A device and method for intelligently identifying the hardness of rock when cutting a rock wall using a tunnel boring machine

Abstract

The present invention relates to an experimental device and an experimental method for identifying rock hardness, and specifically to a device and a method for intelligently identifying the hardness of rocks when a tunnel boring machine cuts a rock wall. The device comprises a horizontal and vertical stepping motor, a slider, a slider panel, a ball screw, a motor flange, a coupling, two linear guide rails, a base plate, a stable bearing seat, a reduction gear, a cutting head, a test piece table, a test piece fixing module, a workbench, a current sensor, a vibration sensor, an acoustic emission sensor, a data acquisition card, an industrial computer, and a display screen. The present invention uses multi-sensor information fusion technology and RBF neural network recognition technology to conduct similar simulation experiments on the process of a tunnel boring machine cutting rocks of different hardness horizontally and vertically, thereby realizing intelligent rock hardness identification during the process of a tunnel boring machine cutting a rock wall horizontally and vertically, and a display device can display the rock hardness in real time. The tunnel boring machine driver can adjust the cutting state in time according to the displayed rock hardness to avoid excessive power limit of the tunnel boring machine and excessive damage to the cutting teeth.

Description

Technical Field

[0001] The invention relates to an experimental device and an experimental method for identifying rock hardness, in particular to a device and a method for intelligently identifying the hardness of rocks cut by a tunnel boring machine. Background Art

[0002] With the rapid development of my country's coal and rock industry, blasting can no longer meet the current production requirements, and the roadheader has become the main equipment for tunnel excavation. The working environment of underground coal mine excavation is complex, with many interference factors, and the hardness of the rock changes randomly. Because the cutting load cannot be determined in time, the roadheader driver cannot adjust the cutting state in time, resulting in the inability to adjust the cutting speed and swing speed of the roadheader in time, which may lead to problems such as over-limit of roadheader power, excessive wear of cutting teeth, and equipment damage. Summary of the invention

[0003] One of the purposes of the present invention is to overcome the deficiencies of the prior art and to provide a device for intelligently identifying the hardness of rocks cut by a tunnel boring machine.

[0004] Another object of the present invention is to overcome the deficiencies of the prior art and provide a method for intelligently identifying the hardness of rock cut by a roadheader.

[0005] The present invention achieves the purpose of the invention by adopting the following technical solutions:

[0006] An experimental device for intelligent identification of rock hardness of a rock wall cut by a tunnel boring machine includes a horizontal and vertical stepping motor, a slider, a slider panel, a ball screw, a motor flange, a coupling, two linear guides, a bottom plate, a stable bearing seat, a speed reduction module, a cutting head, a test piece table, a test piece fixing module, a workbench, a current sensor, a vibration sensor, an acoustic emission sensor, a data acquisition card, an industrial computer, and a display screen. For the convenience of description, the embodiment of the present invention is described from four parts: a vertical moving device, a horizontal moving device, a cutting device, and a rock hardness identification module.

[0007] The longitudinal moving device includes a longitudinal stepping motor, two sliders, a slider panel, a longitudinal ball screw, a ball nut, a motor flange, a coupling, two longitudinal linear guides, a base plate, a stable bearing seat, and a bearing base plate. The present invention places the base plate at the bottom, and the two longitudinal linear guides are fixed to the base plate. One end of the two longitudinal guides is connected to the motor flange, and the other end is connected to the bearing base plate. The two sliders are sleeved on the longitudinal linear guides. The longitudinal ball screw is fixed at the center axis position of the two longitudinal guides. The length of the longitudinal ball screw is equal to the length of the base plate. At both ends of the longitudinal ball screw, a section is fixed to the bearing base plate, and one end is connected to the stable bearing seat and the coupling. The slider panel is connected to the two longitudinal linear guides and the longitudinal ball screw through the slider and the ball nut. The longitudinal stepping motor is connected to the coupling and the longitudinal ball screw through the flange. When moving longitudinally, turn on the longitudinal stepper motor, the rotation of the longitudinal stepper motor drives the longitudinal ball screw to rotate, the rotation of the longitudinal ball screw drives the ball nut to move forward, the slider panel is fixed on the ball nut, and the ball nut moves forward to drive the slider panel to move longitudinally along the longitudinal linear guide.

[0008] The lateral moving device includes: a lateral stepping motor, two sliders, a slider panel, a lateral ball screw, a ball nut, a motor flange, a coupling, two lateral linear guides, a base plate, a stable bearing seat, and a bearing base plate. The present invention places the base plate at the bottom, and the two lateral linear guides are fixed to the base plate. One end of the two ends of the lateral guide is connected to the motor flange, and the other end is connected to the bearing base plate. The two sliders are sleeved on the lateral linear guides. The lateral ball screw is fixed at the center axis position of the two lateral guides. The length of the lateral ball screw is equal to the length of the base plate. At both ends of the lateral ball screw, a section is fixed to the bearing base plate, and one end is connected to the stable bearing seat and the coupling. The slider panel is connected to the two lateral linear guides and the lateral ball screw through the slider and the ball nut. The lateral stepping motor is connected to the coupling and the lateral ball screw through the flange. When moving horizontally, turn on the horizontal stepper motor, the rotation of the horizontal stepper motor drives the horizontal ball screw to rotate, the rotation of the horizontal ball screw drives the ball nut to move forward, the slider panel is fixed on the ball nut, and the ball nut moves horizontally to drive the slider panel to move horizontally along the horizontal linear guide.

[0009] The cutting device includes: a cutting motor, a deceleration module and a cutting head. The cutting head is connected to the cutting motor through the deceleration module. When cutting similar simulated rock specimens, the cutting motor is first turned on through the industrial computer, and the cutting motor rotates to transmit the deceleration module, and the deceleration module drives the cutting head to rotate. After the cutting head rotates, the longitudinal stepping motor is turned on to move the entire cutting part longitudinally, and the similar simulated rock specimen placed on the workbench is longitudinally cut. After reaching the longitudinal cutting depth, the longitudinal cutting motor is turned off, and the transverse cutting motor is turned on to transversely cut the similar simulated rock specimen placed on the workbench.

[0010] The rock hardness identification module includes: current sensor, vibration acceleration sensor, and acoustic emission sensor. The current sensor is installed at the three-phase incoming line end of the cutting motor, the vibration acceleration sensor is installed at the position connected to the reducer at the rear end of the cutting head, and the acoustic emission sensor is installed at the upper end of the rock specimen. When cutting, turn on the current sensor, vibration acceleration sensor, and acoustic emission sensor to collect transverse cutting data in real time, collect different sensor information during transverse and longitudinal cutting respectively, and build identification models for transverse and longitudinal cutting respectively. The collected sensor information is transmitted to the computer through the data acquisition card. The computer uses the wavelet transform method to decompose the low-frequency and high-frequency component incoming lines of the collected data at the same time. The approximate coefficients and detail coefficients in each dimension space after decomposition can provide time domain and frequency domain information in different frequency bands and can provide signal characteristics. Finally, the characteristic information of each parameter obtained after processing is transmitted as a training sample to the RBF neural network for neural network training until the error between the expected value of rock hardness output by the neural network and the actual rock hardness value reaches the expected error, and the neural network training is terminated. After the neural network training is completed, a neural network recognition database is established to identify the parameters of the cutting process sensors in real time, and the rock hardness information is displayed in real time on the display.

[0011] Preferably, the present invention provides a device for intelligently identifying the hardness of rock when cutting a rock wall of a tunnel boring machine, wherein the cutting part can be driven by a transverse stepping motor to rotate a transverse ball screw, and the rotation of the transverse ball screw drives the transverse ball nut to move transversely, thereby causing the cutting part to move transversely.

[0012] Preferably, the present invention provides a device for intelligent hardness identification of rock on a tunnel boring machine cutting rock wall, wherein the cutting part can be driven by a longitudinal stepping motor to rotate a longitudinal ball screw, and the rotation of the longitudinal ball screw drives the longitudinal ball nut to move longitudinally, thereby causing the cutting part to move longitudinally.

[0013] Preferably, the present invention provides a device for intelligently identifying the hardness of rocks cut by a tunnel boring machine, wherein a cutting head and a cutting motor of the cutting part are connected via a reduction module.

[0014] Preferably, the present invention provides a device for intelligently identifying the hardness of rock on a rock wall cut by a tunnel boring machine, wherein a specimen fixing module of a specimen table can be adjusted to fix the rock specimen.

[0015] Preferably, the present invention provides a device for intelligently identifying the hardness of rock on a rock wall cut by a tunnel boring machine, wherein the simulated cutting head is scaled down in proportion to the cutting head of a real tunnel boring machine.

[0016] Preferably, the present invention provides a device for intelligently identifying the hardness of rock in a rock wall cut by a tunnel boring machine, wherein the hardness of rock of similar simulated rock specimens is known through experimental proportioning and rock mechanics experimental hardness.

[0017] Preferably, the present invention provides a device for intelligently identifying the hardness of rock when cutting a rock wall of a tunnel boring machine, wherein a current sensor is installed at the three-phase incoming line end of the cutting motor, a vibration acceleration sensor is installed at the rear end of the cutting head where it is connected to the reducer, and an acoustic emission sensor is installed at the upper end of the rock specimen.

[0018] A method for intelligently identifying the hardness of rock on a rock wall cut by a tunnel boring machine comprises the following steps:

[0019] A: A similar simulated rock specimen 101 with known rock hardness is placed on a specimen table 102 , and the similar simulated rock specimen 101 is fixed by a specimen fixing module 103 .

[0020] B: Turn on the cutting motor 104 and the longitudinal stepping motor 201. The longitudinal stepping motor 201 drives the longitudinal ball screw 202 to rotate. The longitudinal ball screw 202 drives the longitudinal slide 203 to move longitudinally. The movement of the longitudinal slide 203 drives the lateral moving module 107 and the cutting motor 104, the deceleration module 105, and the cutting head 106 to move longitudinally, and perform longitudinal drilling on the similar simulated rock specimen 101.

[0021] C: Turn on the transverse stepper motor 301 and turn off the longitudinal stepper motor 201. The transverse stepper motor 301 drives the transverse ball screw 202 to rotate, and the transverse ball screw 202 drives the cutting motor 104, the reduction module 105, and the cutting head 106 to move transversely, so as to perform transverse cutting on the similar simulated rock specimen 101.

[0022] D: During the cutting process, the current sensor 401, the vibration acceleration sensor 402, and the acoustic emission sensor 403 are turned on to collect data in real time.

[0023] E: The data of the current sensor 401, the vibration acceleration sensor 402, and the acoustic emission sensor 403 are collected by the data acquisition card, and the data are transmitted to the computer to simultaneously decompose the low-frequency and high-frequency components of the collected data using wavelet transform. The approximate coefficients and detail coefficients in each scale space after decomposition can provide time domain and frequency domain information in different frequency bands and can provide signal characteristics. The characteristic information of each parameter obtained by analysis is transmitted to the RBF neural network recognition system for rock hardness recognition.

[0024] F: Store the feature data and recognition results in the database, and display the recognition results through the display interface.

[0025] Beneficial effects:

[0026] The present invention uses multi-sensor information fusion technology and RBF neural network recognition technology to conduct similar simulation experiments on the cutting of rocks of different hardness by the tunnel boring machine, and realizes the intelligent recognition of the rock hardness during the process of the tunnel boring machine cutting the rock wall. The display device can display the rock hardness in real time. The tunnel boring machine driver can adjust the cutting state in time according to the displayed rock hardness to avoid over-limit of tunnel boring machine power and excessive damage to the cutting teeth. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below in conjunction with the accompanying drawings:

[0028] Figure 1 It is a three-dimensional side view of the main device of the present invention

[0029] Figure 2 It is a three-dimensional top view of the main device of the present invention

[0030] Figure 3 It is a three-dimensional rear view of the main device of the present invention

[0031] Figure 4 The 3D device diagram of the lateral moving device of the device of the present invention is

[0032] Figure 5 A three-dimensional top view of the lateral moving device of the device of the present invention

[0033] Figure 6 It is a three-dimensional rear view of the lateral moving device of the device of the present invention

[0034] Figure 7 This is a three-dimensional diagram of the longitudinal moving device of the device of the present invention.

[0035] Figure 8 It is a top view of a three-dimensional device of the longitudinal moving device of the device of the present invention

[0036] Fig. 9 Three-dimensional rear view of the longitudinal moving device of the device of the present invention

[0037] Fig.10 It is a top view of a three-dimensional device of the lateral and longitudinal moving combination device of the device of the present invention

[0038] Fig.11 The rock hardness identification process diagram of the present invention is DETAILED DESCRIPTION

[0039] The present invention is further explained below through specific examples.

[0040] The longitudinal moving device comprises a longitudinal stepping motor 201, two sliders 202, a slider panel 203, a longitudinal ball screw 204, a longitudinal ball nut 205, a motor flange 206, a coupling 207, two longitudinal linear guides 208, a base plate 209, a stable bearing seat 210, and a bearing base plate 211. The present invention places the base plate 209 at the bottom, and the two longitudinal linear guides 208 are fixed to the base plate 209. One end of the two ends of the longitudinal guides 208 is connected to the motor flange 206, and the other end is connected to the bearing base plate 211. The two sliders 202 are sleeved on the longitudinal linear guides 208. The longitudinal ball screw 204 is fixed at the center axis position of the two longitudinal guides 208. The length of the longitudinal ball screw 204 is equal to the length of the base plate 209. At the two ends of the longitudinal ball screw 204, a section is fixed to the bearing base plate 211, and one end is connected to the stable bearing seat 210 and the coupling 207. The slider panel 203 is connected to two longitudinal linear guide rails 208 and a longitudinal ball screw 204 through a slider 202 and a longitudinal ball nut 205. The longitudinal stepping motor 201 is connected to a coupling 207 and a longitudinal ball screw 203 through a flange 206. When moving longitudinally, the longitudinal stepping motor 201 is turned on, the longitudinal stepping motor 201 rotates to drive the longitudinal ball screw 204 to rotate, and the longitudinal ball screw 204 rotates to drive the ball nut 205 to move forward, the slider panel 203 is fixed on the ball nut 205, and the ball nut 205 moves forward to drive the slider panel 203 to move longitudinally along the longitudinal linear guide rail 208.

[0041] The lateral moving device includes a lateral stepping motor 301, two sliders 302, a slider panel 303, a lateral ball screw 304, a lateral ball nut 305, a motor flange 306, a coupling 307, two lateral linear guides 308, a base plate 309, a stable bearing seat 310, and a bearing base plate 311. The present invention places the base plate 309 at the bottom, and the two lateral linear guides 308 are fixed to the base plate 309. One end of the two ends of the lateral guides 308 is connected to the motor flange 306, and the other end is connected to the bearing base plate 311. The two sliders 302 are sleeved on the lateral linear guides 308. The lateral ball screw 304 is fixed at the center axis position of the two lateral guides 308. The length of the lateral ball screw 304 is equal to the length of the base plate 309. At both ends of the lateral ball screw 304, a section is fixed to the bearing base plate 311, and one end is connected to the stable bearing seat 310 and the coupling 307. The slider panel 303 is connected to two transverse linear guide rails 308 and a transverse ball screw 304 through a slider 302 and a transverse ball nut 305. The transverse stepper motor 301 is connected to a coupling 307 and a transverse ball screw 304 through a flange 306. When moving transversely, the transverse stepper motor 301 is turned on, the transverse stepper motor 301 rotates to drive the transverse ball screw 304 to rotate, and the transverse ball screw 304 rotates to drive the transverse ball nut 305 to move forward, the slider panel 303 is fixed on the transverse ball nut 305, and the transverse ball nut 305 moves to both sides to drive the slider panel 303 to move transversely along the transverse linear guide rail 308.

[0042] The cutting device includes a cutting motor 104, a speed reducer 105 and a cutting head 106. The cutting head 106 is connected to the cutting motor 104 through a speed reducer 105. The cutting head 106 is proportionally reduced to the cutting head of a real tunnel boring machine to achieve the purpose of real simulated cutting. When cutting similar simulated rock specimens, the cutting motor 104 is first turned on, and the rotation of the cutting motor 104 drives the speed reducer 105 to transmit, and the speed reducer 105 drives the cutting head 106 to rotate. After the cutting head 106 rotates, the longitudinal stepping motor 201 is turned on to make the entire cutting part move longitudinally, and the similar simulated rock specimen placed on the workbench is longitudinally cut. After reaching the longitudinal cutting depth, the longitudinal cutting motor 201 is turned off, the transverse stepping motor 301 is turned on, and then the cutting motor 104 is turned on to transversely cut the similar simulated rock specimen 101 placed on the workbench.

[0043] The rock hardness identification module includes a current sensor 401, a vibration acceleration sensor 402, and an acoustic emission sensor 403. The current sensor 401 is installed at the three-phase incoming line end of the cutting motor 104, the vibration acceleration sensor 402 is installed at the position connected to the reducer 105 at the rear end of the cutting head 106, and the acoustic emission sensor 403 is installed at the upper end of the rock specimen 101. When cutting, the current sensor 401, the vibration acceleration sensor 402, and the acoustic emission sensor 403 are turned on to collect transverse cutting data in real time, and different sensor information during transverse and longitudinal cutting is collected respectively, and identification models are built for transverse and longitudinal cutting. The collected sensor information is transmitted to the computer through the data acquisition card, and the computer uses the wavelet transform method to simultaneously decompose the low-frequency and high-frequency component incoming lines of the collected data. The approximate coefficients and detail coefficients on each dimension space after decomposition can provide time domain and frequency domain information on different frequency bands and can provide signal characteristics. Finally, the characteristic information of each parameter obtained after processing is transmitted as a training sample to the RBF neural network to train the neural network until the difference between the expected value and the true value output by the neural network reaches the expected value and the training ends. After completing the neural network training, a neural network recognition database is established to perform real-time recognition of the parameters of the cutting process sensor and display them in real time on the display.

[0044] A method for intelligently identifying the hardness of rock on a rock wall cut by a tunnel boring machine comprises the following steps:

[0045] A: A similar simulated rock specimen 101 with known rock hardness is placed on a specimen table 102 , and the similar simulated rock specimen 101 is fixed by a specimen fixing module 103 .

[0046] B: Turn on the cutting motor 104 and the longitudinal stepping motor 201. The longitudinal stepping motor 201 drives the longitudinal ball screw 202 to rotate. The longitudinal ball screw 202 drives the longitudinal slide 203 to move longitudinally. The movement of the longitudinal slide 203 drives the lateral moving module 107 and the cutting motor 104, the deceleration module 105, and the cutting head 106 to move longitudinally, and perform longitudinal drilling on the similar simulated rock specimen 101.

[0047] C: Turn on the transverse stepper motor 301 and turn off the longitudinal stepper motor 201. The transverse stepper motor 301 drives the transverse ball screw 202 to rotate, and the transverse ball screw 202 drives the cutting motor 104, the reduction module 105, and the cutting head 106 to move transversely, so as to perform transverse cutting on the similar simulated rock specimen 101.

[0048] D: During the cutting process, the current sensor 401, the vibration acceleration sensor 402, and the acoustic emission sensor 403 are turned on to collect data in real time.

[0049] E: The data of the current sensor 401, the vibration acceleration sensor 402, and the acoustic emission sensor 403 are collected by the data acquisition card, and the data are transmitted to the computer to simultaneously decompose the low-frequency and high-frequency components of the collected data using wavelet transform. The approximate coefficients and detail coefficients in each scale space after decomposition can provide time domain and frequency domain information in different frequency bands and can provide signal characteristics. The characteristic information of each parameter obtained by analysis is transmitted to the RBF neural network recognition system for rock hardness recognition.

[0050] F: Store the feature data and recognition results in the database, and display the recognition results through the display interface.

[0051] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0052] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A device for intelligent rock hardness identification of rock walls cut by a tunnel boring machine, characterized in that: It includes a cutting motor, a transverse stepping motor, a longitudinal stepping motor, a transverse double linear rail, a longitudinal double linear rail, a transverse ball screw, a longitudinal ball screw, a transverse slide, a longitudinal slide, a reduction gear, a cutting head, a specimen table, a specimen fixing module, a workbench, a current sensor, a vibration sensor, an acoustic emission sensor, a data acquisition card, an industrial computer, and a display screen. The longitudinal stepping motor drives the cutting part to move longitudinally, the transverse cutting motor drives the cutting part to move transversely, and the cutting motor drives the cutting head to rotate; The longitudinal moving device comprises a longitudinal stepping motor (201), two sliders (202), a slider panel (203), a longitudinal ball screw (204), a longitudinal ball nut (205), a motor flange (206), a coupling (207), two longitudinal linear guides (208), a base plate (209), a stable bearing seat (210), and a bearing base plate (211). The base plate (209) is placed at the bottom, the two longitudinal linear guides (208) are fixed to the base plate (209), one end of the two ends of the longitudinal guides (208) is connected to the motor flange (206), and the other end is connected to the bearing base plate (211), and the two sliders (202) are sleeved on the longitudinal linear guides (208); the longitudinal ball screws (204) are fixed at the central axis position of the two longitudinal guides (208), the length of the longitudinal ball screws (204) is equal to the length of the base plate (209), and the longitudinal ball screws (204) are fixed to the longitudinal linear guides (208). 204), a fixed bearing base plate (211) is provided at both ends, one end of which is connected to a stable bearing seat (210) and a coupling (207), the slider panel (203) is connected to two longitudinal linear guide rails (208) and a longitudinal ball screw (204) through a slider (202) and a longitudinal ball nut (205), the longitudinal stepping motor (201) is connected to the coupling (207) and the longitudinal ball screw (203) through a flange (206), when moving longitudinally, the longitudinal stepping motor (201) is turned on, the longitudinal stepping motor (201) rotates to drive the longitudinal ball screw (204) to rotate, the longitudinal ball screw (204) rotates to drive the ball nut (205) to move forward, the slider panel (203) is fixed on the ball nut (205), the ball nut (205) moves forward to drive the slider panel (203) to move longitudinally along the longitudinal linear guide rail (208); The lateral moving device comprises a lateral stepping motor (301), two sliders (302), a slider panel (303), a lateral ball screw (304), a lateral ball nut (305), a motor flange (306), a coupling (307), two lateral linear guides (308), a base plate (309), a stable bearing seat (310), and a bearing base plate (311). The base plate (309) is placed at the bottom, and the two lateral linear guides (308) are fixed to the base plate (309). One end of the two ends of the lateral guides (308) is connected to the motor flange (306), and the other end is connected to the bearing base plate (311). The two sliders (302) are sleeved on the lateral linear guides (308), and the lateral ball screws (304) are fixed at the central axis position of the two lateral guides (308). The length of the lateral ball screws (304) is equal to the length of the base plate (309). ) at both ends, a fixed bearing base plate (311), one end of which is connected to a stable bearing seat (310) and a coupling (307), the slider panel (303) is connected to two transverse linear guide rails (308) and a transverse ball screw (304) through a slider (302) and a transverse ball nut (305), the transverse stepping motor (301) is connected to the coupling (307) and the transverse ball screw (304) through a flange (306), when moving transversely, the transverse stepping motor (301) is turned on, the transverse stepping motor (301) rotates to drive the transverse ball screw (304) to rotate, the transverse ball screw (304) rotates to drive the transverse ball nut (305) to move forward, the slider panel (303) is fixed on the transverse ball nut (305), the transverse ball nut (305) moves to both sides to drive the slider panel (303) to move transversely along the transverse linear guide rail (308); The cutting device comprises a cutting motor (104), a speed reducer (105) and a cutting head (106). The cutting head (106) is connected to the cutting motor (106) via a speed reducer (105). The cutting head (106) is reduced in proportion to the cutting head of a real tunnel boring machine to achieve the purpose of real simulated cutting. When cutting a similar simulated rock specimen, the cutting motor (104) is first turned on, the cutting motor (104) rotates to drive the speed reducer (105), the speed reducer (105) drives the cutting head (106) to rotate, and after the cutting head (106) rotates, the longitudinal stepping motor (201) is turned on to make the entire cutting part move longitudinally, and the similar simulated rock specimen placed on the workbench is longitudinally cut. After the longitudinal cutting depth is reached, the longitudinal cutting motor (201) is turned off, the transverse stepping motor (301) is turned on, and then the cutting motor (104) is turned on to transversely cut the similar simulated rock specimen (101) placed on the workbench. The rock hardness identification module includes: a current sensor, a vibration acceleration sensor, and an acoustic emission sensor. The current sensor is installed at the three-phase incoming line end of the cutting motor, the vibration acceleration sensor is installed at the position connected to the reducer at the rear end of the cutting head, and the acoustic emission sensor is installed at the upper end of the rock specimen. When cutting, the current sensor, vibration acceleration sensor, and acoustic emission sensor are turned on to collect transverse cutting data in real time, and different sensor information during transverse and longitudinal cutting is collected respectively. Identification models are built for transverse and longitudinal cutting respectively. The collected sensor information is transmitted to the computer through the data acquisition card. The computer uses the wavelet transform method to decompose the low-frequency and high-frequency component incoming lines of the collected data at the same time. The approximate coefficients and detail coefficients on each dimension space after decomposition can provide time domain and frequency domain information on different frequency bands and can provide signal characteristics. Finally, the characteristic information of each parameter obtained after processing is transmitted as a training sample to the RBF neural network for training the neural network until the difference between the expected value and the true value output by the neural network reaches the expected value to end the training. After the neural network training is completed, a neural network recognition database is established to identify the parameters of the cutting process sensors in real time and display them in real time on the display.

2. A method for intelligent rock hardness identification of a rock wall cut by a tunnel boring machine using the device for intelligent rock hardness identification of a rock wall cut by a tunnel boring machine as claimed in claim 1, characterized in that The following steps are involved: A: placing a similar simulated rock specimen (101) with known rock hardness into a specimen table (102), and fixing the similar simulated rock specimen (101) by a specimen fixing module (103); B: Turn on the cutting motor (104) and the longitudinal stepping motor (201), the longitudinal stepping motor (201) drives the longitudinal ball screw (202) to rotate, the longitudinal ball screw (202) drives the longitudinal slide (203) to move longitudinally, the movement of the longitudinal slide (203) drives the lateral movement module (107) and the cutting motor (104), the deceleration module (105), and the cutting head (106) to move longitudinally, and perform longitudinal drilling on the similar simulated rock specimen (101); C: Turn on the transverse stepping motor (301) and turn off the longitudinal stepping motor (201), the transverse stepping motor (301) drives the transverse ball screw (202) to rotate, and the transverse ball screw (202) drives the cutting motor (104), the speed reduction module (105), and the cutting head (106) to move transversely, so as to perform transverse cutting on the similar simulated rock specimen (101); D: During the cutting process, the current sensor (401), the vibration acceleration sensor (402), and the acoustic emission sensor (403) are turned on to collect data in real time; E: The data of the current sensor (401), the vibration acceleration sensor (402), and the acoustic emission sensor (403) are collected by a data collection card and transmitted to a computer to simultaneously decompose the low-frequency and high-frequency components of the collected data by using wavelet transform. The approximate coefficients and detail coefficients in each scale space after decomposition can provide time domain and frequency domain information in different frequency bands and can provide signal characteristics. The characteristic information of each parameter obtained by analysis is transmitted to the RBF neural network recognition system to identify the rock hardness; F: Store the feature data and recognition results in the database, and display the recognition results through the display interface.

3. The device for intelligent rock hardness identification of a rock wall cut by a tunnel boring machine according to claim 1, characterized in that: The rock hardness recognition model is established using RBF neural network as the recognition tool.

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