Full-section rock tunneling robot and operation method

Abstract

The invention relates to the technical field of rock tunneling, and provides a full-section rock tunneling robot and an operation method thereof. Comprising a walking mechanism, an up-down moving system, a left-right moving system, a rock drilling and breaking system and the like. The walking mechanism comprises a crawler belt, driving wheels and hydraulic telescopic supporting legs. The rotating platform mechanism is installed on the walking mechanism, and the full-section operation mechanism is movably installed on the rotating platform mechanism. The up-down moving system is used for realizing lifting of the rock drilling and breaking system; the left-right moving system is used for realizing left-right movement of the rock drilling and breaking system; the rock drilling and breaking system comprises a mechanical long arm, a mechanical short arm and rock breaking equipment; the rock breaking equipment is integrated with the identification system, communicates with the control system through a wireless signal, and carries out tensile shear rock breaking by utilizing rock properties; the control system integrates a rock breaking position automation module, a communication module and a guide rail position adjusting module. According to the invention, the robot can carry out all-directional, dead-corner-free and interference-free full-section continuous tunneling in a roadway with a section in any shape.

Description

Technical Field

[0001] The present invention relates to the field of rock excavation technology, and in particular to a full-section rock excavation robot and an operation method, which meet the full-section excavation operations of various types of underground tunnel rock masses, improve the efficiency and safety of rock excavation operations, and are particularly suitable for full-section tunnel excavation under hard rock and complex geological conditions. Background Art

[0002] With the gradual increase in the scale of underground projects such as tunneling and underground mining, traditional rock breaking methods and equipment are inefficient and costly when facing complex rock structures, and there are great safety hazards. In the prior art, underground engineering and mining mostly rely on blasting for mining and excavation. For hard rocks with high uniaxial strength, the blasting method is not only inefficient, but also easy to cause adverse effects on the surrounding geological structures such as rock bursts, impact ground pressure and other disasters. Therefore, mechanical rock breaking has good application prospects. When facing hard rock structures with high full-section hardness, mechanical rock breaking often faces problems such as severe tool wear and low excavation efficiency. For example, the tools of the tunnel boring machine need to be replaced frequently, resulting in interruptions in operations and affecting the overall excavation efficiency. At the same time, the structural complexity and homogeneity differences of hard rock geology also increase the difficulty of equipment rock breaking, resulting in poor tunnel forming quality and increased costs for later maintenance and support.

[0003] When single-arm mechanical rock-breaking equipment is operating in tunnels or lanes, it is often limited by the length and flexibility of the mechanical arm, resulting in low operating efficiency and cumbersome operating procedures; when multi-arm mechanical rock-breaking equipment is operating, there will be interference problems, and usually multiple devices are required to work together. The presence of multiple arms will cause blind spots in the cross-section rock-breaking area. Mine lanes or tunnels of different types, shapes and geological conditions increase the difficulty of operation, and are also prone to equipment wear, downtime for maintenance, low mining efficiency and other problems. Therefore, there is an urgent need for a full-section tunnel excavation equipment and operation method that can cope with complex rock structures, improve excavation efficiency and take into account safety to meet the needs of modern mines. Summary of the invention

[0004] In order to solve the deficiencies of the above-mentioned prior art, the purpose of the embodiment of the present invention is to provide a full-section rock excavation robot and an operation method. The machine is suitable for various types of tunnels, such as round arch tunnels, square tunnels and hexagonal tunnels, and can perform multi-angle, multi-directional and dead-angle operations inside the tunnels. It can also integrate a variety of additional equipment such as splitters and breaker hammers, and has the flexible operation characteristics of rock breaking and crushing. The full-section rock excavation robot makes full use of the geological conditions of the rock mass and the mechanical properties of the rock, improves the rock breaking efficiency, and realizes an explosion-free, safe and continuous operation mode.

[0005] To achieve the above object, the technical solution adopted by the present invention is: the full-section rock excavation robot includes a walking mechanism, a rotating platform mechanism, and a full-section operating mechanism arranged on the rotating platform mechanism;

[0006] The walking mechanism includes crawlers, driving wheels, and hydraulic telescopic support legs; the hydraulic telescopic support legs are arranged on the left and right sides and the front and rear sides of the walking mechanism, which can provide support during mining operations and overcome harsh working conditions such as uneven ground.

[0007] The rotating platform mechanism is installed on the walking mechanism, and the full-section operating mechanism is movably installed on the rotating platform mechanism, and the rotating platform mechanism is used to change the direction of the full-section operating mechanism; the full-section operating mechanism at least includes a control system and a power supply system, and the full-section operating mechanism is provided with an up and down moving system, a left and right moving system, and a rock drilling and breaking system; the rock drilling and breaking system is installed on the up and down moving system and the left and right moving system, the up and down moving system is used to realize the lifting and lowering of the rock drilling and breaking system, and the left and right moving system is used to realize the left and right movement of the rock drilling and breaking system; the control system includes a rock breaking position automation module, a communication module and a guide rail position adjustment module.

[0008] In one embodiment, the rotating platform mechanism includes a rotating mechanism and a supporting platform; the rotating mechanism is connected to the walking mechanism, and the supporting platform is connected to the rotating mechanism and can rotate along with the rotating mechanism.

[0009] In one embodiment, the up-and-down moving system includes a vertical outer rail, a vertical inner rail and a vertical sliding block; the vertical outer rail is connected to the support platform and arranged left and right; a rolling bearing is arranged outside the vertical inner rail and can slide on the vertical outer rail, a power device is arranged at the bottom of the vertical outer rail, and a traction rope is connected to the top pulley of the vertical outer rail to provide power, so as to drive the vertical inner rail to slide up and down inside. The vertical sliding block is installed in the vertical inner rail, and the vertical sliding block slides up and down under the traction of the power traction device fixed to the vertical inner rail.

[0010] In one embodiment, the left-right moving system includes a horizontal outer rail, a horizontal inner rail and a horizontal sliding block; the horizontal outer rail is connected to the vertical sliding block, a rolling bearing is arranged outside the horizontal inner rail, and the horizontal outer rail can slide on the horizontal outer rail, and power devices are arranged at both ends of the horizontal outer rail to drive the horizontal inner rail to slide left and right inside through a traction rope. The horizontal sliding block is movably installed in the horizontal inner rail, and the horizontal sliding block slides up and down under the traction of the power traction devices fixed at both ends of the horizontal inner rail.

[0011] In one embodiment, the rock drilling and breaking system includes a mechanical long arm, a mechanical short arm and a rock breaking device; the mechanical long arm is connected to the horizontal sliding block, the mechanical short arm is connected to the mechanical long arm through an axis, and is connected to the rock breaking device, and the rock breaking device can be integrated with other different equipment, such as a breaker hammer, a rock drill and other equipment to meet the requirements of different working conditions.

[0012] In one embodiment, the rock breaking equipment integrates an identification system, communicates with the control system through wireless signals, and can use rock properties to perform shearing and rock breaking; the control system integrates a rock breaking position automation module, a communication module, and a guide rail position adjustment module; the identification system is used to obtain the current position information and rock mass data of the rock drilling and breaking system, and transmits them to the rock breaking position automation module in the control system to generate a cloud map, and the rock breaking position automation module determines the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system:

[0013] S1=f(x,y,z,T)

[0014] S2=g(x,y,z,T)

[0015] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, z are the coordinate values ​​of the three directions of east-west, north-south, and up-down, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, z and time T. After the cloud map is generated, the rock breaking position automation module determines the current tunnel height and generates a coordinate system function G based on the guide rail system:

[0016] G=w(c,d,T)

[0017] Among them, G is the coordinate system function, c and d are the coordinate values ​​of the guide rail system in the vertical direction and the horizontal direction, T is time, and w is the implicit function of the spatial coordinate values ​​c, d and time T. The guide rail position adjustment module issues instructions to adjust the up and down moving system and the left and right moving system through function G. During the operation, the rock breaking position automation module will adjust and optimize the rock breaking path function S2 in real time according to different obstacles or rock mass front-end data, and upload it to the monitoring end in real time through the signal system to ensure the smooth completion of the operation.

[0018] Another object of the present invention is to provide a full-section rock tunneling robot and an operation method. Based on the full-section rock tunneling robot as described above, the operation method comprises the following steps:

[0019] S1. The control system controls the full-section rock excavation robot to move to a suitable position in front of the tunnel section through the walking mechanism. The crawler cooperates with the rotating mechanism to continuously adjust and optimize the working angle. The hydraulic telescopic support legs extend to support and fix the full-section rock excavation robot.

[0020] S2, the rock breaking equipment is scanned by the identification system, the front-end data is communicated with the rock breaking position automation module in the control system, the current cloud map is drawn according to the mine tunnel data, and the starting position function S1 and the rock breaking path function S2 of the current rock drilling and rock breaking system are determined:

[0021] S1=f(x,y,z,T)

[0022] S2=g(x,y,z,T)

[0023] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, z are the coordinate values ​​of the three directions of east-west, north-south, and up-down, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, z and time T. After the cloud map is generated, the rock breaking position automation module determines the current tunnel height and generates a coordinate system function G based on the guide rail system:

[0024] G=w(c,d,T)

[0025] Among them, G is the coordinate system function, c and d are the coordinate values ​​of the guide rail system in the vertical direction and the horizontal direction, T is time, and w is the implicit function of the spatial coordinate values ​​c, d and time T. The guide rail position adjustment module issues instructions to adjust the up and down moving system and the left and right moving system through the function G;

[0026] S3, the control system controls the full-section operation mechanism to start the operation, specifies the path, and controls the power device on the upper part of the vertical outer guide rail to pull the vertical inner guide rail up to the specified height and then stop;

[0027] S4, the control system controls the power devices arranged at both ends of the horizontal outer guide rail to drive the horizontal inner guide rail to slide to the specified position through the traction rope and then stop;

[0028] S5, the control system controls the operation of the mechanical long arm, the mechanical short arm and the rock breaking equipment in the rock drilling and breaking system to perform the first drilling and rock breaking along the excavated section;

[0029] S6, after completing the first operation, the control system controls the rock drilling and breaking system to repeat step S3 or S4 to perform a second drilling and breaking operation;

[0030] S7, the control system continuously adjusts according to the real-time data scanned by the identification system of the rock breaking equipment. When the ore reaches a certain amount, it exits the operating position and starts the transportation operation, and optimizes the rock breaking path according to the current rock mass geological data;

[0031] S8, the control system repeats S3-S7 according to the optimized rock breaking path to complete the rock breaking operation;

[0032] S9. After the operation is completed, the control system controls the full-section rock tunneling robot to move forward and start the next round of operation.

[0033] The full-face rock excavation robot and operation method provided by the present invention have the following beneficial effects:

[0034] First, the full-section rock tunneling robot can reduce the time of traditional multi-stage operations and improve overall work efficiency. It is especially suitable for hard rock and complex geological conditions.

[0035] Second, the in-situ splitting, pulling and shearing rock breaking structure design reduces the frequent replacement of cutters and equipment wear, extends the service life of the equipment and reduces maintenance costs.

[0036] Third, the equipment can maintain stable operation while efficiently breaking rocks, avoiding the vibration and safety hazards caused by blasting operations, reducing the risk of downtime due to frequent equipment replacement, and improving the safety of the operation process.

[0037] Fourthly, the present invention has the flexibility to operate under different hardness and different geological conditions, can automatically adjust rock breaking parameters, and improve adaptability under complex geological conditions, thereby ensuring excavation efficiency and quality.

[0038] Fifth, compared with traditional blasting methods, the mechanical rock breaking operation of this equipment has less impact on the surrounding environment, and the noise, dust emissions and energy consumption are significantly reduced, which meets the requirements of green and environmentally friendly construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A simplified schematic diagram of the front view of a full-section rock tunneling robot of an embodiment;

[0041] Figure 2 A simplified schematic diagram of the structure of a full-section rock tunneling robot in a side view according to an embodiment of the present invention;

[0042] Figure 3 A simplified structural diagram of an up-and-down moving system of an embodiment;

[0043] Figure 4 A simplified structural diagram of a left-right moving system of an embodiment;

[0044] Figure 5A simplified structural diagram of a control system of an embodiment;

[0045] Figure 6 It is a simplified structural schematic diagram of the blind area and rock breaking path of the hexagonal tunnel of the embodiment;

[0046] Figure 7 It is a simplified structural schematic diagram of the blind area and rock breaking path of the round arched tunnel of the embodiment;

[0047] Figure 8 A simplified structural diagram of a multifunctional full-face rock excavation robot according to an embodiment;

[0048] Fig. 9 It is a simplified structural diagram of a double-layer left-right moving system of an embodiment.

[0049] Among them, the reference numerals in the figure are:

[0050] Tracks-1, rotating mechanism-2, supporting platform-3, horizontal outer guide rail-4, vertical outer guide rail-5, vertical inner guide rail-6, horizontal inner guide rail-7, horizontal sliding block-8, mechanical long arm-9, mechanical short arm-10, rock breaking equipment-11, vertical sliding block-12, full-section operation mechanism-13, up and down moving system-14, left and right moving system-15, rotating platform mechanism-16, rock drilling and breaking system-17, hydraulic telescopic support leg-18 , driving wheel-19, control system-20, walking mechanism-21, motor-22, traction rope-23, rolling bearing-24, rock breaking position automation module-25, communication module-26, guide rail position adjustment module-27, initial rock breaking position-28, rock breaking path-29, initial rock breaking path-30, blind spot-31, breaker hammer-32, mechanical arm-33, double-layer left and right moving system-34, upper horizontal slider-35, lower horizontal slider-36. DETAILED DESCRIPTION

[0051] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0052] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0053] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] Example 1

[0056] like Figure 1 and Figure 2 As shown, a full-section rock excavation robot provided by an embodiment of the present invention is now described. The full-section rock excavation robot includes a walking mechanism 21, a rotating platform mechanism 16 and a full-section operation mechanism 13.

[0057] The walking mechanism 21 includes a crawler 1, a driving wheel 19, and a hydraulic telescopic support leg 18; the hydraulic telescopic support leg 18 is arranged on the left and right sides and the front and rear sides of the walking mechanism 21, and can provide support during mining operations; the conventional crawler-type walking mechanism 21 can flexibly turn, climb, and overcome obstacles, etc., to overcome the harsh working conditions of uneven ground. The driving wheel 19 is a conventional front and rear drive to ensure sufficient power for turning, moving forward, and moving backward.

[0058] The rotating platform mechanism 16 includes a rotating mechanism 2 and a supporting platform 3; the rotating mechanism 2 is connected to the walking mechanism 21, and the supporting platform 3 is connected to the rotating mechanism 2 and can rotate with the rotating mechanism 2. The rotating platform mechanism 16 is a conventional rotating platform such as an excavator, which can enable the equipment body to break rocks in blind areas of certain tunnels, and move forward and backward more flexibly.

[0059] The full-section operating mechanism 13 is provided with an up and down moving system 14, a left and right moving system 15, and a rock drilling and breaking system 17; the full-section operating mechanism 13 includes at least a control system 20 and a power supply system, the power supply system is used to provide the functions of the power device of all systems in this embodiment, and the control system is used to control all operating projects of the machine body.

[0060] like Figure 3As shown, a moving mode of an up-and-down moving system 14 is provided. Specifically, the up-and-down moving system 14 includes a vertical outer guide rail 5, a vertical inner guide rail 6 and a vertical sliding block 12; the vertical outer guide rail 5 is connected to the support platform 3 and arranged left and right; a rolling bearing 24 is arranged outside the vertical inner guide rail 6 and connected to the vertical outer guide rail 5, and a motor 22 is arranged on the upper part of the vertical outer guide rail 5, and the vertical inner guide rail 6 is driven to slide up and down inside by a traction rope 23. The vertical sliding block 12 is movably installed in the vertical inner guide rail 6, and the vertical sliding block 12 slides up and down under the traction of a power traction device fixed to the vertical inner guide rail 6.

[0061] like Figure 5 As shown, a moving mode of a left-right moving system 15 is provided. Specifically, the left-right moving system 15 includes a horizontal outer guide rail 4, a horizontal inner guide rail 7 and a horizontal sliding block 8; the horizontal outer guide rail 4 is connected to the vertical sliding block 12, and a rolling bearing 24 is arranged outside the horizontal inner guide rail 7, and can slide on the horizontal outer guide rail 4, and motors 22 are arranged at both ends of the horizontal outer guide rail 4 to drive the horizontal inner guide rail 7 to slide left and right inside through a traction rope 23. The horizontal sliding block 8 is movably installed in the horizontal inner guide rail 7, and the horizontal sliding block 8 slides up and down under the traction of a power traction device fixed to the horizontal inner guide rail 7.

[0062] The rock drilling and breaking system 17 includes a mechanical long arm 9, a mechanical short arm 10 and a rock breaking device 11; the mechanical long arm 9 is connected to the horizontal sliding block 8, and the mechanical short arm 10 is connected to the mechanical long arm 9 through an axis and connected to the rock breaking device 11. The rock drilling and breaking system 17 can integrate other different equipment, such as a breaker hammer, a rock drill and other equipment to meet the requirements of different working conditions. The vertical sliding block 12 is driven to slide by a motor 21 fixed to the vertical inner guide rail 6 through a traction rope 22. The horizontal sliding block 8 is driven to slide by a motor 21 fixed to the horizontal inner guide rail 7 through a traction rope 22.

[0063] The rock breaking equipment 11 integrates an identification system, communicates with the control system 20 via wireless signals, and can use rock properties to perform shearing and rock breaking; Figure 5 As shown, the control system 20 includes at least a rock breaking position automation module 25, a communication module 26 and a guide rail position adjustment module 27, and the identification system is a laser sensor; the control system is responsible for the overall operation of the system control working parts; the rock breaking position automation module 25 is responsible for the in-situ engineering geological data processing of the section and the rock breaking path planning, and the communication module 26 and the guide rail position adjustment module 27 are used to realize the operating actions and position changes of the tunneling robot.

[0064] The identification system is used to obtain the position information and rock mass data of the current rock drilling and breaking system 17, and transmit it to the rock breaking position automation module 25 in the control system 20 to generate a cloud map. The rock breaking position automation module 25 determines the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system 17:

[0065] S1=f(x,y,z,T)

[0066] S2=g(x,y,z,T)

[0067] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, z are the coordinate values ​​of the three directions of east-west, north-south, and up-down, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, z and time T. After the cloud map is generated, the rock breaking position automation module 25 determines the current tunnel height and generates a coordinate system function G based on the guide rail system:

[0068] G=w(c,d,T)

[0069] Among them, G is a coordinate system function, c and d are the coordinate values ​​of the guide rail system in the vertical direction and the horizontal direction, T is time, and w is an implicit function of the spatial coordinate values ​​c, d and time T. The guide rail position adjustment module 27 issues instructions to adjust the up and down moving system 14 and the left and right moving system 15 through the function G. During the operation, the rock breaking position automation module 25 will adjust and optimize the rock breaking path function S2 in real time according to different obstacles or rock mass front-end data, and upload it to the monitoring end in real time through the signal system to ensure the smooth completion of the operation.

[0070] The full-face rock excavation robot has the following beneficial effects:

[0071] First, the full-section rock tunneling robot can reduce the time of traditional multi-stage operations and improve overall work efficiency. It is especially suitable for hard rock and complex geological conditions.

[0072] Second, the in-situ splitting, pulling and shearing rock breaking structure design reduces the frequent replacement of cutters and equipment wear, extends the service life of the equipment and reduces maintenance costs.

[0073] Third, the equipment can maintain stable operation while efficiently breaking rocks, avoiding the vibration and safety hazards caused by blasting operations, reducing the risk of downtime due to frequent equipment replacement, and improving the safety of the operation process.

[0074] Fourthly, the present invention has the flexibility to operate under different hardness and different geological conditions, can automatically adjust rock breaking parameters, and improve adaptability under complex geological conditions, thereby ensuring excavation efficiency and quality.

[0075] Embodiment 2:

[0076] Another object of the embodiment of the present invention is to provide a full-section rock tunneling robot operation method. Based on the full-section rock tunneling robot as described in Example 1, the mining method includes the following steps:

[0077] The S1 control system 20 controls the full-section rock excavation robot to move to a suitable position in front of the tunnel section through the walking mechanism 21. The crawler 1 cooperates with the rotating mechanism 2 to continuously adjust and optimize the working angle. The hydraulic telescopic support legs 18 extend to support and fix the full-section rock excavation robot.

[0078] S2 The rock breaking equipment 11 determines the current position by scanning the front-end data with the rock breaking position automation module 25 in the control system 20 through the identification system, and draws the current cloud map according to the mine tunnel data to determine the starting position function S1 and the rock breaking path function S2:

[0079] S1=f(x,y,z,T)

[0080] S2=g(x,y,z,T)

[0081] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, z are the coordinate values ​​of the three directions of east-west, north-south, and up-down, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, z and time T. After the cloud map is generated, the rock breaking position automation module 25 determines the current tunnel height and generates a coordinate system function G based on the guide rail system:

[0082] G=w(c,d,T)

[0083] Wherein, G is a coordinate system function, c and d are the coordinate values ​​of the guide rail system in the vertical direction and the horizontal direction, T is time, and w is an implicit function of the spatial coordinate values ​​c and d and time T. The guide rail position adjustment module 27 issues an instruction to adjust the up-and-down moving system and the left-and-right moving system through the function G;

[0084] S3 control system 20 controls the full-section operation mechanism 13 to start operation, specifies a path, controls the power device on the upper part of the vertical outer guide rail 5 to pull the vertical inner guide rail 6 up to a specified height and then stops;

[0085] S4 control system 20 controls the motors 21 arranged at both ends of the horizontal outer guide rail 4 to drive the horizontal inner guide rail 7 to slide to the designated position through the traction rope 22 and then stop;

[0086] S5, the control system 20 controls the mechanical long arm 9, the mechanical short arm 10 and the rock breaking device 11 in the rock drilling and breaking system 17 to perform the first drilling and rock breaking along the excavated section;

[0087] After the first operation is completed in step S6, the control system 20 controls the rock drilling and breaking system 17 to repeat step S3 or S4 to perform the second drilling and breaking of rocks;

[0088] S7 control system 20 continuously adjusts according to the real-time data scanned by the identification system of the rock breaking equipment 11, exits the operation position after a certain amount of ore is reached, starts transportation operation, and optimizes the rock breaking path according to the current rock mass geological data;

[0089] S8 The control system 20 repeats S3-S7 according to the optimized rock breaking path to complete the rock breaking operation;

[0090] S9. After the operation is completed, the control system 20 controls the full-face rock tunneling robot to move forward and start the next round of operation.

[0091] like Figure 6 and Figure 7 As shown, for hexagonal tunnels and circular arch tunnels, the tunnel operation blind spots 31 are mostly concentrated at the boundaries, and the difficulty of working in the corners is the greatest; in step S2, the rock breaking position automation module 25 in the control system communicates to determine the initial rock breaking position 28 and the rock breaking path 29, and in step S7, the rocks are broken in sequence according to the determined initial rock breaking path 30, and are adjusted at any time according to the actual rock breaking parameters.

[0092] Example 3

[0093] The difference from the first embodiment is that a full-face rock excavation robot is provided with another set of left and right movement systems. Figure 8 As shown, the robot includes another set of left and right moving systems 15, which can be used to add other equipment such as splitters, breakers, rock drills, etc. to the full-section rock excavation robot to enhance the special operation capabilities of the full-section rock excavation robot. This embodiment provides a mechanical arm 33 connected to the horizontal sliding block 8 and a breaker 32 installed on the mechanical arm 33 to enhance the processing capabilities for special working conditions, such as when the stone blocks are too large and need to be broken by a breaker.

[0094] Example 4

[0095] This embodiment provides a double-layer left-right moving system 34 for adding another set of mechanical arms. Fig. 9 As shown, the double-layer left-right moving system 34 has an upper horizontal slider 35 and a lower horizontal slider 36 installed on the horizontal inner guide rail 7. The upper horizontal slider 35 and the lower horizontal slider 36 can be installed with two sets of mechanical arms to meet different operation requirements.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A full-face rock excavation robot, characterized in that: It comprises a walking mechanism (21), a rotating platform mechanism (16) and a full-section operating mechanism (13); The walking mechanism (21) comprises a crawler track (1), a driving wheel (19), and a hydraulic telescopic support leg (18); the hydraulic telescopic support leg (18) is arranged on the left and right sides and the front and rear sides of the walking mechanism (21) to provide support during mining operations; The rotating platform mechanism (16) is mounted on the walking mechanism (21), and the full-section operation mechanism (13) is mounted on the rotating platform mechanism (16). The rotating platform mechanism (16) is used to change the orientation of the full-section operation mechanism (13); the full-section operation mechanism (13) includes a control system (20) and a power supply system; the full-section operation mechanism (13) is provided with an up-and-down moving system (14), a left-and-right moving system (15), and a rock drilling and breaking system (17); the rock drilling and breaking system (17) is mounted on the up-and-down moving system (14) and the left-and-right moving system (15). The up-and-down moving system (14) is used to realize the lifting and lowering of the rock drilling and breaking system (17), and the left-and-right moving system (15) is used to realize the left-and-right movement of the rock drilling and breaking system (17); The rock drilling and breaking system (17) comprises a mechanical long arm (9), a mechanical short arm (10) and a rock breaking device (11); the mechanical long arm (9) is connected to a horizontal sliding block (8), the mechanical short arm (10) is connected to the mechanical long arm (9) via an axis, and is connected to the rock breaking device (11); the rock breaking device (11) is integrated with an identification system, communicates with a control system (20) via wireless signals, and performs shearing and rock breaking using rock properties; the control system (20) is integrated with a rock breaking position automation module (25), a communication module (26) and a guide rail position adjustment module (27).

2. A full-face rock excavation robot according to claim 1, characterized in that: The rotating platform mechanism (16) comprises a rotating mechanism (2) and a supporting platform (3); the rotating mechanism (2) is connected to a walking mechanism (21), and the supporting platform (3) is connected to the rotating mechanism (2) and can rotate along with the rotating mechanism (2).

3. A full-face rock excavation robot according to claim 1, characterized in that: The up-and-down moving system (14) comprises a vertical outer guide rail (5), a vertical inner guide rail (6) and a vertical sliding block (12); the vertical outer guide rail (5) is connected to the support platform (3) and is arranged symmetrically on the left and right; a rolling bearing is arranged on the outside of the vertical inner guide rail (6) and is capable of sliding on the vertical outer guide rail (5); a power device is arranged on the upper part of the vertical outer guide rail (5), and a traction rope is connected to the top pulley of the vertical outer guide rail (5) to provide power to drive the vertical inner guide rail (6) to slide up and down inside; the vertical sliding block (12) is movably installed in the vertical inner guide rail (6), and the vertical sliding block (12) slides up and down under the traction of a power traction device fixed to the vertical inner guide rail (6).

4. A full-face rock excavation robot according to claim 1, characterized in that: The left-right moving system (15) comprises a horizontal outer guide rail (4), a horizontal inner guide rail (7) and a horizontal sliding block (8); the horizontal outer guide rail (4) is connected to the vertical sliding block (12); a rolling bearing is arranged outside the horizontal inner guide rail (7) so as to be able to slide inside the horizontal outer guide rail (4); power devices are arranged at both ends of the horizontal outer guide rail (4) to drive the horizontal inner guide rail (7) to slide left and right inside through a traction rope; the horizontal sliding block (8) is movably installed in the horizontal inner guide rail (7); the horizontal sliding block (8) slides up and down under the traction of a power traction device fixed at both ends of the horizontal inner guide rail (7).

5. The full-face rock excavation robot according to claim 1, characterized in that: The identification system is used to obtain the position information and rock mass data of the current rock drilling and breaking system (17), and transmit them to the rock breaking position automation module (25) in the control system (20) to generate a cloud map. The rock breaking position automation module (25) determines the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system (17): S1=f(x,y,z,T) S2=g(x,y,z,T) Among them, S1 is the position function, S2 is the rock breaking path function, x, y, z are the coordinate values ​​of the three directions of east-west, north-south, and up-down, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, z and time T respectively; after the cloud map is generated, the rock breaking position automation module (25) determines the current tunnel height and generates a coordinate system function G based on the guide rail system: G=w(c,d,T) Wherein, G is a coordinate system function, c and d are coordinate values ​​of the guide rail system in the vertical direction and the horizontal direction, T is time, and w is an implicit function of the spatial coordinate values ​​c, d and time T respectively; after the guide rail position adjustment module (27) issues an instruction, the up and down moving system (14) and the left and right moving system (15) are adjusted through the function G; during the operation, the rock breaking position automation module (25) adjusts and optimizes the rock breaking path function S2 in real time according to different obstacles or rock mass front-end data, and uploads it to the monitoring end in real time through the signal system to ensure the smooth completion of the operation.

6. An operation method of a full-face rock excavation robot according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1, the control system (20) controls the full-section rock excavation robot to move to a suitable position in front of the tunnel section through the walking mechanism (21), the crawler (1) cooperates with the rotating platform mechanism (16) to continuously adjust and optimize the working angle, and the hydraulic telescopic support legs (18) extend to support and fix the full-section rock excavation robot; S2, the rock breaking equipment (11) communicates the front-end data with the rock breaking position automation module (25) in the control system (20) through the identification system scan to determine the current position, and the rock breaking position automation module (25) generates a cloud map based on the mine tunnel data to determine the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system (17): S1=f(x,y,z,T) S2=g(x,y,z,T) Among them, S1 is the position function, S2 is the rock breaking path function, x, y, z are the coordinate values ​​of the three directions of east-west, north-south, and up-down, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, z and time T respectively; after the cloud map is generated, the rock breaking position automation module (25) determines the current tunnel height and generates a coordinate system function G based on the guide rail system: G=w(c,d,T) Wherein, G is a coordinate system function, c and d are coordinate values ​​of the guide rail system in the vertical direction and the horizontal direction, T is time, and w is an implicit function of the spatial coordinate values ​​c and d and the time T; the guide rail position adjustment module (27) issues an instruction to adjust the up-and-down moving system (14) and the left-and-right moving system (15) through the function G; S3, the control system (20) controls the full-section operation mechanism (13) to start the operation, specifies a path, and controls the up-and-down moving system (14) to rise to a specified height and then stop; S4 control system (20) controls the left and right moving system (15) to slide horizontally to a designated position and then stop; S5, the control system (20) controls the operation of the mechanical long arm (9), the mechanical short arm (10) and the rock breaking equipment (11) in the rock drilling and breaking system (17), and performs the first drilling and rock breaking along the excavated section; After the first operation is completed, the control system (20) controls the rock drilling and breaking system (17) to repeat step S3 or S4 to perform a second drilling and breaking operation; The S7 control system (20) continuously adjusts according to the real-time data scanned by the identification system of the rock breaking equipment (11), exits the operation position after the ore reaches the set quantity, starts the transportation operation, and optimizes the rock breaking path function S2 according to the current rock mass geological data; S8: the control system (20) repeats steps S3-S7 according to the optimized rock breaking path to complete the rock breaking operation; S9. After the operation is completed, the control system (20) controls the full-face rock tunneling robot to move forward and start the next round of operation.

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