Crawler-type tunneling machine

Abstract

NOT VISIBLE DUE TO STATUS OF PATENT

Description

crawler tunnel boring machine

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on January 12, 2024, with application number 202420095167.X and application name “Crawler Tunnel Boring Machine”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of tunnel boring machines, and in particular to a crawler tunnel boring machine. Background Art

[0003] A tunnel boring machine is a machine used to dig tunnels under flat ground. It is divided into ordinary machines and tunnel boring machines according to the working object, and into open tunnel boring machines and shield tunnel boring machines according to the working method.

[0004] Conventional hard rock tunnel boring machines (TBMs), both open and shield, are typically dedicated to the construction of a single tunnel and cannot be relocated. When relocation is necessary, the TBM is often disassembled into modules, then transported to the next work area via heavy-duty trucks, flatbed trucks, and other means for reassembly.

[0005] After disassembly, the tunnel boring machine not only has larger modules, but also requires special transfer equipment for transfer, which is not only time-consuming and labor-intensive, but also increases the cost of equipment. Summary of the Invention

[0006] The present application provides a crawler-type tunnel boring machine, which is used to solve the problem of difficulty in relocating tunnel boring machines in the prior art.

[0007] In response to the above problems, this application proposes a crawler tunnel boring machine, including a chassis and a main beam installed on the chassis, wherein the main beam is provided with a main drive module, a cutter head module and a support shoe propulsion module, and the chassis is also provided with a slag conveying module and a walking module.

[0008] The main driving module is connected to the cutter head module and provides rotational power for the cutter head module, and the gripper propulsion module can drive the main beam to move.

[0009] The walking module includes a drive assembly and two track wheels. The drive assembly is installed on the chassis. The two track wheels are respectively installed on opposite sides of the chassis. The drive assembly is used to drive the two track wheels to rotate to drive the crawler tunneling machine to move.

[0010] The slag conveying module is at least partially located between the two track wheels, and is used to receive and transport the slag generated by the cutter head module.

[0011] In an embodiment of the present application, a shield is further provided on the main beam, an end of the shield is connected to the main beam, and the shield is located outside the main drive module.

[0012] In an embodiment of the present application, the cutter disc module includes a cutter disc and a slag receiving bucket, the upper opening of the slag receiving bucket is at least partially located inside the cutter disc, and the lower opening of the slag receiving bucket is located above the slag conveying module, and the slag receiving bucket is used to collect the slag generated by the cutter disc and make the slag flow to the slag conveying module.

[0013] In an embodiment of the present application, the slag conveying module includes a first conveyor belt assembly, a second conveyor belt assembly, and a third conveyor belt assembly, which are arranged in sequence from the cutter disc module to the chassis. The first conveyor belt assembly is connected to the main beam and is located below the slag receiving bucket. The output end of the first conveyor belt assembly is located above the second conveyor belt assembly, and the output end of the second conveyor belt assembly is located above the third conveyor belt assembly.

[0014] In an embodiment of the present application, the slag conveying module also includes a slag collecting assembly, which is arranged at the input end of the second conveyor belt assembly. The slag collecting assembly is used to collect the slag fallen on the ground and transfer it to the second conveyor belt assembly.

[0015] In an embodiment of the present application, the debris collecting assembly includes a debris collecting shovel and at least one rotating wheel disposed in the debris collecting shovel, and the rotating wheel is used to drive the debris scooped up by the debris collecting shovel to move.

[0016] In an embodiment of the present application, a plurality of anchor drilling modules are further provided on the chassis. The anchor drilling modules are arranged radially along the tunnel cross section. The anchor drilling modules can perform anchor support on the tunnel.

[0017] In an embodiment of the present application, at least four supporting legs are further provided on the circumference of the chassis, and the supporting legs are used to support the crawler tunneling machine.

[0018] In an embodiment of the present application, a rotation module is also provided on the chassis, and the rotation module includes a mounting seat and two horizontal adjustment cylinders. The main beam is provided on the mounting seat, and the mounting seat is installed on the chassis and is rotatably connected to the chassis. The axial direction of the mounting seat is perpendicular to the horizontal plane. The two horizontal adjustment cylinders are both installed on the chassis, and the piston rods of the two horizontal adjustment cylinders are both connected to the mounting seat. The piston rods of the two horizontal adjustment cylinders are extended and retracted to drive the mounting seat to rotate, so that the main beam rotates left and right.

[0019] In an embodiment of the present application, the rotation module also includes a vertical adjustment cylinder, the main beam is rotatably connected to the mounting seat, the axial direction of the main beam is parallel to the horizontal plane, the vertical adjustment cylinder is arranged on the chassis, and the piston rod of the vertical adjustment cylinder is connected to the main beam, and the main beam is rotated up and down by extending and retracting the piston rod of the vertical adjustment cylinder.

[0020] The present application proposes a crawler-type tunnel boring machine, comprising a chassis and a main beam mounted on the chassis, wherein a main drive module, a cutterhead module and a support shoe propulsion module are provided on the main beam, and a slag conveying module and a walking module are also provided on the chassis. The main drive module is connected to the cutterhead module and provides rotational power to the cutterhead module, and the support shoe propulsion module can drive the main beam to move. The walking module comprises a drive assembly and two track wheels, wherein the drive assembly is mounted on the chassis, and the two track wheels are mounted on opposite sides of the chassis, and the drive assembly is used to drive the two track wheels to rotate, thereby driving the crawler-type tunnel boring machine to move. The slag conveying module is at least partially located between the two track wheels, and the slag conveying module is used to receive and transport the slag generated by the cutterhead module. By providing a walking module on the crawler-type tunnel boring machine, the tunnel boring machine can be directly transferred, without the need to disassemble the tunnel boring machine or to set up other auxiliary transfer equipment, thus saving time and equipment investment, and achieving the requirements of rapid transfer and rapid relocation of multi-channel complex space tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0022] FIG1 is a schematic structural diagram of the crawler roadheader proposed in this application;

[0023] FIG2 is a cross-sectional view of the crawler roadheader proposed in this application;

[0024] FIG3 is a schematic diagram of the structure of FIG2 without the cutterhead module and the main beam;

[0025] FIG4 is a top view of the chassis of the crawler tunnel boring machine proposed in this application.

[0026] Figure markings: 100-chassis; 110-support legs; 200-main beam; 300-main drive module; 400-cutterhead module; 410-cutterhead; 420-slag bucket; 500-gripper propulsion module; 600-slag conveying module; 610-first conveyor belt assembly; 620-second conveyor belt assembly; 630-third conveyor belt assembly; 640-slag collecting assembly; 641-slag collecting shovel; 642-rotating wheel; 700-travel module; 710-track wheel; 800-shield; 900-anchor drilling rig module; 1000-rotation module; 1010-mounting seat; 1020-horizontal adjustment cylinder; 1030-vertical adjustment cylinder; 1100-protective cover.

[0027] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0029] The terms "first," "second," "third," "fourth," and so on (if any) in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequential sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein, for example, can be implemented in an order other than those illustrated or described herein.

[0030] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0031] In the description of the embodiments of the present application, it should be understood that the terms "inside", "outside", "top", "bottom", "front", "back", etc., indicating the orientation or position relationship (if any), are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0032] With advancements in tunneling technology, existing working faces typically consist of three to five tunnels, placing higher demands on the relocation of tunnel boring machines (TBMs). Existing conventional hard rock tunnel boring machines, both open and shield-type, are primarily dedicated to the construction of a single tunnel and cannot be relocated. When relocation is necessary, the TBM is often disassembled into modules, then transported to the next work area via heavy-duty trucks, flatbed trucks, and other means of transport, where it is then reassembled and dispatched.

[0033] The present application provides a crawler-type roadheader to solve the problem of difficulty in relocating roadheaders in the prior art.

[0034] Figure 1 is a schematic structural diagram of the crawler tunnel boring machine proposed in this application; Figure 2 is a cross-sectional view of the crawler tunnel boring machine proposed in this application; Figure 3 is a schematic structural diagram after removing the cutterhead module and main beam from Figure 2; Figure 4 is a top view of the chassis of the crawler tunnel boring machine proposed in this application.

[0035] As shown in Figures 1 and 2, the present application proposes a crawler tunnel boring machine, including a chassis 100 and a main beam 200 installed on the chassis 100, the main beam 200 is provided with a main drive module 300, a cutter head module 400 and a support shoe propulsion module 500, and the chassis 100 is also provided with a slag conveying module 600 and a walking module 700.

[0036] The main driving module 300 is connected to the cutter head module 400 and provides rotational power to the cutter head module 400. The gripper propulsion module 500 can drive the main beam 200 to move.

[0037] The walking module 700 includes a drive assembly and two track wheels 710. The drive assembly is installed on the chassis 100. The two track wheels 710 are installed on opposite sides of the chassis 100. The drive assembly is used to drive the two track wheels 710 to rotate to drive the crawler tunneling machine to move.

[0038] The slag conveying module 600 is at least partially located between the two track wheels 710 . The slag conveying module 600 is used to receive and transport the slag generated by the cutter head module 400 .

[0039] By installing the walking module 700 on the crawler tunnel boring machine, the tunnel boring machine can be directly transferred without disassembling the tunnel boring machine or installing other auxiliary transfer equipment. This saves time and equipment investment, and realizes the requirements of rapid transfer and rapid relocation of multi-channel complex space tunnels.

[0040] The chassis 100 is located at the lower part of the crawler tunnel boring machine and is the skeleton of the tunnel boring machine, used to support all components of the tunnel boring machine.

[0041] The main beam 200 is mounted on the chassis 100 and supports and moves the cutterhead module 400. The cutterhead module 400 is located at the front of the TBM and is used to break rock and soil. The gripper propulsion module 500 consists of a main drive cylinder and two grippers. These grippers are located on either side of the main beam 200, near the rear, preferably near the TBM's center of gravity. During tunneling, the grippers rest on the tunnel walls on either side. The main drive cylinder powers the grippers, providing the primary thrust for the TBM.

[0042] The slag conveying module 600 passes through the tunnel boring machine and transports the slag produced by the cutter head module 400 in crushing the rock mass to the rear of the tunnel boring machine, and then transports it to the outside of the tunnel by a transport vehicle.

[0043] The walking module 700 is mainly used for the backward, turning and forward movement of the tunnel boring machine. When the tunnel boring machine needs to be transferred, it is only necessary to control the walking module 700 to move the tunnel boring machine to another tunnel.

[0044] In an embodiment of the present application, a shield 800 is further provided on the main beam 200 , an end of the shield 800 is connected to the main beam 200 , and the shield 800 is located outside the main driving module 300 .

[0045] The shield 800 is mainly located behind the cutter head module 400 , surrounding the main drive module 300 , and is used to protect the electronic components and circuits in the main drive module 300 .

[0046] A protective cover 1100 is also provided above the chassis 100 to protect other components of the tunnel boring machine, especially the electrical and hydraulic components therein.

[0047] In an embodiment of the present application, the cutter disc module 400 includes a cutter disc 410 and a slag receiving hopper 420. The upper opening of the slag receiving hopper 420 is at least partially located inside the cutter disc 410, and the lower opening of the slag receiving hopper 420 is located above the slag conveying module 600. The slag receiving hopper 420 is used to collect the slag generated by the cutter disc 410 and allow the slag to flow to the slag conveying module 600.

[0048] The cutter disc 410 has a diameter of 2.5-5 meters. The rock mass is destroyed by rolling the rock mass with the disc-shaped roller cutter on the disc. The destroyed rock mass passes through the gap of the cutter disc 410 and falls into the slag receiving bucket 420, thereby concentrating the slag on the slag conveying module 600 for transportation.

[0049] The slag receiving hopper 420 is funnel-shaped, and the lower opening is larger than the upper opening.

[0050] In an embodiment of the present application, the slag conveying module 600 includes a first conveyor belt assembly 610, a second conveyor belt assembly 620 and a second conveyor belt assembly 620, which are arranged in sequence from the cutter disc module 400 to the chassis 100. The first conveyor belt assembly 610 is connected to the main beam 200 and is located below the slag receiving bucket 420. The output end of the first conveyor belt assembly 610 is located above the second conveyor belt assembly 620, and the output end of the second conveyor belt assembly 620 is located above the third conveyor belt assembly 630.

[0051] As shown in Figure 2, the first conveyor belt assembly 610 is horizontally arranged on the main beam 200 and is shorter than the main beam 200. The lower end opening of the slag receiving bucket 420 is located directly above the first conveyor belt assembly 610. The second conveyor belt assembly 620 is tilted and arranged in the middle of the chassis 100, with the front end close to the ground and the rear end extending backward and upward out of the tunnel boring machine. The third conveyor belt assembly 630 is arranged at the rear. The third conveyor belt assembly 630 is located below the second conveyor belt assembly 620. The rear of the third conveyor belt assembly 630 is completely extended out of the tunnel boring machine and connected to the dump truck.

[0052] As shown in Figures 2 to 4, in an embodiment of the present application, the slag conveying module 600 also includes a slag collection component 640, which is arranged at the input end of the second conveyor belt component 620. The slag collection component 640 is used to collect the slag that falls on the ground and transfer it to the second conveyor belt component 620.

[0053] The slag collection assembly 640 is mainly used to scoop up the slag on the ground that has not fallen into the slag receiving bucket 420 and transfer it to the second conveyor belt assembly 620.

[0054] In an embodiment of the present application, the debris collecting assembly 640 includes a debris collecting shovel 641 and at least one rotating wheel 642 disposed inside the debris collecting shovel 641 . The rotating wheel 642 is used to drive the debris scooped up by the debris collecting shovel 641 to move.

[0055] Among them, the slag collecting shovel 641 is fixed on the chassis 100, and the rear end of the slag collecting shovel 641 is connected to the second conveyor belt assembly 620. Two rotating wheels 642 are provided on the slag collecting shovel 641, and the second conveyor belt assembly 620 is located between the two rotating wheels 642. The two rotating wheels 642 rotate in opposite directions. Five fins are provided on the rotating wheel 642, and each fin is provided with a paddle. The rotating paddle drives the slag in the slag collecting shovel 641 to gather toward the second conveyor belt assembly 620.

[0056] In an embodiment of the present application, a plurality of anchor drilling modules 900 are further provided on the chassis 100. The anchor drilling modules 900 are radially arranged along the tunnel cross section. The anchor drilling modules 900 can provide anchor support for the tunnel.

[0057] Among them, the anchor drilling rig module 900 is mainly arranged at the front end and left and right sides of the chassis 100. The anchor drilling rig module 900 adjusts the angle by rotating the motor, thereby realizing the anchor support of the tunnel. The anchor drilling rig module 900 realizes anchor support, which belongs to the existing technology and will not be elaborated in this application.

[0058] In the embodiment of the present application, at least four supporting legs 110 are further provided on the circumference of the chassis 100 , and the supporting legs 110 are used to support the crawler tunneling machine.

[0059] In combination with Figures 2 to 4, in an embodiment of the present application, a rotation module 1000 is further provided on the chassis 100, and the rotation module 1000 includes a mounting seat 1010 and two horizontal adjustment cylinders 1020. The main beam 200 is provided on the mounting seat 1010, and the mounting seat 1010 is installed on the chassis 100 and is rotatably connected to the chassis 100. The axial direction of the mounting seat 1010 is perpendicular to the horizontal plane. The two horizontal adjustment cylinders 1020 are both installed on the chassis, and the piston rods of the two horizontal adjustment cylinders 1020 are both connected to the mounting seat 1010. The piston rods of the two horizontal adjustment cylinders 1020 are extended and retracted to drive the mounting seat 1010 to rotate, so that the main beam 200 rotates left and right.

[0060] The components of the rotating module 1000 are mainly arranged on the top of the chassis 100. The mounting base 1010 can rotate to drive the main beam 200 on the mounting base 1010 to rotate. The two horizontal adjustment cylinders 1020 mainly provide thrust for the rotation of the main beam 200.

[0061] In an embodiment of the present application, the rotation module 1000 also includes a vertical adjustment cylinder 1030, the main beam 200 is rotatably connected to the mounting base 1010, the axial direction of the main beam 200 is parallel to the horizontal plane, the vertical adjustment cylinder 1030 is arranged on the chassis 100, and the piston rod of the vertical adjustment cylinder 1030 is connected to the main beam 200. The piston rod of the vertical adjustment cylinder 1030 is extended and retracted to make the main beam 200 rotate up and down.

[0062] The vertical adjustment cylinder 1030 is tiltedly arranged on the mounting seat 1010 , and the end of the main beam 200 is hinged to the mounting seat 1010 , thereby pushing the main beam 200 to rotate up and down.

[0063] The specific working steps and working principle of the crawler tunnel boring machine proposed in this application are further explained:

[0064] 1. During excavation, the main drive module 300 drives the cutter head 410 on the cutter head module 400 to rotate.

[0065] 2. The gripper propulsion module 500 holds the tunnel wall tightly, the tunnel boring machine moves forward, and the walking module 700 also moves forward, while providing forward propulsion force to the cutterhead 410.

[0066] 3. The vertical adjustment cylinder 1030 and horizontal adjustment cylinder 1020 in the rotation module 1000 adjust the excavation direction of the cutterhead 410, while also enabling expansion. When the TBM is expanding in situ, the TBM does not need to advance, and the gripper propulsion system does not need to hold the tunnel wall. At this time, the outriggers 110 need to be extended to support the entire machine, providing reaction force for the expansion movement and ensuring that the TBM remains stationary.

[0067] 4. Part of the slag generated by the excavation of the cutterhead module 400 is scooped up by the shovel in the cutterhead 410 and falls into the slag receiving bucket 420 inside the cutterhead 410. The slag is then dropped onto the first conveyor belt assembly 610 through the slag receiving bucket 420 and transported to the second conveyor belt assembly 620 through the first conveyor belt assembly 610. Another part of the slag generated by the expansion excavation is not scooped up by the shovel, and is collected by the rotating wheel 642 in the slag collecting assembly 640 at the bottom of the tunnel. The rotating wheel 642 rotates to send the slag to the second conveyor belt assembly 620. Finally, all the slag is transferred to the third conveyor belt assembly 630 through the second conveyor belt assembly 620, and then sent to the slag transport vehicle through the third conveyor belt assembly 630.

[0068] 5. After the main push cylinder completes a propulsion stroke, the walking module 700 stops moving forward, the gripper propulsion system releases the gripper, and the main push cylinder retracts, driving the gripper to move forward, completing the step change action.

[0069] 6. Repeat the above steps to complete the entire tunnel excavation process.

[0070] 7. After completing a tunnel excavation, the walking module 700 can drive the tunnel boring machine backward and transfer, realizing rapid transfer of multi-channel complex space tunnels. This application uses the walking module set at the bottom of the tunnel boring machine to realize forward and backward transfer, making transfer quick and convenient; the rotation module rotates the main beam up and down and left and right, driving the steering of the cutterhead module to achieve tunnel expansion; the tunnel bottom debris collection component can ensure the cleanliness of the tunnel bottom; the combination of multiple conveyor belt components can ensure the timely transfer of debris to the debris transport vehicle.

[0071] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the scope of protection of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solutions of the embodiments of the present application.

[0072] Generally speaking, terms should be understood, at least in part, based on the context in which they are used. For example, as used herein, the term "one or more" can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense, depending at least in part on the context. Similarly, terms such as "one" or "a number of" can also be understood to convey either singular or plural usage, depending at least in part on the context.

[0073] It should be readily understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something,” but also includes “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0074] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be in other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

Claims

1. A crawler tunneling machine, characterized in that, It includes a chassis (100) and a main beam (200) mounted on the chassis (100). A main drive module (300), a cutter head module (400) and a support shoe propulsion module (500) are provided on the main beam (200). A muck conveying module (600) and a traveling module (700) are also provided on the chassis (100); The main drive module (300) is connected to the cutter head module (400) and provides rotational power for the cutter head module (400). The support shoe propulsion module (500) is used to provide propulsion reaction force for the main beam (200); The traveling module (700) includes a drive assembly and two crawler wheels (710). The drive assembly is mounted on the chassis (100). The two crawler wheels (710) are respectively mounted on opposite sides of the chassis (100). The drive assembly is used to drive the two crawler wheels (710) to rotate so as to drive the chassis (100) to move; The muck conveying module (600) is used to receive and transport the muck generated by the cutter head module (400).

2. The crawler tunneling machine according to claim 1, wherein, A shield (800) is also provided on the main beam (200). The end of the shield (800) is connected to the main beam (200). The shield (800) is wound around the periphery of the main drive module (300).

3. The crawler tunneling machine according to claim 1, characterized in that, The cutter head module (400) includes a cutter head (410) and a muck receiving hopper (420). The upper opening of the muck receiving hopper (420) is at least partially located inside the cutter head (410). The lower opening of the muck receiving hopper (420) is located above the muck conveying module (600). The muck receiving hopper (420) is used to collect the muck generated by the cutter head (410) and make the muck flow onto the muck conveying module (600).

4. The crawler tunneling machine according to claim 3, wherein, The muck conveying module (600) includes a first conveyor belt assembly (610), a second conveyor belt assembly (620) and a third conveyor belt assembly (630) arranged in sequence from the cutter head module (400) to the chassis (100). The first conveyor belt assembly (610) is connected to the main beam (200) and is located below the muck receiving hopper (420). The output end of the first conveyor belt assembly (610) is located above the second conveyor belt assembly (620). The output end of the second conveyor belt assembly (620) is located above the third conveyor belt assembly (630).

5. The crawler-type tunneling machine according to claim 4, characterized in that, The muck conveying module (600) further includes a muck collection assembly (640). The muck collection assembly (640) is arranged at the input end of the second conveyor belt assembly (620). The muck collection assembly (640) is used to collect the muck that has fallen on the ground and transfer it onto the second conveyor belt assembly (620).

6. The crawler tunneling machine according to claim 5, characterized in that, The muck collection assembly (640) includes a muck collection shovel (641) and at least one rotating wheel (642) arranged inside the muck collection shovel (641). The rotating wheel (642) is used to drive the muck shoveled by the muck collection shovel (641) to move.

7. The tracked tunneling machine according to any one of claims 1 to 6, characterized in that, A plurality of roof bolter modules (900) are further provided on the chassis (100), and the roof bolter modules (900) are used for bolting support of the tunnel.

8. The crawler tunneling machine according to any one of claims 1 to 6, characterized in that, At least four legs (110) are further provided on the periphery of the chassis (100), and the legs (110) are used for supporting the chassis (100).

9. The crawler tunneling machine according to any one of claims 1 to 6, characterized in that, A rotation module (1000) is further provided on the chassis (100). The rotation module (1000) includes a mounting seat (1010) and two horizontal adjustment cylinders (1020). The main beam (200) is disposed on the mounting seat (1010). The mounting seat (1010) is mounted on the chassis (100) and is rotatably connected to the chassis (100). The axis direction of the mounting seat (1010) is perpendicular to the horizontal plane. Both of the two horizontal adjustment cylinders (1020) are mounted on the chassis (100). The piston rods of the two horizontal adjustment cylinders (1020) are both connected to the mounting seat (1010). By extending and retracting the piston rods of the two horizontal adjustment cylinders (1020), the mounting seat (1010) is driven to rotate, so that the main beam (200) rotates left and right.

10. The crawler tunneling machine according to claim 9, characterized in that, The rotation module (1000) further includes a vertical adjustment cylinder (1030). The main beam (200) is rotatably connected to the mounting seat (1010). The axis direction of the main beam (200) is parallel to the horizontal plane. The vertical adjustment cylinder (1030) is disposed on the chassis (100). The piston rod of the vertical adjustment cylinder (1030) is connected to the main beam (200). By extending and retracting the piston rod of the vertical adjustment cylinder (1030), the main beam (200) is rotated up and down.