1303 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 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 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 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 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 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 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.

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 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.

The invention discloses a path planning method for a heading machine, a medium and equipment, and relates to the related technical field of heading machines, the method comprises the following steps: constructing a coal mine operation graph network, and segmenting to obtain a plurality of operation areas; respectively executing heading machine advancing control error analysis, and determining a plurality of advancing control error distributions; constructing an identification operation graph network; and with the shortest overall idle running path and the shortest overall operation time as targets, collaborative optimization of multiple tunneling paths is carried out according to the coal mining operation target and the current equipment distribution, and an optimal tunneling path plan is output. The technical problems that in the prior art, coal mine operation area differences cannot be fully considered, so that heading machine advancing control errors are large, multi-heading-machine cooperative operation efficiency is low, the idle running path is long and time length waste is serious are solved, multi-heading-path cooperative optimization is achieved, the overall idle running path is shortest, the overall operation time length is shortest, and the working efficiency is improved. And the safety and efficiency of the tunneling operation are improved.

The utility model provides a heading machine. The heading machine comprises a machine body; the first rotating part is arranged at the front end of the machine body; the cutting assembly is connected with the first rotating part and can swing up and down under the action of the first rotating part; the first detection assembly is connected with the first rotating part and is used for detecting the lifting amplitude of the cutting assembly; the control assembly is connected with the first detection assembly and used for determining the final lifting amplitude of the cutting assembly according to the detection result of the first detection assembly; wherein the first detection assembly comprises a first gear which is connected with the first rotating part and can synchronously rotate along with the first rotating part; the second gear is meshed with the first gear; the first angle sensor is connected with the second gear and used for converting the rotation angle of the second gear into an electric signal and sending the electric signal to the control assembly. The heading machine can stably measure the lifting amplitude of the cutting assembly of the heading machine with high precision.

The utility model belongs to the technical field of oil suction pipe machining, solves the problems that oil suction pipes are not uniform and cannot be universally used in the same heading machine in the existing heading machine oil suction pipe assembling and welding process, and provides an oil suction pipe assembling and welding device of a heading machine. Comprising a front pump oil suction pipe positioning assembly for positioning a front pump oil suction pipe assembly; the rear pump oil suction pipe positioning assembly is used for positioning the rear pump oil suction pipe assembly; the oil suction filter positioning assembly is used for positioning the first oil suction pipe mounting flange; a plurality of positioning holes are formed in the bottom plate; the front pump oil suction pipe positioning assembly, the rear pump oil suction pipe positioning assembly and the oil suction filter positioning assembly are all arranged on the bottom plate and fixed to positioning holes in the bottom plate, and position positioning is achieved. According to the utility model, the oil suction pipe of the heading machine can be assembled and welded in an area outside a unit, the oil suction pipe can be directly assembled and replaced on the unit through batch production, and the oil suction pipe of the same heading machine can be stored and replaced.

The utility model belongs to the technical field of devices for removing or transporting excavated materials or gangues, and particularly relates to a tunnel slag removing device and a cantilever type heading machine. The tunnel slag removal device comprises a digging arm assembly and a digging arm mounting seat, the digging arm assembly is mounted on the digging arm mounting seat, the tunnel slag removal device further comprises a transverse movement guide seat, the digging arm mounting seat is mounted on the transverse movement guide seat in a guiding mode, and a transverse movement driving mechanism used for driving the digging arm mounting seat to move in the transverse direction is arranged on the transverse movement guide seat. The guide stroke of the transverse moving guide seat meets the requirement that the digging arm assembly can move to the transverse edge of the cantilever type heading machine to avoid a cantilever of the cantilever type heading machine. The cantilever type heading machine comprises the tunnel slag removing device. After slag removal operation is completed, when a cantilever of the cantilever type heading machine works, the digging arm assembly can move to the transverse edge of a main machine of the cantilever type heading machine to avoid the cantilever, and then the problem that the digging arm assembly interferes with the cantilever is solved.

The invention discloses an impacting-splitting-cutting composite rock breaking configuration of a cantilever type heading machine, relates to the field of coal mine underground heading equipment, and solves the problems of low efficiency, serious cutting pick abrasion, poor stability and insufficient adaptability of an existing heading machine during hard rock operation. A multi-stage cylinder executing mechanism is arranged on a cutting arm of the heading machine, an angle adjusting rotary table is arranged at the upper end of the multi-stage cylinder executing mechanism, and a breaking hammer and a rock cracking machine are arranged on the angle adjusting rotary table; the angle adjusting rotary table comprises a track plate and a rotary table, and the rotary table drives the track plate to rotate; a breaking hammer is arranged at one end of the track plate, and a rock cracking machine is arranged at the other end. The breaking hammer and the rock cracking machine are integrated at the front end of the heading machine, pre-broken rock can be split, the number of times of breaking is reduced, vibration and noise caused by repeated breaking are avoided, the internal stress of a rock stratum is damaged by additionally arranging the rock cracking machine, other work of the whole machine is not affected, and the service life of the heading machine is not affected.

The invention discloses a method and system for predicting the abrasion state of a heading machine hob based on multi-dimensional characteristics, and relates to the technical field of heading machine tunnel construction, and the method comprises the steps: monitoring the abrasion loss of the heading machine hob in a construction process in real time, obtaining the time sequence data of the abrasion loss of the hob, and carrying out the preprocessing; for the time series data, constructing GASF and RP two-dimensional images respectively by adopting a GASF angle field method and a recurrence plot method; the time sequence data and the two types of two-dimensional images are input into a hobbing cutter wear state prediction model, the two types of two-dimensional images pass through a dual-channel parallel CNN network, two-dimensional feature maps of the two types of images are extracted and flattened into two one-dimensional feature vectors, and hobbing cutter wear loss time sequence data are obtained through a Bi-LSTM network and an attention module based on a memory attention enhancement mechanism. And extracting a one-dimensional time sequence feature vector, fusing a plurality of feature vectors, and outputting a hob wear state classification result. According to the method, real-time and accurate prediction of the abrasion state of the hob is realized by fusing multi-dimensional features.

The invention relates to small-section rock tunnel construction integrated equipment and a construction method. The small-section rock tunnel construction integrated equipment comprises a heading machine, a spraying mechanism, a supporting mechanism and a transport vehicle, wherein the spraying mechanism and the supporting mechanism are carried on a heading machine vehicle body, and the transport vehicle corresponds to a slag outlet of a cantilever type heading device. The concrete wet spraying device and the anchor rod drilling device are carried on the upper portion of the cantilever type heading machine body, and uninterrupted continuous operation of tunneling, deslagging and supporting can be achieved by reasonably arranging the positions and the operation sequence of the concrete wet spraying system, the anchor rod drilling device, the deslagging vehicle and the concrete mixer truck. And meanwhile, participation of constructors is effectively reduced, manpower is saved, and the efficiency and safety of tunnel construction are improved.

The invention discloses a high-pressure water jet heading machine and a high-pressure water rock breaking and pile cutting method. The problems that in the prior art, a shield tunneling machine is long in obstacle cutting construction period and high in risk, and full-section obstacles cannot be treated when facing the shield tunneling machine are solved. The high-pressure water jet heading machine comprises a cutterhead and a rear supporting sleeve, a cutter, a nozzle assembly and a detection device are arranged on the cutter head, and the nozzle assembly is connected with a high-pressure water system arranged on the rear support; the nozzle assembly comprises a radial moving nozzle and a fixed nozzle arranged on the outer edge of the cutter head. And the radial moving nozzle and the detection device are connected with the upper computer. The radial moving nozzles and the fixed nozzles arranged on the outer edge of the cutter head are combined with rotation of the cutter head cutter, so that the cutting range of high-pressure water flow is more uniform, meanwhile, the cutting diameter of the cutter head can be increased, and the cutting efficiency is higher.

The invention discloses a forward and reverse design and simulation method for virtual excavation of a sunken vertical shaft heading machine. The method comprises the following steps: S1, initializing a terrain; s2, kinematic modeling of the heading machine; s3, track surface generation and virtual excavation; s4, forward design; s5, carrying out reverse design; and S6, outputting data. According to the forward and reverse design and simulation method for virtual excavation of the sinking type vertical shaft heading machine, geometric-level virtual excavation simulation can be realized based on geometric parameters, a kinematic model and stratum data of a VSM; the excavation effect of the preset excavation parameters can be verified through forward design, and a feasible excavation parameter set can be intelligently and reversely solved from the target excavation morphology through reverse design; and meanwhile, a standardized geometric model and structured data which can be directly used for subsequent engineering numerical analysis and construction guidance can be exported, so that the parameter determination precision, the process controllability and the scheme optimization capability before construction are improved.

The invention relates to the technical field of mine safety, and particularly discloses a gas monitoring and early warning system for roadway tunneling construction, which comprises a data acquisition module, a data processing module, a prediction module, an early warning analysis module, a sensor sensitivity compensation judgment module and a self-adaptive calibration module. Harmful gas concentration data and environment, geology and tunneling operation data are collected by constructing a three-level collaborative network of fixed nodes, an inspection robot and a tunneling machine micro sensor; carrying out data cleaning and fusing multi-source gas concentration data to obtain real-time gas concentration; predicting the gas concentration at the next moment through an LSTM network training model based on the real-time gas concentration; performing gradient early warning according to the predicted value and a safety threshold value, and linking ventilation, equipment and a risk avoiding system; sensitivity attenuation of the gas sensor is further judged and calibrated, full-domain real-time sensing, trend prediction and early warning and intelligent calibration of the sensor of the driving face gas are achieved, and monitoring timeliness, early warning scientificity and data reliability are improved.

The invention discloses an energy-saving and consumption-reducing tunnel excavation method of a cantilever type heading machine under the action of gravity. The energy-saving and consumption-reducing tunnel excavation method comprises the following steps: step 1, drawing a geological form map; step 2, identifying an excavation contour line of the tunnel; step 3, constructing an initial free face; step 4, constructing a contour boundary groove; 5, drilling holes in the tunnel face at intervals, and sequentially stretching a rock stratum crushing device into each drill hole to perform fracturing operation; 6, the cutting head is controlled to conduct circuitous cutting in the trend of the rock stratum; in the excavation process, a rock stratum crushing device is used for moving along a cutting path; and step 7, trimming the contour boundary groove. According to the invention, the contact time of the cutting pick and the hard rock can be effectively reduced, and the abrasion of the cutting head is reduced; the rock is caved by utilizing gravity, so that the excavation efficiency is improved; the mechanical load is optimized, and the service life of equipment is prolonged; and meanwhile, the stress is released step by step, and the probability of sudden collapse risk is reduced. The method is suitable for the technical field of tunnel construction.

The invention discloses a cutting pick wear detection method and system for a heading machine, and relates to the technical field of mining machinery state monitoring, and the method comprises the steps: obtaining a cutting pick tool seat and a tool bit, fixing the tool bit on the tool seat through a plurality of rotating shafts, and arranging a plurality of high-bandwidth acoustic emission sensors on the rotating shafts; identifying a rotation detection signal by using a high-bandwidth acoustic emission sensor, and extracting characteristics such as acoustic emission pulse starting time and peak amplitude; constructing a sound source space positioning model to obtain a sound source positioning result; and mapping a sound source positioning result to the rotating shaft three-dimensional model to identify hidden wear, and outputting a risk level. The technical problems that the traditional detection means is difficult to accurately identify the hidden wear of the heading machine cutting tooth rotating shaft and cannot comprehensively and accurately acquire wear information to meet the accurate evaluation requirement are solved, and the accurate identification and risk grade evaluation of the hidden wear of the heading machine cutting tooth rotating shaft are achieved; and the accuracy and comprehensiveness of cutting pick wear detection are improved.

The invention relates to the technical field of engineering construction measurement and control, and discloses a calibration method for positioning and attitude determination of a heading machine, which comprises the following steps: constructing a data acquisition module, a route making module, a real-time dynamic monitoring module, an execution module, a feedback module and an optimization module; the data acquisition module is used for completing comprehensive acquisition of multi-source data of the heading machine, a route, an environment and an obstacle, the route making module is used for fusing the multi-source data to carry out path planning and error compensation, and the real-time dynamic monitoring module is used for realizing heading machine pose tracking and emergency correction through visual marking points and a laser scanner. The execution module is used for converting an optimal tunneling path into a driving motor control instruction, the feedback module is used for collecting deviation data of an actual operation pose and a planned path in real time and returning the deviation data, the optimization module realizes long-term self-adaptive optimization of the system, and finally, precision, safety and high efficiency of the tunneling operation of the tunneling machine in a complex underground environment are realized.

The invention belongs to the technical field of coal mine heading machine onboard temporary supporting equipment, and particularly relates to a heading machine onboard temporary supporting device. The cutting part comprises a cutting part rack, a parallelogram turnover mechanism arranged in the middle of the cutting part rack, a turnover oil cylinder for driving the parallelogram turnover mechanism, a bearing platform, a telescopic mechanical arm assembly and a protective plate assembly, the bearing platform is connected to the cutting part rack through a parallelogram turnover mechanism and is driven by a turnover oil cylinder to horizontally lift and translate, one end of the mechanical arm assembly is connected to the bearing platform, and an angle adjusting mechanism is arranged between the mechanical arm assembly and the bearing platform; the guard plate assembly is installed at the other end of the mechanical arm assembly, and a leveling mechanism is arranged between the guard plate assembly and the mechanical arm assembly. According to the invention, the original onboard temporary support overturning structure of the heading machine is broken through, and the parallelogram four-connecting-rod translation mechanism is innovatively designed, so that the translation mechanism can be normally used in a low roadway, and the effect of increasing the practical performance is achieved.

A tensile-fracturing hard-rock-breaking boring machine and a construction method. The boring machine comprises: a cutting motor (a1) and a speed reducer (a3); a cutting telescopic oil cylinder (a2), which extends out so as to realize cutting feed and is fixed to the cutting motor (a1), an output end thereof being hinged to a telescopic outer cylinder (b24) of a telescopic part (a4); a telescopic part (a4), which is located between cutting heads and the cutting telescopic oil cylinder (a2), and comprises a driving spiral bevel gear (b20) used for transmission of power from the speed reducer and fixed to the tail end of a transmission shaft (b21); and a middle fixing box (a8), which comprises a middle fixing box body (b16), a speed reduction shaft (b19), a small speed reduction gear (b17), a large spiral bevel gear (b18), a cutting shaft (b8), a large speed reduction gear (b7), a left fixed spiral bevel gear (b13), a left bearing pedestal (b14), a right fixed spiral bevel gear (b5) and a right bearing pedestal (b6). The cutting heads perform accelerated self-rotation while revolving downward towards a front wall along with cutting box bodies. The self-rotation and revolution of a left cutting head and a right cutting head are coordinated to enable smooth cutting, and the total width of the left cutting head and the right cutting head is reduced without affecting normal full-face tunneling.

The invention provides a pea gravel self-adaptive injection method, an injection system, rear corollary equipment and a tunnel boring machine, and belongs to the technical field of tunnel boring. The injection state of the injection port pipeline is judged by detecting the vibration condition of the injection port pipeline at the tail end of the injection pipeline, and the blanking adjusting valve of the feeding device is controlled to adjust the opening degree of the blanking port in a self-adaptive mode according to the injection state, so that the blanking speed is matched with the current injection state in a self-adaptive mode. Meanwhile, the rotating speed of a motor of the pea gravel pump is adjusted in a self-adaptive mode according to the opening degree of a discharging opening, self-adaptive matching of the discharging speed and the pea gravel spraying amount is achieved, the system can achieve self-adaptive control over the discharging speed, the rotating speed of the motor and the air inflow according to a control program of a PLC, fault signals and accessory replacement reminding are provided, manual operation is not needed, and the working efficiency is improved. The problems that at the present stage, the blanking speed, the motor rotating speed and the air inflow are adjusted completely depending on manual experience, the whole system is unstable, pipe blockage and pipe explosion frequently occur on site, and quick-wear parts are abraded rapidly are solved.

The invention discloses a drill rod tension type vertical shaft tunneling process which comprises the following steps: constructing a pilot shaft into a stratum by utilizing a raise boring machine, constructing a starting shaft, sequentially hoisting a tunneling machine and a hanging scaffold system into the starting shaft by utilizing hoisting equipment, and driving a tension drill rod to sequentially penetrate through the hanging scaffold system and the tunneling machine by utilizing the raise boring machine, and the tunneling machine continues to be lowered into the lower horizontal roadway and is fixed through the drill rod tensioning device, the tunneling machine starts to conduct tunneling circulating operation downwards along the tension drill rod through the stepping mechanism, and the hanging scaffold system conducts well wall supporting circulating operation downwards along the tension drill rod through the stepping mechanism till the tunneling machine conducts tunneling to the lower horizontal roadway. The tension drill rod serves as a main fixing structure and can bear the weight of the heading machine, the rock breaking positive pressure and the weight of the hanging scaffold, and the heading effect is supported not to be affected and limited by the stratum; the tension drill rod provides guidance, and the tunneling machine is guided on a correct tunneling path in real time, so that the construction efficiency and the tunneling well completion quality are improved.

The present application discloses a small-turn compact open-type full-section rock tunnel boring machine, comprising: a main beam equipped with a main drive and a support shoe propulsion system capable of driving the main drive to move; a rear supporting system equipped with a second anchor drilling system capable of performing anchor support; a cutterhead equipped in front of the main drive, the main drive capable of driving the cutterhead to rotate; a slag discharge system capable of conveying rock slag equipped in the cutterhead; a shield capable of adhering to the tunnel wall equipped around the main drive; a first anchor drilling system capable of performing anchor support and an advance drilling system capable of drilling and grouting reinforcement in front of the cutterhead equipped around the support shoe propulsion system; and a rear support capable of holding the tunnel wall tight. The above-mentioned small-turn compact open-type full-section rock tunnel boring machine has a compact main beam structure, shortens the total length of the main beam, and enables the rock tunnel boring machine to adapt to small-turn rock tunnel excavation, thereby improving the scope of application of the rock tunnel boring machine.

The utility model provides an onboard temporary supporting device which comprises a supporting frame and supporting columns, the number of the supporting columns is two, the supporting columns are arranged on the two sides of a cutting arm of a heading machine respectively and rotationally connected with the cutting arm, and the ends, away from the heading machine, of the two supporting columns are rotationally connected with the supporting frame through two connecting bases respectively. Buffering assemblies are arranged on the two sides of the top face of the supporting frame respectively, a displacement assembly capable of moving in the tunneling direction of the tunneling machine is arranged at the front end of the supporting frame, and overturning assemblies allowing the supporting columns and the supporting frame to be overturned are arranged on the two supporting columns. The device is easy to operate and good in supporting effect, the buffering effect can be effectively achieved when coal mine rockfall occurs, and the service life of the supporting device can be effectively prolonged.

The invention discloses an underground receiving method of a vertical shaft heading machine, and belongs to the technical field of vertical shaft construction. Comprising the following steps that S1, a lower adit is excavated below a pre-construction position; s2, a slag slipping well is excavated in the corresponding pre-construction position of the lower adit through a directional drill and a raise boring, and a rock mass is reserved on the side wall of the slag slipping well; s3, after the slag sliding well is excavated, the original well is excavated through a manual drilling and blasting method, and then a vertical shaft heading machine conducts downward excavation and reaming on the upper portion of the original well; s4, in the downward digging process of the vertical shaft heading machine, slag is piled at the junction of the slag slipping well and the lower adit; and S5, the vertical shaft heading machine penetrates to the lower adit. The tunneling parameters of the vertical shaft tunneling machine are adjusted, and slag is piled to the slag slipping well in the lower adit, so that the tunneling machine is ensured to smoothly penetrate to the lower adit.