A high-strength rock mass in-situ low-energy consumption rock crushing and mining robot and excavation method

Abstract

The present application relates to the field of underground rock breaking technology in mines, and provides a high-strength rock mass in-situ low-energy rock crushing mining robot and excavation method. The excavation robot includes a walking mechanism and a robot body mounted on the walking mechanism. The robot body includes at least a power system and a control system. The robot body is equipped with an all-round support mechanism, an environmental perception system, a drilling and expansion and tension rock breaking system, a rock crushing and raking system, and a slag collection and transportation system. The control system includes an intelligent dynamic analysis module for excavation parameters, a communication module, and an intelligent navigation module. The excavation robot integrates multiple functions such as drilling, rock breaking, rock crushing, and slag transportation. By fully utilizing the in-situ engineering geological conditions of the rock mass and the mechanical properties of the rock material (resistance to compression but not to tension and shear) to break the rock, it can achieve block size control after the rock is broken, effectively improve rock breaking efficiency, reduce mining energy consumption, and achieve safe, stable, and continuous rock breaking operations.

Description

Technical Field

[0001] The present application belongs to the field of underground rock breaking technology in mines, and more specifically, relates to a high-strength rock mass in-situ low-energy consumption rock crushing and mining robot. Background Art

[0002] As the mining of mineral resources progresses into deeper areas, complex geological conditions such as hard rock, high abrasiveness, high ground stress and dispersed ore bodies make deep-earth resource mining difficult.

[0003] Traditional drilling and blasting methods for rock breaking have problems such as large amounts of dust, discontinuous operations, and inaccurate rock breaking, resulting in low construction safety and efficiency.

[0004] Although mechanical rock breaking has obvious advantages such as environmental protection and continuous rock breaking, the existing high-intensity tunnel boring machines usually use large-inertia cutting heads covered with pick teeth to break rocks. Under hard rock conditions, there are also various problems: (1) The equipment is bulky, energy consumption is high, and flexibility is poor; (2) At present, mechanical rock breaking requires first using a drilling rig to drill and loosen the hole, then the tunnel boring machine performs cutting and grinding excavation, and finally the ore is transported by loading equipment such as scrapers. Multiple processes and multiple equipment cannot achieve efficient and continuous operation in a small underground space; (3) The pick teeth are highly worn, cutting takes a long time, and there is no (4) For hard rock, it is usually necessary to use a drilling rig to drill holes to loosen the hard rock before cutting and grinding. There is a problem of equipment circulation and poor operation continuity. (5) There is a lack of environmental perception system, which can neither take advantage of engineering geological conditions to break rock nor prevent disasters such as rock bursts and collapses. (6) There is a lack of autonomous navigation and communication functions, and it relies entirely on manual labor, with a low degree of automation. (7) There is a lack of dynamic adjustment function for excavation parameters. The operation process relies on the operator's eyes and experience, and the human risk and operation and maintenance costs are high. In summary, the existing mechanical rock breaking equipment is difficult to achieve efficient, environmentally friendly and economical mining of deep-ground resources.

[0005] In terms of patent applications, the patent application number CN202210886102.2 is named "A device and method for combined rock breaking by projectile blasting and mechanical tools", which uses blasting and mechanical methods to jointly break rocks on the tunnel face; the patent application number CN202211003069.0 is named "A cantilevered microwave-assisted rock breaking and cutting mechanism, tunnel boring machine and microwave-assisted rock breaking method", which uses microwave heating to generate thermal stress damage inside the rock to assist the cutter head in cutting and breaking the rock.

[0006] However, rock is not a homogeneous, continuous material; it naturally contains joints, fissures, and areas of stress concentration. Furthermore, those skilled in the art will recognize that rock's compressive strength is far greater than its tensile and shear strengths. Most of the equipment and patents listed above directly utilize external forces to break rock, failing to fully utilize the rock's inherent engineering geological conditions and its mechanical properties: it resists compression but not tension or shear. Summary of the Invention

[0007] To address the shortcomings of the aforementioned prior art, the present invention aims to provide a low-energy, in-situ rock-crushing and mining robot for high-strength rock. This robot integrates multiple functions, including drilling, rock breaking, rock crushing, and slag transport. By fully utilizing the rock's in-situ engineering geological conditions and the rock's mechanical properties of compression but not tension and shear, it can achieve controlled fragmentation after rock crushing, effectively improving rock-crushing efficiency, reducing mining energy consumption, and achieving safe, stable, and continuous rock-crushing operations. Furthermore, this mining robot is compact, flexible, and consumes low energy for movement, making it suitable for high-strength rock.

[0008] To achieve the above-mentioned objectives, the technical solution adopted in this application is: to provide a high-strength rock in-situ low-energy consumption rock crushing and mining robot, including a walking mechanism and a robot body arranged on the walking mechanism, the robot body includes at least a power system and a control system, the robot body is provided with an all-round support mechanism, an environmental perception system, a drilling and expansion and breaking rock system, a rock crushing and raking system and a rock slag collection and transportation system, the control system includes an intelligent dynamic analysis module for excavation parameters, a communication module and an intelligent navigation module.

[0009] In one embodiment, the omnidirectional support mechanism includes an upper hydraulic telescopic support leg, a lower hydraulic telescopic support leg, a left hydraulic telescopic support leg and a right hydraulic telescopic support leg.

[0010] In one embodiment, the environment sensing system is arranged at the front end of the robot body, and the environment sensing system includes: a topography scanning mechanism and a rock mass high stress area identification mechanism.

[0011] In one embodiment, the topography scanning mechanism is a camera.

[0012] In one embodiment, the rock mass high stress area identification mechanism includes a telescopic arm and a variable seismic source and a multi-frequency sensing unit arranged on the telescopic arm.

[0013] In one embodiment, the drilling and expansion and pulling rock breaking system includes a first robotic arm, a mounting seat, a drilling assembly and an expansion and pulling assembly, the first robotic arm is arranged on the robot body, the mounting seat is arranged on the first robotic arm, and the drilling assembly and the expansion and pulling assembly are arranged on the mounting seat.

[0014] In one embodiment, the expansion and tension assembly includes a first oil cylinder, a second oil cylinder, a force sensor and an expansion head. The first oil cylinder is arranged on the mounting seat, the second oil cylinder is arranged on the first oil cylinder, the second oil cylinder controls the expansion of the expansion head, the first oil cylinder controls the extension and retraction of the expansion head, and the force sensor is electrically connected to the expansion head.

[0015] In one embodiment, the rock crushing and raking system includes: a second robotic arm, a rock drilling assembly, and a raking assembly. The second robotic arm is arranged on the robot body, and the rock drilling assembly and the raking assembly are arranged on the second robotic arm.

[0016] In one embodiment, the slag collection and transportation system includes a bucket, a slag conveyor belt and a slag discharge bucket, the bucket is arranged below the front end of the robot body, the slag conveyor belt is arranged on the robot body, and the slag discharge bucket is arranged at the rear end of the robot body.

[0017] Another object of the present application is to provide a high-strength rock mass in-situ low-energy consumption rock crushing and excavation method, based on the high-strength rock mass in-situ low-energy consumption rock crushing and excavation robot as described above, the excavation method comprises the following steps:

[0018] S1. With the cooperation of the communication module and the intelligent navigation module, the control system controls the robot body to move to the appropriate position in front of the palm face through the walking mechanism, and the omnidirectional support mechanism extends to fix the robot body;

[0019] S2. The control system controls the operation of the environmental perception system. The topography scanning mechanism in the environmental perception system performs real-time dynamic scanning and identification of the topography of the tunnel face. The rock mass high stress area identification mechanism in the environmental perception system performs real-time dynamic identification and positioning of high stress areas on the tunnel face. The acquired engineering geological condition data of the tunnel face is transmitted in real time to the intelligent dynamic analysis module for tunneling parameters.

[0020] S3, the intelligent dynamic analysis module for tunneling parameters, performs real-time dynamic analysis on the received engineering geological condition data of the tunnel face and completes the block identification of the rock-breaking area;

[0021] S4. When the face rock mass is relatively intact, the control system controls the drilling and expansion / tension rock breaking systems to prefabricate free surfaces on the face to assist in rock breaking. This step can be ignored when the face rock mass has well-developed joints and fissures.

[0022] S5. The control system controls the drilling components in the drilling and expansion and breaking rock system to drill a series of control holes distributed along the tunnel face contour to control the tunnel face cross-sectional contour. The drilling positions of the control holes are dynamically provided by the tunneling parameter intelligent dynamic analysis module.

[0023] S6. The control system controls the drilling assembly to drill a series of expansion holes distributed on the tunnel face. The specific locations of the expansion holes are in the centers of several high stress concentration areas and block rock breaking areas on the tunnel face. The drilling locations of the expansion holes are dynamically provided by the intelligent dynamic analysis module of tunneling parameters.

[0024] S7. The control system controls the expansion and tension components in the drilling and expansion and tension rock breaking systems to perform expansion and cracking at the expansion and tension holes. The rock breaking sequence is to first break the rock in the high stress concentration area, and then break the rock in the center of the block rock breaking area. The rock breaking sequence of the expansion and tension components is dynamically provided by the intelligent dynamic analysis module of the tunneling parameters.

[0025] S8. When the rock mass on the tunnel face reaches the required size control, the expansion and cracking work stops, and the expansion and tension components start to perform tensioning and breaking, completing the crushing or pulling out of the rock mass on the tunnel face.

[0026] S9, rock crushing and raking system crushes larger rocks, raks loose rocks, and raks the rock debris to the rock debris collection and transportation system;

[0027] S10: The slag collection and transportation system transports the slag to the rear of the tunneling robot, where it is then transported away by a transport vehicle.

[0028] S11. After the tunneling robot can reach the tunnel face and excavation is completed, the control system controls the omnidirectional support mechanism to retract and reset, and the tunneling robot moves forward to start the next round of operation.

[0029] The beneficial effects of the high-strength rock mass in-situ low-energy consumption rock crushing and mining robot and excavation method provided in this application are:

[0030] First, the use of an all-round support mechanism to fix the mining robot and protect its walking mechanism can reduce the size of the equipment, reduce energy consumption, and improve equipment flexibility;

[0031] Second, the environmental sensing system is used to obtain and utilize rock mass topography information and high-stress area information for rock breaking. Through real-time dynamic analysis of the engineering geological conditions at the tunnel face, tunneling parameters can be dynamically adjusted to improve rock breaking efficiency and reduce energy consumption. This can also prevent safety issues such as rock bursts.

[0032] Third, by dynamically adjusting the excavation parameters, coordinating with the rock drilling and crushing and raking systems, the fragmentation of the broken rock can be controlled;

[0033] Fourth, through the synergy between the environmental perception system and the intelligent dynamic analysis module for tunneling parameters, working parameters can be dynamically adjusted to reduce human risks and improve the overall stability of the equipment.

[0034] Fifth, the tunneling robot integrates multiple functions such as drilling, rock breaking, rock crushing, and slag transportation, and can realize continuous rock breaking and tunneling. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A simplified schematic diagram of the main structure of the high-strength in-situ low-energy rock crushing and mining robot provided in an embodiment of the present application;

[0037] Figure 2 A simplified schematic diagram of the top view of the high-strength in-situ low-energy rock crushing and mining robot provided in an embodiment of the present application;

[0038] Figure 3 A simplified structural diagram of the environmental perception system of the high-strength rock mass in-situ low-energy rock crushing and mining robot provided in an embodiment of the present application;

[0039] Figure 4 A simplified structural diagram of the drilling and expansion-tension rock breaking system of the high-strength rock mass in-situ low-energy rock crushing mining robot provided in an embodiment of the present application;

[0040] Figure 5 A simplified structural diagram of the rock crushing and raking system of the high-strength rock mass in-situ low-energy rock crushing and mining robot provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of a tunnel face with developed joints and fissures provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of a tunnel face with underdeveloped joints and fissures provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of a first solution for prefabricating a free surface of a tunnel face provided in an embodiment of the present application;

[0044] Figure 9 A schematic diagram of the second solution state 1 of the prefabricated free face of the tunnel face provided in an embodiment of the present application;

[0045] Figure 10 A schematic diagram of a second solution state 2 of a prefabricated free face of a tunnel face provided in an embodiment of the present application;

[0046] Figure 11This is a schematic diagram of state 3 of the second solution of the prefabricated free face of the tunnel face provided in an embodiment of the present application.

[0047] Among them, the reference numerals in the figures are:

[0048] 1. Walking mechanism; 2. Robot body; 3. Omnidirectional support mechanism; 31. Upper hydraulic telescopic support leg; 32. Lower hydraulic telescopic support leg; 33. Left hydraulic telescopic support leg; 34. Right hydraulic telescopic support leg; 4. Environmental perception system; 41. Shape scanning mechanism; 42. Rock mass high stress area identification mechanism; 5. Drilling and expansion and tension rock breaking system; 51. First robot arm; 52. Mounting seat; 53. Drilling assembly; 54. Expansion and tension assembly; 541. First First cylinder; 542, second cylinder; 543, force sensor; 544, expansion head; 6, rock crushing and raking system; 61, second robotic arm; 62, rock drilling assembly; 63, raking assembly; 7, slag collection and transportation system; 71, bucket; 72, slag conveyor belt; 73, slag bucket; 8, intelligent dynamic analysis module for excavation parameters; 9, transport vehicle; 10, control hole; 11, expansion hole; 12, pre-crack hole; 13, prefabricated crack; 14, prefabricated groove. DETAILED DESCRIPTION

[0049] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0050] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0052] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0053] Example 1

[0054] like Figure 1-Figure 5 As shown, a high-strength, in-situ, low-energy rock crushing and mining robot provided in an embodiment of the present application is now described. The high-strength, in-situ, low-energy rock crushing and mining robot comprises a walking mechanism 1 and a robot body 2 disposed on the walking mechanism 1. The walking mechanism 1 is a conventional crawler-type walking mechanism, which has excellent mobility, turning, climbing, and wading capabilities, strong obstacle-crossing ability, and great flexibility.

[0055] The robot body 2 includes at least a power system and a control system. The power system is used to provide power, and the control system is used to control the operation of the entire mining robot.

[0056] In this embodiment, the robot body 2 is provided with an omnidirectional support mechanism 3, an environmental perception system 4, a drilling and expansion and rock breaking system 5, a rock crushing and raking system 6 and a rock slag collection and transportation system 7, wherein the omnidirectional support mechanism 3 is used to fix the position of the tunneling robot, the environmental perception system 4 is used to collect in-situ engineering geological information of the tunnel face, the drilling and expansion and rock breaking system 5 is used to drill and expand the tunnel face; the rock crushing and raking system 6 is used to control the rock block shape and rake the crushed rock; the rock slag collection and transportation system 7 is used to transport the crushed and pulled rock from the front end to the rear end of the tunneling robot, and transport it away by the transport vehicle 9 for continuous operation.

[0057] In this embodiment, the control system is a conventional system used by the robot, such as a PLC control system. The control system is used to control the corresponding movements of each working component and includes at least a tunneling parameter intelligent dynamic analysis module 8, a communication module, and an intelligent navigation module. The tunneling parameter intelligent dynamic analysis module 8 controls the movement of in-situ engineering geological data at the tunnel face, while the communication module and the intelligent navigation module enable automatic positioning and self-guided navigation of the tunneling robot.

[0058] In this embodiment, the high-strength rock mass in-situ low-energy consumption rock crushing and mining robot has the following beneficial effects:

[0059] First, the use of the omnidirectional support mechanism 3 to fix the mining robot and protect the walking mechanism 1 can reduce the size of the equipment, reduce energy consumption, and improve the flexibility of the equipment;

[0060] Second, the environmental sensing system 4 is used to obtain and utilize rock mass topography information and high-stress area information for rock breaking. By dynamically analyzing the engineering geological conditions of the tunnel face in real time and adjusting tunneling parameters, rock breaking efficiency can be improved and energy consumption can be reduced. This can also prevent safety issues such as rock bursts.

[0061] Third, by dynamically adjusting the excavation parameters, coordinating with the rock drilling and crushing and raking system 6, the fragmentation of the broken rock can be controlled;

[0062] Fourth, through the synergy between the environmental perception system 4 and the intelligent dynamic analysis module 8 for tunneling parameters, working parameters are dynamically adjusted to reduce human risks and improve the overall stability of the equipment;

[0063] Fifth, the tunneling robot integrates multiple functions such as drilling, rock breaking, rock crushing, and slag transportation, and can realize continuous rock breaking and tunneling.

[0064] In this embodiment, the omnidirectional support mechanism 3 includes an upper hydraulically telescopic support leg 31, a lower hydraulically telescopic support leg 32, a left hydraulically telescopic support leg 33, and a right hydraulically telescopic support leg 34. At least one of each of the upper hydraulically telescopic support leg 31, the lower hydraulically telescopic support leg 32, the left hydraulically telescopic support leg 33, and the right hydraulically telescopic support leg 34 is provided, and preferably two or more of each are provided. This effectively ensures the stability of the tunneling robot in its current position. When the tunneling robot needs to be fixed in position, the upper hydraulically telescopic support leg 31, the lower hydraulically telescopic support leg 32, the left hydraulically telescopic support leg 33, and the right hydraulically telescopic support leg 34 extend and compress the surrounding rock mass to secure the robot. When the tunneling robot needs to move, the upper hydraulically telescopic support leg 31, the lower hydraulically telescopic support leg 32, the left hydraulically telescopic support leg 33, and the right hydraulically telescopic support leg 34 retract, allowing the robot to move freely. Specifically, during the actual fixing process, the lower hydraulic telescopic support leg 32 is extended first, so that the walking mechanism 1 is lifted off the ground, and then the upper hydraulic telescopic support leg 31, the left hydraulic telescopic support leg 33 and the right hydraulic telescopic support leg 34 are extended, which has a protective effect on the walking mechanism 1.

[0065] like Figure 1 and Figure 3 As shown, in this embodiment, the environmental perception system 4 is located at the front end of the robot body 2 and includes a topography scanning mechanism 41 and a rock mass high-stress area identification mechanism 42. The topography scanning mechanism 41 is rotatable, enabling real-time dynamic scanning and identification of the entire tunnel face topography (e.g., surface undulations, crack locations, etc.), and transmits the scanning and identification results in real time to the intelligent dynamic analysis module 8 for tunneling parameters. In this embodiment, the topography scanning mechanism 41 is a camera, preferably a laser scanning camera.

[0066] The high-stress rock mass area identification mechanism 42 includes a telescopic arm, a variable seismic source, and a multi-frequency sensing unit mounted thereon. The multi-frequency sensing unit receives vibration signals generated by the variable-frequency seismic source and vibration signals generated during drilling or rock breaking at the tunnel face, dynamically identifying and locating high-stress areas in real time. The identification results are transmitted in real time to the intelligent dynamic analysis module 8 for tunneling parameters. The detailed principles of the high-stress rock mass area identification mechanism 42 can be found in Chinese Patent CN202110068789.4.

[0067] In this embodiment, the tunneling parameter intelligent dynamic analysis module 8 can perform real-time dynamic analysis on the received in-situ engineering geological conditions of the tunnel face, dynamically identify the block areas on the tunnel face to be broken, determine whether prefabricated cracking 13 operations are required on the tunnel face, dynamically locate the drilling position and optimize the rock breaking sequence, and determine the most reasonable tunneling working parameters; the tunneling parameter intelligent dynamic analysis module 8 can perform real-time dynamic analysis on the received in-situ engineering geological conditions of the tunnel face (morphological information provided by the morphological scanning mechanism 41 and rock high stress area information provided by the rock high stress area identification mechanism 42), dynamically identify the block areas on the tunnel face to be broken, determine whether prefabricated free face operations are required on the tunnel face, dynamically locate the drilling position and optimize the rock breaking sequence, determine the most reasonable tunneling working parameters, and feed back the analysis results to the control system in real time.

[0068] The identification of the block-based rock area to be broken is based on the cutting of the tunnel face by joints and fissures; the determination of the drilling position is based on the high stress concentration area and the center of the block-based rock area to be broken; whether to prefabricate the free surface is based on the integrity of the rock mass at the tunnel face. There are many ways and forms of prefabricated free surfaces. The prefabricated free surface can be grooving, drilling, or pre-breaking the rock to produce prefabricated seams. The form of the prefabricated free surface can be central, straight, or all-around; the optimization of the rock breaking sequence is based on the dynamic changes of the block-based and high stress areas and the principle of "first breaking the rock in the high stress concentration area, and then breaking the rock in the center of the block-based rock area to be broken"; the stopping condition of the rock breaking operation is based on the fragmentation control requirements.

[0069] In this embodiment, if Figure 1 and Figure 4 As shown, the drilling and expansion and breaking rock system 5 includes a first robotic arm 51, a mounting base 52, a drilling assembly 53, and an expansion and breaking assembly 54. The first robotic arm 51 is mounted on the robot body 2, the mounting base 52 is mounted on the first robotic arm 51, and the drilling assembly 53 and the expansion and breaking assembly 54 are mounted on the mounting base 52. The first robotic arm 51 is used to enable the drilling assembly 53 and the expansion and breaking assembly 54 to move in three degrees of freedom: up and down, left and right, and forward and backward, to achieve drilling and expansion and breaking rock. The drilling assembly 53 is a conventional drilling structure and its structure is not described in detail here.

[0070] In this embodiment, the expansion and tension assembly 54 includes a first oil cylinder 541, a second oil cylinder 542, a force sensor 543 and an expansion head 544. The first oil cylinder 541 is set on the mounting base 52, and the second oil cylinder 542 is set on the first oil cylinder 541. The second oil cylinder 542 controls the expansion of the expansion head 544, and the first oil cylinder 541 controls the extension and retraction of the expansion head 544. The force sensor 543 is electrically connected to the expansion head 544. The function of the first oil cylinder 541 is to control the extension and contraction of the expansion head 544. When the drilling assembly 53 is drilling, the first oil cylinder 541 contracts to prevent the expansion head 544 from affecting the drilling operation of the drilling assembly 53. When the drilling assembly 53 completes drilling, the first oil cylinder 541 extends to extend the expansion head 544 into the drilled hole. The second oil cylinder 542 controls the expansion of the expansion head 544 so that the expansion head 544 is fastened to the rock in the hole. If the expansion force is large, the expansion head 544 can be used to crack and break the rock. When the expansion force is small, the expansion head 544 and the borehole can be fastened, so that the expansion and tension assembly 54 can be moved backward as a whole. When the expansion head 544 and the borehole are fastened, the rock mass can be broken or pulled out. The force sensor 543 can realize real-time collection of expansion force values ​​and tension force values.

[0071] In this embodiment, the expansion and tension assembly 54 exploits the engineering geological conditions of the tunnel face to perform expansion and tension fractures. The fractured rock mass primarily undergoes tensile and shear failure, effectively reducing the force required for rock breaking. This reduces the volume of the expansion and tension assembly 54 itself and the energy consumption required for rock breaking, effectively reducing the size and excavation energy consumption of the mining robot and increasing its flexibility. Multiple drilling and expansion and tension fracture systems 5 can be used to accelerate drilling and rock breaking efficiency.

[0072] like Figure 1 and Figure 5 As shown, the rock crushing and raking system 6 includes a second robotic arm 61, a rock drilling assembly 62, and a raking assembly 63. The second robotic arm 61 is mounted on the robot body 2, and the rock drilling assembly 62 and raking assembly 63 are mounted on the second robotic arm 61. The second robotic arm 61 enables movement of the rock drilling assembly 62 and raking assembly 63 in three degrees of freedom: up and down, left and right, and forward and backward, to achieve rock drilling, breaking, and raking. The rock drilling assembly 62 and raking assembly 63 are conventional structures. For example, the rock drilling assembly 62 includes an impact head or percussion head for drilling and breaking rock, and the raking assembly 63 includes a multi-tooth excavator bucket for raking rock.

[0073] like Figure 1 and Figure 2As shown, in this embodiment, the slag collection and transportation system 7 includes a bucket 71, a slag conveying belt 72 and a slag discharge bucket 73. The bucket 71 is arranged below the front end of the robot body 2, and is used to receive the rocks generated by the rock crushing and raking system 6. The slag conveying belt 72 is arranged on the robot body 2, and the slag conveying belt 72 is used to transport the rocks from the front end to the rear end of the robot. The slag discharge bucket 73 is arranged at the rear end of the robot body 2, and the slag discharge bucket 73 is used to drop the rocks into the transport vehicle 9, thereby transporting the generated rocks away, which facilitates the continuous rock breaking and excavation work.

[0074] Example 2:

[0075] Another object of the embodiments of the present application is to provide a high-strength rock mass in-situ low-energy consumption rock crushing and excavation method, based on the high-strength rock mass in-situ low-energy consumption rock crushing and excavation robot as described in Example 1, the excavation method includes the following steps:

[0076] S1. With the cooperation of the communication module and the intelligent navigation module, the control system controls the robot body 2 to move to a suitable position in front of the palm face through the walking mechanism 1, and the omnidirectional support mechanism 3 extends to fix the robot body 2;

[0077] S2. The control system controls the operation of the environmental sensing system 4. The topography scanning mechanism 41 in the environmental sensing system 4 performs real-time dynamic scanning and identification of the topography of the tunnel face. The rock mass high stress area identification mechanism 42 in the environmental sensing system 4 performs real-time dynamic identification and positioning of the high stress area of ​​the tunnel face. The acquired engineering geological condition data of the tunnel face is transmitted in real time to the intelligent dynamic analysis module 8 for tunneling parameters.

[0078] S3, the tunneling parameter intelligent dynamic analysis module 8 performs real-time dynamic analysis on the received engineering geological condition data of the tunnel face to complete the block identification of the rock breaking area;

[0079] S4. When the face rock mass is relatively intact, the control system controls the drilling and expansion and tension rock breaking system 5 to prefabricate a free surface on the face to assist in rock breaking. This step can be ignored when the face rock mass has well-developed joints and fissures.

[0080] S5. The control system controls the drilling assembly 53 in the drilling and expansion and breaking rock system 5 to drill a series of control holes 10 distributed along the tunnel face contour to control the tunnel face cross-sectional profile. The drilling positions of the control holes 10 are dynamically provided by the tunneling parameter intelligent dynamic analysis module 8.

[0081] S6. The control system controls the drilling assembly 53 to drill a series of expansion holes 11 distributed on the tunnel face. The specific locations of the expansion holes 11 are located at the centers of several high stress concentration areas and the zoned rock-breaking areas on the tunnel face. The drilling locations of the expansion holes 11 are dynamically provided by the intelligent dynamic analysis module 8 for tunneling parameters.

[0082] S7. The control system controls the expansion and tension components 54 in the drilling and expansion and tension rock breaking system 5 to perform expansion and cracking at the expansion and tension holes 11. The rock breaking sequence is to first break the rock in the high stress concentration area and then break the rock in the center of the block rock breaking area. The rock breaking sequence of the expansion and tension components 54 is dynamically provided by the tunneling parameter intelligent dynamic analysis module 8.

[0083] S8. When the rock mass on the tunnel face reaches the required size control, the expansion and cracking operation stops, and the expansion and tensioning assembly 54 starts to perform tensioning and breaking, thus completing the crushing or pulling out of the rock mass on the tunnel face.

[0084] S9, rock crushing and raking system 6 crushes larger rocks, raks loose rocks, and raks the rock debris to the rock debris collection and transportation system 7;

[0085] S10, the slag collection and transportation system 7 transports the slag to the rear of the tunneling robot, and the transport vehicle 9 transports it away;

[0086] S11. After the tunneling robot is able to reach the tunnel face and the tunneling is completed, the control system controls the omnidirectional support mechanism 3 to retract and reset, and the tunneling robot moves forward to start the next round of operation.

[0087] like Figure 6 、 Figure 7 and Figure 8 As shown, in step S4, when the joints and fissures in the rock mass of the tunnel face are relatively developed, the control system controls the drilling assembly 53 to first drill a series of control holes 10 according to the shape of the tunnel face, and then drill a series of pre-crack holes 12 distributed in the high stress concentration areas on the tunnel face. When there is no high stress concentration area on the tunnel face, the drilling position of the pre-crack hole 12 is the central area of ​​the tunnel face, and the drilling position of the pre-crack hole 12 is dynamically provided by the tunneling parameter intelligent dynamic analysis module 8; the control system controls the expansion and tension components 54 to pre-crack and break the rock at the pre-crack holes 12 respectively to form prefabricated cracks 13. The order of pre-crack and rock breaking is first to break the rock at the pre-crack holes 12 in the high stress concentration area, and then to break the rock at other pre-crack holes 12. The order of pre-crack and rock breaking is dynamically provided by the tunneling parameter intelligent dynamic analysis module 8; specifically, the control system controls the expansion head 544 to extend into the pre-crack hole 12. At this time, the pre-crack hole 12 for expansion and tension is the expansion and tension hole 11. The expansion and tension hole 11 is used to pull out or crush the rock. The control system controls the expansion head 544 to work, and the expansion head 544 expands to cause the rock mass to crack. The force sensor 543 collects expansion force data throughout the process and transmits the collected data to the tunneling parameter intelligent dynamic analysis module 8 in real time.

[0088] like Figure 9 、 Figure 10 and Figure 11 As shown, in step S4, when the rock mass on the tunnel face is relatively intact, the control system controls the drilling and expansion and tension rock breaking system 5 to operate, and prefabricate a free surface on the tunnel face to assist in rock breaking; specifically, the free surface is prefabricated by drilling to form a groove.

[0089] like Figure 9 、 10 As shown in Figures 1 and 11, the control system controls the drilling assembly 53 to drill a series of continuous boreholes in the center of the tunnel face, forming a prefabricated slot 14. The control system controls the drilling assembly 53 to drill an expansion hole 11 at a predetermined distance to the left and right sides of the prefabricated slot 14. The control system controls the expansion assembly 54 to perform expansion and rock breaking at each expansion hole 11, forming a prefabricated crack 13. The control system controls the drilling assembly 53 to drill an expansion hole 11 at a predetermined distance outside the prefabricated crack 13. The control system controls the expansion assembly 54 to perform expansion and rock breaking at each expansion hole 11, further forming the prefabricated crack 13. When the prefabricated crack 13 approaches the cross-sectional contour by a predetermined distance, the control hole 10 is used as the expansion hole 11, and the control system controls the expansion assembly 54 to perform expansion and rock breaking at each control hole 10. The rock breaking sequence is dynamically provided by the intelligent dynamic analysis module 8 of tunneling parameters. Simultaneously, the force sensor 543 collects expansion force data throughout the entire process and transmits the collected data to the intelligent dynamic analysis module 8 in real time.

[0090] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A high-strength rock mass in-situ low-energy consumption rock crushing tunneling method, characterized in that: The invention is based on a high-strength rock mass in-situ low-energy consumption rock crushing and mining robot, wherein the high-strength rock mass in-situ low-energy consumption rock crushing and mining robot comprises a walking mechanism (1) and a robot body (2) arranged on the walking mechanism (1), the robot body (2) at least comprising a power system and a control system, the robot body (2) being provided with an omnidirectional support mechanism (3), an environmental perception system (4), a drilling and expansion and breaking rock system (5), a rock crushing and rake pulling system (6) and a slag collection and transportation system (7), and the control system comprising an intelligent dynamic analysis module for excavation parameters (8), a communication module and an intelligent navigation module; The excavation method comprises the following steps: S1. Under the cooperation of the communication module and the intelligent navigation module, the control system controls the robot body (2) to move to a suitable position in front of the palm face through the walking mechanism (1), and the omnidirectional support mechanism (3) extends to fix the robot body (2); S2, the control system controls the operation of the environmental sensing system (4), the morphology scanning mechanism (41) in the environmental sensing system (4) performs real-time dynamic scanning and identification of the morphology of the tunnel face, the rock mass high stress area identification mechanism (42) in the environmental sensing system (4) performs real-time dynamic identification and positioning of the high stress area of ​​the tunnel face, and transmits the acquired engineering geological condition data of the tunnel face to the tunneling parameter intelligent dynamic analysis module (8) in real time; S3, the tunneling parameter intelligent dynamic analysis module (8) performs real-time dynamic analysis on the received engineering geological condition data of the tunnel face to complete the block identification of the rock breaking area; S4. When the face rock mass is relatively intact, the control system controls the drilling and expansion and tension rock breaking system (5) to prefabricate a free surface on the face to assist in rock breaking. When the face rock mass has relatively developed joints and fissures, this step can be ignored. S5, the control system controls the drilling assembly (53) in the drilling and expansion and breaking rock system (5) to drill a series of control holes (10) distributed on the tunnel face contour line along the tunnel face contour to control the tunnel face cross-sectional contour, and the drilling positions of the control holes (10) are dynamically provided by the tunneling parameter intelligent dynamic analysis module (8); S6. The control system controls the drilling assembly (53) to drill a series of expansion holes (11) distributed on the tunnel face. The specific locations of the expansion holes (11) are the centers of several high stress concentration areas and the block rock breaking area on the tunnel face. The drilling locations of the expansion holes (11) are dynamically provided by the tunneling parameter intelligent dynamic analysis module (8); S7, the control system controls the expansion and tension components (54) in the drilling and expansion and tension rock breaking system (5) to perform expansion and cracking at the expansion and tension holes (11), respectively. The rock breaking sequence is firstly to break the rock in the high stress concentration area, and then to break the rock in the center of the block rock breaking area. The rock breaking sequence of the expansion and tension components (54) is dynamically provided by the tunneling parameter intelligent dynamic analysis module (8); S8. When the rock mass on the tunnel face reaches the requirements of block size control, the expansion and cracking of the rock is stopped, and the expansion and tensioning assembly (54) starts to perform tensioning and breaking of the rock, thereby completing the crushing or pulling out of the rock mass on the tunnel face; S9, rock crushing and raking system (6) crushes larger rocks, raks loose rocks, and raks the rock debris to the rock debris collection and transportation system (7); S10, the slag collection and transportation system (7) transports the slag to the rear of the tunneling robot, and the transport vehicle (9) transports it away; S11. After the tunneling robot is able to reach the tunnel face and the tunneling is completed, the control system controls the omnidirectional support mechanism (3) to retract and reset, and the tunneling robot moves forward to start the next round of operation.

2. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 1, characterized in that: The omnidirectional support mechanism (3) comprises an upper hydraulic telescopic support leg (31), a lower hydraulic telescopic support leg (32), a left hydraulic telescopic support leg (33) and a right hydraulic telescopic support leg (34).

3. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 1, characterized in that: The environmental perception system (4) is arranged at the front end of the robot body (2), and the environmental perception system (4) comprises: a shape scanning mechanism (41) and a rock mass high stress area identification mechanism (42).

4. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 3, characterized in that: The shape scanning mechanism (41) is a camera.

5. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 3, characterized in that: The rock mass high stress area identification mechanism (42) comprises a telescopic arm and a variable seismic source and a multi-frequency sensing unit arranged on the telescopic arm.

6. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to any one of claims 1 to 5, characterized in that: The drilling and expansion and tension rock breaking system (5) includes a first robot arm (51), a mounting seat (52), a drilling assembly (53) and an expansion and tension assembly (54); the first robot arm (51) is arranged on the robot body (2); the mounting seat (52) is arranged on the first robot arm (51); the drilling assembly (53) and the expansion and tension assembly (54) are arranged on the mounting seat (52).

7. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 6, characterized in that: The expansion and tension assembly (54) includes a first oil cylinder (541), a second oil cylinder (542), a force sensor (543) and an expansion head (544); the first oil cylinder (541) is arranged on the mounting seat (52); the second oil cylinder (542) is arranged on the first oil cylinder (541); the second oil cylinder (542) controls the expansion of the expansion head (544); the first oil cylinder (541) controls the extension and retraction of the expansion head (544); and the force sensor (543) is electrically connected to the expansion head (544).

8. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 6, characterized in that: The rock crushing and raking system (6) comprises: a second robot arm (61), a rock drilling assembly (62) and a raking assembly (63); the second robot arm (61) is arranged on the robot body (2); and the rock drilling assembly (62) and the raking assembly (63) are arranged on the second robot arm (61).

9. The high-strength rock mass in-situ low-energy consumption rock crushing tunneling method according to claim 6, characterized in that: The slag collection and transportation system (7) comprises a bucket (71), a slag conveying belt (72) and a slag discharge bucket (73); the bucket (71) is arranged below the front end of the robot body (2); the slag conveying belt (72) is arranged on the robot body (2); and the slag discharge bucket (73) is arranged at the rear end of the robot body (2).

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