The present invention discloses a hard rock roadway and tunnel boring machine with actively rotating hobs, including a rack provided with a crawler track unit. The rack is provided with a hydraulic power unit and a high-pressure abrasive jet generation system connected therewith. A transmission box is fixedly arranged at one of ends of the rack. The transmission box is provided with two input shafts and one output shaft. The input shafts are connected with planetary reduction mechanisms. Input ends of the planetary reduction mechanisms are connected with cantilever disc driving motors. A cantilever disc is fixed to the output shaft. Four cantilevers are hinged to the cantilever disc. Cantilever driving motors are further arranged on the cantilever disc. Actively rotating hob devices are arranged at ends of the cantilevers away from the cantilever disc. The transmission box is further provided with rotary sealing devices.

A vibrating type hard rock cutting mechanism with a function of directional high-speed abrasive jet advanced slitting includes a disc-shaped hob, a cutting main shaft and a valve plate. When the vibrating type hard rock cutting mechanism works, an outlet of a high-pressure abrasive jet generating system is communicated to a cutting mechanism abrasive jet inlet. An abrasive jet enters an abrasive jet nozzle through flow channels in the valve plate, the cutting main shaft and the disc-shaped hob and forms a directional high-speed abrasive jet. The cutting main shaft is directly driven to rotate by an axial permanent magnet motor. The cutting mechanism enables the disc-shaped hob to vibrate under the action of a vibration motor. A macro crack is formed on a rock mass by rotating the abrasive jet. The rotating disc-shaped hob can be wedged into the formed crack in a vibration manner by swinging the cutting mechanism.

Disclosed a combined rock-breaking TBM tunneling method in complex strata for realizing three-way force detection, comprising the steps of preparing a combined mechanical-hydraulic rock-breaking cutter head for TBM construction; starting construction; advancing the combined mechanical-hydraulic rock-breaking cutter head; pushing and pressing against a tunnel face by a mechanical cutter tool; subjecting a three-way force detection cutter to squeezing forces; feeding back three-way force data by a three-way force sensor; processing information by a TBM back-end control processor; obtaining a value of rock-cutter contact angle ; feeding back parameter information to a TBM cutter head control center by a lithology index center; responding by the TBM cutter head control center, obtaining and adjusting parameters by the mechanical cutter tool equipped with the three-way force sensor; and breaking rock by the combined mechanical-hydraulic rock-breaking cutter head. The method disclosed is energy-saving and efficient, and has high rock-breaking efficiency.

A vibrating type hard rock cutting mechanism with a function of directional high-speed abrasive jet advanced slitting includes a disc-shaped hob, a cutting main shaft and a valve plate. When the vibrating type hard rock cutting mechanism works, an outlet of a high-pressure abrasive jet generating system is communicated to a cutting mechanism abrasive jet inlet. An abrasive jet enters an abrasive jet nozzle through flow channels in the valve plate, the cutting main shaft and the disc-shaped hob and forms a directional high-speed abrasive jet. The cutting main shaft is directly driven to rotate by an axial permanent magnet motor. The cutting mechanism enables the disc-shaped hob to vibrate under the action of a vibration motor. A macro crack is formed on a rock mass by rotating the abrasive jet. The rotating disc-shaped hob can be wedged into the formed crack in a vibration manner by swinging the cutting mechanism.

A laser-assisted tunnel boring machine and a rock fragmenting method thereof belong to the technical field of tunnel engineering. Two rock fragmenting modes exist: a laser-cutter rock fragmenting mode and a cutter rock fragmenting mode, wherein the two rock fragmenting modes are switched by an intelligent control system; and for the laser-assisted rock fragmenting mode, hot fragmenting is mainly performed using lasers which assisted by water spray systems, to achieve the purposes of auxiliary rock fragmenting by laser radiation for hot cracking and water spray for quick cooling, and mechanical rock fragmenting for excavation.

A Tunnel Extraction Machine (TEM) and its alternatives is a sustainable machine to excavate the tunnel or mine or dredge seabed in a rapid, efficient and cost-effective way as it allows large parts of the rock (or soil) to be extracted and pulled out of the tunnel or mine without necessity of digging or crushing them and with significantly reduced amount of the energy. Basically, it can excavate (cut) perimeter of the tunnel section in different shapes and sizes along with some other required longitudinal and transversal cuts and then extract and pull out the untouched and undug large portions of the rock or soil out of the tunnel.

Disclose are a roadway/tunnel excavation robot and an automatic cutting control method. The robot includes a rack, a moving platform, a supporting and stabilizing mechanism, a milling mechanism, a telescoping mechanism, an inclined cutting feed adjusting mechanism, a horizontal swinging mechanism, a lifting mechanism and a controller. The milling mechanism includes a drive unit, a milling shaft, an eccentric rotary casing, a high-pressure jet nozzle unit, a tension and compression sensor and a direction sensor. Through the deflection of a center line of an inner hole of the eccentric rotary casing, the milling mechanism drives a milling cutter head to carry out a rotational oscillation motion for rock breaking; and the milling cutter head is in discontinuous contact with a rock mass. The telescoping mechanism, the inclined cutting feed adjusting mechanism, the lifting mechanism and the horizontal swinging mechanism are controlled such that the milling mechanism performs coal rocks milling.

A hard rock tunnel boring machine combining microwave heating with high pressure water cutting for assisting in rock breaking includes a tunnel boring machine body, a microwave heating assisted rock breaking system and a high pressure water cutting assisted rock breaking system, wherein the microwave heating assisted rock breaking system is arranged on the tunnel boring machine body, and is used for heating and cracking a rock; and the high pressure water cutting assisted rock breaking system is arranged on the tunnel boring machine body, and is used for performing hydraulic cutting on the rock. A rock breaking sequence lies in that the microwave heating assisted rock breaking system is used for heating and cracking the rock, then the high pressure water cutting assisted rock breaking system is used for performing hydraulic cutting on the rock, and finally, the tunnel boring machine body is used for squeezing and breaking the rock.

The present invention discloses a laser-assisted tunnel boring machine and a rock fragmenting method thereof, which belongs to the technical field of tunnel engineering. Two rock fragmenting modes exist: a laser-cutter rock fragmenting mode and a cutter rock fragmenting mode, wherein the two rock fragmenting modes are recognized and switched by an intelligent control system, the laser-cutter rock fragmenting mode is used in the hard rock stratum, so that the rock fragmenting efficiency can be improved, and the cutter rock fragmenting mode is used in the soft rock stratum; and for the laser-assisted rock fragmenting mode, hot fragmenting is mainly performed using lasers, and laser heads are installed on a cutter head of the tunnel boring machine and are assisted by water spray systems, to achieve the purposes of auxiliary rock fragmenting by laser radiation for hot cracking and water spray for quick cooling, and mechanical rock fragmenting for excavation. By reasonably selecting a rock fragmenting mode, the adaptability of the tunnel boring machine to the complicated geological conditions of alternatively distributed soft and hard rock is improved, so that not only the rock fragmenting efficiency is improved, but also construction costs are saved.

The present invention relates to an apparatus for soil disturbance at the back of a shield tunnel, wherein: the apparatus is formed by a fitting I and a fitting II connected by means of three bolts that form equal angles; the fitting I is a short circular pipe; an end surface of a fitting end of the fitting I is provided with a water passage; a pipe wall of the pipe is provided with 2-8 water spouts; the fitting II is a long circular pipe whose inner and outer diameters are consistent with those of the fitting I; a fitting end of the fitting II is provided with two O-shaped water stop rings; a pipe wall of the fitting II is provided with three water inlets that form equal angles and are in communication with the water passage of the fitting I.