An integrated anchor and trenching robot

Abstract

The application provides a tunneling-anchor-protection integrated robot, which comprises a cantilevered tunneling machine, a horizontally movable working platform, an anchor drilling platform, a temporary support platform and a small-arm robot, the horizontally movable working platform is arranged on the top of the cantilevered tunneling machine, the anchor drilling platform, the temporary support platform and the small-arm robot are all arranged on the horizontally movable working platform, the horizontally movable working platform drives the anchor drilling platform, the temporary support platform and the small-arm robot to move as a whole after the horizontally movable working platform moves, the temporary support platform is used for placing a mesh and a steel belt and driving the mesh and the steel belt to contact a roadway top wall, the anchor drilling platform is used for aligning a steel belt hole of the steel belt and drilling an anchor drilling tool into the steel belt hole, and the small-arm robot is arranged beside the anchor drilling platform and is used for installing the anchor drilling tool on the anchor drilling platform. The application uses group cooperative control to cooperatively control each component of the tunneling-anchor-protection integrated robot, so that tunneling, temporary support, drilling and anchor protection operations are orderly performed, the overall tunneling efficiency is improved, and the safety of operation personnel is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine tunneling operation, and particularly relates to an integrated robot for tunneling, anchoring and supporting. BACKGROUND

[0002] In the process of coal mine tunneling operation, the operation is generally performed in the order of tunneling first and supporting later, and the independence between mechanical devices is high, and each single device is generally coordinated by manual work, so that fast and accurate cooperation is difficult to achieve, and accidents such as coal stacking, collision and personal injury are easily caused. The emergence of new generation technologies such as remote control of a tunneling machine and multi-arm operation of a rock bolt drilling machine improves the tunneling efficiency, but there is still a great gap in the engineering implementation and application of a robotized tunneling machine group, and the purpose of less people, no people and safe production in tunneling operation has not been achieved.

[0003] The multi-arm operation of the rock bolt drilling machine is independent of the tunneling machine and is performed after the tunneling operation is completed, and the requirements for the width of the roadway and the maximum open top are high, manual work is needed to coordinate the connection between each process, the overall tunneling efficiency is affected, and the drilling and anchoring processes need manual work to grab the anchor rod and other materials and then deliver them to the drilling machine, so that the operation continuity cannot be achieved, and there is a great safety hazard to the operation personnel. The independent operation of the mechanical devices cannot achieve the coordinated operation between the processes of tunneling, supporting, drilling, anchoring and supporting, and the realization of the goal of reducing the number of people in the tunneling working face is affected.

[0004] Therefore, the technical problem to be solved at present is how to make the tunneling, temporary supporting, drilling, anchoring and other operations proceed in an orderly manner, improve the overall tunneling efficiency, and improve the safety of the operation personnel. SUMMARY

[0005] The present application aims to provide an integrated robot for tunneling, anchoring and supporting, which uses group coordination control to cooperatively control each component of the integrated robot for tunneling, anchoring and supporting, so that the tunneling, temporary supporting, drilling, anchoring and other operations proceed in an orderly manner, the overall tunneling efficiency is improved, and the safety of the operation personnel is improved.

[0006] To achieve the above object, the application provides an integrated robot for tunneling, anchoring and supporting, comprising: a cantilevered tunneling machine, a horizontally movable working platform, an anchor drilling platform, a temporary support platform and a small-arm robot, the horizontally movable working platform is arranged on the top of the cantilevered tunneling machine; the anchor drilling platform, the temporary support platform and the small-arm robot are all arranged on the horizontally movable working platform; after the horizontally movable working platform moves, the anchor drilling platform, the temporary support platform and the small-arm robot move as a whole; the temporary support platform is used for placing a mesh and a steel belt and bringing the mesh and the steel belt into contact with a roadway top wall; the anchor drilling platform is used for aligning a steel belt hole of the steel belt and drilling an anchor drilling tool into the steel belt hole; the small-arm robot is arranged beside the anchor drilling platform, and the small-arm robot is used for installing an anchor drilling tool on the anchor drilling platform.

[0007] The integrated robot for tunneling, anchoring and supporting as described above, wherein an anchor tool warehouse is arranged on the horizontally movable working platform, the anchor tool warehouse is arranged beside the small-arm robot, and the anchor tool warehouse is used for placing an anchor drilling tool for the small-arm robot to grab.

[0008] The integrated robot for tunneling, anchoring and supporting as described above, wherein the anchor drilling platform comprises: a first anchor drilling mechanism and a second anchor drilling mechanism, and the first anchor drilling mechanism and the second anchor drilling mechanism are arranged in parallel and at intervals.

[0009] The first anchor drilling mechanism and the second anchor drilling mechanism both comprise a telescopic mechanism and a drill arm.

[0010] One end of the telescopic mechanism is connected with the drill arm, and the other end is connected with the top of the cantilevered tunneling machine through a swing mechanism.

[0011] The integrated robot for tunneling, anchoring and supporting as described above, wherein a vision system is installed on the drill arm, the vision system comprises a hole searching camera, the hole searching camera is used for identifying a steel belt hole position and sending the steel belt hole position to a swarm cooperative control master, and the swarm cooperative control master adjusts a drill arm pose according to the steel belt hole position identified by the hole searching camera to ensure that a drilling mechanism of the drill arm is aligned with the steel belt hole.

[0012] The integrated robot for tunneling, anchoring and supporting as described above, wherein an end of the telescopic mechanism is connected with the drill arm through a cross swing mechanism, the cross swing mechanism comprises a swing connecting plate, a first motor and a second motor, the swing connecting plate is fixedly connected with the end of the telescopic mechanism, the first motor and the second motor are arranged in a cross shape, the first motor is rotationally connected with the swing connecting plate along a vertical direction, and the second motor is fixedly connected with the first motor perpendicularly to the first motor, and an output shaft of the second motor is fixedly connected with the drill arm.

[0013] The tunneling-anchor-protection integrated robot as described above further comprises a machine group cooperative control system, the machine group cooperative control system comprising a remote monitoring system, an electric control system of the tunneling machine and an electric control system of the supporting robot; the electric control system of the tunneling machine is in communication connection with the electric control system of the supporting robot; the electric control system of the tunneling machine and the electric control system of the supporting robot are both in communication connection with the remote monitoring system.

[0014] The tunneling-anchor-protection integrated robot as described above, wherein the temporary supporting platform comprises a supporting plate platform and an intermediate main arm, the supporting plate platform is connected above the horizontal moving working platform through the intermediate main arm, one end of the intermediate main arm is connected on the horizontal moving working platform, and the other end is connected with the supporting plate platform.

[0015] The tunneling-anchor-protection integrated robot as described above, wherein the horizontal moving working platform comprises a sliding plate, a left side guide rail and a right side guide rail, the left side guide rail and the right side guide rail are fixed on the top of the cantilever tunneling machine; the left side guide rail and the right side guide rail are arranged in parallel and spaced apart, and the left side guide rail and the right side guide rail are arranged along the direction of the cantilever tunneling machine advancing, and the sliding plate is slidingly connected between the left side guide rail and the right side guide rail.

[0016] The tunneling-anchor-protection integrated robot as described above, wherein the cantilever tunneling machine comprises a walking part, a supporting part, a cutting part and a shovel plate part, the supporting part is connected above the walking part, the cutting part and the shovel plate part are connected on the supporting part.

[0017] The tunneling-anchor-protection integrated robot as described above, wherein the drilling arm comprises an anchor rod drilling machine, the anchor rod drilling machine has a power head, the top of the power head is provided with an anchor rod tool clamp, the anchor rod tool clamp is used for clamping an anchor rod, and the power head is used for advancing the anchor rod to complete drilling operation.

[0018] The beneficial effects achieved by the present application are as follows:

[0019] (1) The present application is the overall architecture of the tunneling-anchor robot group which is cooperated by the anchor drilling platform and the small arm robot, and achieves the purpose of replacing human operation, can completely realize the full automation of tunneling, supporting, drilling, anchoring and protection, realizes the integration of tunneling and supporting operation, avoids the mutual switching operation between multiple mechanical equipment in the limited space of the tunneling roadway, improves the overall efficiency of tunneling and improves the safety of the operation personnel.

[0020] (2) In the material grabbing aspect of the present application, two sets of six-axis small arm robots are arranged, and the material grabbing is accurately realized through the collision-free movement path of each joint of the small arm robot in space to meet the needs of drilling and supporting operation.

[0021] (3) The control system of the robot group cooperative operation distributes and coordinates each operation procedure of the integrated robot of tunneling, anchoring and protecting, the driving unit of each component receives the control instruction to realize the accurate operation of each procedure, and the cooperative operation of the six-axis small arm robot and each procedure of tunneling and anchoring is realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0023] Figure 1 It is a front view of an open state of an integrated robot of tunneling, anchoring and protecting according to an embodiment of the present application.

[0024] Figure 2 It is a top view of an open state of an integrated robot of tunneling, anchoring and protecting according to an embodiment of the present application.

[0025] Figure 3 It is a front view of an open state of a temporary support platform according to an embodiment of the present application.

[0026] Figure 4 It is a top view of an open state of a temporary support platform according to an embodiment of the present application.

[0027] Figure 5 It is a perspective view of an open state of a small arm robot according to an embodiment of the present application.

[0028] Figure 6 It is a perspective view of a drill arm according to an embodiment of the present application.

[0029] Figure 7 It is a joint schematic view of a small arm robot according to an embodiment of the present application.

[0030] Figure 8 It is a front view of a retracted state of an integrated robot of tunneling, anchoring and protecting according to an embodiment of the present application.

[0031] Figure 9 It is a top view of a retracted state of an integrated robot of tunneling, anchoring and protecting according to an embodiment of the present application.

[0032] Figure 10 It is a perspective view of a retracted state of a small arm robot according to an embodiment of the present application.

[0033] Figure 11 It is a perspective view of an anchor tool bin according to an embodiment of the present application.

[0034] Figure 12 It is a schematic view of the internal structure of an anchor tool bin according to an embodiment of the present application.

[0035] Figure 13 A perspective view of a cross swing mechanism according to an embodiment of the present application.

[0036] Figure 14 A pose control schematic diagram of an arm robot according to an embodiment of the present application.

[0037] Figure 15 A structure schematic diagram of a fleet cooperative control system according to an embodiment of the present application.

[0038] Figure 16 A hydraulic system principle block diagram according to an embodiment of the present application.

[0039] Fig. 1 is a cantilevered tunneling machine; Fig. 2 is an anchor drilling platform; Fig. 3 is a temporary support platform; Fig. 4 is an arm robot; Fig. 5 is a horizontal moving operation platform; Fig. 6 is an anchor advancing tool bin; Fig. 11 is a walking part; Fig. 12 is a supporting part; Fig. 13 is a cutting part; Fig. 14 is a shovel plate part; Fig. 15 is a turning cylinder mechanism; Fig. 16 is a shovel plate cylinder mechanism; Fig. 17 is a gun head; Fig. 21 is a telescopic mechanism; Fig. 22 is a cross swing mechanism; Fig. 23 is a drilling arm; Fig. 24 is a sight; Fig. 25 is a swing mechanism; Fig. 31 is a support plate platform; Fig. 32 is a middle main arm; Fig. 33 is a swing seat; Fig. 34 is a cross pitch and turning mechanism; Fig. 41 is a first movable joint; Fig. 42 is a second movable joint; Fig. 43 is a third movable joint; Fig. 44 is a fourth movable joint; Fig. 45 is a fifth movable joint; Fig. 46 is a sixth movable joint; Fig. 47 is a hand claw; Fig. 48 is an anchor rod; Fig. 51 is a left guide rail; Fig. 52 is a right guide rail; Fig. 53 is a sliding plate; Fig. 61 is an anchor advancing tool bin mounting plate; Fig. 62 is a tool lifting mechanism; Fig. 101 is a remote monitoring system; Fig. 102 is a tunneling machine electric control system; Fig. 103 is a support robot electric control system; Fig. 221 is a swing connecting plate; Fig. 222 is a first motor; Fig. 223 is a second motor; Fig. 231 is a bottom plate; Fig. 232 is a feeding cylinder; Fig. 233 is a transmission chain; Fig. 234 is a sliding carriage; Fig. 235 is a guide rail; Fig. 236 is an anchor rod drilling machine; Fig. 237 is a top frame body; Fig. 621 is a pushing cylinder; Fig. 622 is a horizontal rod; Fig. 623 is a swing rod; Fig. 624 is a lifting rod. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0041] As Figure 1 and Figure 2As shown, the present application provides a combined tunneling, anchoring and supporting robot, which comprises a cantilevered tunneling machine 1, a horizontally movable working platform 5, an anchor drilling platform 2, a temporary supporting platform 3, an anchoring tool storage 6 and a small-arm robot 4. The horizontally movable working platform 5 is arranged on the top of the cantilevered tunneling machine 1, and the anchor drilling platform 2, the temporary supporting platform 3, the anchoring tool storage 6 and the small-arm robot 4 are arranged on the horizontally movable working platform 5. The horizontally movable working platform 5 drives the anchor drilling platform 2, the temporary supporting platform 3, the anchoring tool storage 6 and the small-arm robot 4 to move a certain distance relative to the cantilevered tunneling machine 1 towards the direction of the tunneling face. The small-arm robot 4 and the anchoring tool storage 6 are arranged beside the anchor drilling platform 2, and the small-arm robot 4 is used to install anchor drilling tools, such as drill rods or anchor rods 48, to the anchor drilling platform 2.

[0042] The small-arm robot 4 cooperates with the anchor drilling platform 2 to replace manual operation by the gripper 47 of the small-arm robot 4, thereby reducing the labor intensity of workers and the operation risk. The gripper 47 is programmed to complete positioning, adding anchoring agent, drilling into drill rods or anchor rods 48, fastening and other process operations according to the supporting process requirements, thereby replacing workers to drill and to perform "anchoring, netting and spraying" operations, achieving tunneling intelligence and completely replacing manual operation. Preferably, the small-arm robot 4 is a six-axis small-arm robot 4. The components of the combined tunneling, anchoring and supporting robot are spatially restricted and cooperatively controlled to complete tunneling operation and subsequent anchoring and supporting operation.

[0043] As shown in Figure 1 and Figure 2 , the horizontally movable working platform 5 comprises a sliding plate 53, a left side guide rail 51 and a right side guide rail 52. The left side guide rail 51 and the right side guide rail 52 are fixed on the top of the cantilevered tunneling machine 1. The left side guide rail 51 and the right side guide rail 52 are arranged in parallel and spaced apart, and are arranged along the direction in which the cantilevered tunneling machine 1 advances. The sliding plate 53 is slidably connected between the left side guide rail 51 and the right side guide rail 52, i.e. one side of the sliding plate 53 is slidably connected with the left side guide rail 51, and the other side is slidably connected with the right side guide rail 52. The sliding plate 53 is connected with a driving oil cylinder. One end (cylinder barrel end) of the driving oil cylinder is fixed on the support portion 12, and the other end (telescopic rod end) is connected with the sliding plate 53. The driving oil cylinder is used to drive the sliding plate 53 to slide along the left side guide rail 51 and the right side guide rail 52. The sliding of the sliding plate 53 drives the temporary supporting platform 3, the small-arm robot 4, the anchoring tool storage 6 and the anchor drilling platform 2 to move as a whole.

[0044] As shown in Figure 1As shown in the drawings, the cantilever excavator 1 comprises a walking part 11, a support part 12, a cutting part 13 and a shovel part 14, the support part 12 is connected above the walking part 11, the cutting part 13 and the shovel part 14 are connected on the support part 12, the cutting part 13 is connected on the support part 12 through the rotary oil cylinder mechanism 15, and the cutting part 13 can swing up and down under the driving of the rotary oil cylinder mechanism 15; the shovel part 14 is connected on the support part 12 through the shovel oil cylinder mechanism 16, and the shovel part 14 can swing up and down under the action of the shovel oil cylinder mechanism 16; the up-and-down swinging of the shovel part 14 driven by the shovel oil cylinder mechanism 16 and the up-and-down swinging of the cutting part 13 driven by the rotary oil cylinder mechanism 15 are prior arts, which will not be described here; the shovel part 14 is always below the cutting part 13. The cutting part 13 has a cannon head 17 for cutting coal seams, the walking part 11 is a track walking device, and the walking part 11 moves to drive the support part 12, the cutting part 13 and the shovel part 14 to move as a whole. The cutting part 13 is used for excavating a roadway and coal falling or loading operation; the shovel part 14 is used for shoveling out the coal excavated by the cutting part 13.

[0045] As a specific embodiment of the present application, the anchor drilling platform 2 comprises a first anchor drilling mechanism and a second anchor drilling mechanism, the first anchor drilling mechanism and the second anchor drilling mechanism are arranged in parallel and are spaced apart, the first anchor drilling mechanism and the second anchor drilling mechanism are respectively arranged on both sides of the top of the cantilever excavator 1, and the first anchor drilling mechanism and the second anchor drilling mechanism are the same in structure.

[0046] As shown in the drawings, Figure 1 The first anchor drilling mechanism and the second anchor drilling mechanism each comprise a telescopic mechanism 21, a cross swinging mechanism 22 and a drill arm 23; the telescopic mechanism 21 is arranged above the cantilever excavator 1 along the horizontal direction, one end of the telescopic mechanism 21 is connected with the drill arm 23 through the cross swinging mechanism 22, and the other end is connected with the top of the cantilever excavator 1 through a swinging mechanism 25. The telescopic mechanism 21 is a telescopic oil cylinder; after the telescopic mechanism 21 is telescoped, the drill arm 23 is driven to move towards the direction close to or away from the cannon head 17; the cross swinging mechanism 22 is used for enabling the drill arm 23 to rotate in the horizontal plane and the vertical plane; and the swinging mechanism 25 is used for driving the telescopic mechanism 21 and the drill arm 23 to swing as a whole, so as to realize the adjustment of the pose of the drill arm 23.

[0047] As shown in the drawings, Figure 2 The swinging mechanism 25 comprises two oil cylinders; the two oil cylinders are respectively arranged on both sides of the telescopic mechanism 21, one end of each of the two oil cylinders is fixedly connected on a sliding plate 53 through a support; and the other end is rotatably connected with the side wall of the telescopic mechanism 21; preferably, the telescopic mechanism 21 is vertically fixedly connected with a swinging seat; and the two ends of the swinging seat are rotatably connected with the end portions of the telescopic rods of the two oil cylinders. After one of the two oil cylinders is elongated and the other is contracted, the swinging seat swings, and after the swinging seat swings, the telescopic mechanism 21 is driven to swing.

[0048] AsFigure 1 and Figure 13 As shown, the end of the telescopic mechanism 21 is connected to the drill arm 23 via a cross-shaped swing mechanism 22; the cross-shaped swing mechanism 22 includes a swing connecting plate 221, a first motor 222, and a second motor 223; the swing connecting plate 221 is fixedly connected to the end of the telescopic mechanism 21; the first motor 222 and the second motor 223 are arranged in a cross shape; the first motor 222 is rotatably connected to the swing connecting plate 221 along the vertical direction; the second motor 223 is fixedly connected to the first motor 222 perpendicular to it. The output shaft of the second motor 223 is fixedly connected to the drill arm 23. When the first motor 222 rotates, it drives the second motor 223 and the drill arm 23 to swing horizontally. When the second motor 223 rotates, it drives the drill arm 23 to swing vertically. By rotating the second motor 223, the drill arm 23 swings from the vertical direction to the horizontal direction. Then, by rotating the first motor 222, the drill arm 23, which is perpendicular to the telescopic mechanism 21, swings horizontally to a direction parallel to the telescopic mechanism 21, thereby retracting the drill arm 23. The reverse principle can be used to extend the drill arm 23. Figure 8 and 9 As shown, when the drill arm 23 is retracted, it is located inside the telescopic mechanism 21 and is set parallel to the telescopic mechanism 21, thus making the overall structure compact.

[0049] Preferably, the telescopic mechanism 21 is driven by a sliding guide rail hydraulic cylinder.

[0050] As a specific embodiment of the present invention, a vision system is installed on the drill arm 23. The vision system includes a hole-finding camera, which is fixed on the drill arm 23. The camera of the hole-finding camera can identify the position of the steel strip hole. The hole-finding camera is used to identify the position of the steel strip hole and send it to the overall machine group collaborative control system. The overall machine group collaborative control system adjusts the posture of the drill arm 23 according to the position of the steel strip hole identified by the hole-finding camera to ensure that the drilling mechanism of the drill arm 23 is aligned with the steel strip hole.

[0051] like Figure 6 As shown, a sight 24 is provided at the top of the drill arm 23. The sight 24 has a circular hole, which is positioned directly above the anchor drilling rig 236. It can be understood that when the center of the circular hole coincides with the center of the steel strip hole, it means that the circular hole and the steel strip hole are aligned, and the anchor drilling rig 236 can push the drill rod or anchor rod 48 into the corresponding steel strip hole.

[0052] like Figure 6As shown, the drill boom 23 comprises a bottom plate 231, a feed oil cylinder 232, a transmission chain 233, a sliding frame 234, a guide rail 235, an anchor rod drill 236 and a top frame body 237; the feed oil cylinder 232 is vertically arranged between the bottom plate 231 and the top frame body 237; the guide rail 235 is fixedly connected between the bottom plate 231 and the top frame body 237; the transmission chain 233 is fixed on the cylinder barrel of the feed oil cylinder 232 in parallel to the feed oil cylinder 232; the sliding frame 234 is fixedly connected on the transmission chain 233 and is slidingly connected on the guide rail 235; the anchor rod drill 236 is fixedly connected on the sliding frame 234. Both ends of the transmission chain 233 are sleeved on transmission gears; the transmission gears are connected with a driving motor; the driving motor drives the transmission gears to rotate, and then drives the transmission chain 233 to rotate, and the transmission chain 233 drives the sliding frame 234 and the anchor rod drill 236 to slide as a whole along the guide rail 235 (slide upward or downward), so as to realize the propulsion of the anchor rod by the anchor rod drill 236 and the reset of the anchor rod drill 236. After the feed oil cylinder 232 is started, the transmission chain 233, the sliding frame 234 and the anchor rod drill 236 slide as a whole along the guide rail 235 (slide upward or downward), so as to further realize the propulsion of the anchor rod by the anchor rod drill 236 and the reset of the anchor rod drill 236. Preferably, a hole searching camera is further arranged on the cylinder barrel of the feed oil cylinder 232, and a camera head of the hole searching camera faces upward.

[0053] As shown in Figure 6 , the drill boom 23 is provided with the anchor rod drill 236. Preferably, the anchor rod drill 236 has a power head, and the power head is a power motor; an anchor tool clamp is arranged on the top of the power head, and the anchor tool clamp is used for clamping the drill rod or the anchor rod 48; and the power head is used for propelling the drill rod or the anchor rod 48 to complete the drilling operation.

[0054] As shown in Figure 3 and 4As shown, the temporary support platform 3 comprises a support plate platform 31 and an intermediate main arm 32, the support plate platform 31 is connected above the horizontal movable working platform 5 through the intermediate main arm 32, one end of the intermediate main arm 32 is connected to the horizontal movable working platform 5, and the other end is connected to the support plate platform 31, the intermediate main arm 32 is a hydraulic telescopic mechanism, and after the intermediate main arm 32 is telescoped, the support plate platform 31 can be moved towards or away from the drill head 17. One end of the intermediate main arm 32 is connected to the support plate platform 31 through a cross-tilt rotary mechanism 34; the other end is connected to the swing mechanism 25 through a swing seat 33. The cross-tilt rotary mechanism 34 drives the support plate platform 31 to tilt and rotate. The swing mechanism 25 can drive the swing seat 33, the support plate platform 31 and the intermediate main arm 32 to swing as a whole. Preferably, the swing mechanism 25 comprises two oil cylinders; the two oil cylinders are arranged on both sides of the swing seat 33, one end of each oil cylinder is fixedly connected to the horizontal movable working platform 5, and the other end is hingedly connected to the swing seat 33; after one of the two oil cylinders is extended and the other is retracted, the swing seat 33 swings, and after the swing seat swings, the intermediate main arm 32 and the support plate platform 31 swing as a whole.

[0055] As a specific embodiment of the present application, the support plate platform 31 is a horizontal frame structure, and the small-arm robot 4 is arranged on the side of the temporary support platform 3. Preferably, one small-arm robot 4 is arranged on each side of the temporary support platform 3.

[0056] As a specific embodiment of the present application, the cross-tilt rotary mechanism 34 comprises a horizontal motor and a vertical motor arranged in a cross shape, the horizontal motor is arranged in a horizontal direction, the vertical motor is arranged in a vertical direction, the horizontal motor drives the support plate platform 31 to tilt, and the vertical motor drives the support plate platform 31 to rotate. Preferably, the small-arm robot 4 is arranged above the boom-type tunneling machine 1, and one small-arm robot 4 is arranged on each side of the boom-type tunneling machine 1 to cooperate with the anchor drilling platform 2 to complete the work of feeding and installing anchor agent, drill rods, anchor rods 48 or anchor discs, etc.

[0057] As a specific embodiment of the present application, the intermediate main arm 32 is connected to the swing seat 33 through a hydraulic motor, the hydraulic motor is fixed to the swing seat 33, the output shaft of the hydraulic motor is fixedly connected to the intermediate main arm 32, and after the hydraulic motor is started, the intermediate main arm 32 rotates relative to the swing seat 33, so that the intermediate main arm 32 tilts relative to the horizontal movable working platform 5, thereby lifting or lowering the support plate platform 31.

[0058] As shown in Figure 8 and 9 , the tunneling and anchoring integrated robot is in a retracted state, when work is needed, the tunneling and anchoring integrated robot is in an open state as shown in Figure 1 and 2As shown, the anchor and support integrated robot changes from the retracted state to the open state, including the expansion of the horizontal moving work platform 5, the expansion of the anchor drilling platform 2, and the expansion of the temporary support platform 3. The expansion principle of the horizontal moving work platform 5 is that the sliding plate 53 moves along the left guide rail 51 and the right guide rail 52 towards the direction of the cannon head 17, driving the anchor drilling platform 2 and the temporary support platform 3 to move towards the direction of the cannon head 17. The expansion principle of the anchor drilling platform 2 is that the oil cylinder of the telescopic mechanism 21 extends, the anchor drilling platform 2 moves forward as a whole, the drill arm 23 moves to above the cannon head 17 along the tunneling direction under the driving of the telescopic mechanism 21, and the cross swinging mechanism 22 drives the drill arm 23 to expand (from the horizontal state to the vertical state). Preferably, after the drill arm 23 moves to above the cannon head 17, it is supported by the temporary support leg, and the telescopic mechanism 21 is locked by the oil cylinder balance valve to realize the locking of the anchor drilling platform 2. The expansion of the temporary support platform 3 is that the middle main arm 32 is lifted to a certain angle and is elongated, thereby driving the support plate platform 31 to be lifted, the cross pitch and rotation mechanism 34 drives the temporary support platform 3 to pitch and rotate, so as to realize the expansion of the temporary support platform 3. Expansion and retraction are two opposite motion processes, and the principle of changing from the open state to the retracted state will not be described here.

[0059] As shown in Figure 2 The anchor advancing tool bin 6 is installed on the anchor advancing tool bin mounting plate 61, the anchor advancing tool bin mounting plate 61 is fixed on the sliding plate 53 and moves with the sliding plate 53.

[0060] As shown in Figure 11 and 12As shown, the tool anchoring bin 6 is internally provided with a tool lifting mechanism 62 for lifting the anchoring tool (e.g. drill rod or anchor rod 48) out of the tool anchoring bin 6, the tool lifting mechanism 62 comprising a pushing oil cylinder 621, a horizontal rod 622, a swing rod 623 and a lifting rod 624; the horizontal rod 622 is arranged in the tool anchoring bin 6 along the horizontal direction; one end of the pushing oil cylinder 621 is fixedly connected to the side wall of the tool anchoring bin 6, and the other end is connected to the end of the horizontal rod 622, the pushing oil cylinder 621 being used to push the horizontal rod 622 to move along the length direction of the tool anchoring bin 6; one end of the swing rod 623 is rotatably connected to the horizontal rod 622, and the other end is rotatably connected to the lifting rod 624; the top of the lifting rod 624 is placed with the anchoring tool (e.g. drill rod or anchor rod 48); the swing rod 623 comprises a plurality of swing rods 623, which are uniformly spaced apart on the horizontal rod 622, and each swing rod 623 is connected to one lifting rod 624; when the pushing oil cylinder 621 is retracted, the pushing oil cylinder 621 drives the horizontal rod 622 to move towards the direction of the pushing oil cylinder 621, the horizontal rod 622 drives the swing rod 623 to swing, the swing rod 623 supports the lifting rod 624 to a certain height, so that the anchoring tool (e.g. drill rod or anchor rod 48) is lifted out of the tool anchoring bin 6, and vice versa, the anchoring tool can be retracted into the tool anchoring bin 6. Preferably, the tool anchoring bin 6 is arranged below the small arm robot 4. Preferably, the tool anchoring bin 6 can be driven by a transverse oil cylinder to be connected to the tool anchoring bin mounting plate 61, and the tool anchoring bin 6 can be transversely extended 150mm to both sides of the fuselage under the action of the transverse oil cylinder, so as to facilitate the placement of materials (3 sets of anchoring agents, drill rods and 3 sets of anchor rods 48).

[0061] As shown in FIGS. Figure 5 , 7 and 10, the small arm robot 4 is a 6-axis serial mechanism, and the small arm robot 4 comprises a first movable joint 41, a second movable joint 42, a third movable joint 43, a fourth movable joint 14, a fifth movable joint and a sixth movable joint 16. The first movable joint 41, the second movable joint 42 and the third movable joint 43 of the small arm robot 4 are used to complete the conversion function of the small arm robot 4 from the feeding station to the drilling station, and the fourth movable joint 14, the fifth movable joint and the sixth movable joint 16 are used to complete the accurate centering of the anchoring and drilling tool and the working hole position. Preferably, the small arm robot 4 is arranged on the side of the drilling arm 23 and moves synchronously with the drilling arm 23, and the arm span is 2.5m. The drilling arm 23 and the working arm of the small arm robot 4 do not interfere with each other when working.

[0062] Preferably, the forearm robot 4 includes a first forearm robot and a second forearm robot, which are located on either side of the first retractable mechanism and the second retractable mechanism, respectively. A first anchoring tool compartment and a second anchoring tool compartment are respectively provided on the sides of the first forearm robot and the second forearm robot.

[0063] like Figure 14 The diagram shows the joint movement control principle of the forearm robot 4. The first joint 41, second joint 42, third joint 43, fourth joint 14, fifth joint, and sixth joint 16 of the forearm robot 4 are equipped with a one-axis motor, a two-axis cylinder, a three-axis cylinder, a four-axis motor, a five-axis motor, and a six-axis motor, respectively, as drive mechanisms. All the motors are connected to a power source via proportional servo valves. Opening the proportional servo valve starts the motors. Closing the proportional servo valve stops the motors. Each motor feeds back its coefficient to the proportional servo valve it is connected to.

[0064] As a specific embodiment of the present invention, the pose control effect of the forearm robot 4 directly affects whether the forearm robot 4 can reach the designated position and the end-effector repeatability. The hydraulic system of the forearm robot 4 adopts a proportional servo valve control method, supplied with oil by a series fixed displacement pump or a modified constant pressure pump. The system uses a proportional servo valve for control. This servo valve is a digital proportional servo valve, characterized by direct-acting, zero valve core cover, internal valve core position closed loop, and the valve core opening characteristic curve can be set according to actual conditions, making it suitable for various position closed-loop control. This system setting can greatly improve the response speed and sensitivity of the actuator, ensuring high control accuracy for the forearm robot 4.

[0065] As a specific embodiment of the present invention, the integrated tunneling, anchoring and protection robot has a swarm collaborative control system, which includes a control layer, a support layer and an application layer.

[0066] Specifically, the control layer is configured to control the actions of each terminal of the tunneling, temporary support, and anchor drilling operation, and the control range of the control layer includes tunneling machine cutting control, tunneling machine oil pump control, transfer system control, dust removal system control, anchor drilling platform 2 forward and backward control, temporary support opening and closing control, anchor drilling platform 2 temporary support control, temporary support mechanical locking control, small arm robot 4 recovery and stretching control, anchor tool warehouse 6 tool grabbing, end pose adjustment and trajectory control, and visual system pose adjustment. The support layer is configured to comprehensively consider the spatial relationship and control logic relationship of each business unit, provide system control strategy support, and the control layer realizes the interaction of each structural spatial position information, the collaborative control of each component of the robot, the coordinate change of each coordinate system, kinematics analysis, and the formulation of control strategy. The application layer is configured to optimize the collaborative control strategy between each business from the management of the operation plan, and improve the coordination and operation efficiency of the tunnel anchor robot group. The application layer realizes the tunneling business (tunneling task plan management, transfer collaborative action, cutting collaborative operation, spatial data information management, internal linkage operation, dust removal collaborative operation, robot group collaborative operation interaction, external linkage operation, and oil pump collaborative operation, etc.), temporary support operation (temporary support plan management, temporary support collaborative operation, platform movement collaborative operation, robot group collaborative operation interaction, temporary support locking, and platform top connection collaborative operation, etc.), and anchor support operation (anchor support task plan management, collaborative drilling operation, visual positioning collaborative operation, spatial path planning management, collaborative feeding operation, body unlocking and stretching collaborative control, robot group collaborative operation interaction, collaborative path planning, and tool grabbing collaborative control, etc.).

[0067] The goal of the tunnel anchor operation is to realize the collaborative operation of the tunneling, temporary support, and anchor support operation, and the robot group collaborative control overall is a decision-making mechanism of the collaborative operation. The power shaft of each motion mechanism of the system is feedbacked by an encoder or a displacement sensor to form a position closed-loop control. Each mechanical limit position is assisted by an electromagnetic switch for limit protection. The system uses a touch display screen as a human-machine interaction interface. The position information of the power shaft of each motion mechanism of the system is transmitted to the main control PC in a field bus mode, the visual information collected by the visual system is transmitted to the main control PC on-board control system in an Ethernet mode, and the collaborative operation of multiple execution mechanisms is involved. The collaborative control of each execution mechanism maintains the relative independence of the tunneling and support parts. After the tunneling operation is completed, the robot group collaborative control overall gives an instruction to open the pump station and close the power of the tunneling control system, and the support part independently completes the control of the anchor drilling, the small arm robot 4, and the visual system.

[0068] As Figure 15As shown, the overall machine group cooperative control is composed of a remote monitoring system 101, an electric control system 102 of the heading machine, and an electric control system 103 of the supporting robot. The electric control system 102 of the heading machine is used to control the cantilever heading machine 1; the electric control system 103 of the supporting robot is used to control the small-arm robot 4; and the remote monitoring system 101 is used to monitor the overall cantilever heading machine 1 and small-arm robot 4. The electric control system 102 of the heading machine and the electric control system 103 of the supporting robot are respectively driven and controlled by an independent electric control box, and a communication control between the two is performed by a Siemens 1500 series PLC and an industrial computer, a protocol of which is an Ethernet TCP / IP. Parameter settings of the two electric control systems are communicated with the remote industrial computer of the remote monitoring system 101 through a WLAN signal, and at the same time, the on-site device state information is sent to the remote industrial computer of the remote monitoring system 101. A lock control and a permission switching control between the two are performed by manually selecting a switch.

[0069] As shown in the figure, Figure 15 The main control PC of the remote monitoring system 101 is connected with a handle; the main control PC of the remote monitoring system 101 is connected with the electric control system 102 of the heading machine and the electric control system 103 of the supporting robot through WIFI; the electric control system 102 of the heading machine is connected with a man-machine interface (HMI) through a network (PN); the electric control system 102 of the heading machine is further connected with a remote control handle, a sensor, and an actuator. The electric control system 103 of the supporting robot includes a main control PC and a Siemens 1500 series PLC; the main control PC and the Siemens 1500 series PLC communicate through a TCP / IP protocol; the main control PC is connected with a vision system through a network; the main control PC is connected with a PC through a CAN bus; the PC is connected with a vehicle-mounted controller through the CAN bus; the Siemens 1500 series PLC is connected with a man-machine interface (HMI) through a network PN, and is further connected with a remote control handle, a sensor, and an actuator.

[0070] As a specific embodiment of the present application, the remote monitoring system 101 includes a remote computer and an industrial switch, the remote computer is connected with the industrial switch through a network; the industrial switch is connected with the electric control system 102 of the heading machine through WIFI; the electric control system 102 of the heading machine is connected with the industrial switch of the electric control system 103 of the supporting robot through a network. The industrial switch of the electric control system 103 of the supporting robot is connected with a first industrial computer and a second industrial computer, and a wireless receiving remote controller; the first industrial computer and the second industrial computer are both connected with an absolute value encoder, a proportional servo valve, a magnetostrictive sensor, an inclination sensor, a pressure sensor, a proximity switch, an explosion-proof button indicator, and an explosion-proof tower lamp. The first industrial computer is used for wireless remote control box control, small-arm robot 4 control, first rotating arm control, supporting arm control platform, and oil source control. The second industrial computer is used for heading machine communication control, remote computer communication control, display control, small-arm robot 4 control, and second rotating wall control.

[0071] As a specific embodiment of the present application, the control system has the following technical indicators: hydraulic oil grade 9; hydraulic oil working temperature -20~+60℃; hydraulic oil working viscosity 20~100mm 2 / s; power supply capacity 2500VA; power supply three-phase AC 1140V(-15%-+10%); protection grade IP54; communication protocol between industrial computers and between industrial computer and PLC Ethernet TCP / IP; industrial computer transmission mode and hardware interface RJ45 interface, super five twisted pair; industrial computer-wireless remote control box communication mode amplitude modulation 433MHz; explosion-proof encoder: with explosion-proof mark ExdI, protection grade IP67, working temperature range -40℃~60℃, made of stainless steel, anti-vibration, using CANopen communication protocol, resolution is 16bit, absolute value encoder; magnetostrictive sensor linear displacement, magnetostrictive principle; accuracy ±30μm; explosion-proof; explosion-proof pressure sensor 0-60MPa; accuracy ±1%FS; 4-20mA signal; inclination sensor uses CANopen communication protocol, resolution 0.01 degrees, accuracy ±0.4 degrees, servo valve is CANopen bus proportional valve, single electrical parameter 3A / 50W.

[0072] As a specific embodiment of the present application, the tunneling machine-supporting robot electric control interaction signal is as follows:

[0073] (1) The tunneling machine electric control is communicated by Siemens 1500 series PLC through Ethernet TCP / IP. After tunneling is completed, the permission control switch on the tunneling machine electric control box is used to switch from tunneling mode to supporting mode. After selection is completed, the PLC control right is handed over to the supporting robot industrial computer for control.

[0074] (2) Tunneling machine-supporting robot industrial computer signal.

[0075] ① Heartbeat signal: pulse signal with a period of 500ms;

[0076] ② Tunneling has been completed, supporting work is ready signal, signal type: bool, bool value 1 indicates ready, bool value 0 indicates not ready;

[0077] ③ Status information of all sensors of the tunneling machine, used for state monitoring of the supporting robot industrial computer during obtaining permission.

[0078] (3) Supporting robot output tunneling signal.

[0079] ① Heartbeat signal: pulse signal with a period of 500ms;

[0080] ②Support has been completed, signal type: bool, bool value of 1 indicates completion, bool value of 0 indicates not completed;

[0081] ③Fault alarm: signal type: bool, bool value of 1 indicates fault, bool value of 0 indicates no fault.

[0082] As a specific embodiment of the present application, when the boom-type tunneling machine 1 completes the work, the gun 17 is laid on the bottom, the cutting and hydraulic power source of the tunneling operation is cut off, and the operation mode is switched to the support system. The small arm robot 4 places the mesh and steel belt on the support plate platform 31, the middle main arm 32 is extended, and the support plate platform 31 on which the mesh and steel belt are placed is ensured to be in contact with the top (or pressed on the top wall of the tunnel) through the pitch and roll movement. The left and right drill arms 23 are moved to the steel belt position by manual remote control, the drill arms 23 are rotated to face the steel belt structure, the pose of the drill arms 23 is accurately adjusted by using the hole searching camera, the drill arms 23 realize the centering of the drilling position of the drilling device and the position of the long hole of the steel belt through the visual system, and the drilling mechanism of the drill arms 23 is ensured to be aligned with the steel belt hole of the steel belt.

[0083] As a specific embodiment of the present application, the first small arm robot and the second small arm robot complete the following process flow:

[0084] S1, unlock and extend the small arm robot 4; S2, the small arm robot 4 moves to the anchor tool warehouse 6; S3, the gripper 47 of the small arm robot 4 clamps the drill rod or anchor rod 48 and moves to the power head of the anchor rod drill 236; S4, the anchor tool clamp clamps the drill rod or anchor rod 48; S5, the power head advances the drill rod or anchor rod 48 to complete the drilling operation; S6, the power head exits the drill rod or anchor rod 48; S7, the gripper 47 of the small arm robot 4 clamps the drill rod or anchor rod 48 and places it back into the anchor tool warehouse 6; S8, the gripper 47 of the small arm robot 4 moves and clamps the anchoring agent; S9, the small arm robot 4 clamps the anchoring agent to the drilling position and is centered with the hole; S10, the anchor tool clamp clamps the anchoring agent; S11, the power head advances the anchoring agent into the hole; S12, the small arm robot 4 moves to the anchor tool warehouse 6 and the gripper 47 clamps the drill rod or anchor rod 48; S13, the small arm robot 4 clamps the drill rod or anchor rod 48 to the drilling position and is centered with the hole; S14, the anchor tool advances and clamps the drill rod or anchor rod 48; S15, the power head advances the drill rod or anchor rod 48 into the hole; S16, the small arm robot 4 arm is retracted and locked.

[0085] As a specific embodiment of the present application, the control system of the small arm robot 4 involves the cooperative operation of multiple actuators, and one of the keys to the autonomous operation of the system is the guarantee and implementation of "operation accuracy". The system involves three coordinate systems: one is the geodetic coordinate system used to describe the position information of the tunneling machine, and the tunneling machine body control system including the on-board touch display screen of the tunneling machine takes this coordinate system as the reference; the second is the small arm coordinate system used to describe the position information of the small arm robot 4, which takes the center position of the connection point between the small arm robot 4 and the tunneling machine body as the coordinate origin; the third is the camera coordinate system used to describe the position information of the target hole by the vision system, which takes the center position of the camera as the coordinate origin. The relative position relationship between the coordinate origin and the small arm coordinate system can convert the target hole position to the small arm coordinate system for adjusting the end position of the small arm robot 4. Among them, the spatial coordinates given by the camera, the conversion accuracy to the base coordinate system of the drill rod or anchor rod 48 drilling machine (all-in-one machine coordinate system), and the twice conversion accuracy between the tool coordinate system of the gripper 47 of the small arm robot 4 will directly affect the final operation accuracy of the operation arm.

[0086] During the excavation and anchoring operation, the control accuracy of the small arm robot 4 is particularly important, which determines the success rate of reaching the target point. In the static state of the tunneling machine body, the control difficulty of the small arm robot 4 is simplified. Since the small arm robot 4 is a multi-joint motion structure, the repeatability of the end effector and the composition of the joint will inevitably present a certain rule. The present application adopts the repeatability method to verify the accuracy of reaching the target point in the cooperative control process. The z-axis direction (vertical direction) of the small arm coordinate system is taken as the target point for repositioning verification. The system control system controls the small arm robot 4 to move back and forth along the straight line parallel to the z-axis direction multiple times, and compares the distance between the reached point and the target point. The forward motion trajectory and the reverse motion trajectory are drawn respectively, the forward position error, the reverse position error, and the difference between the two are obtained, which is the return gap error along the z-axis direction.

[0087] As a specific embodiment of the present application, the relative accuracy requirement of the drilling machine, platform and top support part is not high, and proportional valve control is adopted, so that stepless speed regulation can be realized throughout the process, and the starting stability is increased. Together with the sensor and encoder, it forms a closed-loop control, which can realize relatively accurate position control and meet the needs of cooperative operation control of the excavation and anchoring integrated robot.

[0088] As a specific embodiment of the present application, during the whole cutting operation, the small arm robot 4 is in a recycling state, when the cutting operation is completed and the cannon head 17 is landed, the boom-type tunneling machine 1 is adjusted to the center line position and is in a static state, and the small arm robot 4 starts operation. The implementation of the control system of the small arm robot 4 is based on the visual system in the camera coordinate system, which recognizes the surrounding rock environment and finds the target position through the binocular vision sensing terminal (hole searching camera) in the static state of the tunneling machine, and the target position in the camera coordinate system is transformed into the target position in the small arm robot coordinate system through coordinate transformation.

[0089] As shown in Figure 14 , it is a hydraulic system principle diagram for the pose control of the small arm robot 4. According to Figure 14 analysis, when the small arm robot 4 needs to operate, the position of the steel belt hole is determined through the visual system or the relative position relationship between the structures, the target position and the planned trajectory of the small arm robot 4 are calculated through system processing, and the planned set value is transmitted to each servo valve in real time. Due to the deviation of the input signal and the signal of the sensor of the execution element, each axis servo valve is driven to open, the pump of the power oil source supplies oil to each execution element, the execution element moves to compensate the input deviation of the servo valve in real time, and then the small arm robot 4 always follows the planned trajectory path to move to the planned target position.

[0090] As shown in Figure 16 , it is a hydraulic system principle diagram for the pose control of the small arm robot 4. According to Figure 14 analysis, when the small arm robot 4 needs to operate, the position of the steel belt hole is determined through the visual system or the relative position relationship between the structures, the target position and the planned trajectory of the small arm robot 4 are calculated through system processing, and the planned set value is transmitted to each servo valve in real time. Due to the deviation of the input signal and the signal of the sensor of the execution element, each axis servo valve is driven to open, the pump of the power oil source supplies oil to each execution element, the execution element moves to compensate the input deviation of the servo valve in real time, and then the small arm robot 4 always follows the planned trajectory path to move to the planned target position.

[0091] The beneficial effects realized by the present application are as follows:

[0092] (1) The application is the overall architecture of the anchor excavating robot group which is cooperated by anchor drilling platform and small arm robot, and achieves the purpose of replacing human operation, can completely realize the full automation of excavating, supporting, drilling, anchoring and protecting, realizes the integration of excavating and anchoring operation, avoids the mutual switching operation between multiple mechanical equipment in the limited space of excavating roadway, improves the overall efficiency of excavating, and improves the safety of operation personnel.

[0093] (2) In the material grabbing aspect, two sets of six-axis small arm robots are arranged, the collision-free movement path of each joint of the small arm robot in space is used to accurately realize material grabbing to meet the needs of drilling and supporting operation.

[0094] (3) In the aspect of robot group cooperative operation, the control system distributes and coordinates each operation process of the excavating, anchoring and protecting integrated robot, the driving units of each component receive control instructions to realize accurate operation of each process, and the cooperative operation of the six-axis small arm robot and each process of excavating and anchoring is realized.

[0095] The above only describes the embodiments of the application and is not used to limit the application. The application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the scope of claims of the application.

Claims

1. A combined anchor and shield robot, characterized by, The application relates to a tunneling machine, which comprises: a cantilever tunneling machine, a horizontal moving operation platform, an anchor drilling platform, a temporary support platform and a small-arm robot, the horizontal moving operation platform is arranged on the top of the cantilever tunneling machine; the anchor drilling platform, the temporary support platform and the small-arm robot are all arranged on the horizontal moving operation platform; after the horizontal moving operation platform moves, the anchor drilling platform, the temporary support platform and the small-arm robot move as a whole; the temporary support platform is used for placing a mesh and a steel belt and driving the mesh and the steel belt to contact a roadway top wall; the anchor drilling platform is used for aligning a steel belt hole of the steel belt and drilling an anchor drilling tool into the steel belt hole; the small-arm robot is arranged on the side of the anchor drilling platform, and the small-arm robot is used for installing an anchor drilling tool on the anchor drilling platform; an anchor drilling tool warehouse is arranged on the horizontal moving operation platform, the anchor drilling tool warehouse is arranged on the side of the small-arm robot, and the anchor drilling tool warehouse is used for placing the anchor drilling tool so as to be grabbed by the small-arm robot; the anchor drilling platform comprises first and second anchor drilling mechanisms which are arranged in parallel and at intervals; the first and second anchor drilling mechanisms each comprise a telescopic mechanism and a drilling arm; one end of the telescopic mechanism is connected with the drilling arm, and the other end is connected with the horizontal moving operation platform through a swing mechanism; the end of the telescopic mechanism is connected with the drilling arm through a cross swing mechanism, the cross swing mechanism comprises a swing connecting plate, a first motor and a second motor; the swing connecting plate is fixedly connected with the end of the telescopic mechanism; the first motor and the second motor are arranged in a cross shape; the first motor is rotationally connected with the swing connecting plate along a vertical direction; the second motor is fixedly connected with the first motor perpendicularly to the first motor, and an output shaft of the second motor is fixedly connected with the drilling arm; the horizontal moving operation platform comprises a sliding plate, a left guide rail and a right guide rail, the left and right guide rails are fixed on the top of the cantilever tunneling machine; the left and right guide rails are arranged in parallel and at intervals, and are arranged along the advancing direction of the cantilever tunneling machine; and the sliding plate is slidably connected between the left and right guide rails.

2. The integrated machine of claim 1, wherein, a visual system is arranged on the drilling arm, the visual system comprises a hole searching camera, the hole searching camera is used for identifying the position of a steel belt hole and sending the position to a machine group cooperative control system; and the machine group cooperative control system adjusts the pose of the drilling arm according to the position of the steel belt hole identified by the hole searching camera to ensure that the drilling mechanism of the drilling arm is aligned with the steel belt hole.

3. The integrated anchor and shield robot of claim 1, wherein, The application further relates to a machine group cooperative control system, which comprises a remote monitoring system, a tunneling machine electric control system and a support robot electric control system; the tunneling machine electric control system is in communication connection with the support robot electric control system; and the tunneling machine electric control system and the support robot electric control system are both in communication connection with the remote monitoring system.

4. The combined anchor and shield robot according to claim 1, wherein The temporary support platform comprises a support plate platform and an intermediate main arm, the support plate platform is connected above the horizontal moving work platform through the intermediate main arm, one end of the intermediate main arm is connected on the horizontal moving work platform, and the other end is connected on the support plate platform.

5. The integrated anchor and shield robot of claim 1, wherein, The cantilever type tunneling machine comprises a walking part, a supporting part, a cutting part and a shovel plate part, the supporting part is connected above the walking part, and the cutting part and the shovel plate part are both connected on the supporting part.

6. The combined anchor and shield robot of claim 1, wherein, The drill arm comprises an anchor rod drill, the anchor rod drill has a power head, the power head is provided with an anchor rod tool clamp at the top, the anchor rod tool clamp is used for clamping an anchor rod, and the power head is used for advancing the anchor rod to complete a drilling operation.

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