143 results about "Roadheader" patented technology

This application provides a tunnel boring machine (TBM) and its control method, relating to the field of engineering machinery technology. The TBM includes: a cutterhead; the cutterhead is disposed at one end of a shield; at least one advance support assembly is disposed within the shield, and the advance support assembly has multiple support members; the advance support assembly is configured to, depending on the surrounding rock condition in front of the cutterhead, selectively extend the multiple support members from within the shield to above the cutterhead to form a temporary support zone, or drive the support members to retract from above the cutterhead back into the shield. According to the embodiments of this application, active support for the surrounding rock above the cutterhead is achieved through the advance support assembly based on the surrounding rock condition, and the machine does not need to be stopped during support, enabling continuous and rapid traversal of deformable surrounding rock sections, thus improving the TBM's adaptability to complex terrain, tunneling capacity, and tunneling efficiency.

This invention discloses an intelligent interlocking and audible-visual early warning system for cantilever tunneling machines based on sensor fusion. This invention relates to the field of safety technology for mining tunneling equipment, solving the technical problem that existing mining tunneling equipment often uses manual three-way ball valves for hydraulic interlocking to switch oil circuits. This invention uses a three-position four-way valve in conjunction with various hydraulic valves to achieve forced hydraulic interlocking of the three major operating oil circuits: tunneling, anchor cable tensioning, and support. Only one operating circuit is energized at a time, completely avoiding the problem of simultaneous malfunction of multiple mechanisms caused by accidental operation of the control handle or failure to lock the hydraulic circuit, effectively reducing equipment collision damage and personnel safety hazards. By using pressure sensors to collect oil circuit load pressure signals in real time, it achieves audible-visual and voice early warning, emergency stop interlocking for cutting motor power failure, and intelligent on / off control of electronic fences. This not only warns on-site workers to stay away from dangerous areas in advance but also eliminates the risk of accidental start-up of the cutting motor during support and anchor cable operations.

The application discloses a short-body fully-mechanized excavator for coal mine tunneling, which comprises a rack, a walking part, a shovel plate part, a cutting part and a conveyer scraper; the rack is connected with the track assembly of the walking part through a rotating mechanism; the cutting part comprises a folding cutting arm and a transverse shaft type cutting head; one end of the cutting arm is hinged to the rack, and the other end of the cutting arm is fixed with the cutting head; the shovel plate part is connected to the front end of the rack; one conveyer scraper passes through and is arranged on the track assembly; the front end and the tail end of the conveyer scraper extend to the front end of the rack and the tail end of the rack respectively. Advantages: the body is greatly reduced compared with the conventional machine type, and is suitable for narrow lane, sharp turning, continuous mining and continuous charging working face branch lane frequent opening scene; through the adjustment of the coal conveying direction of the conveyer scraper, the rack rotation and the linkage of the cutting arm, the rapid opening operation and continuous transportation of the lane are realized, and the construction efficiency is greatly improved.

The utility model discloses a kind of cutterheads of tunnel boring machine, including several cutting hob, cutterhead main body, limit block and locking block, cutting hob two sides center of circle is provided with connecting shank, and first shank abutting surface is equipped in connecting shank lower side;Cutterhead main body is equipped with several installation parts, installation part has upper surface and lower surface and the installation through-hole of through installation part, the installation groove of ''L'' type is opened in the opposite two side walls of installation through-hole, and the opening of installation groove extends to lower surface, connecting shank is detachably inserted in installation groove, and first shank abutting surface is abutted in the inner wall of installation groove away from upper surface;Limit block and locking block are set in installation groove and respectively abutted in connecting shank front and back two sides.

This utility model relates to the field of dust and waste conveying technology, and in particular to a closed conveying device for dust and waste from roadheaders and anchorers. It includes a conveying frame, a conveying component, and multiple idlers. The conveying frame has two first conveying rollers symmetrically and rotatably connected to its inner wall. The conveying component includes a conveyor belt tensioned and sleeved on the two first conveying rollers. The working surface of the conveyor belt has a V-shaped conveying groove along its width. Multiple idlers are arranged at intervals along the conveying direction within the conveying frame and are rotatably connected to the inner wall of the conveying frame. In this utility model, the V-shaped conveying groove on the working surface of the conveyor belt effectively constrains the waste, preventing it from dispersing during conveying, reducing the exposed area of ​​the waste, and lowering the possibility of dust generation. The idlers provide linear support to the conveyor belt, ensuring stable operation and preventing waste from scattering due to belt swaying, thus improving the stability and reliability of the conveying process.

The utility model discloses a kind of coal mine with heading machine power cable winding device, belong to coal mine machinery auxiliary equipment technical field, including stand, rotatably installed on the stand reel and the cable line wound on reel;The front and rear sides of the stand are fixedly installed with the upper branch arm obliquely arranged towards reel upper left, two upper branch arms between fixedly installed with two block guiding seat of certain included angle, the middle of two block guiding seat is all provided with guide slot.This coal mine with heading machine power cable winding device when winding cable line, need to be introduced to the guide slot of two block guiding seat in cable line, cable line forms a inflection point for tensioning cable line between two block guiding seat at this time, so cable line is wound on reel after more closely, even reel when working with heading machine often occurs jolt etc., cable line is not prone to loose etc. Phenomenon on reel.

This invention relates to the field of tunnel engineering, specifically to a tunnel construction method, comprising the following steps: simultaneously excavating at both ends of the tunnel using both TBM (Tunnel Boring Machine) and drill-and-blast methods to form a TBM tunnel section and a drill-and-blast tunnel section; excavating the TBM tunnel section and the drill-and-blast tunnel section to both ends of the through tunnel section; firstly constructing a dismantling chamber using the drill-and-blast method, and then constructing a TBM through section to the dismantling chamber using the TBM method; dismantling the TBM tunneling machine in the dismantling chamber and transporting it out of the tunnel, thus completing the tunnel construction. This invention, through this simultaneous construction method at both ends, can effectively improve the overall excavation efficiency of extra-long tunnels, thereby significantly shortening the construction period of extra-long tunnels.

This invention discloses an automatic stepping device for a tunnel boring machine and its usage method, belonging to the field of tunnel construction technology. It includes a front sliding plate, a push-pull hydraulic mechanism, and a rear sliding plate connected in sequence. The front sliding plate has a symmetrically arranged arc-shaped top plate above its first base plate, and the first base plate has a first through groove in which a wedge-shaped buckle is embedded. The rear sliding plate has a buckle groove on its second base plate. This invention, employing the aforementioned automatic stepping device and its usage method for a tunnel boring machine, achieves space optimization, reduces tunnel cross-section requirements, and improves stepping efficiency. This makes the empty-push stepping process of the tunnel boring machine more continuous, simple, and rapid. Furthermore, its simple and reusable structural design reduces production and maintenance costs.

The present disclosure provides a propulsion control method, controller and control system of an active articulated tunneling machine, and relates to the field of tunnel construction. The method comprises: obtaining an actual position, a design axis and a segment floating amount of the active articulated tunneling machine; calculating a planned tunneling trajectory according to the actual position, the design axis and the segment floating amount; and adjusting at least one of an actual correction torque of a propulsion system and an actual articulation angle of an articulation system of the active articulated tunneling machine, so that the actual position of the active articulated tunneling machine matches the planned tunneling trajectory. The present disclosure can reduce the deviation between the future actual position and the planned tunneling trajectory, and reduce the safety risk that the tunneling machine still maintains the design axis tunneling when the tunnel turns or there is segment floating.

This invention belongs to the field of underground engineering equipment technology, specifically providing a shaft boring machine and its construction method, including a support system. The support system is configured as a ring-shaped support structure, comprising a support body, support arms, and hydraulic cylinders for support shoes. The support body is configured as a ring structure. Both the support arms and hydraulic cylinders for support shoes are arranged in groups along the circumference of the support body. A single set of hydraulic cylinders for support shoes is positioned between two adjacent sets of support arms. One end of a single support arm is fixedly connected to the support body, and the other end extends vertically towards the bottom of the shaft. One end of a single hydraulic cylinder for support shoes is connected to the support body, and the other end extends along the shaft wall, with an arc-shaped support shoe installed on the extended end. This invention, through the support system, allows the vertical weight of the entire shaft boring machine to be directly transferred to the working face by the support base at the bottom of the support arms, rather than being supported by the shaft wall or a ground suspension system.

The utility model discloses a kind of roadway heading machine airborne roof and side protection devices, belong to roadway heading equipment technical field.The device includes heading machine, cutting part sleeve joint fixed sleeve plate, and its top fixed plate is installed protection assembly by foldable mechanism.Protective assembly contains side protection frame, first and second side protection extension frame, and extension transverse jack drives extension frame sliding expansion to protect against face side part;Roof frame is adjusted by roof jack.Foldable mechanism is made of two-stage turnover plate, telescopic main base etc., and realizes two-stage telescopic and turnover by multistage jack.The device can change roof and side protection range according to roadway size and geological condition by flexible adjustment of each component, installed in heading machine cutting part to realize real-time protection;Hinged and sliding connection cooperate jack, and strong stability;Operation jack can realize device adjustment, and high working efficiency, effectively solve the problem of low supporting efficiency of existing heading machine, cannot synchronous side protection roof.

The present application relates to roadway construction equipment technical field, especially to a kind of coal mine roadway tunneling machine with folding full-face shovel plate, including main shovel plate, side shovel plate is rotatably installed on main shovel plate, first rotary drive mechanism is installed on main shovel plate, the included angle between the rotation axis of side shovel plate and horizontal plane is equal to the included angle between main shovel plate and horizontal plane.The present application can switch shovel plate into unfolded state and folded state by first rotary drive mechanism, when side shovel plate is switched into unfolded state, main shovel plate and side shovel plate can simultaneously push coal pile and coal in roadway, when side shovel plate is switched into folded state, folded side shovel plate plays a role of avoiding, increase the distance between side shovel plate and roadway sidewall, provide enough passing space for construction personnel and equipment in roadway, so that construction personnel and equipment can pass through the space between side shovel plate and roadway sidewall, facilitate the normal progress of other construction.

The application discloses a full-face hard rock tunneling machine with a self-adaptive stepping backfilling mechanism and relates to the technical field of tunneling machines, which comprises a cutter head tunneling mechanism, a main machine belt conveyor, a trailer, a main machine beam is installed at the rear of the cutter head tunneling mechanism, the main machine belt conveyor is installed in the main machine beam, the trailer is connected with the main machine beam, a lifting machine is installed above the trailer, a transition frame is connected at the rear of the trailer, a crushed material hopper is installed at one end of the transition frame close to the lifting machine, a discharging belt is installed below the crushed material hopper in the transition frame, the discharging belt backfills the rock slag to the bottom of the roadway, the bottom of the roadway is filled to form a circular arc arched section, a balance frame is connected at the rear of the transition frame, a material vehicle is connected below the balance frame, a transfer machine is installed in the balance frame, one end of the transfer machine is located above the material vehicle, the other end of the transfer machine is close to the discharging belt, when the backfilled rock slag is too much, the transfer machine conveys the rock slag to the material vehicle, and the backfilled rock slag is further rammed by the self-gravity of the material vehicle.

The application discloses a TBM construction supporting device, which comprises a ring-shaped air bag, which is sleeved on a tunnel boring machine girder and is filled with high-pressure gas; an arc-shaped steel, which is hollow inside and is provided with a spiral steel wire inside; a mechanical hand sequentially pushes a plurality of arc-shaped steels into the gap between the ring-shaped air bag and surrounding rock, so that the plurality of arc-shaped steels are connected with each other to form a ring, and the ring-shaped air bag is moved forward after the installation of the arc-shaped steels; and an arc-shaped steel mesh, which is sequentially pushed by the mechanical hand into the gap between the ring-shaped air bag and surrounding rock and is connected with each other to form a ring after the installation of the arc-shaped steel mesh; wherein a grouting hole is arranged on the arc-shaped steel, and a grouting device grouts the hollow inside of the arc-shaped steel through the grouting hole on the arc-shaped steel, so that the inside of the arc-shaped steel is filled with concrete slurry. The device can conveniently and efficiently support the surrounding rock after tunneling, and the supporting structure is not only high in supporting strength, but also convenient to assemble.

This utility model relates to the technical field of spray dust suppression devices, and discloses a spray dust suppression device for a roadheader. It includes a threaded head, a water supply pipe fixedly installed at the bottom of the threaded head, a branch pipe fixedly installed at the bottom of the water supply pipe, and a three-stage mist particle covering dust suppression mechanism fixedly installed at the end of the branch pipe away from the water supply pipe. This roadheader spray dust suppression device, through its three-stage mist particle covering dust suppression mechanism, utilizes three high-pressure atomizing nozzles (a first, second, and third nozzles) with different angles and layouts. High-pressure atomizing nozzle a first nozzle blocks upward-rising dust, high-pressure atomizing nozzle a second nozzle captures dust escaping from the edges, and high-pressure atomizing nozzle a third nozzle forms a three-dimensional interception barrier. The three nozzles complement each other in their coverage, effectively covering and suppressing dust in the area above and to the sides of the conveyor belt, while simultaneously blocking dust escape channels, thus improving the overall dust suppression efficiency of the roadheader's transport section.

To efficiently and safely remove deposits from cutter heads used in shield tunneling and pipe jacking methods. [Solution] A cleaning method according to one embodiment cleans the cutter head of a tunnel boring machine that excavates the ground to form a tunnel shaft, and includes a first step of arranging a cleaning device in the tunnel shaft that includes a rod with a flow channel formed inside, a monitor provided at the tip of the rod for spraying cleaning liquid supplied through the flow channel, and a work machine for moving the rod linearly and rotating it; a second step of moving the rod linearly with the work machine so that the monitor protrudes from the front surface of the cutter head through an opening in the cutter head; and a third step of rotating the rod with the work machine while the monitor is protruding from the front surface, and spraying cleaning liquid from the monitor toward the front surface to clean any deposits on the front surface.

The application belongs to the technical field of heading machine, and particularly provides a heading machine main drive and a sealing ring repairing method thereof, which comprises a driving structure, a bearing structure, a sealing structure and a sealing repairing structure; the sealing repairing structure is arranged on the bearing structure, and the sealing repairing structure comprises a composite wear-resistant strip, a ring repairing assembly and a ring repairing control module; the ring repairing assembly is detachably attached to the composite wear-resistant strip and is used for assisting heating of the composite wear-resistant strip; the ring repairing control module is used for detecting and controlling the heating temperature of the ring repairing assembly; and the composite wear-resistant strip is used for repairing the damaged outer sealing ring and / or inner sealing ring. The application provides a heading machine main drive which can weld a wear-resistant strip to a damaged sealing ring in a limited space of an underground chamber, so as to realize replaceable welding and repairing operation of the sealing ring in the chamber.

The utility model belongs to the technical field of boom tunneling machine, concretely relates to a kind of discharging structure of boom tunneling machine, including shovel, is equipped with sweep material disc on the shovel, and sweep material disc rear is equipped with material conveying belt, and the end of shovel is equipped with sweep material device, and the sweep material device includes shaft, and the shaft is through rotating sleeve and is fixedly connected with rotating sleeve, and the shaft bottom end outer wall is connected with driven wheel.This discharging structure of boom tunneling machine, when tunneling machine operates, sweep material rod rotates under the transmission of shaft, can push the broken material scattered on the outer wall of shovel into shovel quickly, avoid broken material accumulation to affect tunneling.It is followed that sweep material disc relay transports the broken material in shovel to material conveying belt, realizes broken material efficient transfer.This double-effect cooperation significantly widens sweep material range, greatly improves the discharging efficiency of tunneling machine, effectively reduces the operation obstruction caused by broken material accumulation, effectively guarantees tunneling operation continuous, efficient.

The application provides a tunneling teaching machine hydraulic system, and belongs to the technical field of hydraulic systems. The tunneling teaching machine hydraulic system comprises a pushing module, a conveying module, a supporting module, an articulated module, an overbreak cutter module and a system power pump station for providing oil sources for the five modules. The application integrates all functions of actual tunneling, can complete testing of domestic control systems, can realize testing of the tunneling machine hydraulic system before being mounted, can complete preliminary testing of certain special working conditions, and can shorten the development cycle. Since it is simulation testing, each module does not need to be set to the actual size, and the layout of each module also does not need to be set to the actual layout, and can be as small as possible, which not only can meet the simulation of the working conditions of the actual tunneling hydraulic system, but also can greatly save the cost, improve the testing efficiency and reduce the time consumption. Meanwhile, by merging the power oil sources, the modules with similar pressure levels are integrated together, which can save the energy consumption and improve the energy utilization rate.

The application provides a positioning method and device, a tunneling machine and a computer readable storage medium, wherein the method comprises: acquiring real-time inertial navigation data of the tunneling machine in a tunnel and real-time point cloud data corresponding to the tunnel where the tunneling machine is located; correcting the real-time point cloud data corresponding to the tunnel according to tunnel data information corresponding to the tunnel and the real-time inertial navigation data of the tunneling machine in the tunnel, to obtain corrected real-time point cloud data; the tunnel data information is obtained according to a design model corresponding to the tunnel; constructing a real-time tunnel feature map corresponding to the tunnel according to the corrected real-time point cloud data; inputting the real-time tunnel feature map and the real-time inertial navigation data of the tunneling machine in the tunnel into a SLAM system to obtain real-time positioning result information of the tunneling machine in the tunnel. The application can realize accurate positioning of the tunneling machine in the tunnel without laying and maintaining targets.

The present application relates to a tunneling machine intelligent vision auxiliary obstacle avoidance and path planning system, belonging to the technical field of path planning. The system comprises: a data acquisition module for acquiring the original environmental data of the target area of the tunneling machine at each moment, generating ground data under the ground coordinate system; an obstacle identification module for identifying all obstacles and their obstacle information; a posture acquisition module for acquiring the posture parameters of the tunneling machine; a coordinate conversion module for generating tunneling point cloud data in the tunneling machine coordinate system; a model modeling module for calculating the tunneling machine state estimation parameters and creating the environmental three-dimensional model of the target area at the current moment; a path planning module for path planning and generating the optimal path of the tunneling machine. The present application plans the path based on all obstacles, their obstacle information and the environmental three-dimensional model, which can effectively improve the working efficiency and safety of the tunneling machine.

The tunnel boring machine has a sealing device (212) having a first inner chamber (369) and a second inner chamber (372) to which lubricant can be applied via a fluid supply device. The pressure in the first inner chamber (369) can be regulated via the fluid supply device such that the pressure is between the pressure in the head chamber (306) located in front of the first inner chamber (369) along the tunneling direction and the pressure in the second inner chamber (372) located behind the first inner chamber (369) along the tunneling direction. Therefore, for environmental protection reasons, lossless lubrication can be achieved, and mixing of the lubricant in the first inner chamber (369) with other substances in the head chamber (306) is avoided.

This invention provides a water-blocking device for a tunneling machine and a tunneling machine in the field of tunneling equipment technology. The water-blocking device for the tunneling machine includes a fixing member for fixing to the bottom of the shield body. A sealing member for sealing the gap between the bottom of the shield body and the tunnel wall is installed on the fixing member. The sealing member has a contact surface for contacting the tunnel wall. The water-blocking device also includes a control structure connected to the sealing member to control the contact surface's contact or detachment from the tunnel wall. The contact surface of the sealing member can seal the gap between the bottom of the shield body and the tunnel wall, preventing water from seeping into the tunnel, flowing water behind the tunnel, or water used for construction from flowing to the front of the shield body and mixing with the excavated rock. This prevents the excavated rock transported to the conveyor belt from having excessive moisture content, causing transportation difficulties and ensuring the normal excavation function of the conveyor belt. Excavation is not required by manual assistance, saving manpower and time. The contact surface of the sealing member can also detach from the tunnel wall, facilitating the tunneling machine's forward movement and avoiding excessive friction that could affect its service life.

The application provides a main drive assembly production line scheduling method and system and a main drive assembly production line of a tunneling machine, and relates to the technical field of intelligent manufacturing. The method comprises the following steps: acquiring material identity information of a main drive component; determining an assembly process path of the main drive component from a predefined modular process library according to the material identity information, the modular process library comprising a plurality of configurable process modules, and the assembly process path comprising a plurality of to-be-executed processes; determining a physical position and a process completion state of the main drive component in the main drive assembly production line to obtain a real-time production progress of the main drive component; determining a current to-be-executed process of the main drive component based on the assembly process path and the real-time production progress; determining a corresponding target device and a job recipe according to the current to-be-executed process; and sending a task instruction comprising the job recipe to the target device to drive the target device to execute the current to-be-executed process job. The application is used to improve scheduling accuracy and improve job execution efficiency.

The application discloses a mounting device for a copper sleeve of a heading machine, and relates to the field of heading machines.The mounting device comprises a copper sleeve body and a mounting assembly for mounting the copper sleeve body to a machine body.The mounting assembly comprises a backing plate, and an oil cylinder is mounted to one side wall of the backing plate.The mounting device is provided by cooperation of the oil cylinder, a first threaded rod and a stop plate and the like structures.In use, the backing plate is attached to the machine body, the first threaded rod is passed through the machine body, the copper sleeve body is then sleeved on the first threaded rod, the copper sleeve body is aligned with the machine body, the stop plate is then threadedly connected to the first threaded rod, the stop plate is located on one side of the copper sleeve body, the oil cylinder is started, the first threaded rod is pulled, the stop plate is moved, the stop plate pushes the copper sleeve body, and the copper sleeve body is mounted to the machine body, thereby avoiding knocking the copper sleeve into the machine body by moving a sliding hammer for a long time, and the problem that an operator is more laborious and work efficiency is reduced is solved.

The utility model belongs to the tunneling machine technical field, concretely relates to a protection structure of cantilever tunneling machine for tunnel excavation, including tunneling machine main part, the tunneling machine main part is fixedly installed with the connecting frame, the one end of connecting frame is fixedly connected with the scraper blade away from tunneling machine main part, the scraper blade is rotatably connected with the soil sweeping disc, the downside of connecting frame is provided with the conveying mechanism, be provided with the protection assembly on the conveying mechanism. The protection structure of cantilever tunneling machine for tunnel excavation uses the use of protection assembly, motor drives oval wheel rotation, drives straight pole reciprocating motion, makes the flattening plate left and right movement and sticks to the surface of conveyer belt, and the broken stone and broken soil concentrated in the middle are spreaded to both sides, cooperate the partition board on the conveyer belt, can form the regular material heap, avoid the material protruding scratch tunneling machine chassis. This dynamic flattening design can effectively eliminate the deformation of conveyer belt due to local extrusion, prolong the service life of conveyer belt, reduce the equipment failure caused by scratching.

The application discloses a large-gradient tunneling machine and a tunneling method thereof, and the tunneling machine comprises a tunneling machine body and an anti-skid step self-moving device; the anti-skid step self-moving device comprises a sliding device, a pushing device and an anti-skid supporting device; the sliding device is arranged below the tunneling machine body, and a sliding part of the sliding device is fixed to the bottom of a chassis of the tunneling machine body; the anti-skid supporting device is arranged on a fixed part of the sliding device and is used for supporting the tunneling machine body to be off the ground and lowering the tunneling machine body to the ground; when the anti-skid supporting device supports the tunneling machine body to be off the ground, the bottom of the anti-skid supporting device is on the ground and the anti-skid supporting device has an anti-skid function; the sliding part is slidable relative to the fixed part along a first direction, and the first direction is an advancing direction of the tunneling machine body; the pushing device is arranged on the fixed part and is used for pushing the tunneling machine body to move along the first direction when the tunneling machine body is in an off-the-ground state. The anti-skid step self-moving tunneling of the tunneling machine can be realized, the situation of sliding and sliding down is avoided, and the problems existing in the current large-gradient roadway tunneling mode of the tunneling machine can be solved.

The present application relates to the technical field of fault fracture zone rock mass reinforcement, and discloses a fault fracture zone fissure rock mass grouting device, wherein a tunnel is excavated by a heading machine in a rock mass layer, a rotating ring is arranged at the tail of the heading machine, an extender is arranged on the rotating ring, a cross beam is arranged at the extending end of the extender, and a fissure reinforcement device is slidably connected to the cross beam. The present application has the following beneficial effects: the grid plate can act as a reinforcing steel framework structure in the reinforcing body, thereby improving the tensile stress and shear stress of the reinforcing body, and further improving the reinforcement effect on the fissure; the front end section and the rear end section of the anchor rod are intermittently coaxial or misaligned; the concrete slurry can be directly injected into the fissure, thereby avoiding the blockage of the concrete slurry in the anchor rod and the dense filling in the fissure.

The utility model discloses a kind of tunneling machine cutting head protective cover, including metal net, steel pipe and nut, the metal net is divided into three parts, middle metal net and left and right metal net, middle metal net is connected two sides metal net by nut.The utility model folds up when tunneling machine cutting head works, protective cover can avoid affecting the normal work of tunneling machine.After cutting head stops working, promptly unfold protective cover and cover on cutting head, can effectively prevent personnel from accidentally touching cutting head and causing injury, ensure safety production.

This invention provides a method for predicting surrounding rock for open-face tunnel boring machines (TBMs). Applied to the field of tunnel engineering technology, the method includes collecting time-series data of tunneling parameters and corresponding surrounding rock category labels. Tunneling parameters include propulsion speed, cutterhead rotation speed, cutterhead torque, total propulsion force, and multi-directional shield displacement. Based on cutterhead torque and propulsion speed, start and end conditions and idling exclusion conditions are set to extract effective tunneling segment data. The effective data is sliced ​​according to a time step N to construct a training dataset containing an input matrix and surrounding rock labels. A deep learning model is trained to obtain a surrounding rock prediction model. The segment to be predicted is converted into an input matrix according to a step size N and input into the model to obtain a prediction result sequence. The final surrounding rock prediction result is determined through a majority voting mechanism. This improves the accuracy of surrounding rock prediction.