A pre-weakening roadway tunneling robot and a tunneling method

Abstract

The application discloses a kind of super early pre-weak tunneling machine and tunneling method, and the tunneling machine includes mainframe, walking mechanism, cutting rotary mechanism, cutting swing hydraulic cylinder, cutting arm base, cutting arm rack, cutting drum, auxiliary rock breaking mechanism.Walking mechanism is installed below mainframe, cutting rotary mechanism is installed on mainframe, cutting arm base is installed on cutting rotary mechanism, cutting arm rack and cutting swing hydraulic cylinder rear end are hinged with cutting arm base, cutting drum is double drum, installed in cutting arm rack front end, auxiliary rock breaking mechanism is installed between two cutting drums, and rock is pre-weakened.The auxiliary rock breaking mechanism uses two ways of microwave rock breaking and water jet rock breaking, and is selected according to different characteristics of rock.The application can effectively improve rock breaking efficiency and protect cutting drum by breaking rock for hard and large rock.

Description

Technical Field

[0001] This invention relates to the field of tunnel excavation technology, specifically to a pre-weakening tunnel excavation robot and excavation method. Background Technology

[0002] Currently, coal mining suffers from a serious imbalance between mining and excavation. A primary cause of this imbalance is the difficulty of tunneling through rock formations. Existing cutting-tooth type integrated tunneling machines struggle to effectively and economically cut hard rock strata with a hardness coefficient greater than f8 (i.e., a compressive strength greater than 80 MPa). This results in low cutting efficiency, excessive cutting tooth wear, and increased machine failure rates. Only by removing the tunneling machine from the working face and employing drilling and blasting for rock breaking can progress be achieved, leading to potential safety hazards and hindering continuous excavation. Therefore, researching automated tunneling machinery capable of efficiently breaking hard rock is crucial for achieving less-manned or unmanned tunneling and building an intelligent energy mining system. Summary of the Invention

[0003] The purpose of this invention is to provide a pre-weakening tunneling robot and tunneling method. By using an auxiliary rock-breaking mechanism installed at the end of the cutting arm to perform jet cutting or microwave irradiation on the rock along the cutting trajectory, the rock strength is reduced and the cutting load of the cutting teeth is reduced. The high-efficiency cutting of hard rock is achieved through pre-cutting weakening.

[0004] The technical solution adopted by this invention is as follows: In a first aspect, this invention provides an advanced pre-weakening tunnel excavation robot, including a main frame for support; a walking mechanism installed below the main frame; a cutting auxiliary mechanism including a cutting rotary mechanism installed on the main frame, a cutting arm base installed on the cutting rotary mechanism, and a cutting swing hydraulic cylinder hinged to the cutting arm base; a cutting mechanism including a cutting arm frame, two cutting rollers installed at the front end of the cutting arm frame, and an auxiliary rock-breaking mechanism installed between the cutting rollers; the rear end of the cutting arm frame is hinged to the cutting arm base, and the front end of the cutting swing hydraulic cylinder is hinged to the cutting arm frame; the auxiliary rock-breaking mechanism is used to weaken the rock and cooperates with the cutting rollers to cut the rock.

[0005] As a further improvement of the present invention, the auxiliary rock-breaking mechanism includes a water jet rock-breaking unit, which includes a nozzle mounting assembly, a self-excited oscillating jet nozzle, a protective shell, and a nozzle cutting shell. Multiple self-excited oscillating jet nozzles are arrayed and mounted on the nozzle mounting assembly. The nozzle cutting shell is mounted on the upper part of the self-excited oscillating jet nozzle. The upper part of the nozzle mounting assembly is detachably connected to the protective shell, and the bottom is detachably connected to the cutting arm frame.

[0006] As a further improvement of the present invention, the nozzle mounting assembly includes a jet opening and closing device, an internal flow channel of the nozzle mounting assembly, a nozzle mounting slot, and a connecting end; multiple connecting joints are connected sequentially via hydraulic hoses, one end of the jet opening and closing device is connected to the hydraulic hose, and the other end is connected to the jet pump station mounted on the main frame; the connecting joint communicates with the internal flow channel of the nozzle mounting assembly, and the internal flow channel of the nozzle mounting assembly communicates with the self-excited oscillating jet nozzle; the self-excited oscillating jet nozzle is threadedly connected to the nozzle mounting slot.

[0007] As a further improvement of the present invention, the self-excited oscillating jet nozzle includes a reflector wall cavity, a nozzle located at the upper part of the reflector wall cavity, and an input interface located at the lower part of the reflector wall housing, wherein the input interface is connected to the internal flow channel of the nozzle mounting assembly.

[0008] As a further improvement of the present invention, the nozzle cutting housing includes, from bottom to top, an integral mounting and fixing body, a housing interior and flow channel, and a cutting edge, wherein the housing interior and flow channel are connected to the internal flow channel of the nozzle mounting assembly.

[0009] As a further improvement of the present invention, the nozzle cutting housing is divided into a single-blade cutting housing and a double-blade cutting housing. The single-blade cutting housing is located on the outer periphery of the protective shell, with the blade normal direction facing outward; the double-blade cutting housing is located on the inner side of the protective shell, with the two blade normals remaining horizontal.

[0010] As a further improvement of the present invention, the auxiliary rock-breaking mechanism further includes a microwave rock-breaking unit, which includes a microwave generator and a microwave transmission frame. The microwave transmission frame is installed inside the outer shell and is integrally sleeved on the outer periphery of the multiple nozzle cutting shells. The microwave generator emits microwaves to the microwave transmission frame, which are then transmitted to the nozzle cutting shells, and the rocks are then irradiated with microwaves during cutting.

[0011] As a further improvement of the present invention, the cutting mechanism further includes a cutting transmission mechanism installed inside the cutting arm frame. The cutting transmission mechanism includes an input bevel gear, a first-stage gear, a second-stage gear, a third-stage gear, an idler gear, and a roller gear that mesh in sequence. The roller gear drives the cutting drum to rotate. The third-stage gear is an eccentric wheel that generates periodic angular acceleration during transmission, providing periodic radial impact force to the cutting drum.

[0012] As a further improvement of the present invention, it also includes a cooling spray system installed on the cutting arm frame. The coolant pipeline of the cooling mist system is fixed inside the cutting arm frame in a multi-segment S-shaped structure, and the spray simultaneously cools the cutting drive mechanism.

[0013] Secondly, the present invention also provides a method for pre-weakening tunnel excavation, comprising the following steps: Step 1: Operate the cutting rotation mechanism and the cutting swing hydraulic cylinder to position the cutting arm frame in the middle left position of the tunneling machine, and raise the cutting drum to the highest position of the target section; operate the traveling mechanism to position the tunneling robot in the middle of the working face, and make the two cutting drums fit against the target tunneling face; control the support and stabilization mechanism to support the working face bottom plate to fix the tunneling machine body. Step 2: Start the hydraulic pump station. Based on the dielectric properties of the rock mass, select either microwave-assisted rock breaking or water jet-assisted rock breaking and turn on the jet pump station or microwave generator. The cutting drum begins to rotate, and the auxiliary rock breaking mechanism works simultaneously. The right-side cutting drum advances laterally at a small angle of 3° to 8° to cut into the rock, with a cutting depth of 1 / 3 to 2 / 3 of the economical cutting depth for soft rock. Control the cutting arm frame to swing laterally slowly and slightly. At the same time, the auxiliary rock breaking mechanism follows the right-side cutting drum to pre-weaken the second cut of rock mass exposed after cutting. When the right-side cutting drum swings to the right to the symmetrical cutting position, it begins to move in the opposite direction. The cutting mechanism moves 8° to 15° to the left and downwards. The left cutting drum begins cutting, while the auxiliary rock-breaking mechanism follows closely behind to pre-weaken the exposed second-cut rock mass after cutting. After the left cutting drum returns to directly below the initial cutting position, the right cutting drum cuts horizontally to the right again. The left and right cutting drums cut alternately, and the overall cutting trajectory is Z-shaped. The cutting mechanism performs a reciprocating oscillating displacement cycle until it cuts to the bottom of the target section, forming a vertical groove in the middle of the target section. The auxiliary rock-breaking mechanism completes the pre-weakening operation on the second-cut rock mass inside the vertical groove in the middle. Step 3: Control the rotary swing mechanism to adjust the cutting drum to the highest position of the cutting groove, and slowly swing it to the right side of the target section to begin cutting the section on the right side of the middle vertical cutting groove; the auxiliary rock breaking mechanism keeps working; after cutting into the rock, control the cutting arm to move laterally, and when it is about half the cutting diameter of the drum at the right edge of the target section outline, swing it diagonally downward in the opposite direction by 8° to 15° to cut away all the rock between the cutting drum and the middle vertical cutting groove. The cutting trajectory runs in a Z-shape towards the bottom of the target section; after cutting away all the rock on the right side of the section, use the same method to cut the rock on the left side of the middle vertical cutting groove, and finally peel off all the rock on the section. Step 4: Turn off the auxiliary rock breaking mechanism. The cutting roller sweeps and cuts along the contour of the target section, controlling the perimeter forming contour of the single advance to complete the first advance of the target section cutting work. The auxiliary rock breaking mechanism also completes the second advance of rock weakening work. Step 5: Repeat steps 1 to 4 to complete the excavation of the entire tunnel. During the second advance and subsequent cutting, increase the cutting depth of the cutting drum and increase the cutting speed.

[0014] The beneficial effects of this invention are: (1) The present invention sets a rock breaking auxiliary mechanism between two cutting drums. When the cutting drum cuts the rock mass of the current advance, the auxiliary rock breaking mechanism can pre-weaken the exposed rock mass to be cut in the next advance. As a result, after the cutting drum cuts the rock mass of the first advance, the subsequent advances are all cut by the pre-weakened rock mass. Therefore, the hardness of the rock mass faced by the cutting drum decreases, and the cutting speed and cutting efficiency are greatly improved. (2) When the drum is moving across to cut the rock mass, the auxiliary rock breaking mechanism generates multiple self-excited oscillating jets on the same path when using the water jet rock breaking unit. This jets repeatedly cut the rock mass on the cutting trajectory, effectively creating a free surface in the cutting direction of the cutting teeth. This greatly reduces the load on the rock broken by the cutting teeth in the next advance, greatly improves the mechanical cutting efficiency of hard rock, and reduces the wear of the cutting teeth and the load on the drum. (3) The auxiliary rock breaking mechanism can freely choose to use microwave rock breaking or water jet rock breaking according to the characteristics of the rock, thereby improving the targeting of rock breaking and the rock weakening effect; (4) By setting an eccentric transmission gear shaft in the transmission mechanism, periodic angular acceleration is generated during transmission, so that the cutting drum generates periodic impact force when rotating, reducing rock breaking resistance and reducing wear caused by contact between the cutting teeth and the rock mass, thereby improving rock breaking efficiency. (5) During the cutting operation, the water-cooled spray system removes the heat generated by the gear meshing transmission through the water-cooled pipes in the cutting arm frame, cools the transmission system, and reduces the temperature rise of the gears, thus reducing the thermal fatigue of the transmission system components. During the cutting operation, the water-cooled spray system sprays dust to reduce smoke and electric sparks caused by cutting rocks, and reduces the heat generated by the cutting friction of the cutting teeth. Attached Figure Description

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is an overall diagram of the advanced pre-weakening tunnel excavation robot of the present invention; Figure 2 This is a cross-sectional view of the cutting arm mechanism of the present invention; Figure 3 This is a structural diagram of the auxiliary rock-breaking mechanism of the present invention; Figure 4 This is a cross-sectional view of the auxiliary rock-breaking mechanism of the present invention; Figure 5 This is a cross-sectional view of the self-excited oscillating jet nozzle of the present invention; Figure 6 This is a cross-sectional view of the nozzle cutting housing of the present invention; Figure 7 This is a schematic diagram of the advanced weakening and cracking cutting process of the present invention; Figure 8 This is a flowchart of the advanced weakening and cracking cutting process.

[0017] In the diagram, 1-Main frame, 2-Walking mechanism, 3-Hydraulic pump station, 4-Jet pump station, 5-Central controller, 6-Support and stabilization mechanism, 7-Shoveling mechanism, 8-Cutting rotary mechanism, 9-Cutting swing hydraulic cylinder, 10-Cutting arm base, 11-Cutting arm frame, 12-Cutting roller, 13-Auxiliary rock-breaking mechanism, 13-1-Nozzle mounting assembly, 13-1-1-Jet opening and closing device, 13-1-2-Internal flow channel of nozzle mounting assembly, 13-1-3-Nozzle mounting slot, 13-1-4-Connecting end, 13-2-Self-excited oscillating jet nozzle, 13-2-1-Nozzle, 13-2-2-Reflector wall cavity, 13-2-3-Input interface, 13-3-Microwave conduction frame. 13-4-Protective outer shell, 13-5-Nozzle cutting shell, 13-5a-Single-blade cutting shell, 13-5b-Double-shot cutting shell, 13-5-1-Microwave conductor, 13-5-2-Mounting fixture, 13-5-3-Shell interior and flow channel, 13-5-4-Cutting blade, 14-Cooling spray system, 15-Cutting transmission mechanism, 15-1-Input bevel gear, 15-2-Level I gear, 15-3-Level II gear, 15-4-Level III gear, 15-5-Idler gear, 15-6-Roller gear, 16-Microwave generator, 17-Cutting rock mass, 18-Cutting surface of the previous advance, 19-Previous advance jet / microwave pre-weakening damage, 20-This advance jet / microwave pre-weakening damage, 21-Roller cutting area. Detailed Implementation

[0018] Figure 1The overall structure of the advanced pre-weakening tunnel boring robot is shown. Components include a main frame 1, a walking mechanism 2, a hydraulic pump station 3, a jet pump station 4, a central controller 5, a support and stabilization mechanism 6, a shoveling mechanism 7, a cutting and rotating mechanism 8, a cutting and swinging hydraulic cylinder 9, a cutting arm base 10, a cutting arm frame 11, a cutting drum 12, an auxiliary rock-breaking mechanism 13, and a cooling spray system 14. The walking mechanism 2 is mounted below the main frame 1 and is tracked. The cutting and rotating mechanism 8 is mounted on the main frame 1, and the cutting arm base 10 is mounted on the cutting and rotating mechanism 8. The rear end of the cutting arm frame 11 and the rear end of the cutting and swinging hydraulic cylinder 9 are hinged to the cutting arm base 10, and the front end of the cutting and swinging hydraulic cylinder 9 is hinged to the side of the cutting arm frame 11. There are two cutting and swinging hydraulic cylinders 9, located on opposite sides of the cutting arm frame 11. The cutting drum 12 is a double drum, coaxially mounted at the front end of the cutting arm frame 11. The auxiliary cutting mechanism 13 is located in the middle of the two cutting drums 12. The hydraulic pump station 3, the jet pump station 4, and the central controller 5 are all mounted on the main frame 1. The support and stabilization mechanism 6 is mounted at the rear of the main frame 1, providing support and stability for the entire robot during operation. The loader 7 is mounted at the front of the main frame 1, below the cutting arm frame 11. The cutting rotation mechanism 8 drives the cutting drum 12 to swing left and right, and the cutting swing hydraulic cylinder 9 drives the cutting drum 12 to move up and down. The cooling spray system 14 is mounted on the cutting arm frame 11, used to reduce dust and cool the cutting drum 12 during operation.

[0019] Figure 3 To assist in the structural diagram of rock-breaking mechanism 13, Figure 4 For the auxiliary rock-breaking mechanism 13 partial sectional view, please refer to... Figure 3 and Figure 4The auxiliary rock-breaking mechanism 13 includes a nozzle mounting assembly 13-1, a self-excited oscillating jet nozzle 13-2, a protective housing 13-4, and a nozzle cutting housing 13-5. The nozzle mounting assembly 13-1 includes a jet opening and closing device 13-1-1, an internal flow channel 13-1-2, a nozzle mounting slot 13-1-3, and a connecting end 13-1-4. Both ends of the nozzle mounting assembly 13-1 are connected to the cutting arm frame 11 and the protective housing 13-3 via high-strength bolts. The self-excited oscillating jet nozzle 13-2 is mounted on the nozzle mounting assembly 13-1. The nozzle cutting housing 13-4 is mounted on the self-excited oscillating jet nozzle 13-2 for its protection. Multiple connecting joints 13-1-4 are sequentially mounted on hydraulic hoses, and one end of the jet opening and closing device 13-1-1 is connected to the hydraulic hose. Connector 13-1-4 connects to the internal flow channel 13-1-2 of the nozzle mounting assembly. The internal flow channel 13-1-2 of the nozzle mounting assembly connects to the self-excited oscillating jet nozzle 13-1-2. The self-excited oscillating jet nozzle 13-2 is threadedly connected to the nozzle mounting clip 13-1-3. The auxiliary rock-breaking mechanism 13 is divided into microwave rock-breaking and water jet rock-breaking. The microwave rock-breaking mechanism uses a microwave generator 16 in conjunction with the nozzle cutting housing 13-5 to heat the rock to be cut, thus pre-weakening it.

[0020] like Figure 2 As shown, a cutting transmission mechanism 15 is provided inside the cutting arm frame 11, including an input bevel gear 15-1, a first-stage gear 15-2, a second-stage gear 15-3, a third-stage gear 15-4, an idler gear 15-5, and a roller gear 15-6 that mesh in sequence. The roller gear 15-6 drives the cutting roller 12 to rotate. The third-stage gear 15-4 is an eccentric wheel, which generates periodic angular acceleration during transmission, providing periodic radial impact force to the cutting roller 12.

[0021] Figure 5 The diagram shows the structure of the self-excited oscillating jet nozzle 13-2, which includes a nozzle 13-2-1, a reflective wall cavity 13-2-2, and an input interface 13-2-3. The input interface 13-2-3 is provided with an internal thread that connects to the connecting end 13-1-4.

[0022] Figure 6The diagram shows the structure of the nozzle cutting housing 13-5, which comes in two types: a single-edged cutting housing 13-5a and a double-edged cutting housing 13-5b. The difference lies in the cutting edge: the single-edged cutting housing 13-5a performs unidirectional scraping and is installed on the outside of the protective shell 13-4, with the cutting edge facing outwards. The double-edged cutting housing 13-5b performs bidirectional scraping, with the cutting edge facing horizontally, and is installed on the inside of the protective shell 13-4. These two types of cutting edges are designed to cooperate with the up-and-down and left-and-right movements of the cutting roller 12, thereby assisting in the cutting of the rock. The microwave conductor 13-5-1, the interior of the housing and the flow channel 13-5-3, and the cutting edge 13-5-4 in the nozzle cutting housing 13-5 are integrated. They are installed in the holes of the protective shell 13-4 and fixed in position by bayonet mounting, and then fixed to the protective shell 13-4 by the threaded structure of the mounting fastener 13-5-2. The microwave conductor 13-5-1 in the nozzle cutting housing 13-5 is made of microwave material and is connected to the microwave transmission frame 13-3 to conduct microwaves onto the rock.

[0023] This invention also discloses a method for pre-weakening tunnel excavation. Please refer to the structure. Figure 7 and Figure 8 The specific steps of this method are as follows: Step 1: Operate the cutting rotation mechanism 8 and the cutting swing hydraulic cylinder 9 to position the cutting arm frame 11 in the middle left position of the tunneling machine, and raise the cutting drum 12 to the highest position of the target section; operate the traveling mechanism 2 to position the tunneling robot in the middle of the working face, and make the two cutting drums 12 fit against the target tunneling face; control the support and stabilization mechanism 6 to support the bottom plate of the working face to fix the tunneling machine body. Step 2: Start the hydraulic pump station 3. Based on the dielectric properties of the rock mass, select either microwave-assisted rock breaking or water jet-assisted rock breaking and activate the jet pump station 4 or microwave generator 16. Specifically, determine whether to use microwave irradiation for assisted rock breaking based on the content of the main microwave-absorbing substances in the rock's mineral composition. For rocks with high content of strong microwave-absorbing minerals, microwave-assisted rock breaking is used. Strong microwave-absorbing minerals include, but are not limited to, olivine, biotite, dolomite, ilmenite, pyrite, etc., and the rock mass exhibits a significant decrease in elastic modulus and compressive strength after microwave irradiation. Otherwise, water jet-assisted rock breaking is used. The cutting drum 12 begins to rotate, and the auxiliary rock breaking mechanism 13 works simultaneously. The cutting drum 12 on the right side... The cutting arm 11 is laterally advanced at a small angle of 3° to 8° to cut into the rock, with a cutting depth of 1 / 3 to 2 / 3 of the economical cutting depth for soft rock. The cutting arm frame 11 is slowly and gently laterally oscillated, while the auxiliary rock-breaking mechanism 13 follows closely behind the right cutting drum 12 to pre-weaken the exposed second-cut rock mass. When the right cutting drum 12 oscillates to the right to the symmetrical cutting position, it begins to move diagonally downwards and to the left at an angle of 8° to 15°, and the left cutting drum 12 begins cutting, while the auxiliary rock-breaking mechanism 13 follows closely behind. The cutting drum 12 pre-weakens the exposed second-cut rock mass after cutting. After the left cutting drum 12 returns to directly below the initial cutting position, the right cutting drum 12 cuts horizontally to the right again. The left cutting drum 12 and the right cutting drum 12 cut alternately, and the overall cutting trajectory is Z-shaped. The reciprocating oscillating displacement cycle continues until the bottom of the target section is cut, forming a vertical groove in the middle of the target section. The auxiliary rock breaking mechanism 13 completes the pre-weakening operation of the second-cut rock mass inside the vertical groove in the middle. Step 3: Control the rotary swing mechanism 8 to adjust the cutting drum 12 to the highest position of the cutting groove, and slowly swing it to the right side of the target section to cut the rock mass to be cut, and start cutting the section on the right side of the middle vertical cutting groove; the auxiliary rock breaking mechanism 13 keeps working; after cutting into the rock, control the cutting arm to move laterally, and when it moves laterally to about half the cutting diameter of the drum at the right edge of the target section outline, swing it diagonally downward in the opposite direction by 8° to 15°, cutting away all the rock mass between the cutting drum 12 and the middle vertical cutting groove, and the cutting trajectory runs in a Z-shape towards the bottom of the target section; after cutting away all the rock mass on the right side of the section, the same method is used to cut the rock mass on the left side of the middle vertical cutting groove, and finally the rock mass on the section is completely stripped away; Step 4: Turn off the auxiliary rock breaking mechanism 13. The cutting roller 12 performs edge cutting along the target cross-section contour, controls the peripheral forming contour of the single advance, and completes the first advance cutting of the target cross-section. The auxiliary rock breaking mechanism 13 also completes the second advance rock weakening work. Step 5: Repeat steps 1 to 4 to complete the tunnel excavation. During the second advance and subsequent cutting, increase the cutting depth of the cutting drum 12 and increase the cutting speed.

[0024] In this method, although the auxiliary rock-breaking mechanism 12 is working during the first advance of cutting, it does not weaken the rock in the first advance. Therefore, the cutting depth in the first advance should be smaller to protect the cutting teeth on the cutting drum 12. (Reference) Figure 7 When the cutting drum 12 moves to the right to cut the rock, the auxiliary rock breaking mechanism 12 acts on the rock exposed after cutting, which is the rock to be cut in the next advance, i.e. the second advance. After the cutting drum 12 has cut the entire arched surface, the entire surface to be cut is the rock cross-section that has been pre-weakened by the auxiliary rock breaking mechanism 12. Therefore, when the second advance is carried out, the rock hardness facing the cutting drum 12 will be much lower, and its cutting depth will be greater than that of the first advance. The subsequent third advance, fourth advance, etc. are all pre-weakened rock cross-sections. Therefore, this method has the effect of pre-weakening the roadway rock as a whole.

[0025] Economic cutting refers to the cutting that a tunneling machine can perform when the rock hardness is relatively low, and the cutting depth is generally relatively large. This method, compared with this, aims to illustrate that during the first advance, because there is no auxiliary rock-breaking mechanism to weaken the rock, it is not advisable to perform excessively deep cutting on harder rocks.

[0026] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes that can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention are all within the protection scope of the claims of the present invention.

Claims

1. A pre-weakening tunnel boring robot, characterized in that, include Main frame (1), used for support; The walking mechanism (2) is installed below the main frame (1); The cutting auxiliary mechanism includes a cutting rotary mechanism (8) mounted on the main frame (1), a cutting arm base (10) mounted on the cutting rotary mechanism (8), and a cutting swing hydraulic cylinder (9) hinged to the cutting arm base (10); The cutting mechanism includes a cutting arm frame (11), two cutting rollers (12) mounted at the front end of the cutting arm frame (11), and an auxiliary rock-breaking mechanism (13) mounted between the cutting rollers (12); the rear end of the cutting arm frame (11) is hinged to the cutting arm base (10), and the front end of the cutting swing hydraulic cylinder (9) is hinged to the cutting arm frame (11); the auxiliary rock-breaking mechanism (13) operates when the cutting rollers (12) are in contact with the cutting arm base (10). When the rock mass is being cut in the advance, the auxiliary rock-breaking mechanism (13) pre-weakens the exposed rock mass to be cut in the next advance and works in conjunction with the cutting roller (12) to cut the rock; wherein, the auxiliary rock-breaking mechanism (13) includes a water jet rock-breaking unit, the water jet rock-breaking unit includes a nozzle mounting assembly (13-1), a self-excited oscillating jet nozzle (13-2), a protective shell (13-4), and a nozzle cutting shell (13-5), and multiple The self-excited oscillating jet nozzles (13-2) are arrayed and mounted on the nozzle mounting assembly (13-1). The nozzle cutting housing (13-5) is mounted on the upper part of the self-excited oscillating jet nozzles (13-2). The upper part of the nozzle mounting assembly (13-1) is detachably connected to the protective shell (13-4), and the bottom is detachably connected to the cutting arm frame (11). The auxiliary rock-breaking mechanism also includes a microwave rock-breaking unit. The microwave rock-breaking unit includes a microwave generator (16) and a microwave transmission frame (13-3). The microwave transmission frame (13-3) is installed inside the protective shell (13-4) and is integrally fitted around the outer periphery of multiple nozzle cutting housings (13-5). The microwave generator (16) emits microwaves to the microwave transmission frame (13-3), which are then transmitted to the nozzle cutting housing (13-5) to irradiate the rock during cutting.

2. The advanced pre-weakening tunnel boring robot according to claim 1, characterized in that, The nozzle mounting assembly (13-1) includes a jet opening and closing device (13-1-1), an internal flow channel (13-1-2), a nozzle mounting slot (13-1-3), and a connecting end (13-1-4). Multiple connecting ends (13-1-4) are connected sequentially via hydraulic hoses. One end of the jet opening and closing device (13-1-1) is connected to the hydraulic hose, and the other end is connected to the jet pump station (4) mounted on the main frame (1). The connecting end (13-1-4) communicates with the internal flow channel (13-1-2) of the nozzle mounting assembly, and the internal flow channel (13-1-2) communicates with the self-excited oscillating jet nozzle (13-2). The self-excited oscillating jet nozzle (13-2) is threadedly connected to the nozzle mounting slot (13-1-3).

3. The advanced pre-weakening tunnel boring robot according to claim 2, characterized in that, The self-excited oscillating jet nozzle (13-2) includes a reflector wall cavity (13-2-2), a nozzle (13-2-1) located at the upper part of the reflector wall cavity, and an input interface (13-2-3) located at the lower part of the reflector wall cavity (13-2-2). The input interface (13-2-3) is connected to the internal flow channel (13-1-2) of the nozzle mounting assembly.

4. The advanced pre-weakening tunnel boring robot according to claim 1, characterized in that, The nozzle cutting housing (13-5) includes, from bottom to top, an integral mounting and fixing body (13-5-2), a housing interior and flow channel (13-5-3), and a cutting edge (13-5-4). The housing interior and flow channel (13-5-3) are connected to the internal flow channel (13-1-2) of the nozzle mounting assembly.

5. The advanced pre-weakening tunnel boring robot according to claim 4, characterized in that, The nozzle cutting housing (13-5) is divided into a single-edged cutting housing (13-5a) and a double-edged cutting housing (13-5b). The single-edged cutting housing (13-5a) is located on the outer periphery of the protective shell (13-4), with the blade normal direction facing outward. The double-edged cutting housing (13-5b) is located on the inner side of the protective shell (13-4), with the normals of the two blades remaining horizontal.

6. The advanced pre-weakening tunnel boring robot according to claim 1, characterized in that, The cutting mechanism also includes a cutting transmission mechanism (15) installed inside the cutting arm frame (11). The cutting transmission mechanism (15) includes an input bevel gear (15-1), a first-stage gear (15-2), a second-stage gear (15-3), a third-stage gear (15-4), an idler gear (15-5), and a roller gear (15-6) that mesh in sequence. The roller gear (15-6) drives the cutting roller (12) to rotate. The third-stage gear (15-4) is an eccentric wheel that generates periodic angular acceleration during transmission, providing periodic radial impact force to the cutting roller (12).

7. The advanced pre-weakening tunnel boring robot according to claim 1, characterized in that, It also includes a cooling spray system (14) installed on the cutting arm frame (11). The coolant pipeline of the cooling spray system (14) is fixed inside the cutting arm frame (11) in a multi-segment S-shaped structure. The spray also cools the cutting transmission mechanism (15).

8. A method for advanced pre-weakening tunnel excavation, based on the advanced pre-weakening tunnel excavation robot as described in any one of claims 1-7, characterized in that, Includes the following steps: Step 1: Operate the cutting rotary mechanism (8) and the cutting swing hydraulic cylinder (9) to position the cutting arm frame (11) in the middle left position of the tunneling machine, and raise the cutting drum (12) to the highest position of the target section; operate the walking mechanism (2) to position the tunneling robot in the middle of the working face, and make the two cutting drums (12) fit against the target tunneling face; control the support stabilization mechanism (6) to support the working face bottom plate to fix the tunneling machine body; Step 2: Start the hydraulic pump station (3). Based on the dielectric properties of the rock mass, select microwave-assisted rock breaking or water jet-assisted rock breaking and turn on the jet pump station (4) or microwave generator (16). The cutting drum (12) starts to rotate, and the auxiliary rock breaking mechanism (13) works at the same time. The right cutting drum (12) cuts into the rock at a small angle of 3° to 8°. The cutting depth is 1 / 3 to 2 / 3 of the economic cutting depth of soft rock. Control the cutting arm frame (11) to swing slowly and slightly laterally. At the same time, the auxiliary rock breaking mechanism (13) follows the right cutting drum (12) to pre-weaken the second cutting depth of the exposed rock mass after cutting. When the right cutting drum (12) swings to the right to the symmetrical cutting position, it starts to move to the left and down at an angle of 8° to 15° in the opposite direction. The left cutting drum (12) starts to cut, and the auxiliary rock breaking mechanism (13) follows the left cutting. The roller (12) pre-weakens the exposed second-cut rock mass after cutting. After the left cutting roller (12) returns to the initial cutting position directly below, the right cutting roller (12) cuts horizontally to the right again. The left cutting roller (12) and the right cutting roller (12) cut alternately, and the overall cutting trajectory is Z-shaped. The roller performs reciprocating oscillation displacement cycle until it cuts to the bottom of the target section, forming a vertical groove in the middle of the target section. The auxiliary rock breaking mechanism (13) completes the pre-weakening operation of the second-cut rock mass inside the vertical groove in the middle. Step 3: Control the cutting rotary mechanism (8) to adjust the cutting drum (12) to the highest position of the cutting groove, and slowly swing it to the right side of the target section to cut the rock body to be cut, and start cutting the section on the right side of the middle vertical cutting groove; the auxiliary rock breaking mechanism (13) keeps working; after cutting into the rock, control the cutting arm to move laterally, and when it moves laterally to about half the cutting diameter of the drum at the right edge of the target section outline, swing it diagonally downward in the opposite direction by 8° to 15°, and cut off all the rock body between the cutting drum (12) and the middle vertical cutting groove. The cutting trajectory runs in a Z shape towards the bottom of the target section; after cutting off all the rock on the right side of the section, the same method is used to cut the rock body on the left side of the middle vertical cutting groove, and finally the rock body on the section is completely stripped off; Step 4: Close the auxiliary rock breaking mechanism (13), and the cutting roller (12) performs edge cutting along the target cross-section contour. Control the perimeter forming contour of the single advance to complete the first advance cutting of the target cross-section. The auxiliary rock breaking mechanism (13) also completes the second advance rock weakening work. Step 5: Repeat steps 1 to 4 to complete the tunnel excavation. During the second advance and subsequent cutting, increase the cutting depth of the cutting drum (12) and increase the cutting speed.

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