Supporting shoe, TBM and TBM automatic step changing method

The invention provides a gripper shoe, a TBM and an automatic step changing method of the TBM, and belongs to the technical field of tunneling equipment. The supporting shoe comprises a supporting shoe body and an adjusting mechanism, by controlling mechanical movement of the adjusting mechanism, pushing the steel arch frame to move forwards or backwards and adjusting the posture and the distance of the steel arch frame, self-adaptive adjustment of the posture of the supporting shoe body and the posture of the steel arch frame is achieved, and the situation that the supporting shoe body treads on the steel arch frame is avoided. The adjusting mechanism is arranged on the gripper body and comprises the pushing mechanism and the extension mechanism, mechanical motion of the adjusting mechanism is direct motion, automatic and manual dual-mode control is adopted, and the adjusting mechanism is easy to implement and reliable in control. 本发明提供了一种撑靴、TBM及TBM自动换步方法，属于掘进设备技术领域。撑靴包括撑靴本体和调整机构，本发明通过控制调整机构的机械运动，顶推钢拱架向前或向后移