Abstract: A propulsion control device of a 3D printing-based tunnel boring machine, includes two propulsion control modules, and each of which includes tunnel support assemblies, a propulsion control assembly and a barrel body, where a propulsion sliding sleeve is arranged on an outer surface, and several tunnel support assemblies are arranged on an outer side of each propulsion sliding sleeve. Support plates on the two propulsion control modules alternately rise to support a 3D printed tunnel pipe. In the propulsion control module with the support plates in a closed state, a propulsion hydraulic cylinder controls a propulsion hydraulic cylinder extending end to contract, so as to pull the propulsion sliding sleeve to a front section of the barrel body; and in the propulsion control module with the support plates in a support state, the barrel body continuously advances relative to the propulsion sliding sleeve.

Abstract: In a device and a method for continuously driving a tunnel along a desired setpoint trajectory there is provision to influence pressing forces which are applied to installed tubbing segments by compactors using a control circuit, wherein, during the driving and during the installation of tubbing rings, an actual trajectory of the device remains in a region which is permissible for maintaining the desired set point trajectory.

Abstract: A drilling machine (10) for making an excavation in ground in a drilling direction that is substantially vertical, the drilling machine including: an anchor module (22) having at least one anchor element for preventing the anchor module from moving relative to the walls of the excavation in the drilling direction, the anchor module having a longitudinal direction that is substantially vertical; a drilling module (12) provided with cutter members, the drilling module being movable in translation relative to the anchor module in the drilling direction; and a movement device (50) arranged between the anchor module and the drilling module in order to move the drilling module in translation relative to the anchor module in the drilling direction. The machine is suspended from a lift cable (70) that is fastened to the drilling module (12).

Abstract: A device for advancing a cavity in underground mining, including a rotary drive, an axial shaft that is rotatable together with the rotary drive about a longitudinal axis, exactly one extraction drum that is rotatable about an drum rotational axis, and a connecting arrangement which is connected to the axial shaft and which supports the extraction drum, the connecting arrangement being configured in such a way that the drum rotational axis and the longitudinal axis lie in a plane, and are oriented at an acute angle with respect to one another in the advancing direction, in all operating positions during the advancement, characterized in that the extraction drum extends over at least an effective radius of the device in the radial direction of the device during advancement of the cavity.

Abstract: A fractured roof 110 mining method entry-side anti-collapsed structure, one working face of the 110 mining method corresponds to one roadway but without retaining any coal pillar, the roadway retains an entry after the previous working face implements mining top-cutting pressure release, and a roof of the roadway is arch-shape, directional cutting is conducted on one side of the roadway, and the cutting angle is between 15-20 degrees. One working face corresponds to one roadway but without retaining any coal pillar when underground mining is conducted, which can save resources and improve recovery rate of mining. And, the roof of the roadway of the retained entry is arch-shaped, which can improve safety and ensure safety of the coal mining working face. In addition, a cutting angle is 15-20 degrees, which can effectively determine a roof caving direction after top-cutting and reduce affect to the retained entry.

Abstract: A machine for excavating rock includes a frame, a cutting device, and a boom. The cutting device includes a cutting disc having a cutting edge, and the cutting disc is rotatable about a cutting device axis. The boom supports the cutting device and includes a first end, a second end, and a boom axis substantially parallel to the cutting device axis. The boom further includes a first portion and a second portion. The first portion is coupled to the frame for rotation about a first pivot axis between a raised position and a lowered position. The second portion is coupled to the cutting device, and the second portion is pivotable about a second pivot axis between a raised position and a lowered position.

Abstract: 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.

Abstract: The invention relates to a drilling machine (10) for making an excavation in ground in a drilling direction, said drilling machine comprising: an anchor module (12) having an anchor device for preventing the anchor module from moving in the drilling direction relative to the ground by bearing against one of the walls of the excavation; a drilling module (20) provided with cutter members connected to the anchor module while being movable in translation relative to the anchor module; and movement means (35) for moving the cutter members in translation relative to the anchor module. The drilling module is also hinged relative to the anchor module, and the drilling machine comprises first path correction means (40) for causing the drilling module to pivot relative to the anchor module about a pivot axis (X) perpendicular to the drilling direction.

Abstract: A cutting apparatus suitable for creating tunnels and subterranean roadways includes independently pivoting supports that each carry a respective, independently pivoting arm and a rotatable cutting head. Each cutting head, via the supports and arms, is configured to slew laterally outward in a sideways direction and to pivot in a vertical upward and downward direction. The supports and arms are mounted on a linear moving sled carried by a main frame.

Abstract: A boring machine comprises a forward section, a rear section, a parallel link mechanism, stroke sensors, pressure sensors, and a controller. The parallel link mechanism includes eight thrust jacks that change the position and attitude of the forward section with respect to the rear section. The controller computes a target allocation force to be allocated to eight thrust jacks on the basis of the sensing result from the stroke sensors and the pressure sensors, and controls the thrust jacks to perform stroke control on six of the thrust jacks and perform force control on two of the thrust jacks.

Abstract: The present disclosure relates to a mobile mining machine which may comprise a movable machine base frame, a rotatable tool drum and including excavating tools. The mobile mining machine may further comprise a cantilever unit including a front support arm part and a base part, and a pivotal device to pivot the cantilever unit. The mobile mining machine may further comprise a tilt device to tilt the cantilever unit and a rotary mechanism to rotate the support arm part and the tool drum. Thus, a mobile mining machine with which tunnels, galleries or shafts may be continuously driven in even in hard rock with a high mining output and low tool wear may be provided.

Abstract: The procedure for the construction of underground transport infrastructures, comprises the steps of: excavating an underground transport tunnel comprising a first pipe and a second pipe substantially parallel to one another; making a bypass tunnel connecting the first pipe and the second pipe which comprises the sub-steps of: introducing a launching chamber along the first pipe up to a first predefined position chosen along the longitudinal direction of the first pipe, the launching chamber being able to launch a tunnel boring machine; introducing an arrival chamber along the second pipe up to a second predefined position chosen along the longitudinal direction of the second pipe, the arrival chamber being able to receive the tunnel boring machine; excavating the bypass tunnel making the tunnel boring machine move forward from the launching chamber to the arrival chamber along a direction transversal to the first pipe and to the second pipe.

Abstract: In one aspect, a drill bit is disclosed that in one embodiment includes a pad configured to extend and retract from a surface of the drill bit and a force application device configured to extend and retract the pad, wherein the force application device includes a force action member that includes a lever action device configured to extend and retract the pad from the drill bit surface. In another aspect, a method of drilling a wellbore is provided that in one embodiment includes: conveying a drill string having a drill bit at an end thereof, wherein the drill bit includes a pad configured to extend and retract from a surface of the drill bit and a force application device that includes a lever action device configured to extend and retract the pad from the surface of the drill bit; and rotating the drill bit to drill the wellbore.

Abstract: A mining machine including a frame, a cutting head moveably coupled to the frame and pivotable about an axis that is substantially perpendicular to a first mine surface, and a first actuator for stabilizing the frame relative to the first mine surface. The first actuator is coupled to the frame and includes a first end extendable in a first direction to engage the first mine surface. The extension of the first actuator is automatically controlled based on measurements of at least one indicator of the force between the first actuator and the first mine surface.

Abstract: A method and rig for driving tunnels, galleries, shafts or the like. The rig has a movable base unit that over a support unit supports a carrying unit which in turn carries a cutting head having outwardly directed cutting elements. The method includes rotating the cutting head around a general axis of rotation and applying the cutting head against a rock surface to be worked. The carrying unit is swung into a first chosen mutual position in respect of the support unit. The support unit is rotated into a second chosen mutual position with respect to the base unit around an axis that is essentially longitudinal with respect to the base unit. An angle of operation of the cutting head is controllable.

Abstract: The invention relates to a method for introducing a vertical shaft underground and to a shaft driving machine set up particularly for performing the method, wherein a cutting wheel is rotated solely about a horizontal axis until a penetration trough having a predetermined penetration depth is formed, and the cutting wheel is then also rotated about a central vertical axis until a shaft foot is dug out to the penetration depth. A relatively high sinking rate is thereby achieved for the shaft.

Abstract: The invention relates to a method for introducing a vertical shaft underground and to a shaft driving machine set up particularly for performing the method, wherein a cutting wheel is rotated solely about a horizontal axis until a penetration trough having a predetermined penetration depth is formed, and the cutting wheel is then also rotated about a central vertical axis until a shaft foot is dug out to the penetration depth. A relatively high sinking rate is thereby achieved for the shaft.

Abstract: Disclosed is a tunnel excavating apparatus for excavating tunnels in earth. This tunnel excavating apparatus comprises shell bodies, an excavating mechanism disposed on front of the excavating portion shell body, and a propelling mechanism disposed within the shell body. The shell bodies include an excavating portion shell body, a front shell body, and a rear shell body disposed in order from the leading end side in the advancing direction of excavation. The propelling mechanism comprises a projection mechanism and an extension mechanism. The projection mechanism includes front circumferential jacks in the front shell body and rear circumferential jacks in the rear shell body, both of which are capable of extension and contraction in the outer circumferential direction.

Abstract: The present invention provides a shield machine (1) including an excavator (5) capable of excavating tunnels of various cross-sectional shapes, the excavator (5) including: a rotary drum (40) supported at a front end side portion of a shield machine main body (2) to be rotatable around a first center axis (A1); a cutter supporting frame (50) supported by the rotary drum to be rotatable around a second center axis (A2); a rotary cutter head (60) supported by the cutter supporting frame (50) to be rotatable around a third center axis (A3) and including a plurality of cutter bits (61) on a surface thereof; a rotary auxiliary cutter head (70) supported by the rotary drum (40) to be rotatable around a fourth center axis (A4); and first, third, and fourth rotating mechanisms (45, 65, and 75), and a swinging drive mechanism (55) configured to respectively cause the rotary drum (40), the rotary cutter head (60), the rotary auxiliary cutter head (70), and the cutter supporting frame (50) to independently rotate.

Abstract: A tunnel boring machine is provided comprising a cutter head, a main beam, a first, second, and third shield; and a ground conditioning work zone within the first shield, a gripper assembly, a segment erector arm for lining the tunnel, and at least one propulsion mechanism. The ground conditioning work zone includes at least one probing device for probing the terrain ahead of the cutter head. The first shield is configured to be retracted relative to the second shield to provide access for the ground conditioning work zone to apply at least one ground support device. The at least one propulsion mechanism moves the cutter head, the first and the second shield forward while the third shield and the gripper assembly remain stationary. The ground support devices can include filling a hole with a ground conditioning agent; and placing a bolt, ring beam, mesh, or shotcrete in/on the tunnel wall.

Abstract: A mine support includes an elongate metal member and a coating comprising post-consumer recycled thermoplastic disposed on the member. The thermoplastic may include post-consumer recycled poly(ethylene terephthalate), and the coating may be an injection molded coating. A first layer of the coating may be provided with a thickness at least about 0.1 mm and a crystallinity between about 16% and about 30%, and a second layer of the coating may be provided with a thickness at least about 0.1 mm and a crystallinity between about 6% and about 14%. Either the first layer or second layer may contact the elongate metal member.

Abstract: A self-propelled mechanical crawler adapted to move on a medium. One example of such a crawler includes a foot, a wave generator adapted to drive a periodic wave in the foot, and a wave transfer mechanism coupled between the wave generator and the foot. The wave transfer mechanism may be adapted to translate the periodic wave produced by the wave generator into a corresponding periodic deformation in the foot so as to generate forces in the medium to propel the crawler.

Abstract: A mining system for remotely mining ores and minerals which protects against falling rock and allows evacuation of a miner and conveying system in the case of a cave in. A shield is advanced into a mine. Within the shield, the miner and conveying system are also advanced into the mine independently from the shield. The shield may be used with miners and conveying systems in common use. The cover of the shield protects the miner and conveying system from falling rock. In the event of a cave in, the shield provides a cavity for safely removing the conveying system and miner from the mine.

Abstract: An autonomous subsurface drilling device has spaced-apart forward and rearward “feet” sections coupled to an axial thruster mechanism between them to operate using an inchworm method of mobility. In one embodiment, forward and rearward drill sections are carried on forward and rearward “feet” sections for drilling into material in the borehole in both forward and rearward directions, to allow the device to maneuver in any direction underground. In another embodiment, a front drill section has a drill head for cutting into the borehole and conveying cuttings through a center spine tube to an on-board depository for the cuttings. The feet sections of the device employ a foot scroll drive unit to provide radial thrust and synchronous motion to the feet for gripping the borehole wall. The axial thrust mechanism has a tandem set of thrusters in which the second thruster is used to provide the thrust needed for drilling, but not walking.

Abstract: The invention relates to equipment for drilling a vertical borehole in hard ground, the equipment comprising: casing put successively into place in the borehole; a drilling machine having a rotary cutting head and presenting a structural frame; torque and thrust transmission means having a first end secured to the structural frame of the drilling machine; and securing means for securing the second end of the torque and thrust transmission means in translation and in rotation to said casing.

Abstract: A mine prop is comprised of an elongate tube having a slenderness ratio that would generally allow buckling or kneeling of the elongate tube when exposed to a sufficient axial force. A plurality of elongate support members having a length less than the elongate tube are attached to the tube to prevent buckling or kneeling of the elongate tube along the portion of the tube to which the elongate support members are attached. The portions of the tube that are unsupported by the elongate support members define one or more yieldable zones proximate at least one end of the tube. A compressible filler material is disposed within at least portion of the tube to support yielding in the yieldable zone.

Abstract: A mining system for advancing and retrieving a miner and, optionally, material transfer units and shields for the units into and out of mines. The system includes a beam structure with inner and outer beams. One beam is advanced while the other is held stationary. Once the advancing step is complete, the second beam is pulled forward to its original position. This system optionally advances material transfer units into the mine as well. If desired, shields for the units may also be simultaneously advanced into the mine in the same manner. To retrieve the miner, the system is reversed and the miner is pulled from the mine. This process may also be used to retrieve shields or material transfer units.

Abstract: A mining system for advancing and retrieving a mining vehicle such as a miner, material transfer units or, shields into and out of mines. The system includes a platform from which the vehicle is advanced into a mine by means of a pusher. Subsequent vehicles are placed onto the platform, connected to the preceding vehicle and then advanced into the mine. If desired, shields and a miner or material transfer unit may be simultaneously advanced into the mine in the same manner. To retrieve the vehicle, the pusher is reversed and pulls each vehicle from the mine in reverse order. If desired, the shields may remain in the mine and the miner and transfer units may be pulled from within the shields. The platform further includes a system for removing the mined ore from the transfer units as it is delivered from the mine.

Abstract: A mine prop is comprised of an elongate tube having a slenderness ratio that would generally allow buckling or kneeling of the elongate tube when exposed to a sufficient axial force. A plurality of elongate support members having a length less than the elongate tube are attached to the tube to prevent buckling or kneeling of the elongate tube along the portion of the tube to which the elongate support members are attached. The portions of the tube that are unsupported by the elongate support members define one or more yieldable zones proximate at least one end of the tube. A compressible filler material is disposed within at least portion of the tube to support yielding in the yieldable zone.

Abstract: A yieldable prop having a first end and a second end includes a first hollow conduit, a second conduit slidably received in the first hollow conduit, and a clamp assembly positioned adjacent the juncture of the first hollow conduit and the second conduit. A yield section is provided at the end of the first and/or second conduits, or at the juncture of the first and second conduits. The yield section includes a shroud spaced from an inner pipe to provide a space to receive a collapsible insert. An end of a conduit is positioned in the space and compresses the insert when the compressive load on the prop exceeds the compressive load capacity of the insert.

Abstract: A method and apparatus for the mining of material from a seam includes a mining apparatus and a self-propelled conveyor capable of advancing or retreating in the seam on its own power and an advancing and steering arrangement for the mining apparatus. The self-propelled conveyor, electric cables and other services for the mining apparatus are protected against roof falls. The power input for the self-propelled conveyor is provided by continuous drive shafts powered at either one or both ends of the conveyor. Alternately, a unique reciprocating conveyor mechanically powered at either one or both ends of the conveyor is provided for conveying of aggregate material. An apparatus for assembling the conveyor and receiving aggregate material is provided at the rear end of the conveyor. A method and apparatus for accurately and precisely navigating the mining machine is disclosed.

Abstract: An expansion shell assembly for mine roof bolts includes an expansion member threaded onto an associated mine roof bolt. A support device is annularly disposed around the associated roof bolt. An expansion shell is annularly disposed around the associated roof bolt between the expansion member and the support device. The expansion shell has a base ring for engaging the support device and fingers for engaging a peripheral edge of the tapered plug. The engagement between the base ring and the support device permits axial traverse movement of the support device relative to the expansion shell for tensioning the roof bolt.

Abstract: A mine roof bolt for use with a cable comprises a barrel having a first end and a second end, the second and having a rounded surface, a bore extending through the barrel between the first end and the second end and including a tapered portion, the bore sized to receive the cable, a pair of wedges sized for placement in the tapered portion of the bore and adapted to frictionally engage a cable disposed in the tapered portion of the bore, a recess defined in the first end of the barrel, and a driving nut sized for insertion in the recess and adapted for engagement by a driving tool.

Abstract: The invention provides a bag for spacing apart walls in an underground mine working, and including opposed load-bearing walls of flexible sheet material, each defining a substantially centrally located opening and an open-ended radial slot extending between and intersecting the central opening and outer periphery of the load-bearing wall, the openings and slots of the load-bearing walls being in register. There is an intermediate wall of flexible sheet material extending between the load-bearing walls and connected thereto substantially along the entire periphery of each load-bearing wall. A charging connector through the wall is for connection to a source of flowable substance under pressure for charging the bag therewith, to expand the bag by displacing the load-bearing walls away from each other. The invention also provides an installation and method which employ the bag to space the walls apart.

Abstract: A method and apparatus for the mining of material from a seam includes a mining apparatus and a self-propelled conveyor capable of advancing or retreating in the seam on its own power and an advancing and steering arrangement for the mining apparatus. The self-propelled conveyor, electric cables and other services for the mining apparatus are protected against roof falls. The power input for the self-propelled conveyor is provided by continuous drive shafts powered at either one or both ends of the conveyor. Alternately, a unique reciprocating conveyor mechanically powered at either one or both ends of the conveyor is provided for conveying of aggregate material. An apparatus for assembling the conveyor and receiving aggregate material is provided at the rear end of the conveyor. A method and apparatus for accurately and precisely navigating the mining machine is disclosed.

Abstract: A support element for use with shotcreting to line tunnel walls with cement includes four rods secured to outer surface portions of quadrilateral reinforcement members. The longitudinal axis of pairs of adjacent rods each lie in a plane such that adjacent planes are normal to one another. Optionally, side braces may be secured to an outer surface or to an inner surface of adjacent rods.

Abstract: A mining machine having a stabilizing apparatus includes a mining machine and a stabilizing apparatus attached to the mining machine. The stabilizing apparatus includes a stabilizing element and a moving arm attached to the stabilizing element and the mining machine for raising the stabilizing element above and lowering the stabilizing element into contact with a mine floor.

Abstract: A softwall mining method and device. Each of a plurality of mining devices comprise a supporting portion, an earth moving portion and a coupling mechanism for advancing the earth moving portion into a mining face, and for advancing the supporting portion toward the earth moving portion. Supporting portions of the devices are locked together to anchor movement of the earth moving portions, and earth moving portions of the devices are separately locked together to anchor the movement of the supporting portions.

Abstract: The tunnel rock drill (100) for driving a tunnel bore optionally in open or shielded mode comprises a shield tail (33), which is connected to the drill head (10) and which covers optionally the bore wall over a defined length; a bracing device (20), which can be optionally fixed in the tunnel bore; at least one optionally activaatable advancement device (25), which, on the one hand, rests on the bracing device (20) and , on the other hand, acts on the drill head (10); and an optionally activatable force generator (35), which has a variable length and which, on the one hand, rests on a tubbing support (32) and, on the other hand, acts on the drill head (10). To introduce the advancement forces into the drill head in open mode, there is an inner kelly (16), which can be moved in the direction of boring in relation to the bracing device (20) and to which the advancement generator (25) is hinged and whose breast-sided end bears the drill head (10).

Abstract: A mining machine (20) inclu ding a launch vehicle (11) which drives an auger flight (21). The extremity of the Auger flight (21) is a cutter head (22). An inert gas is delivered to adjacent the cutter head (22) by a tube (50). The cutter head (22) is also provided with a ground penetrating radar antenna (42) as well as a microwave transmitting/receiving device (47) which transmits and receives microwave signals for the purposes of controlling the cutter head (22) and transmitting information gathered by means of the antenna (42).

Abstract: A method and apparatus for the mining of material from a seam includes a mining apparatus and a self-propelled conveyor capable of advancing or retreating in the seam on its own power and an advancing and steering arrangement for the mining apparatus. The self-propelled conveyor, electric cables and other services for the mining apparatus are protected against roof falls. The power input for the self-propelled conveyor is provided by continuous drive shafts powered at either one or both ends of the conveyor. Alternately, a unique reciprocating conveyor mechanically powered at either one or both ends of the conveyor is provided for conveying of aggregate material. An apparatus for assembling the conveyor and receiving aggregate material is provided at the rear end of the conveyor. A method and apparatus for accurately and precisely navigating the mining machine is disclosed.

Abstract: A trench wall cutter with a drive mechanism which is attached to the cutting frame in a position which is spaced away from the bearing shield with a gear for driving at least one cutting wheel is provided. Between the drive mechanism and the drive pinion of the gear in the bearing shield there is a drive shaft. To reduce wear on the drive shaft bearing and gear wheel in the gear an external spiral tooth system is formed on one end of the drive shaft which fits into a connecting sleeve with an internal tooth system. In the internal tooth system the drive shaft with its external spiral tooth system is held rotationally fixed with the capacity to be deflected around the axis of the drive shaft. The connecting sleeve is also joined to the drive mechanism or drive pinion of the gear.

Abstract: A tunneling machine intended to stably carry out gripper replacement by restricting the load imposed on gripper jacks for the main gripper as much as possible during excavation of an inclined shaft. Such a tunneling machine comprises (1) a main beam that extends along a tunnel wall, (2) a nose gripper disposed in front of the main beam for gripping the main beam against the wall of a pilot shaft and a main gripper disposed behind the main beam for gripping the main beam against the wall of a reamed shaft, (3) a main frame supported by the main beam so as to be slidable back and forth and supporting a cutter head at the front portion thereof, (4) a holding gripper (composed of a roof support, side support, vertical support) for gripping the main frame against the wall of the reamed shaft, (5) thrust jacks coupling the main frame to gripper shoes for the main gripper, and (6) retaining jacks coupling the main frame to a carrier.

Abstract: A cutterhead is supported at the front part of a main frame so as to incline at a specified angle with respect to a vertical plane. The main frame includes (i) a roof support disposed at a position corresponding to where a reaction force acts in the direction of the periphery of a tunnel against a force caused by rotation of the cutterhead, and (ii) a pusher for pushing the roof support toward the cutterhead resisting the reaction force.

Abstract: A tunnel boring machine particularly adapted to operate at substantial depths below the earth's surface. The machine comprises a head section comprising a cutter head that is rotatably mounted to a support structure. There is a plurality of gripper shoes spaced circumferentially around the support structure, and these are operated to grip the tunnel wall and be selectively operated to advance the machine in the tunnel as the tunneling operation progresses. Also, there is a roof shield positioned immediately behind the cutter head. There is also a pair of support shoes supported from the support structure by links having curved bearing surfaces to maintain the machine at the proper distance above the tunnel invert. There is a beam structure having a forward end connected to the support structure by a universal connection, and the beam structure is supported by a rearwardly positioned gantry.

Abstract: A tunnel boring machine for boring a tunnel through hard and soft grounds includes a front body, a cutter head mounted to the front body and having a cutter for boring a hard round, and a drive unit rotatably supporting the cutter head for driving the cutter head. A main beam is operatively connected to the cutter head drive unit and extends rearward therefrom. A gripper body is supported by a rear end portion of the main beam to be slidable in an axial direction thereof and is provided with a main gripper to be movable along an radial direction of the main beam. A first thrust jack is mounted to be fitted between the main gripper and the main beam for advancing the cutter head and the cutter head drive unit. A shield shell is disposed so as to surround the cutter head drive unit. A second thrust jack is disposed in the shield shell, and a front gripper is mounted to the shield shell to be movable out of and into the shield shell.

Abstract: An inflatable gripper assembly for a rock boring or cutting machine is disclosed. The inflatable gripper assembly comprises a base member and an elastomeric sheet secured in a fluid-tight and reaction force secure manner to the base member. The elastomeric sheet expands when fluid is supplied between the base member and the elastomeric sheet to brace a rock boring or cutting machine in a tunnel. The elastomeric sheet contracts when fluid is removed from between the base member and the elastomeric sheet to allow the rock boring or cutting machine to move within the tunnel.

Abstract: The tunnel drilling machine or tube-driving machine for hard rock drilling has a drill head (19) supporting drilling tools (1 to 18) which has a diameter which is less than the diameter of the bore. The geometric axis of the circle of the envelope of the tools of the full-width drill head (19) is disposed eccentrically in relation to the linear tunnel axis (22) or the axis of rotation (21) or can be displaced.

Abstract: The anchor shoes of a tunnel-boring machine arranged in a circular configuration are individually truncated by being tapered rearwardly so that the girth of the circular anchor shoe configuration can decrease progressively in order to accommodate convergence of superincumbent ground pressure. Preferably the anchor shoes are mounted for tilting of their aft portions to enable the degree of convergence or constriction to be altered. Chordal jacks connecting adjacent anchor shoes exert pressure on them resisting inward swinging of the aft portions of the anchor shoes resulting from superincumbent ground pressure.

Abstract: This invention reveals improvements in a flexible robotic limb which can function as a robotic snake. These improvements are particularly pertinent to miniaturization applications such as catheters or positioners for microsurgery, micro-assembly, micro-manipulation, or micro-exploration. This invention developes detailed new component designs, and it combines the basic structure with systems for sensing, control, and signal transmission. These systems include pressure sensors, length sensors, protective skins, ultrasonic imagers, cutting tools, and multiplexing schemes.