2369 results about "Roadheader" patented technology

The invention discloses a real-time dynamic optimization adjustment method and system for a tunneling process, and relates to the technical field of intelligent tunneling, and the method comprises the following steps: obtaining the operation state data of tunneling equipment in real time, and recording the dynamic change characteristics of a stratum; the tunneling parameters are optimized and adjusted in real time, the tunneling machine is prevented from entering a resonance interval, fatigue damage of key components such as a cutter head and a thrust cylinder is reduced, the stability of equipment is improved, and the service life of the equipment is prolonged. A multi-objective optimization control strategy is adopted, and an intelligent algorithm is combined, so that the tunneling mode is automatically adjusted, the tunneling efficiency is improved, and manual intervention is reduced. According to the stratum prediction method based on machine learning, the adaptability of the heading machine to complex stratums is enhanced, stratum sudden change risks are warned in advance, and construction potential safety hazards are reduced. And meanwhile, an abnormal state emergency processing mechanism ensures that the tunneling process is stable and controllable, and the construction safety and reliability are improved.

The invention belongs to the technical field of hard rock cutting and tunneling, and particularly relates to a front eccentric block excitation cutting disc rock breaking device which comprises a cutting assembly, an eccentric excitation device, a driving assembly and a supporting assembly, and the rear portion of the supporting assembly is fixedly connected with a cutting arm of a tunneling machine; the driving assembly comprises a motor, a main shaft and various connecting devices; an eccentric excitation device and a cutting assembly are mounted at the front end of the main shaft; the cutting assembly is mounted at the front end of the main shaft; the driving device ensures stable rotation of the cutterhead and enables vibration generated by the eccentric excitation device to be transmitted to the cutterhead. Vibration generated by rotation of the eccentric block is utilized to enable the cutter head to impact the rock, so that the rock is collapsed, and the rock is efficiently cut; as the cutter head cuts the rock mainly by means of vibration impact generated by the eccentric device, compared with a self-rotating mode and a traditional milling rock breaking mode and a TBM rolling mode, the efficiency of cutting the rock is improved, and the service life of the cutter is prolonged.

The utility model discloses a tunnel repairing system, a trolley and a heading machine, the tunnel repairing system comprises a detection module, a breaking module and a repairing module which are arranged in sequence, and the detection module, the breaking module and the repairing module all have the degree of freedom of axial stretching and the degree of freedom of circumferential rotation; the trolley comprises the tunnel repairing system. The heading machine comprises the trolley. The detection module can detect the inner wall of a tunnel, the breaking module can break the surface layer and the edge of an area needing to be repaired according to the detection result of the detection module, and the repairing module can automatically repair the area broken by the breaking module. According to the technical scheme, the tunnel can be monitored in a full range, detection data of each position can be recorded in real time, the data are analyzed by the processor in a unified mode, human intervention is not needed, hole wall clearing and guniting repairing can be automatically completed when a fault area is found, the detection efficiency and the detection quality can be guaranteed, and the influence of human factors on a detection result is avoided.

The invention provides a multi-arm drill jumbo self-adaptive drilling track planning method based on visual navigation, which relates to the technical field of visual identification, and comprises the following steps: acquiring image data, identifying a working surface change area, generating a drilling grid with topological optimization, determining a target drilling position set and a drilling direction set, and performing drilling grouping. Generating a space-time conflict constraint for each group of drill holes, and iteratively optimizing to determine a multi-arm collaborative operation sequence; in the process of executing the multi-arm operation sequence, a structured light projection technology and a visual phase shift method are adopted to obtain a deformation field of the surface of a rock mass, rock mass response characteristics including elastic deformation, plastic deformation and abnormal deformation information are established, and according to the rock mass response characteristics, a progressive B-spline track adjustment algorithm is adopted to adjust the drilling track in real time.

The invention relates to a heading machine cutting path planning system and method. The method comprises the steps that at least one coordinate value of a roadway under a local machine coordinate system is determined; acquiring a preset cutting path of the tunneling equipment according to the coordinate value; in response to tunneling equipment for tunneling based on the preset cutting path, obtaining a deviation between the real-time pose of the cutting head and the preset cutting path; and adjusting the cutting head according to the deviation. By determining the coordinate value of the roadway under the coordinate system of the machine, the tunneling equipment can obtain a more accurate preset cutting path according to the coordinate value; when the tunneling equipment carries out tunneling based on the preset cutting path, feedback adjustment is carried out on the swing of the cutting head through the deviation between the real-time pose of the cutting head and the preset cutting path, so that the tunneling equipment can obtain a more accurate cutting path through feedback adjustment, unnecessary repeated movement is avoided, manual intervention is reduced to the maximum extent, and the tunneling efficiency is improved. And the method has wide applicability.

The present invention provides a support assembly and a tunnel boring machine. The support assembly is applied to the tunnel boring machine and includes: a base; a drive assembly, one end of which is connected to the tunnel boring machine and the other end of which is connected to the base, for driving the base to move; a support plate, which is arranged on the base and is used to support the anchor net; and a support beam assembly, which is arranged on the base and is used to lift and support the top beam. The present application integrates the support beam assembly on the support assembly, improves the functional integration of the tunnel boring machine, saves equipment space, improves the production efficiency of the equipment, and saves the production cost of the equipment. In addition, the support plate and the support beam assembly share a set of drive assemblies, thus saving a set of drive assemblies. Compared with the separate arrangement of temporary support and support beam device, the number of components is greatly simplified, and the contradiction that the temporary support and support beam device cannot be installed on the tunnel boring machine at the same time due to the overlapping installation positions of the temporary support and the support beam device is resolved, providing more operating space for the anchoring operation and beam erection operation of the tunnel boring machine.

The invention discloses comprehensive rock drift rapid tunneling equipment and a using method thereof.According to the tunneling equipment, a drilling and anchoring integrated multifunctional drilling machine is arranged on one side of a cantilever type tunneling machine body, and a temporary supporting mechanism is arranged above an oscillation cutting part; a deep hole is formed in a to-be-crushed rock by utilizing the multifunctional drilling machine, the deep hole is further expanded and cracked by utilizing the pulsating fracturing system, the strength of a rock mass is weakened, then the rock mass is milled by adopting the oscillating cutting part, and finally, the rock mass is anchored and protected by utilizing the multifunctional drilling machine and the temporary supporting device, so that a guarantee is provided for an operation environment. According to the equipment and the technology, a traditional roadway tunneling procedure is simplified into a continuous procedure, the tunneling efficiency of roadway rock mass is greatly improved, and meanwhile the cost is saved.

The utility model discloses a pea gravel pump energy-saving system and a pea gravel conveying system, the pea gravel pump energy-saving system comprises an automatic valve, an air volume sensor and a pressure sensor which are arranged on an air inlet pipeline of a pea gravel pump, and the automatic valve, the air volume sensor, the pressure sensor and the pea gravel pump are all connected with a control unit; the pea gravel conveying system comprises the pea gravel pump energy-saving system. The control unit controls the rotating speed of a motor of the pea gravel pump according to the real-time detection structure of the pressure sensor and can also control the opening degree of the automatic valve according to the real-time detection structures of the air volume sensor and the pressure sensor. The problems that a pea gravel pump is large in energy consumption, an air inlet pipeline cannot be automatically adjusted, and the pressure is too high due to pipeline blockage can be effectively solved, the construction cost is effectively reduced, the construction efficiency is improved, and the development of the heading machine in the environment-friendly, low-carbon and intelligent directions is promoted.

The invention discloses a translation type cutting device for a tunnel cantilever heading machine, which comprises a disc-shaped mounting seat movably arranged on a base, a multi-angle adjusting mechanism is arranged between the base and the disc-shaped mounting seat, the lower end of the base is connected with the heading machine through a vertical driving oil cylinder, the upper end of the disc-shaped mounting seat is connected with one end of a suspension arm, and the other end of the suspension arm is connected with the base. The other end of the suspension arm is provided with a monitor body, one end, far away from the suspension arm, of the monitor body is provided with a cutting mechanism, the suspension arm is provided with a driving motor or a hydraulic motor, an output shaft of the driving motor or the hydraulic motor is coaxially connected with one end of a transmission rod, and the transmission rod is coaxially and rotatably assembled in the monitor body; and the other end of the transmission rod is connected with the cutting mechanism. According to the invention, the cutting working surface can be effectively enlarged, the cutting maneuverability is improved, and the tunneling efficiency of the tunneling machine is improved. The invention is suitable for the technical field of tunneling in tunnel construction.

The invention provides a fusion geological prediction method, system and device, a storage medium and a program product, and relates to the technical field of tunnel advanced geological prediction. The method comprises the following steps: an upper computer receives multiple groups of seismic data and acquisition time of each group of seismic data sent by a data acquisition instrument; the upper computer determines the type of seismic data according to the acquisition time, the pre-recorded working time period of the heading machine and the vibration time period of the seismic source; the upper computer extracts micro-seismic analysis data, active source analysis data and passive source analysis data from the multiple sets of seismic data according to the data types; the upper computer generates rockburst risk data according to the micro-seismic analysis data, and generates geological risk data according to the active source analysis data and the passive source analysis data; and reconstructing and displaying a three-dimensional visual image according to the rockburst risk data and the geological risk data. The problems that in the prior art, due to the fact that sensors are arranged repeatedly, equipment layout is disordered, construction streamlines are blocked, and construction efficiency and equipment safety are seriously affected are solved.

The invention provides an intermittent spiral heading machine and a control method, and relates to the technical field of engineering machinery. According to the method, the tunneling parameters serve as feedback, PI calculation is conducted on the control parameters, the initial control parameters of the next period are obtained, influences of formation resistance, rotation torque and the vibration condition are considered, and the initial control parameters are made to adapt to the actual condition of the current tunneling face. Afterwards, the initial control parameters are optimized through the preset optimization model, and the preset optimization model is obtained by training on the basis of the tunneling parameters and the control parameters in the historical period, so that the actual regulation and control condition in the tunneling process in the historical period is fully considered; therefore, the target control parameters better conform to the actual situation of the current tunneling face, the regulation and control precision of the spiral tunneling machine is improved, high-precision control over the spiral tunneling machine is achieved, the problems of drill bit deviation and unstable torque are solved, and the tunneling efficiency of the spiral tunneling machine is improved.

The invention discloses a tunnel surrounding rock deformation prediction method, system and equipment. The tunnel surrounding rock deformation prediction method comprises the steps that actual multi-source data in the tunneling process of a tunnel boring machine (TBM) are obtained, and the multi-source data at least comprise surrounding rock deformation monitoring data, tunneling data of the tunnel boring machine and vibration signal data; the multi-source data is input into a pre-trained prediction model, a prediction result of the tunnel surrounding rock deformation condition in the TBM tunneling process is obtained, and the prediction model is pre-trained with the pre-obtained multi-source data as a training sample and the tunnel surrounding rock deformation condition as a label. According to the embodiment of the invention, the method can achieve the advanced prediction of the deformation of the surrounding rock through the real-time data in the construction process of the tunnel boring machine, provides a scientific basis for the construction parameter optimization and risk early warning of the tunnel boring machine, reduces the workload of manual monitoring, and improves the construction automation level.

The utility model belongs to the technical field of tunneling equipment, and particularly provides a rear support of a heading machine and the heading machine. The rear support of the heading machine comprises an installation base body and a vertical oil cylinder, the vertical oil cylinder is hinged to a supporting arm assembly, the supporting arm assembly comprises a supporting arm installation base and two supporting oil cylinders stretching out and drawing back in the left-right direction, the fixed ends of the supporting oil cylinders are connected to the supporting arm installation base, the stretching ends of the supporting oil cylinders are connected with supporting bodies, and the stretching ends are arranged in a back-to-back mode. The supporting body is provided with a supporting face used for being attached to the wall of a tunnel. The heading machine comprises the heading machine rear support. The rear support supports the tunnel walls on the left side and the right side of the tunnel, slag removal operation at the bottom of the tunnel is not affected, arrangement of a slag removal device is not affected, and the length of the heading machine is convenient to control. And meanwhile, the vertical oil cylinder does not need to be frequently adjusted during steering, and the efficiency is high.

The invention discloses a high-precision intelligent distance measurement positioning device for a heading machine, and belongs to the technical field of heading positioning. An elastic base station network comprises a plurality of groups of miniature base stations arranged on the side wall and the top plate of a roadway; the multi-source sensing module fuses multi-source data through the data acquisition and processing device to realize continuous dynamic positioning in the working process of the heading machine, the target card provides an absolute distance reference, the inertial navigation unit calculates the pose of the heading machine in real time through a built-in MEMS gyroscope and an accelerometer, the geological radar scans the stratum structure in the heading direction in real time, and the real-time positioning of the heading machine is realized. And the laser radar scans a roadway contour by emitting a laser beam to perform point cloud matching with a preset three-dimensional digital map. The probability of tunneling deviation caused by settlement or displacement is reduced by arranging the vertical crossing positioning network and dynamically correcting the positioning reference, the working environment and self state information of the tunneling machine can be comprehensively sensed from different dimensions, and the actual distance and position relation between the tunneling machine and objects around a roadway can be judged in an auxiliary mode.

The invention provides a rear support of a heading machine and the heading machine, and belongs to the field of tunneling equipment. The rear support of the heading machine comprises a rear support body, a vertical direction adjusting device and a horizontal direction adjusting device which are connected to the rear support body, and further comprises a limiting structure and a matching structure, one of the limiting structure and the matching structure is installed on the rear support body, and the other one is used for being installed on a main beam or an inner yoke. The limiting structure comprises at least two limiting parts which are arranged front and back, the matching structure comprises a limiting matching part which is located between the two limiting parts which are adjacent front and back, and gaps are reserved between the limiting matching part and the limiting part which is adjacent to the front side and / or the limiting part which is adjacent to the rear side. The heading machine comprises the heading machine rear support. The limiting structure and the matching structure can be matched in a limiting mode after the up-down steering amplitude or the left-right steering amplitude of the heading machine exceeds a design value, so that the rear supporting body deflects adaptively, and damage to the knuckle bearing is avoided.

The present invention provides a method for designing an abrasive water jet-disc cutter combined rock-breaking cutter head, a system therefor, a cutter head and a tunnel boring machine (TBM), wherein the key technology of designing the abrasive water jet-disc cutter combined rock-breaking cutter head of the TBM are provided from the aspects of determining a combined rock-breaking combination mode, configuration of cutter operation parameters and optimization of the combined cutter head; the performance of the abrasive water jet-disc cutter combined rock-breaking cutter head manufactured according to the optimized layout parameters is improved; and a new idea is provided for the development and application of a full-section rock tunneling machine in the field of underground engineering.

The utility model relates to the technical field of heading machine cutter installation, and discloses a fast cutter replacement structure based on a tunnel boring machine, which comprises a cutter head main body, a plurality of installation grooves are arranged on one side of the cutter head main body, a plurality of installation plates are fixedly connected in the installation grooves, one side of each installation plate is provided with a connection groove, and the connection grooves are connected with the installation plates. A cutter is slidably connected into the connecting groove, the cutter is placed into the mounting groove, then a fixing bolt is rotated, the fixing bolt drives a cam to rotate, the cam drives a transmission plate to move, and the transmission plate drives a second transmission inclined block to be inserted into a fixing groove in the surface of the cutter through a first transmission inclined block to fix the cutter. And meanwhile, the transmission plate drives the fixing block to be inserted into the fixing groove in the end of the tool to fix the tool, so that portable installation of the tool is achieved, meanwhile, when disassembly needs to be conducted, the tool can be disassembled and assembled in a portable mode only by rotating the fixing bolt reversely, and the tool replacement efficiency is greatly improved.

The utility model provides a temporary supporting device and a heading machine, and relates to the technical field of heading equipment. The temporary supporting device comprises a base, a supporting arm, a supporting assembly and a first driving piece. The base is used for being arranged on the heading machine, the supporting arm is rotationally arranged on the base, the first driving part is arranged on the base, and the first driving part is connected with the supporting arm to drive the supporting arm to swing; the supporting assembly comprises a supporting frame, a side turning frame and a second driving part, the supporting frame is arranged at the end, away from the base, of the supporting arm and used for supporting the working face, the side turning frame is rotationally arranged on the side edge of the supporting frame, and the second driving part is arranged on the supporting frame and connected with the side turning frame so as to drive the side turning frame to abut against the working face. According to the temporary supporting device, the supporting area is increased, and the protection effect is improved.

The present invention discloses a method and device for positioning and orienting a tunnel boring machine. The method comprises: when the tunnel boring machine is moving and excavating in a tunnel, a multi-beam laser radar installed at its rear end is used to scan a guide rod at the top of the tunnel to obtain relevant parameters of the guide rod, and according to the relevant parameters, the body offset angle and offset distance of the tunnel boring machine relative to the central axis of the tunnel are obtained, thereby controlling the tunnel boring machine walking system to adjust the walking direction and position, so that the tunnel boring machine can automatically walk along the central axis of the tunnel. During the automatic walking of the tunnel boring machine, whenever the guide rod is out of the laser radar scanning area, the guide rod is moved forward along the walking direction of the tunnel boring machine, so that the laser radar can scan the guide rod in real time, so that the tunnel boring machine can always walk automatically along the central axis. The method of the present invention calculates the offset distance and angle between the tunnel boring machine and the central axis of the tunnel through the guide rod, so as to realize that the tunnel boring machine automatically walks along the central axis in the tunnel, and the implementation method is simple and the result is accurate and reliable.

The invention provides a rear support of a heading machine and the heading machine, and belongs to the field of tunnel construction equipment. The rear support of the heading machine comprises a supporting arm assembly, a vertical direction adjusting device and a horizontal direction adjusting device, the supporting arm assembly comprises a supporting arm mounting base and a moving base which is arranged on the supporting arm mounting base in a guiding mode and can move on the supporting arm mounting base in a guiding mode in the left-right direction, and the vertical direction adjusting device and the horizontal direction adjusting device are both installed on the moving base. A moving driving device used for driving the moving base to move is arranged on the supporting arm mounting base, and a supporting structure used for tightly supporting the tunnel wall leftwards and rightwards is arranged on the supporting arm mounting base. The heading machine comprises the heading machine rear support. The vertical direction adjusting device and the horizontal direction adjusting device are arranged on the moving seat capable of moving left and right on the supporting arm mounting seat, so that the moving seat can be used for driving the tail end of the main beam or the inner yoke to have larger left-right deflection amplitude, a supporting shoe tool does not need to be used, and the construction efficiency is improved.

The utility model discloses an auxiliary supporting device for a heading machine, which relates to the technical field of heading equipment and comprises a supporting column, a cross beam and a top beam. The cross beam is located between the two supporting columns which are connected in the left-right direction, first sleeve rods are arranged at the two ends of the lower portion of the cross beam, first sleeve bases matched with the first sleeve rods are arranged on the two opposite sides of the two supporting columns which are connected in the left-right direction, and the first sleeve rods are inserted into the first sleeve bases; shearing frames are arranged between the two connected cross beams and between the two supporting columns connected front and back, connecting bases are arranged on the cross beams and the supporting columns, and each end of each shearing frame is detachably connected with the corresponding connecting base through a bolt; the supporting column, the cross beam, the top beam, the shearing frame, the cross beam, the adjustable supporting rod and the telescopic rod can be disassembled and assembled, a worker can disassemble and maintain the supporting structure conveniently in the later period, a spiral inserting rod is inserted into the position below the earth surface, and therefore the whole device is more stable.

The invention is suitable for the technical field of tunneling excavation. The invention discloses a cantilever tunneling device for controlling surrounding rock deformation, which comprises a tunneling cantilever mounted at the front end of a tunneling machine, a cutting drill bit mounted at one end, far away from the tunneling machine, of the tunneling cantilever, two longitudinal driving parts symmetrically mounted on two sides of the tunneling machine, and a longitudinal strip-shaped assembly seat detachably connected to the output end of each longitudinal driving part, a plurality of supporting type guiding mechanisms are installed between the two longitudinal strip-shaped assembling bases, a universal pipe inserting mechanism is connected between the two longitudinal strip-shaped assembling bases and located on the sides, away from the inner circumferential wall of a tunnel, of the supporting type guiding mechanisms, and an active guniting mechanism is installed on the supporting type guiding mechanism located at the foremost end of the heading machine. According to the method, the problems that the surrounding rock deforms unevenly and intrudes into the preliminary bracing limit when the cantilever tunneling machine is adopted to excavate the tunnel under the soft stratum condition are solved, the tunnel surrounding rock over-excavation and under-excavation are controlled, and normal construction of the tunnel preliminary bracing is guaranteed.

The invention provides synchronous inverted arch pouring equipment, a construction method and a tunneling machine, and belongs to the technical field of tunneling. The synchronous inverted arch pouring equipment comprises a rear matching trailer set, a concrete pumping pipe used for pumping inverted arch concrete is arranged on the rear matching trailer set, the front end of the concrete pumping pipe is connected with a grouting structure, and a driving mechanism used for driving the grouting structure to move front and back to conduct inverted arch concrete pouring is arranged on the rear matching trailer set. The concrete pumping pipe comprises a stretching recovery pipe capable of stretching forwards and recovering backwards so as to accommodate the back-and-forth action of the grouting structure. During construction, the grouting structure is not affected by forward tunneling of the heading machine within a certain range, namely, after the heading machine conducts forward tunneling, the grouting structure can move backwards under the action of the driving mechanism, so that concrete in the area is fully poured, and therefore the pouring range capable of being covered by the grouting structure can be longer than that of the technology; and therefore, frequent mounting and dismounting of the formwork can be reduced, and the construction efficiency is improved.

The invention relates to a heading machine load self-adaptive control method and system, and the method comprises the steps: a data analysis module is disposed on a heading machine equipment layer, collects the heading data of the heading machine equipment layer in real time, and calculates a load coefficient for self-adaptive adjustment; and the control module is connected with the data analysis module and the heading machine equipment layer, and analyzes the accessed load coefficient into a control signal for adjusting rotation and lifting of a cutting arm in the heading machine equipment layer. The method comprises the following steps: determining a motion trail model of a cutting operation surface of a heading machine equipment layer by acquiring perception data of a manual cutting section, determining a load coefficient generated by the motion trail model according to the state change of the cutting operation surface in the cutting process, and adjusting rotation and lifting of a cutting arm in the heading machine equipment layer based on the load coefficient. The self-adaptive control of the equipment layer of the heading machine is realized, the accuracy and the stability of on-line identification of the heading working face are greatly improved, the equipment failure rate and the safety risk of operation are reduced to the greatest extent, and the method has wide applicability.

The invention discloses a multi-posture combined pipe jacking device, a pipe jacking construction method and a pipe roof structure, and relates to the technical field of tunnel construction.The multi-posture combined pipe jacking device comprises a tunneling system and a propelling system; the tunneling system comprises a jacking assembly and a plurality of tunneling assemblies, the jacking assembly comprises a jacking machine head and a jacking guide pipe detachably installed on the tail portion of the jacking machine head, each tunneling assembly comprises a tunneling machine head and a tunneling guide pipe detachably installed on the tail portion of the tunneling machine head, and the tunneling machine heads are installed on the two sides of the jacking machine head respectively. The multiple tunneling guide pipes are arranged on the two sides of the jacking guide pipe in an engaged mode to form engaged guide pipes. The propelling system can push the jacking guide pipe and the tunneling guide pipe to move in the tunneling direction and push the jacking machine head and the tunneling machine heads to move in the tunneling direction through the jacking guide pipe and the tunneling guide pipes correspondingly. The pipe jacking construction of the occlusion guide pipe can be achieved, the jacking efficiency is high, the construction period is short, and the construction cost is low.

The invention discloses an intelligent bottom-along tunneling control method and system for a tunneling and anchoring all-in-one machine, and relates to the technical field of intelligent control, and the method comprises the following steps: obtaining a cutting instruction set for roadway coal rock; according to the cutting instruction set, manual teaching memory is carried out by a worker, and then a memory automatic cutting stage is entered; in the automatic operation process of the digging and anchoring all-in-one machine, the ground penetrating radar obtains monitoring data in real time and carries out noise reduction processing, and therefore clear roadway floor radar image signals are obtained; inputting the obtained roadway floor radar image signal into a preset roadway floor coal seam thickness estimation model to obtain the thickness of the roadway floor remaining coal; the multi-sensor information fusion technology is adopted, cutting medium attributes in the tunneling process of the tunneling and anchoring all-in-one machine are recognized on line, dynamic optimization control is conducted on the cutting action of the tunneling and anchoring all-in-one machine according to the recognition result, and a comprehensive cutting state monitoring and intelligent cutting solution is provided for a roadway tunneling face.

According to the impact-cutting composite rock breaking hydraulic system and method for the mining heading machine, hydraulic damping and impact hammer collaborative operation are integrated, and the problems that a traditional heading machine is low in rock breaking efficiency, poor in stability and insufficient in adaptability are solved. The system comprises a cutting arm hydraulic damping system and an impact hammer hydraulic impact system, and multi-parameter closed-loop regulation and control are achieved through a controller. The device is characterized in that a double overflow protection mechanism is adopted, a proportional overflow valve and an external control overflow valve cooperate with each other, a hydraulic control one-way valve is combined for compensating an oil path, and the pressure difference of a hydraulic cylinder is dynamically kept stable; the impact hammer system adjusts the pressure of an energy accumulator through a proportional pressure reducing valve and is matched with a hydraulic control switch valve to realize variable impact energy control; based on feedback of a vibration sensor and a pressure sensor, damping and impact parameters of the cutting arm are adjusted in a self-adaptive mode through a nonlinear algorithm, and intelligent rock breaking operation under different rock stratum hardness is achieved. According to the system, the impact resistance stability, the rock breaking efficiency and the operation intelligence level of the heading machine are remarkably improved.

The invention discloses a slag slipping device for an inclined shaft TBM and the inclined shaft TBM. The problem that in the prior art, in the slag tapping process of an inclined shaft TBM, slag stone is prone to blocking is solved. The TBM slag sliding device for the inclined shaft comprises a slag collecting ring and a base and further comprises a slag sliding groove, an assembling through groove is formed in the slag collecting ring, a slag stone intercepting mechanism is arranged in the assembling through groove, the slag inlet end of the slag sliding groove is located in the assembling through groove and corresponds to the slag stone intercepting mechanism, and the slag sliding groove is connected with the base through an angle adjusting mechanism. The angle adjusting mechanism adjusts the inclination angle of the slag chute relative to the base; an auxiliary slagging-off mechanism is connected to the slag sliding groove through a sliding mechanism, and the sliding mechanism adjusts the position of the auxiliary slagging-off mechanism on the slag sliding groove. By arranging the angle adjusting mechanism at the bottom of the slag chute, when the heading machine performs slope heading work, the slag chute can rotate along the rotating shaft through stretching of the hydraulic rod, so that the angle of the slag chute is adaptively adjusted, the falling kinetic energy of slag stones is increased or reduced, and the problem that self-slag-sliding is difficult to realize is solved.

The invention discloses a cantilever heading machine excavation refined simulation method considering vibration. The method comprises the steps that design data and geological condition data of a tunnel are obtained; according to the design data and the geological condition data of the tunnel, a refined numerical model of tunnel excavation is established; vibration displacements of the cantilever heading machine in the X (drilling direction) direction, the Y (horizontal direction) direction and the Z (vertical direction) direction during construction under various different working conditions are obtained; noise reduction is carried out by using wavelet transform, a vibration trend term is extracted, and rigid body displacement and vibration waves are decomposed; and the construction working condition is obtained, the excavation process of the numerical model is adjusted according to the milling and excavation path of the construction working condition, the vibration waves are loaded, and the deformation result of tunnel excavation is obtained. According to the method, the influence of the vibration on the excavation process is also considered besides the influence of the construction process of block excavation of the cantilever tunneling machine, and the vibration is subjected to noise reduction by utilizing wavelet transform, so that the precision of cantilever tunneling excavation simulation is improved, and a basis is provided for design and construction of related tunnels.

The invention discloses an autonomous walking track planning method and equipment of a heading machine based on a reinforcement learning algorithm, and the method achieves the optimal track planning of the heading machine from the current position to a roadway head-on by comprehensively considering the key parameters of the real-time body pose (including the position, the pitch angle, the yaw angle and the roll angle) of the heading machine, the roadway size and the like. Through a reinforcement learning algorithm, the heading machine can autonomously decide a walking path, the dependence on manual intervention is reduced, and the autonomy of a walking track is improved; the walking track is dynamically adjusted according to the position and posture of the machine body and the size information of the roadway collected in real time, and unnecessary adjustment time and energy consumption are reduced; through an intelligent decision and obstacle avoidance strategy, collision between the heading machine and a roadway wall is avoided, and operation safety is ensured; by adjusting model parameters or retraining, the heading machine can quickly adapt to roadway environments with different sizes and geological conditions.