A mining method suitable for C-shaped excavation trajectory

Abstract

The present invention relates to a mining method suitable for a C-shaped excavation track, comprising the following steps: a wheeled curved belt conveyor is straddled on the main conveyor belt conveyor, the wheeled curved belt conveyor moves with the excavator, and conveys materials to the main conveyor belt conveyor; a flexible continuous transport robot is installed, so that the flexible continuous transport robot straddles the wheeled curved belt conveyor; the flexible continuous transport robot moves with the excavator, the wheeled curved belt conveyor remains in place as a whole, and the materials are conveyed by the flexible continuous transport robot to the wheeled curved belt conveyor, and then by the wheeled curved belt conveyor to the main conveyor belt conveyor. The present invention realizes material transportation for C-shaped track excavation only through a flexible continuous transport robot, a wheeled curved belt conveyor and a telescopic belt conveyor, and conveys materials to the main conveyor belt conveyor of the main transport lane, greatly reducing the number of equipment, and greatly reducing the frequency of stopping equipment to install equipment, improving the continuity of excavation operations, and thus improving excavation operation efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, in particular to the mining of C-shaped bends, and specifically refers to a mining method suitable for C-shaped excavation trajectories. Background Art

[0002] With the improvement of coal mining technology, the underground tunnel settings are becoming more and more diversified. However, no matter how the tunnels are designed, it is still essential to ensure underground ventilation.

[0003] In order to ensure the entry of fresh air and the discharge of exhausted air, it is necessary to open up the connecting tunnel between the auxiliary transport tunnel and the return air chute after excavating a certain distance in the auxiliary transport tunnel, and excavate in the reverse direction along the return air chute to realize the through tunnel between the return air chute and the main return air tunnel, thereby realizing the air flow in the auxiliary transport tunnel, and the exhausted air flows to the main return air tunnel through the return air chute.

[0004] Since the main return air lane is located behind the auxiliary transport lane and the return air chute, the auxiliary transport lane, connecting lane and return air chute form a C-shaped structure. The length of the connecting lane is shorter than that of the auxiliary transport lane and the return air chute. The tunnel boring machine and the coal conveying system need to turn twice in a row. Therefore, a variety of equipment is needed for relay conveying during the tunneling process. Every time a short distance is excavated, the conveying equipment needs to be stopped and moved, resulting in low tunneling efficiency. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a mining method suitable for a C-shaped tunneling trajectory, which not only realizes mining in the C-shaped tunneling trajectory, but also improves the tunneling operation efficiency.

[0006] The present invention is implemented by the following technical scheme, and provides a mining method suitable for a C-shaped excavation trajectory, comprising the following steps:

[0007] 1. A main conveyor belt is set in the main transport lane, and a wheeled curved belt is installed on the main conveyor belt. The discharge end of the wheeled curved belt is located directly above the main conveyor belt. The wheeled curved belt moves along the frame of the main conveyor belt. The feed end of the wheeled curved belt extends to the auxiliary transport lane and is matched with the discharge end of the tunneling machine. The materials excavated by the tunneling machine are transported to the wheeled curved belt, and the materials are transported to the main conveyor belt through the conveyor belt of the wheeled curved belt.

[0008] 2. The roadheader advances along the auxiliary transport tunnel, and the wheeled curved belt conveyor moves with the roadheader and transports the materials excavated by the roadheader to the main transport belt conveyor;

[0009] 3. When the distance between the tunnel boring machine and the main conveyor belt is greater than the length of the flexible continuous transport robot, the flexible continuous transport robot is installed between the tunnel boring machine and the main conveyor belt, and the flexible continuous transport robot is straddled on the wheeled curved belt conveyor. The belt conveyor discharge end of the flexible continuous transport robot is located directly above the wheeled curved belt conveyor, and the belt conveyor feed end of the flexible continuous transport robot is adapted to the discharge end of the tunnel boring machine. At this time, the discharge end of the wheeled curved belt conveyor is still located above the main conveyor belt conveyor;

[0010] The flexible continuous transport robot comprises a frame with a walking device installed, and a belt conveyor installed on the frame, wherein a straddling space is provided in the frame and is located below the belt conveyor and is adapted to a wheeled curved belt conveyor and a telescopic belt conveyor;

[0011] 4. The flexible continuous transport robot moves with the tunnel boring machine, and the wheeled curved belt conveyor remains in place as a whole. When the moving distance of the tunnel boring machine is less than the length of the flexible continuous transport robot, the flexible continuous transport robot and the wheeled curved belt always maintain a certain overlap length. The materials excavated by the tunnel boring machine are transported to the wheeled curved belt conveyor by the belt conveyor of the flexible continuous transport robot, and then transported to the main transport belt conveyor by the wheeled curved belt conveyor;

[0012] 5. The tunnel boring machine turns from the auxiliary transport tunnel into the connecting tunnel between the auxiliary transport tunnel and the return air chute, and excavates sideways along the connecting tunnel. After excavating to the return air chute, the tunnel boring machine excavates backwards along the return air chute. In the process of the tunnel boring machine entering the connecting tunnel and the return air chute, the discharge end of the belt conveyor of the flexible continuous transport robot is always overlapped on top of the wheeled turning belt conveyor. The flexible continuous transport robot completes the C-shaped bend transportation formed by the auxiliary transport tunnel, the connecting tunnel and the return air chute, which greatly reduces the number of equipment used.

[0013] As an optimization, when the tunnel boring machine is excavating backward along the return air chute, when the discharge end of the belt conveyor of the flexible continuous transport robot moves to above the feed end of the wheeled curved belt conveyor, the wheeled curved belt conveyor is moved to one side of the auxiliary transport tunnel, and then the telescopic belt conveyor is installed, and the discharge end of the telescopic belt conveyor is adapted to the main transport belt conveyor. The feed end of the telescopic belt conveyor extends into the straddling space of the flexible continuous transport robot, and the discharge end of the belt conveyor of the flexible continuous transport robot is located directly above the telescopic belt conveyor. The flexible continuous transport robot moves with the tunnel boring machine, and the materials excavated by the tunnel boring machine are transported by the belt conveyor of the flexible continuous transport robot to the telescopic belt conveyor, and then transported by the telescopic belt conveyor to the main transport belt conveyor. Every time the flexible continuous transport robot moves a certain distance relative to the telescopic belt conveyor, the telescopic belt conveyor is extended by a corresponding length, so that the discharge end of the belt conveyor of the flexible continuous transport robot is always overlapped above the telescopic belt conveyor to ensure that the materials transported by the belt conveyor of the flexible continuous transport robot fall on the telescopic belt conveyor.

[0014] As an optimization, when the length of the telescopic belt conveyor is extended to match the vertical distance between the connecting lane and the main transport belt conveyor, the wheeled curved belt conveyor is moved to the connecting lane, and the feeding end of the wheeled curved belt conveyor enters the return air chute and then extends backward, so that the discharging end of the wheeled curved belt conveyor is located above the telescopic belt. The flexible continuous transport robot straddles the wheeled curved belt conveyor, and the discharging end of the belt conveyor of the flexible continuous transport robot is located directly above the wheeled curved belt conveyor. The telescopic belt conveyor and the wheeled curved belt conveyor are kept in place as a whole, and materials are transported only by the rotation of the belt. The flexible continuous transport robot moves with the tunneling machine, and the materials excavated by the tunneling machine are transported to the main transport belt conveyor in turn through the belt conveyor of the flexible continuous transport robot, the wheeled curved belt conveyor and the telescopic belt conveyor.

[0015] When the tunnel boring machine excavates backwards along the return air chute to the main return air lane, the discharge end of the belt conveyor of the flexible continuous transport robot is still located directly above the wheeled curved belt conveyor, thus realizing the reverse excavation section of the return air chute and the main return air lane.

[0016] As an optimization, after the reverse excavation section of the return air chute and the main return air tunnel are penetrated, the wheeled curved belt conveyor moves to the auxiliary transport tunnel and parks on one side; the flexible continuous transport robot moves to the auxiliary transport tunnel and straddles the telescopic belt conveyor; the tunnel boring machine retreats to the four-way intersection of the auxiliary transport tunnel and the return air chute tunnel, turns around, and then moves to the auxiliary transport tunnel and excavates forward along the auxiliary transport tunnel. The flexible continuous transport robot moves with the tunnel boring machine, and the materials excavated by the tunnel boring machine are transported to the main transport belt conveyor in turn through the belt conveyor and telescopic belt conveyor of the flexible continuous transport robot. This optimization plan realizes the conversion after C-shaped excavation, allowing the tunnel boring machine to continue to excavate forward along the auxiliary transport tunnel, ensuring the efficiency of the excavation operation.

[0017] As an optimization, the walking device of the flexible continuous transport robot includes two groups of walking systems arranged in the left and right directions, one of which is a crawler walking system, and the other includes a number of detachable universal support wheels that are spaced in sequence along the length direction. This optimization scheme ensures the reliability of support by setting up a crawler walking system, and at the same time realizes the tracking walking of the flexible continuous transport robot, that is, the walking trajectories of various parts of the flexible continuous transport robot are consistent; by setting up detachable universal support wheels, on the one hand, it plays a supporting role and improves the stability of the flexible continuous transport robot, and on the other hand, it is convenient to disassemble and install, so as to facilitate the telescopic belt conveyor and wheeled bending belt conveyor to the straddle space, shortening the equipment replacement and installation time, and greatly improving the operation efficiency.

[0018] The beneficial effects of the present invention are as follows: only by means of flexible continuous transport robots, wheeled bending belt conveyors and telescopic belt conveyors, material transportation for C-shaped track excavation is realized, and the materials are transported to the main transport belt conveyor of the main transport tunnel, which greatly reduces the number of equipment and significantly reduces the frequency of shutdown for equipment installation, thereby improving the continuity of excavation operations and thus improving excavation operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the initial state of the present invention;

[0020] Figure 2 It is a schematic diagram of the vertical overlap state of the wheeled curved belt conveyor and the main transport belt conveyor;

[0021] Figure 3 This is a schematic diagram of the flexible continuous transport robot riding on a wheeled curved belt conveyor during forward excavation;

[0022] Figure 4 This is a schematic diagram of the flexible continuous transport robot passing through a C-shaped bend;

[0023] Figure 5 This is a schematic diagram of the flexible continuous transport robot riding astride the telescopic belt conveyor;

[0024] Figure 6 This is a schematic diagram of the flexible continuous transport robot riding on a wheeled curved belt conveyor during the reverse excavation process;

[0025] Figure 7 This is a schematic diagram of the return air chute and the main return air lane.

[0026] Figure 8 This is a schematic diagram of the state of continuing to dig forward after completing the C-shape;

[0027] Fig. 9 This is a cross-sectional schematic diagram of a flexible continuous transport robot straddling a telescopic belt conveyor;

[0028] Fig.10 Schematic diagram of the flexible continuous transport robot turning state. DETAILED DESCRIPTION

[0029] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0030] The present embodiment provides a mining method suitable for a C-shaped excavation trajectory. The equipment used in the present mining method includes a flexible continuous transport robot, a wheeled bending belt conveyor and a telescopic belt conveyor. The telescopic belt conveyor adopts the existing technology. The wheeled bending belt conveyor and the flexible continuous transport robot can both turn and walk on their own, and are both provided with a belt conveyor. They can either complete material transportation during the overall movement or only realize material transportation while keeping the whole in place. The flexible continuous transport robot also has a tracking function, that is, the moving trajectories of the various parts of the flexible continuous transport robot are consistent.

[0031] Specifically, the wheeled curved belt conveyor includes a mobile support and a belt conveyor I installed on the mobile support. The mobile support includes a number of support units arranged in sequence. Two adjacent support units are hinged by a vertical axis. The turning is achieved by the relative rotation of the adjacent support units. At least two ground support wheels and two track support wheels are installed on each support unit, and the two track support wheels are located between the two ground support wheels. The ground support wheels and the track support wheels are coaxially arranged, and the outer diameter of the ground support wheels is larger than the outer diameter of the track support wheels. When the wheeled curved belt conveyor moves along the ground of the lane, it is supported and moved by the ground support wheels, and the track support wheels are suspended in the air; when the wheeled curved belt conveyor moves along the main conveyor belt, the two track wheels are respectively supported on the frames on both sides of the main conveyor belt, and are supported and moved by the track wheels, and the ground support wheels are suspended in the air.

[0032] The flexible continuous transport robot includes a frame I equipped with a walking device, and a belt conveyor II installed on the frame I. The frame I includes a number of frame units hinged in sequence through vertical axes to allow the frame I to bend, thereby realizing the turning of the flexible continuous transport robot and achieving the purpose of flexibility. A straddling space located below the belt conveyor II and adapted to the wheeled bending belt conveyor and the telescopic belt conveyor is provided in the frame I. The wheeled bending belt conveyor and the telescopic belt conveyor can both be moved into the straddling space to realize the straddling installation of the flexible continuous transport robot relative to the wheeled bending belt conveyor and the telescopic belt conveyor, thereby ensuring the overlap of the flexible continuous transport robot with the wheeled bending belt conveyor and the telescopic belt conveyor, so that the material output from the discharge end of the belt conveyor II falls onto the belt conveyor I of the telescopic belt conveyor or the wheeled bending belt conveyor, thereby ensuring the reliable transportation of the material. The walking device of the flexible continuous transport robot includes two walking systems arranged in the left and right directions. The walking system on the left is a crawler walking system, and the walking system on the right includes a number of detachable universal support wheels that are spaced in sequence along the length direction. The straddling space is located between the crawler walking system and the universal support wheels, and the universal support wheels and the crawler walking system form a gantry. Fig. 9As shown, the universal support wheel is installed on the vertically arranged support rod, the support rod is fixedly connected to the frame I by bolts, and the support rod supports the frame of the belt conveyor II. The universal support wheels and support rods are spaced in sequence along the length direction. Due to the heavy weight of the crawler walking system, the flexible continuous transport robot will not fall over after all the universal support wheels and support rods are removed. Of course, when installing a telescopic belt conveyor or a wheeled bending belt conveyor in the straddle space, some of the universal support wheels and support rods can be removed to ensure the stability of the flexible continuous transport machine. The frame and crawler walking system of the flexible continuous transport robot adopt existing technology, such as the structure disclosed in the application number 201910120092X. Of course, other walking devices with tracking functions can also be used, as long as the moving trajectories of each part are consistent.

[0033] A mining method applicable to a C-shaped excavation trajectory in this embodiment specifically includes the following steps:

[0034] 1. A main conveyor belt is set in the main transport lane, and a wheeled curved belt is installed on the main conveyor belt. The discharge end of the wheeled curved belt is located directly above the main conveyor belt. The wheeled curved belt moves along the frame of the main conveyor belt. The feed end of the wheeled curved belt extends to the auxiliary conveyor lane and is matched with the discharge end of the tunneling machine. A transition slope is set on the main conveyor belt. The upper end of the transition slope is overlapped on the frame of the main conveyor belt to form a turnout structure. The lower end of the transition slope extends to the ground opposite to the auxiliary conveyor lane. The wheeled curved belt moves downward from the main conveyor belt along the transition slope, thereby improving the stability of the wheeled curved belt.

[0035] 2. The tunnel boring machine advances along the auxiliary transport tunnel, and the wheeled curved belt conveyor moves forward with the tunnel boring machine. The materials excavated by the tunnel boring machine are transported to the wheeled curved belt conveyor, and the wheeled curved belt conveyor transports the materials excavated by the tunnel boring machine to the main transport belt conveyor.

[0036] 3. After the distance between the tunnel boring machine and the main conveyor belt is greater than the length of the flexible continuous transport robot, the flexible continuous transport robot is installed between the tunnel boring machine and the main conveyor belt, and the flexible continuous transport robot is made to ride on the wheeled curved belt conveyor. The belt conveyor discharge end of the flexible continuous transport robot is located directly above the wheeled curved belt conveyor, and the belt conveyor feed end of the flexible continuous transport robot is adapted to the discharge end of the tunnel boring machine. At this time, the discharge end of the wheeled curved belt conveyor is still located above the main conveyor belt conveyor, and the wheeled curved belt conveyor and the main conveyor belt conveyor are in a mutually perpendicular state to fully utilize the length of the wheeled curved belt conveyor.

[0037] 4. The flexible continuous transport robot moves with the tunnel boring machine, and the wheeled curved belt conveyor remains in place as a whole. The materials excavated by the tunnel boring machine are transported to the wheeled curved belt conveyor by the belt conveyor of the flexible continuous transport robot, and then transported to the main transport belt conveyor by the wheeled curved belt conveyor. In this step, there is always a certain overlap length between the flexible continuous transport robot and the wheeled curved belt conveyor.

[0038] 5. The tunnel boring machine turns from the auxiliary transport tunnel and enters the connecting tunnel between the auxiliary transport tunnel and the return air chute, and excavates sideways along the connecting tunnel. After excavating to the return air chute, the tunnel boring machine excavates backward along the return air chute to perform reverse excavation operations. During the process of the tunnel boring machine entering the connecting tunnel and the return air chute, the discharge end of the belt conveyor of the flexible continuous transport robot is always overlapped on top of the wheeled turning belt conveyor, and the flexible continuous transport robot completes the C-shaped bend transportation formed by the auxiliary transport tunnel, connecting tunnel and return air chute.

[0039] 6. When the tunneling machine is excavating backward along the return air chute, when the discharging end of the belt conveyor of the flexible continuous transport robot moves above the feeding end of the wheeled curved belt conveyor, the wheeled curved belt conveyor is moved to one side of the auxiliary transport tunnel, and then the telescopic belt conveyor is installed, and the discharging end of the telescopic belt conveyor is adapted to the main transport belt conveyor. The feeding end of the telescopic belt conveyor extends into the straddling space of the flexible continuous transport robot, so that the continuous transport robot straddles the telescopic belt conveyor. The discharging end of the belt conveyor of the flexible continuous transport robot is located directly above the telescopic belt conveyor. The flexible continuous transport robot moves with the tunneling machine, and the materials excavated by the tunneling machine are transported by the belt conveyor of the flexible continuous transport robot to the telescopic belt conveyor, and then transported by the telescopic belt conveyor to the main transport belt conveyor. Every time the flexible continuous transport robot moves a certain distance relative to the telescopic belt conveyor, the telescopic belt conveyor is extended by a corresponding length, so that the discharging end of the belt conveyor of the flexible continuous transport robot is always overlapped above the telescopic belt conveyor to ensure that the materials transported by the belt conveyor of the flexible continuous transport robot fall on the telescopic belt conveyor.

[0040] 7. When the length of the telescopic belt conveyor is extended to match the vertical distance between the connecting lane and the main transport belt conveyor, that is, when the feeding end of the telescopic belt conveyor is opposite to the connecting lane, move the wheeled curved belt conveyor to the connecting lane, and make the feeding end of the wheeled curved belt conveyor enter the return air chute and extend backward, so that the discharge end of the wheeled curved belt conveyor is located above the telescopic belt. The flexible continuous transport robot rides on the wheeled curved belt conveyor, and the discharge end of the belt conveyor of the flexible continuous transport robot is located directly above the wheeled curved belt conveyor. The telescopic belt conveyor and the wheeled curved belt conveyor remain in place as a whole. The flexible continuous transport robot moves with the tunneling machine, and the materials excavated by the tunneling machine are transported to the main transport belt conveyor in sequence through the belt conveyor of the flexible continuous transport robot, the wheeled curved belt conveyor and the telescopic belt conveyor.

[0041] The distance between the feeding end of the wheeled curved belt conveyor and the main return air lane is less than the sum of the lengths of the belt conveyor of the flexible continuous transport robot and the tunnel boring machine. When the tunnel boring machine excavates backward along the return air chute to the main return air lane, the discharging end of the belt conveyor of the flexible continuous transport robot is still located directly above the wheeled curved belt conveyor, thus realizing the reverse excavation section of the return air chute and the main return air lane.

[0042] After the reverse excavation section of the return air chute and the main return air tunnel are penetrated, the wheeled curved belt conveyor moves automatically to the auxiliary transport tunnel and parks on one side; the flexible continuous transport robot moves automatically to the auxiliary transport tunnel and rides on the telescopic belt conveyor; the tunnel boring machine retreats to the four-way intersection of the auxiliary transport tunnel and the return air chute tunnel, turns around, and then moves to the auxiliary transport tunnel and excavates forward along the auxiliary transport tunnel. The flexible continuous transport robot moves with the tunnel boring machine, and the materials excavated by the tunnel boring machine are transported to the main transport belt conveyor in turn through the belt conveyor and telescopic belt conveyor of the flexible continuous transport robot.

[0043] The mining method of this embodiment has the following positive effects in actual use:

[0044] 1. It eliminates the need to install and withdraw the chute when installing the telescopic belt in the trench of the working face;

[0045] 2. It eliminates the need for installation and withdrawal of the slide during eye cutting and excavation;

[0046] 3. After the equipment is used, it does not need to be dismantled and can be directly moved to the next work site;

[0047] 4. The chute belt does not need to be frequently pulled at the tail of the machine or the belt is added, which greatly speeds up the excavation speed;

[0048] 5. It can be equipped with crushing, transfer, support and other modules, and can be transported in a serpentine manner and run up and down slopes;

[0049] 6. Less staffing and relatively simple production management;

[0050] 7. It has significantly reduced the cost per ton of coal, and reduced the accident rate of mechanical equipment and mine safety risks.

[0051] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A mining method suitable for a C-shaped excavation trajectory, characterized in that: The steps include: (1) A main conveyor belt is set in the main transport tunnel, and a wheeled curved belt conveyor is installed on the main conveyor belt. The discharge end of the wheeled curved belt conveyor is located directly above the main conveyor belt conveyor. The wheeled curved belt conveyor moves along the frame of the main conveyor belt conveyor. The feed end of the wheeled curved belt conveyor extends to the auxiliary transport tunnel and is compatible with the discharge end of the tunneling machine. (2) The roadheader advances along the auxiliary transport tunnel, and the wheeled curved belt conveyor moves with the roadheader and transports the materials excavated by the roadheader to the main transport belt conveyor; (3) When the distance between the tunnel boring machine and the main conveyor belt is greater than the length of the flexible continuous transport robot, the flexible continuous transport robot is installed between the tunnel boring machine and the main conveyor belt, and the flexible continuous transport robot is straddled on the wheeled curved belt conveyor. The discharge end of the belt conveyor of the flexible continuous transport robot is located directly above the wheeled curved belt conveyor, and the feed end of the belt conveyor of the flexible continuous transport robot is matched with the discharge end of the tunnel boring machine. At this time, the discharge end of the wheeled curved belt conveyor is still located above the main conveyor belt conveyor. The flexible continuous transport robot comprises a frame with a walking device installed, and a belt conveyor installed on the frame, wherein a straddling space is provided in the frame and is located below the belt conveyor and is adapted to a wheeled curved belt conveyor and a telescopic belt conveyor; (4) The flexible continuous transport robot moves with the tunnel boring machine, and the wheeled curved belt conveyor remains in place as a whole. The materials excavated by the tunnel boring machine are transported to the wheeled curved belt conveyor by the belt conveyor of the flexible continuous transport robot, and then transported to the main transport belt conveyor by the wheeled curved belt conveyor; (5) The TBM turns from the auxiliary transport tunnel to the connecting tunnel between the auxiliary transport tunnel and the return air chute, and excavates laterally along the connecting tunnel. After excavating to the return air chute, the TBM excavates backward along the return air chute. During the process of the TBM entering the connecting tunnel and the return air chute, the discharge end of the belt conveyor of the flexible continuous transport robot is always overlapped on top of the wheeled turning belt conveyor, and the flexible continuous transport robot completes the C-shaped bend transportation formed by the auxiliary transport tunnel, connecting tunnel and return air chute.

2. A mining method suitable for a C-shaped excavation trajectory according to claim 1, characterized in that: When the tunnel boring machine is advancing backward along the return air chute, when the discharging end of the belt conveyor of the flexible continuous transport robot moves above the feeding end of the wheeled curved belt conveyor, the wheeled curved belt conveyor is moved to one side of the auxiliary transport tunnel, and then the telescopic belt conveyor is installed, and the discharging end of the telescopic belt conveyor is adapted to the main transport belt conveyor. The feeding end of the telescopic belt conveyor extends into the straddling space of the flexible continuous transport robot, and the discharging end of the belt conveyor of the flexible continuous transport robot is located directly above the telescopic belt conveyor. The flexible continuous transport robot moves with the tunnel boring machine, and the materials excavated by the tunnel boring machine are transported by the belt conveyor of the flexible continuous transport robot to the telescopic belt conveyor, and then transported by the telescopic belt conveyor to the main transport belt conveyor. Every time the flexible continuous transport robot moves a certain distance relative to the telescopic belt conveyor, the telescopic belt conveyor is extended by a corresponding length, so that the discharging end of the belt conveyor of the flexible continuous transport robot is always overlapped above the telescopic belt conveyor.

3. The excavation method suitable for a C-shaped excavation trajectory according to claim 2, characterized in that: When the length of the telescopic belt conveyor is extended to match the vertical distance between the connecting lane and the main transport belt conveyor, the wheeled curved belt conveyor is moved to the connecting lane, and the feeding end of the wheeled curved belt conveyor enters the return air chute and then extends backward, so that the discharging end of the wheeled curved belt conveyor is located above the telescopic belt. The flexible continuous transport robot straddles the wheeled curved belt conveyor, and the discharging end of the belt conveyor of the flexible continuous transport robot is located directly above the wheeled curved belt conveyor. The telescopic belt conveyor and the wheeled curved belt conveyor are kept in place as a whole. The flexible continuous transport robot moves with the tunneling machine, and the materials excavated by the tunneling machine are transported to the main transport belt conveyor in turn through the belt conveyor of the flexible continuous transport robot, the wheeled curved belt conveyor and the telescopic belt conveyor. When the tunnel boring machine excavates backwards along the return air chute to the main return air lane, the discharging end of the belt conveyor of the flexible continuous transport robot is still located directly above the wheeled curved belt conveyor.

4. The excavation method suitable for a C-shaped excavation trajectory according to claim 3, characterized in that: After the reverse excavation section of the return air chute and the main return air tunnel are penetrated, the wheeled curved belt conveyor moves automatically to the auxiliary transport tunnel and parks on one side; the flexible continuous transport robot moves automatically to the auxiliary transport tunnel and rides on the telescopic belt conveyor; the tunnel boring machine retreats to the four-way intersection of the auxiliary transport tunnel and the return air chute tunnel, turns around, and then moves to the auxiliary transport tunnel and excavates forward along the auxiliary transport tunnel. The flexible continuous transport robot moves with the tunnel boring machine, and the materials excavated by the tunnel boring machine are transported to the main transport belt conveyor in turn through the belt conveyor and telescopic belt conveyor of the flexible continuous transport robot.

5. The excavation method suitable for a C-shaped excavation trajectory according to claim 1, characterized in that: The walking device of the flexible continuous transport robot includes two walking systems arranged in the left and right directions, wherein the walking system on one side is a crawler walking system, and the walking system on the other side includes a plurality of detachable universal support wheels spaced in sequence along the length direction.

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