A creeping rock wall walking robot and its use method

Abstract

The present invention discloses a peristaltic rock wall walking robot and a method for use. The peristaltic rock wall walking robot comprises a rear section moving assembly, a telescopic hydraulic cylinder, a front section moving assembly, a slide rail system, and a hydraulic station system. Vertical shafts are provided at both ends of the ore body, and hangers are provided in the shafts. The peristaltic rock wall walking robot is placed at one end of the shaft via the hangers. The peristaltic rock wall walking robot mines from one shaft to another along the horizontal direction of the ore body; then, it is lifted to a work station and mined in the reverse direction. The peristaltic rock wall walking robot alternately relies on the supporting hydraulic cylinders in the front and rear section moving assemblies to support the side of the rock wall, and peristaltically walks horizontally in the limited space between the two rock wall surfaces. The mined ore falls into the tunnel below the ore body. The present invention can effectively solve the problem that extremely thin ore veins cannot be mined with mechanical equipment. It can realize the mining of extremely thin ore veins with mechanical equipment, and the mining efficiency can be improved by increasing the number of water jet heads.

Description

Technical Field

[0001] The present invention relates to the technical field of underground mining, in particular to a robot carrying cutting equipment and capable of walking on a rock wall. Background Art

[0002] my country's rock gold veins are generally thin veins with a thickness of 1 to 3 meters and extremely thin veins with a thickness of 0.1 to 0.8 meters, of which steeply inclined veins account for the majority. Existing technologies for mining these difficult-to-mine, steeply inclined, extremely thin veins use either separate-cut and backfill methods or mixed-cut and backfill methods. Because separate-cut and backfill methods are inefficient, costly, and require complex recovery processes, mixed-cut and backfill methods are often employed on-site, even though the veins are very thin. However, mixed-cut and backfill methods involve drilling and blasting the ore along with the surrounding rock, resulting in significant dilution, increasing the costs of waste rock transportation, lifting, and subsequent beneficiation. Furthermore, the thinner the vein, the greater the dilution. Both methods require blasting operations, using drilling rigs or specialized drilling equipment to drill holes and place explosives to blast the veins and surrounding rock. Because these steeply inclined, extremely thin rock gold veins are too thin to be directly mined using existing mechanical equipment, drilling and blasting is currently the only method available. Summary of the Invention

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a creeping rock wall walking robot, comprising a rear section moving assembly, a telescopic hydraulic cylinder, a front section moving assembly, a slide rail system, a water jet system, and a hydraulic station system;

[0004] The rear section moving assembly includes a rear section rigid frame, a rear section supporting hydraulic cylinder, a rear section upper bracket, and a rear section steel drill. The rear section moving assembly is located at the tail of the robot in the horizontal forward direction and is connected to the front section moving assembly by a telescopic hydraulic cylinder and a slide rail system. The rear section moving assembly and the front section moving assembly can move relative to each other in the horizontal direction. The rear section supporting hydraulic cylinder is fixedly installed on both sides of the rear section rigid frame and is perpendicular to the walking direction of the creeping rock wall walking robot. A rear section steel drill is installed at the end of the piston of each rear section supporting hydraulic cylinder, and a rear section upper bracket is installed above the rear section rigid frame. There are more than three rear section supporting hydraulic cylinders on each side of the rear section rigid frame, and the fulcrums are redundantly arranged to adapt to quickly finding the support point when the rock wall is uneven; the preferred solution is that there are four rear section supporting hydraulic cylinders on each side of the rear section rigid frame;

[0005] The telescopic hydraulic cylinder includes a telescopic hydraulic cylinder body and a telescopic hydraulic cylinder piston. The telescopic hydraulic cylinder is located between the rear section moving assembly and the front section moving assembly. The telescopic hydraulic cylinder body is fixedly mounted on the front section moving assembly. The telescopic hydraulic cylinder piston is fixedly mounted on the rear section rigid frame of the rear section moving assembly. The telescopic hydraulic cylinder is in a horizontal installation state, providing a driving force for the rear section moving assembly and the front section moving assembly to move in the horizontal direction. The maximum stroke of the telescopic hydraulic cylinder is the maximum distance the robot can travel.

[0006] The front section moving assembly includes a front section rigid frame, a front section supporting hydraulic cylinder, a front section lower bracket, a front section upper hanger, a front section steel fiber, and a mounting plate; the front section moving assembly is located at the head of the robot in the horizontal forward direction, the front section supporting hydraulic cylinder is fixedly installed on both sides of the front section rigid frame, and is perpendicular to the walking direction of the robot, a front section steel drill is installed at the end of the piston of each front section supporting hydraulic cylinder, a front section lower bracket is installed below the front section rigid frame, and a front section upper hanger is installed above the front section rigid frame, and each side surface of the front section rigid frame has at least 3 or more front section supporting hydraulic cylinders, and the fulcrums are redundantly arranged to adapt to quickly finding the support point when the rock wall is uneven; the preferred solution is that each side surface of the front section rigid frame has 4 front section supporting hydraulic cylinders;

[0007] A cutting device is provided on the mounting plate;

[0008] The slide rail system includes a linear guide rail and a slider. The slider is installed under the rear section rigid frame in the rear section moving assembly, and the linear guide rail is installed on the upper surface of the distal end of the front section lower bracket in the front section moving assembly, forming a set of slide rail systems; the linear guide rail is installed on the upper surface of the distal end of the rear section upper bracket in the rear section moving assembly, and the slider is installed under the front section upper hanger in the front section moving assembly, forming another set of slide rail systems; the above-mentioned linear guide rails and sliders are fastened to their respective structures by bolts;

[0009] The hydraulic station system is located between the rear section moving assembly and the front section moving assembly. The hydraulic station system is fixedly installed above the front section lower bracket in the front section moving assembly, and there is an appropriate safety distance between the hydraulic station system and the rear section moving assembly without touching. The hydraulic station system provides hydraulic oil for the hydraulic cylinders used for extension and support of the robot.

[0010] Preferably, the cutting equipment is a water jet system, including several water jet heads, water jet sliding brackets, and water jet arm devices. The structural bracket of the water jet system is fixed to the mounting plate of the front section moving component by bolts, and the number and type of water jet heads are determined according to the mining process.

[0011] The rear section support hydraulic cylinder, front section support hydraulic cylinder, and telescopic hydraulic cylinder are all connected to the hydraulic system hydraulic station system through servo control valves; the servo control valves are also electrically connected to the control center. The hydraulic cylinders are controlled in three groups: one for the telescopic hydraulic cylinder, one for the rear section support hydraulic cylinder, and one for the front section support hydraulic cylinder.

[0012] For the convenience of operation, a lighting lamp, a camera and a distance sensor are provided on the rigid frame of the front section; and the lighting lamp, the camera and the distance sensor are electrically connected to the control center.

[0013] The electrical connection can be in the form of wired or wireless; the radio connection can be connected to the host computer using a communication module.

[0014] The present invention further discloses a method for using the creeping rock wall walking robot:

[0015] Vertical shafts are set at both ends of the ore body stage, and hangers are set in the vertical shafts. The peristaltic rock wall walking robot is placed at one end of the vertical shaft through the hangers. The peristaltic rock wall walking robot mines from one vertical shaft to another vertical shaft along the horizontal direction of the ore body; then it is lifted by one work station and mined in the reverse direction; the peristaltic rock wall walking robot relies on the supporting hydraulic cylinders in the front and rear moving components to support the side of the rock wall in turn, and peristaltically walks horizontally in the limited space between the two rock wall surfaces; the mined ore falls into the tunnel set along the direction of the vein below the ore body.

[0016] The hanger is provided with parallel guard plates. When the creeping rock wall walking robot starts to work from one end of the shaft, all the steel chisels installed on the rear section supporting hydraulic cylinder and the front section supporting hydraulic cylinder abut against the guard plates.

[0017] In order to ensure that they are firmly integrated and to ensure safety during lifting, when the creeping rock wall walking robot is lifted and lowered using the hanger, all the steel chisels installed on the rear section supporting hydraulic cylinder and the front section supporting hydraulic cylinder are in contact with the guard plate.

[0018] The ore can be cut into hexahedrons according to predetermined sizes. The ore has two free surfaces, and only four surfaces need to be cut to drop the ore. The water jet system includes a water jet arm device, a water jet sliding bracket and several water jet heads. The water jet outlet faces upward and cuts the side of the ore body in the forward direction. The water jet head moves along the sliding bracket, and its moving direction is perpendicular to the forward direction. The water jet outlet faces upward and cuts the back of the ore body perpendicular to the forward direction. The water jet sliding bracket rotates together with the water jet head to make the water jet head horizontal, and the water jet outlet faces the forward direction. The water jet head moves along the sliding bracket to cut the top of the ore body, first cutting the two sides of the side, then cutting the back, and finally cutting the top of the ore body. The cut ore falls directly into the tunnel set along the direction of the vein below.

[0019] Since the cutting is done layer by layer, the water jet system's water inlet pipe is placed in the already cut space below the creeping rock wall walking robot. The sand tank for the water jet system is placed on the mounting plate, and its installation position can be located near the water jet arm device.

[0020] The present invention can effectively solve the difficult problem that the existing steeply inclined and extremely thin veins of rock gold cannot be mined by mechanical equipment. It innovatively proposes to use the idea of ​​water jet cutting for vein mining, so as to realize the mining of extremely thin veins by mechanical equipment. By increasing the number of water jet heads, the mining efficiency can be improved without causing environmental pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1This is a schematic structural diagram of the creeping rock wall walking robot of the present invention;

[0022] Figure 2 for Figure 1 A top view of

[0023] Figure 3 for Figure 1 Right view;

[0024] Figure 4 for Figure 1 Left view of;

[0025] Figure 5 This is a diagram showing the maximum distance the robot can travel;

[0026] Figure 6 Schematic diagram of usage;

[0027] Part numbers in the figure: 1─rear section moving assembly, 101─rear section rigid frame, 102─rear section supporting hydraulic cylinder, 103─rear section upper bracket, 104─rear section steel drill, 2─telescopic hydraulic cylinder, 201─telescopic hydraulic cylinder body, 202─telescopic hydraulic cylinder piston, 3─front section moving assembly, 301─front section rigid frame, 302─front section supporting hydraulic cylinder, 303─front section lower bracket, 304─front section upper hanger, 305─mounting plate, 306─front section steel drill, 4─slide rail system, 401─linear guide rail, 402─slide block, 5─water jet system, 501─water jet head, 502─water jet sliding bracket, 503─water jet arm device, 6─hydraulic station system, 8—vertical shaft, 9—ore body, 10—tunnel. DETAILED DESCRIPTION

[0028] The present invention will be described in detail below with reference to the accompanying drawings. Figure 6 As shown, vertical shafts 8 are set at both ends of the ore body 9 stage, and hangers are set in the vertical shafts. The peristaltic rock wall walking robot 7 is placed at one end of the vertical shaft through the hangers. As shown by the arrow, the peristaltic rock wall walking robot mines from one vertical shaft to another vertical shaft along the horizontal direction of the ore body; then it is lifted by one work station and mined in the reverse direction; the peristaltic rock wall walking robot relies on the supporting hydraulic cylinders in the front and rear moving components to support the side of the rock wall in turn, and peristaltically walks horizontally in the limited space between the two rock wall surfaces; the mined ore falls into the tunnel 10 set along the direction of the vein below the ore body, and is collected and transported away by mining machinery.

[0029] The hanger includes a rectangular base, the size of the base is slightly smaller than the inner wall size of the shaft, and parallel guard plates are provided on the base, the width between the guard plates matches the width of the ore body to be mined; the base is connected to a sling, and the sling is connected to a traction machine above the shaft;

[0030] When the creeping rock wall walking robot starts working from one end of the shaft, all the steel drills installed on the rear section support hydraulic cylinder and the front section support hydraulic cylinder abut against the guard plate, and the position of the robot is adjusted by the hanger so that the robot docks with the guide section mined manually in advance. The mining length of the guide section is sufficient for the robot's front section moving component and cutting equipment to enter. The creeping rock wall walking robot can creep forward against the guard plate. When the front section moving component enters the guide section and the front section support hydraulic cylinder supports the rock wall, mining can begin. After mining a predetermined distance, the robot creeps forward again and enters the mining area.

[0031] To ensure safety during lifting, when the creeping rock wall walking robot is lifted or lowered using the hanger, all the steel drills installed on the rear section supporting hydraulic cylinder and the front section supporting hydraulic cylinder are in contact with the guard plate to ensure that they are firmly integrated.

[0032] The ore can be cut into hexahedrons according to predetermined sizes. The ore has two free-facing surfaces, and only four surfaces need to be cut to drop the ore. The water jet system includes a water jet arm device, a water jet sliding bracket and several water jet heads. The water jet head outlet faces upward and cuts the side of the ore body in the forward direction. The water jet head moves along the sliding bracket, and its moving direction is perpendicular to the forward direction. The water jet head outlet faces upward and cuts the back of the ore body perpendicular to the forward direction. The water jet sliding bracket rotates together with the water jet head to make the water jet head horizontal, and the water jet head outlet faces the forward direction. The water jet head moves along the sliding bracket to cut the top of the ore body, first cutting the two sides of the side, then cutting the back, and finally cutting the top of the ore body. The cut ore falls directly into the tunnel set along the direction of the vein below.

[0033] Since the cutting is done layer by layer, the water jet system's water inlet pipe is placed in the already cut space below the creeping rock wall walking robot. The sand tank for the water jet system is placed on the mounting plate, and its installation position can be located near the water jet arm device.

[0034] like Figure 1-Figure 5As shown, the creeping rock wall walking robot 7 of the present invention includes a rear section moving component 1, a telescopic hydraulic cylinder 2, a front section moving component 3, a slide rail system 4, a water jet system 5, and a hydraulic station system 6. The rear section moving component 1 includes a rear section rigid frame 101, a rear section supporting hydraulic cylinder 102, a rear section upper bracket 103, and a rear section steel drill 104. The rear section moving component 1 is located at the tail of the robot along the horizontal forward direction and is connected to the front section moving component 3 through the telescopic hydraulic cylinder 2 and the slide rail system 4. The rear section moving component 1 and the front section moving component 3 can move relative to each other in the horizontal direction. Relative movement, the rear section supporting hydraulic cylinder 102 is fixed on both sides of the rear section rigid frame 101 by bolts, and is perpendicular to the walking direction of the robot, and a rear section steel chisel 104 is installed at the end of the piston of each rear section supporting hydraulic cylinder 102, and a rear section upper bracket 103 is installed above the rear section rigid frame 101. There are more than three rear section supporting hydraulic cylinders 102 on each side of the rear section rigid frame 101. In this embodiment, there are four rear section supporting hydraulic cylinders 102 on each side, and the fulcrum is redundantly set to adapt to quickly finding the support point when the rock wall is uneven.

[0035] The telescopic hydraulic cylinder 2 includes a telescopic hydraulic cylinder body 201 and a telescopic hydraulic cylinder piston 202. The telescopic hydraulic cylinder 2 is located between the rear section moving assembly 1 and the front section moving assembly 3. The telescopic hydraulic cylinder body 201 is fixedly installed on the front section moving assembly 3 by bolt connection. The telescopic hydraulic cylinder piston 202 is fixedly installed on the rear section moving assembly 1 by bolt connection. The telescopic hydraulic cylinder 2 is in a horizontal installation state, providing a driving force for the rear section moving assembly 1 and the front section moving assembly 3 to move in the horizontal direction. The maximum stroke of the telescopic hydraulic cylinder 2 is the maximum distance the robot can walk.

[0036] The front section moving assembly 3 includes a front section rigid frame 301, a front section supporting hydraulic cylinder 302, a front section lower bracket 303, a front section upper hanger 304, a mounting plate 305, and a front section steel drill 306. The front section moving assembly 3 is located at the head of the robot in the horizontal forward direction. The front section supporting hydraulic cylinder 302 is fixed to both sides of the front section rigid frame 301 by bolts and is perpendicular to the walking direction of the robot. A front section steel drill 306 is installed at the end of the piston of each front section supporting hydraulic cylinder 302. The front section lower bracket 303 is installed below the front section rigid frame 301, and the front section upper hanger 304 is installed above the front section rigid frame 301. There are at least three front section supporting hydraulic cylinders 302 on each side of the front section rigid frame 301. In the embodiment, there are four front section supporting hydraulic cylinders 302 on each side. The fulcrum is redundantly set to adapt to quickly finding support points when the rock wall is uneven. Cutting equipment is set on the mounting plate 305.

[0037] The slide rail system 4 includes a linear guide rail 401 and a slider 402. The slider 402 is installed below the rear section rigid frame 101 in the rear section moving assembly, and the linear guide rail 401 is installed on the upper surface of the distal end of the front section lower bracket 303 in the front section moving assembly, forming a slide rail system. In the embodiment, there are two sets of slide rail systems here, and the two sets of slide rail systems are symmetrically arranged. Similarly, a linear guide rail 401 is installed on the upper surface of the distal end of the rear section upper bracket 103 in the rear section moving assembly, and the slider 402 is installed below the front section upper hanger 304 in the front section moving assembly, forming a slide rail system. In the embodiment, there are two sets of slide rail systems here, and the two sets of slide rail systems are symmetrically arranged. The above-mentioned linear guide rails 401 and slider 402 are all fastened to their respective structures by bolts.

[0038] Preferably, the cutting equipment is a water jet system 5, including several water jet heads 501, water jet sliding brackets 502, and water jet arm devices 503. The structural bracket of the water jet system 5 is fixed to the mounting plate 305 of the front section moving component by bolts. The number and type of water jet heads 501 are determined according to the mining process. There are two water jet heads in the embodiment.

[0039] The hydraulic station system 6 is located between the rear section moving assembly 1 and the front section moving assembly 3. The hydraulic station system 6 is fixedly installed above the front section lower bracket 303 in the front section moving assembly by bolts, and there is an appropriate safety distance between it and the rear section moving assembly 1 without touching it. The hydraulic station system 6 provides hydraulic oil for the hydraulic cylinders used for extension and support of the robot.

[0040] The rear section support hydraulic cylinder 102, front section support hydraulic cylinder 302, and telescopic hydraulic cylinder 2 are all connected to the hydraulic system's hydraulic station system via servo control valves; the servo control valves are also electrically connected to the control center. The hydraulic cylinders are controlled in three groups: one for the telescopic hydraulic cylinder 2, one for the rear section support hydraulic cylinder 102, and one for the front section support hydraulic cylinder 302.

[0041] For the convenience of operation, a lighting lamp, a camera and a distance sensor are provided on the rigid frame of the front section; and the lighting lamp, the camera and the distance sensor are electrically connected to the control center.

[0042] The electrical connection can be wired or wireless; the radio connection can be connected to the host computer using a communication module. These electrical connection methods are well-known technologies and will not be described in detail here.

[0043] The characteristic of the creeping rock wall walking robot is that it creeps horizontally within the confined space between two rock faces, relying on the support hydraulic cylinders in the front and rear moving assemblies to support the rock face and bear the weight of the entire robot. The robot moves horizontally to a designated position by controlling the stroke of the telescopic hydraulic cylinder 2. The water jet system 5 uses high-pressure water to cut thin ore veins according to the mining process. The rock surface formed after water cutting serves as a path for the robot to walk. Even if the rock face is uneven after cutting, the redundant support hydraulic cylinders in the front and rear moving assemblies can find support points. During creeping forward movement, the front support hydraulic cylinder 302 or the rear support hydraulic cylinder 102 must bear the entire weight of the robot. Therefore, the spacing and pressure of the support hydraulic cylinders should be reasonably set to maximize the lever arm to resist the bending moment caused by the robot's weight. The robot in this embodiment weighs approximately 400 kilograms, which according to calculations is fully capable of bearing the entire robot's weight and bending moment.

[0044] The present invention can effectively solve the difficult problem that the existing steeply inclined and extremely thin veins of rock gold cannot be mined by mechanical equipment. It innovatively proposes to use the idea of ​​water jet cutting for vein mining, so as to realize the mining of extremely thin veins by mechanical equipment. By increasing the number of water jet heads, the mining efficiency can be improved without causing environmental pollution.

Claims

1. A creeping rock wall walking robot, characterized by: Including rear section moving assembly, telescopic hydraulic cylinder, front section moving assembly, slide rail system, water jet system, hydraulic station system; The rear section moving assembly includes a rear section rigid frame, a rear section supporting hydraulic cylinder, a rear section upper bracket, and a rear section steel drill. The rear section moving assembly is located at the tail of the robot in the horizontal forward direction and is connected to the front section moving assembly through a telescopic hydraulic cylinder and a slide rail system. The rear section moving assembly and the front section moving assembly can move relative to each other in the horizontal direction. The rear section supporting hydraulic cylinder is fixedly installed on both sides of the rear section rigid frame and is perpendicular to the walking direction of the creeping rock wall walking robot. A rear section steel drill is installed at the end of the piston of each rear section supporting hydraulic cylinder. A rear section upper bracket is installed above the rear section rigid frame. There are more than three rear section supporting hydraulic cylinders on each side of the rear section rigid frame, and the fulcrums are redundantly arranged to adapt to quickly finding support points when the rock wall is uneven. The telescopic hydraulic cylinder includes a telescopic hydraulic cylinder body and a telescopic hydraulic cylinder piston. The telescopic hydraulic cylinder is located between the rear section moving assembly and the front section moving assembly. The telescopic hydraulic cylinder body is fixedly mounted on the front section moving assembly. The telescopic hydraulic cylinder piston is fixedly mounted on the rear section rigid frame of the rear section moving assembly. The telescopic hydraulic cylinder is in a horizontal installation state, providing a driving force for the rear section moving assembly and the front section moving assembly to move in the horizontal direction. The maximum stroke of the telescopic hydraulic cylinder is the maximum distance the robot can travel. The front section moving assembly includes a front section rigid frame, a front section supporting hydraulic cylinder, a front section lower bracket, a front section upper hanger, a front section steel drill, and a mounting plate; the front section moving assembly is located at the head of the robot in the horizontal forward direction, the front section supporting hydraulic cylinder is fixedly installed on both sides of the front section rigid frame, and is perpendicular to the walking direction of the robot, a front section steel drill is installed at the end of the piston of each front section supporting hydraulic cylinder, a front section lower bracket is installed below the front section rigid frame, and a front section upper hanger is installed above the front section rigid frame, and each side of the front section rigid frame has at least 3 or more front section supporting hydraulic cylinders, and the fulcrums are redundantly arranged to adapt to quickly finding support points when the rock wall is uneven; cutting equipment is arranged on the mounting plate; The slide rail system includes a linear guide rail and a slider. The slider is installed under the rear section rigid frame in the rear section moving assembly, and the linear guide rail is installed on the upper surface of the distal end of the front section lower bracket in the front section moving assembly, forming a set of slide rail systems; the linear guide rail is installed on the upper surface of the distal end of the rear section upper bracket in the rear section moving assembly, and the slider is installed under the front section upper hanger in the front section moving assembly, forming another set of slide rail systems; the above-mentioned linear guide rails and sliders are fastened to their respective structures by bolts; The hydraulic station system is located between the rear section moving assembly and the front section moving assembly. The hydraulic station system is fixedly installed above the front section lower bracket in the front section moving assembly, and there is an appropriate safety distance between the hydraulic station system and the rear section moving assembly without touching. The hydraulic station system provides hydraulic oil for the hydraulic cylinders used for extension and support of the robot.

2. The creeping rock wall walking robot according to claim 1, characterized in that: The cutting equipment is a water jet system, which includes several water jet heads, water jet sliding brackets, and water jet arm devices. The structural bracket of the water jet system is fixed to the mounting plate of the front section moving component by bolts. The number and type of water jet heads are determined according to the mining process.

3. The creeping rock wall walking robot according to claim 1, characterized in that: The hydraulic cylinder for supporting the rear section, the hydraulic cylinder for supporting the front section, and the telescopic hydraulic cylinder are all connected to the hydraulic system hydraulic station system through a servo control valve; the servo control valve is also electrically connected to the control center; the hydraulic cylinders are controlled in three groups, one group controls the telescopic hydraulic cylinder, one group controls the hydraulic cylinder for supporting the rear section, and one group controls the hydraulic cylinder for supporting the front section.

4. The creeping rock wall walking robot according to claim 1, characterized in that: The front section rigid frame is provided with an illumination lamp, a camera, and a distance sensor; the illumination lamp, the camera, and the distance sensor are electrically connected to a control center.

5. The creeping rock wall walking robot according to any one of claims 3 or 4, characterized in that: The electrical connection can be in the form of wired or wireless; the radio connection can be connected to the host computer using a communication module.

6. A method for using the creeping rock wall walking robot according to claim 1, characterized in that: Vertical shafts are set at both ends of the ore body stage, and hangers are set in the vertical shafts. The peristaltic rock wall walking robot is placed at one end of the vertical shaft through the hangers. The peristaltic rock wall walking robot mines from one vertical shaft to another vertical shaft along the horizontal direction of the ore body; then it is lifted by one work station and mined in the reverse direction; the peristaltic rock wall walking robot relies on the supporting hydraulic cylinders in the front and rear moving components to support the side of the rock wall in turn, and peristaltically walks horizontally in the limited space between the two rock wall surfaces; the mined ore falls into the tunnel set along the direction of the vein below the ore body.

7. The method for using the creeping rock wall walking robot according to claim 6, characterized in that: The hanger is provided with parallel guard plates. When the creeping rock wall walking robot starts to work from one end of the shaft, all the steel chisels installed on the rear section supporting hydraulic cylinder and the front section supporting hydraulic cylinder abut against the guard plates.

8. The method for using the creeping rock wall walking robot according to claim 7, characterized in that: When the creeping rock wall walking robot is lifted or lowered by utilizing the hanger, all the steel chisels installed on the rear section supporting hydraulic cylinder and the front section supporting hydraulic cylinder abut against the guard plate.

9. The method for using the creeping rock wall walking robot according to claim 6, characterized in that: The water jet system includes a water jet arm device, a water jet sliding bracket and several water jet heads. The water jet cuts the side, back and top of the ore body through the movement of the water jet on the sliding bracket, the extension and contraction of the water jet arm and the rotation of the water jet sliding bracket.

10. The method for using the creeping rock wall walking robot according to claim 6, characterized in that: The water inlet pipe of the water jet system is arranged in the cut space below the creeping rock wall walking robot; the sand tank of the water jet system is arranged on the mounting plate, and its mounting position can be located near the water jet arm device.

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