting sleeve (3-13) and the cross-section of the slide groove are circular, a slider (3-14) is provided on the outer wall of the lifting sleeve (3-13), and the slider (3-14) cooperates with the vertical guide groove opened on the inner wall of the slide groove.

9. A tunneling machine, characterized in that: Including the electro-hydraulic series drive support shoe (3) as described in any one of claims 1 to 8.

10. The tunneling machine according to claim 9, characterized in that: The electro-hydraulic series drive support shoe (3) is installed on the main body of the tunneling machine (1), and at least two electro-hydraulic series drive support shoes (3) are symmetrically arranged on the left and right sides of the main body of the tunneling machine (1).

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