A tunnel boring machine includes: a cutter head; a cutter support; a cutter driving unit; a rotational position sensing unit; a strain sensor; and a data processing unit configured to calculate a force acting on the cutter head in association with the position of the cutter head in the rotational direction, based on sensing results of the strain sensor and the rotational position sensing unit.

A device for the installation of rock bolts includes a supporting structure and first and second bolting units mounted to the supporting structure. Each bolting unit is configured for drilling an installation hole and/or for installing a rock bolt into a rock face, wherein the supporting structure is configured for rotatably moving the first and second bolting units about a common axis of rotation. At least one actuator is mounted to the supporting structure and configured for additionally moving at least one of the first and second bolting units.

A tunnel boring machine includes: a shield body; a cutterhead assembly, a first drive mechanism; a second drive mechanism; and a third dive mechanism. The cutterhead assembly includes a main cutterhead and a plurality of auxiliary cutterheads. The main cutterhead is rotatably arranged at a front side of the shield body and defines a soil chamber between the main cutterhead and the shield body, and is movable along an up-down direction. The plurality of auxiliary cutterheads are rotatably arranged in the soil chamber, and adjacent to a bottom of the shield body and arranged at left and right sides of a vertical central line of the main cutterhead. A rotation diameter of the main cutterhead is greater than a rotation diameter of the auxiliary cutterhead, and the rotation diameter of the main cutterhead is the same as a maximum width of the shield body.

A retractable auger boring cutter head. The cutter head has fixed cutters and at least one pivoting cutter. The pivoting cutter is biased to a position that extends beyond a diameter of a casing being installed. When pulled back through the casing, a surface of the pivoting cutter contacts the casing, reducing the effective diameter of the cutter head and allowing it to be removed.

Disclosed is a tunneling apparatus for use in a pipe jacking method, the tunneling apparatus including an excavating apparatus (1), a head front-end track (2), a central track (3) and a rear apparatus (4), wherein the excavating apparatus (1) is composed of a transmission apparatus (1-1) and a cutter (5), the transmission apparatus (1-1) being composed of a driving apparatus (1-1-1) and a sprocket (1-1-3); during construction, the chain cutter (5) for excavating rock and earth runs on the head front-end track (2) and the central track (3), and the shape of a head excavation face is the same as that of the cross section of a tube section (6); the rear apparatus (4) comprises a jacking apparatus (4-1), mounted in a construction well; the front end of the central track (3) is connected to the head front-end track (2), the tail end of the central track (3) is connected to the rear apparatus (4), and during construction, the driving apparatus (1-1-1) drives the chain cutter (5), so that the chain cutter (5) runs along the tracks; and a cutter on the head front-end track (2) excavates the ring-shaped rock and earth in a projection part of the cross section of the tube section (6). In a work well, an operating platform is constructed, and the impact on the surrounding environment is low. The head of a first tube section (6) is an excavating face of the excavating apparatus (1), excavated rock and earth are driven along with the chain cutter (5) into the work well, the tube section (6) is ejected into position and then the rock and earth are cleared in the tube section (6), construction is simple, quality is good, the construction period is short, and costs are low.

A cutting assembly for a rock excavation machine having a frame includes a boom and a cutting device supported on the boom. The boom includes a first portion and a second portion, the first portion supported for pivotable movement relative to the frame. In some embodiments, the first portion includes a first structure extending along a longitudinal base axis and a second structure moveable relative to the first portion in a direction parallel to the longitudinal base axis, and at least one bearing supports the second portion for movement relative to the first portion. In some embodiments, the second portion is pivotably coupled to the first portion by a universal joint, and a suspension system including a plurality of biasing members may be coupled between the first portion and the second portion.

A cutting unit for use with a cutting apparatus suitable for creating tunnels or subterranean roadways and the like, includes a cutting arm configured for pivotal movement around at least one pivot axis and a cutting head mounted to the cutting arm. The cutting head includes at least one rotatable cutting element for detaching material from a rock face, and a clearing arrangement mounted to the cutting arm. The clearing arrangement has a clearing blade for pushing detached rock material onto a loading table of the cutting apparatus, the clearing blade being guided by a first guiding mechanism to allow a free movement of the clearing blade in a first direction.

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 tunnel boring machine includes: a shield body; a cutterhead assembly, a first drive mechanism; a second drive mechanism; and a third dive mechanism The cutterhead assembly includes a main cutterhead and a plurality of auxiliary cutterheads. The main cutterhead is rotatably arranged at a front side of the shield body and defines a soil chamber between the main cutterhead and the shield body, and is movable along an up-down direction. The plurality of auxiliary cutterheads are rotatably arranged in the soil chamber, and adjacent to a bottom of the shield body and arranged at left and right sides of a vertical central line of the main cutterhead. A rotation diameter of the main cutterhead is greater than a rotation diameter of the auxiliary cutterhead, and the rotation diameter of the main cutterhead is the same as a maximum width of the shield body.

The present invention discloses a right-angle turning method for small-diameter TBM exploration adit excavation and belongs to the field of geological exploration of water conservancy and hydropower projects. The method includes the steps: excavating a main exploration adit with a small-diameter TBM to a designated position, and then enabling the small-diameter TBM to continue to excavate forward to a temporary parking place, and parking the small-diameter TBM there; expanding and excavating a turning workspace at a right-angle turning position, and assembling a rotary platform; pulling the TBM onto the rotary platform, then starting excavation after rotating the rotary platform to make the TBM move in a same direction as the branch exploration adit; and pulling the TBM onto the rotary platform after excavation of the branch exploration adit is completed, and then moving the TBM to an adit portal so as to complete excavation after rotating the rotary platform to make the TBM move in a same direction as the main exploration adit. The present invention effectively solves the problems that the small-diameter TBM can only excavate main exploration adits in geological exploration adits of underground powerhouses of hydropower projects and pumped storage projects, and cannot make right-angle turns and excavate branch adits of underground cavern groups. It effectively fills the blank of a traditional adit excavation adopting blasting technology; and the excavation efficiency is high, the working environment is friendly, and safety production is guaranteed.