Peristaltic feeding device and method thereof

Abstract

The present invention discloses a peristaltic feeding device and a method thereof. The front unit and the rear unit of the device are connected by a connecting propulsion device, and the tunneling robot is installed on the front unit; the front unit and the rear unit include a pneumatic valve island and a pneumatic foot support. The pneumatic foot support is ventilated through the pneumatic valve island and works together with the connecting propulsion device to realize the overall support of the peristaltic feeding device during the tunneling of the tunneling robot, the adjustment of the tunneling position, and the crossing of obstacles. After the ventilation is disconnected, it returns to the initial state, avoiding the jamming of the propulsion peristaltic feeding device and realizing the safe exit of the tunneling robot. The present invention can effectively solve the current problems in the process of excavating in tunnels with narrow space and long distances, that the tunneling robot equipped with a tool cannot complete the tunnel excavation through the fixed-length feeding mechanism, and that the excavation accuracy of the wheeled robot is not high.

Description

Technical Field

[0001] The invention relates to a feeding device and the technical field of tunneling robots, in particular to a peristaltic feeding device and a method thereof. Background Art

[0002] Urban construction and scientific research often require machining structures with complex orientations and cross-sectional shapes within geotechnical structures with only one or a few access points. For example, in power facility maintenance and underground pipeline laying, wheeled tunneling robots often cannot maintain precise excavation direction, limiting the distance the tool can advance using the ram and lead screw. Summary of the Invention

[0003] In order to solve the problems existing in the background technology, the present invention provides a peristaltic feeding device and method thereof.

[0004] The technical solution adopted in the present invention is:

[0005] 1. A peristaltic feeding device:

[0006] The equipment includes a front unit, a rear unit and a connecting propulsion device. The front unit and the rear unit are connected by a connecting propulsion device that propels the peristaltic feeding equipment as a whole to move forward and backward. The tunneling robot is installed on the side of the front unit facing the feeding direction; the front unit includes a first pneumatic valve island and several first pneumatic foot supports, and the rear unit includes a second pneumatic valve island and several second pneumatic foot supports. After ventilation through the pneumatic valve island, each pneumatic foot support and the connecting propulsion device jointly realize the overall support of the peristaltic feeding equipment when the tunneling robot is tunneling, the adjustment of the excavation position and the crossing of obstacles, and return to the initial state after the ventilation is disconnected, so as to avoid the propulsion of the peristaltic feeding equipment from getting stuck and thus realize the safe exit of the tunneling robot.

[0007] The connecting propulsion device includes a screw and several guide rods. The screw is arranged horizontally and its two ends are respectively connected to the front unit and the rear unit. The guide rods are arranged horizontally at intervals and distributed around the screw. The two ends of each guide rod are respectively connected to the front unit and the rear unit; the screw and each guide rod are parallel to the feed direction.

[0008] The front unit also includes a screw nut, a plurality of first supporting casters, two first distance measuring sensors and a front unit housing. The front unit housing is an arch-shaped aluminum shell. The sides of the front unit housing facing and away from the feed direction are respectively the first front side and the first rear side. The left and right sides and the bottom between the first front side and the first rear side are respectively provided with a plurality of first supporting casters for support. The two first distance measuring sensors are respectively symmetrically arranged on the left and right sides of the front unit housing and face the excavation tunnel walls on both sides of the front unit housing. The directions of the two first distance measuring sensors are perpendicular to the forward direction of the peristaltic feed device. Each first pneumatic foot support, the first pneumatic valve island and the screw nut are It is installed inside the front unit shell, and first through grooves are provided in the middle of the top surface, the bottom of the left and right sides, and the middle of the bottom surface of the front unit shell. Each first pneumatic leg is respectively installed at a position of its own first through groove. After being ventilated through the first pneumatic valve island, each first pneumatic leg passes through its own first through groove and then rests against the wall of the excavation tunnel to achieve overall support of the front unit; one end of the screw passes through the front unit and is vertically installed in the middle of the first rear side surface of the front unit shell through a screw nut, and one end of each guide rod is vertically movably connected to the first rear side surface of the front unit shell; an installation groove is provided in the middle of the first front side surface of the front unit shell, and the excavation robot is installed in the installation groove.

[0009] The front unit also includes several pairs of cameras and fill lights for lighting and position confirmation. Each pair of cameras and fill lights are installed on the first front side of the front unit shell and distributed around the tunneling robot. Each camera and fill light is facing the feed direction.

[0010] The rear unit also includes a motor gear device, bearings, a plurality of second supporting casters, two second distance measuring sensors and a rear unit housing. The rear unit housing is an arch-shaped aluminum shell. The sides of the rear unit housing facing and away from the feeding direction are respectively the second front side and the second rear side. The left and right sides and the bottom between the second front side and the second rear side are respectively provided with a plurality of second supporting casters for support. The two second distance measuring sensors are respectively symmetrically arranged on the left and right sides of the rear unit housing and face the excavation tunnel walls on both sides of the rear unit housing. The directions of the two second distance measuring sensors are perpendicular to the forward direction of the peristaltic feeding device; the motor gear device, bearings, each second pneumatic foot support and the second pneumatic valve island are all installed inside the rear unit housing. Second through grooves are provided in the middle of the top surface, the bottom of the left and right sides, and the middle of the bottom surface of the element shell. Each second pneumatic foot support is installed at a respective second through groove position. After being ventilated through the second pneumatic valve island, each second pneumatic foot support passes through its respective second through groove and then rests against the wall of the excavation tunnel to achieve overall support of the rear unit; the motor gear device is installed in the middle of the second rear side surface inside the rear unit shell, and the other end of the lead screw passes through the second front side surface of the rear unit and is synchronously connected to the motor gear device through a bearing, and the other end of each guide rod is vertically connected to the first front side surface of the rear unit shell; the end of each first pneumatic support foot and the second pneumatic foot support is also provided with a rubber pad for protecting and strengthening friction support; the ranging sensor is an infrared ranging sensor.

[0011] The motor-gear assembly includes a main motor, a first driving wheel, a driven wheel, a backup motor, and a second driving wheel. The central axes of the first, driven, and second driving wheels are all parallel to the lead screw. The bodies of the main motor and backup motor are respectively mounted on the second rear side surface of the rear unit housing. The output shafts of the main motor and backup motor are synchronously connected to the central axes of the first and second driving wheels, respectively. The driven wheel is located between the first and second driving wheels and meshes with them respectively. The central axis of the driven wheel is synchronously connected to the other end of the lead screw via a bearing. When the main motor fails to start, the backup motor is activated to drive the second driving wheel, which in turn drives the lead screw, ultimately driving the front and rear units toward or away from each other. The dual-motor design can significantly reduce the probability of failure of the peristaltic feed equipment when operating in a tunnel.

[0012] 2. A feeding method of a peristaltic feeding device, comprising:

[0013] When the peristaltic feeding device is in the initial state, each pneumatic support leg is located inside the unit shell; when the peristaltic feeding device drives the tunneling robot to feed, first, each second pneumatic support leg of the rear unit is ventilated through the second pneumatic valve island and the air pipe, and then passes through their respective second through grooves and rests against the tunnel wall to fix the rear unit, and then drives the main motor or spare motor of the motor gear device to drive the screw to rotate in the forward direction, pushing the front unit as a whole to move in the feeding direction away from the rear unit until the front unit advances a preset distance The movement stops after reaching the threshold value, and the first pneumatic legs of the front unit are ventilated through the first pneumatic valve island and the air pipe, and then pass through their respective first through grooves and press against the wall of the excavation tunnel to fix the front unit. After the second pneumatic valve island is disconnected from the ventilation, the second pneumatic legs are restored to their initial state, and then the main motor or the backup motor of the driving motor gear device is used to drive the screw to rotate in the opposite direction, driving the rear unit as a whole to move toward the front unit, thereby completing a peristaltic feeding. Repeating the peristaltic feeding multiple times can realize the continuous advancement of the peristaltic feeding equipment.

[0014] During the feeding process of the peristaltic feeding device, several lasers parallel to the feeding direction are emitted outside the tunnel and irradiated from the gap between the peristaltic feeding device and the tunnel wall to the tunnel wall in front of the peristaltic feeding device. Each fill light illuminates the tunnel wall in front of the peristaltic feeding device, and each camera captures the laser position on the front tunnel wall. When the camera captures that the peristaltic feeding device is not at the center position of each laser, it is judged that the peristaltic feeding device deviates from the feeding direction. The position of the tunneling robot is adjusted by adjusting the extension of each pneumatic support leg. At the same time, the distance between the peristaltic feeding device and the inner walls of the tunnel on both sides is monitored in real time by each ranging sensor until the peristaltic feeding device returns to the feeding direction.

[0015] When the peristaltic feeding device encounters an obstacle during the feeding process, the extension amount of the second pneumatic foot support at the bottom of the rear unit is increased until the height of the bottom surface of the peristaltic feeding device is higher than the height of the obstacle, and then the front unit is pushed to cross the obstacle, and the extension amount of the second pneumatic foot support at the bottom of the front unit is increased again, and finally the rear unit is pulled to cross the obstacle, thereby achieving the crossing of the obstacle.

[0016] When excavation is completed, the ventilation is disconnected and the peristaltic feeding device returns to its initial state. Then, the peristaltic feeding device is pulled out of the tunnel through the air pipe used for ventilation, thereby achieving the safe exit of the peristaltic feeding device.

[0017] The beneficial effects of the present invention are:

[0018] The present invention can effectively solve the current problem of tunneling robots equipped with cutting tools being unable to complete tunnel excavation using a fixed-length feed mechanism, and the low excavation accuracy of wheeled robots during excavation in narrow tunnels. The feeding method of the device of the present invention can ensure the stability of the tool holder during excavation in narrow passages, while enabling autonomous operation without being restricted by a fixed-length propulsion module, greatly reducing labor costs and improving excavation accuracy. The device of the present invention can achieve overall support through pneumatic legs, and can adjust the device's position by combining a camera and laser. The overall pneumatic arrangement can restore the device to its initial state by disconnecting the ventilation at the end of excavation, thereby avoiding jamming and achieving a safe exit. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is another schematic diagram of the overall structure of the present invention;

[0021] Figure 3 It is a schematic structural diagram of the front unit of the present invention;

[0022] Figure 4 It is a schematic structural diagram of the rear unit of the present invention;

[0023] Figure 5 is a connection diagram of the connection propulsion device of the present invention;

[0024] In the figure: 1. Front unit, 11. First pneumatic support leg, 12. Camera, 13. Fill light, 14. First pneumatic valve island, 15. Screw nut, 16. First supporting caster, 17. First ranging sensor, 18. Rubber pad, 19. Front unit housing, 2. Connecting propulsion device, 21. Screw, 22. Three-rod guide rod, 3. Rear unit, 31. Second pneumatic support leg, 321. Main motor, 322. First driving wheel, 323. Driven wheel, 324. Spare motor, 325. Second driving wheel, 33. Bearing, 34. Second pneumatic valve island, 35. Second supporting caster, 36. Second ranging sensor, 37. Rear unit housing. DETAILED DESCRIPTION

[0025] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process. However, the protection scope of the present invention is not limited to the following embodiment.

[0026] like Figure 1 and Figure 2As shown, the peristaltic feeding device of the present invention includes a front unit 1, a rear unit 3 and a connecting propulsion device 2. The front unit 1 and the rear unit 3 are connected by the connecting propulsion device 2 for propelling the peristaltic feeding device as a whole to perform forward and backward movements. The tunneling robot is installed on the side surface of the front unit 1 facing the feeding direction; the front unit 1 includes a first pneumatic valve island 14 and a plurality of first pneumatic foot supports 11, and the rear unit 3 includes a second pneumatic valve island 34 and a plurality of second pneumatic foot supports 31. After ventilation through the pneumatic valve island 14, 34, the pneumatic foot supports 14, 34 and the connecting propulsion device 2 jointly realize the overall support of the peristaltic feeding device when the tunneling robot is excavating, the adjustment of the excavation position and the crossing of obstacles, and return to the initial state after the ventilation is disconnected, thereby avoiding the propulsion of the peristaltic feeding device from getting stuck and realizing the safe exit of the tunneling robot.

[0027] like Figure 5 As shown, the connecting propulsion device 2 includes a screw 21 and several guide rods 22. The screw 21 is arranged horizontally and its two ends are respectively connected to the front unit 1 and the rear unit 3. The guide rods 22 are arranged horizontally at intervals and distributed around the screw 21. The two ends of each guide rod 22 are respectively connected to the front unit 1 and the rear unit 3; the screw 21 and each guide rod 22 are parallel to the feed direction.

[0028] like Figure 3 As shown, the front unit 1 also includes a screw nut 15, a plurality of first supporting casters 16, two first distance measuring sensors 17 and a front unit housing 19. The front unit housing 19 is an arch-shaped aluminum shell. The sides of the front unit housing 19 facing and away from the feeding direction are respectively the first front side and the first rear side. A plurality of first supporting casters 16 for support are respectively provided on the left and right sides and the bottom between the first front side and the first rear side. The two first distance measuring sensors 17 are respectively symmetrically arranged on the left and right sides of the front unit housing 19 and face the excavation tunnel walls on both sides of the front unit housing 19. The directions of the two first distance measuring sensors 17 are perpendicular to the forward direction of the peristaltic feeding device; each first pneumatic foot support 11, the first pneumatic valve island 14 and the screw nut 1 5 are all installed inside the front unit shell 19. First through grooves are provided in the middle of the top surface, the bottom of the left and right sides, and the middle of the bottom surface of the front unit shell 19. Each first pneumatic leg support 11 is respectively installed at the position of its own first through groove. After being ventilated through the first pneumatic valve island 14, each first pneumatic leg support 11 passes through its own first through groove and then rests against the tunnel wall to achieve overall support of the front unit 1; one end of the lead screw 21 passes through the front unit 1 and is vertically installed in the middle of the first rear side surface of the front unit shell 19 through the lead screw nut 15; one end of each guide rod 22 is respectively vertically movably connected to the first rear side surface of the front unit shell 19; a mounting groove is provided in the middle of the first front side surface of the front unit shell 19, and the tunneling robot is installed in the mounting groove.

[0029] The front unit 1 also includes several pairs of cameras 12 and fill lights 13 for lighting and position confirmation. Each pair of cameras 12 and fill lights 13 are installed on the first front side surface of the front unit housing 19 and are distributed around the tunneling robot. Each camera 12 and fill light 13 is facing the feed direction.

[0030] like Figure 4 As shown, the rear unit 3 also includes a motor gear device, a bearing 33, a plurality of second supporting casters 35, two second distance measuring sensors 36 and a rear unit housing 37. The rear unit housing 37 is an arch-shaped aluminum shell. The sides of the rear unit housing 37 facing and away from the feeding direction are respectively the second front side and the second rear side. A plurality of second supporting casters 35 for support are respectively provided on the left and right sides and the bottom between the second front side and the second rear side. The two second distance measuring sensors 36 are respectively symmetrically arranged on the left and right sides of the rear unit housing 37 and face the excavation tunnel walls on both sides of the rear unit housing 37. The directions of the two second distance measuring sensors 36 are perpendicular to the forward direction of the peristaltic feeding device; the motor gear device, the bearing 33, the second pneumatic foot supports 31 and the second pneumatic valve island 34 are all installed inside the rear unit housing 37. Second through grooves are provided in the middle of the top surface, the bottom of the left and right sides, and the middle of the bottom surface of the element shell 37. Each second pneumatic foot support 31 is installed at a respective second through groove position. After being ventilated through the second pneumatic valve island 34, each second pneumatic foot support 31 passes through its respective second through groove and then rests against the wall of the excavation tunnel to achieve overall support of the rear unit 3; the motor gear device is installed in the middle of the second rear side surface inside the rear unit shell 37, and the other end of the lead screw 21 passes through the second front side surface of the rear unit 3 and is synchronously connected to the motor gear device through a bearing 33. The other end of each guide rod 22 is respectively vertically connected to the first front side surface of the rear unit shell 37; the end of each first pneumatic support foot 11 and the second pneumatic foot support 31 is also provided with a rubber pad 18 for protecting and strengthening friction support; the ranging sensors 17 and 36 are infrared ranging sensors.

[0031] The motor gear device includes a main motor 321, a first driving wheel 322, a driven wheel 323, a backup motor 324 and a second driving wheel 325. The central axes of the first driving wheel 322, the driven wheel 323 and the second driving wheel 325 are all parallel to the screw 21. The bodies of the main motor 321 and the backup motor 324 are respectively installed on the second rear side surface inside the rear unit housing 37. The output shafts of the main motor 321 and the backup motor 324 are respectively synchronously connected to the central axes of the first driving wheel 322 and the second driving wheel 325. The driven wheel 323 is located between the first driving wheel 322 and the second driving wheel 325 and meshes with the first driving wheel 322 and the second driving wheel 325 respectively. The central axis of the driven wheel 323 is synchronously connected to the other end of the screw 21 through a bearing 33. When the main motor 321 cannot be started, the backup motor 324 is started to drive the second driving wheel 325 to rotate, thereby driving the screw 21 to rotate, and finally driving the front unit 1 and the rear unit 3 to approach or move away from each other. The design of the dual motors 321 and 324 can greatly reduce the failure probability of the peristaltic feeding device when working in the tunnel.

[0032] The feeding method of the peristaltic feeding device of the present invention is specifically as follows:

[0033] When the peristaltic feeding device is in the initial state, each pneumatic support leg 14, 34 is located inside the unit housing 19, 37; when the peristaltic feeding device drives the tunneling robot to feed, first, each second pneumatic support leg 31 of the rear unit 3 passes through the second pneumatic valve island 34 and the air pipe ventilation, and then passes through their respective second through grooves and rests against the tunnel wall to fix the rear unit 3, and then drives the main motor 321 or the backup motor 324 of the motor gear device to drive the screw 21 to rotate in the forward direction, pushing the front unit 1 as a whole to move in the feeding direction away from the rear unit 3, until the front unit 1 moves forward to the preset After reaching the distance threshold, the movement stops. After being ventilated through the first pneumatic valve island 14 and the air pipe, each first pneumatic foot support 11 of the front unit 1 passes through its own first through groove and rests against the wall of the tunnel to fix the front unit 1. After the second pneumatic valve island 34 is disconnected from the ventilation, each second pneumatic foot support 31 is restored to its initial state. Then, the main motor 321 or the spare motor 324 of the driving motor gear device is used to drive the screw 21 to rotate in the opposite direction, driving the rear unit 3 to move as a whole toward the front unit 1, thereby completing a peristaltic feeding. Repeating the peristaltic feeding multiple times can realize the continuous advancement of the peristaltic feeding equipment.

[0034] During the feeding process of the peristaltic feeding device, several lasers parallel to the feeding direction are emitted outside the tunnel and irradiated from the gap between the peristaltic feeding device and the tunnel wall to the tunnel wall in front of the peristaltic feeding device. Each fill light 13 illuminates the tunnel wall in front of the peristaltic feeding device, and each camera 12 captures the laser position on the front tunnel wall. When the camera 12 captures that the peristaltic feeding device is not at the center position of each laser, it is judged that the peristaltic feeding device deviates from the feeding direction, and the position of the tunneling robot is adjusted by adjusting the extension of each pneumatic support leg 11, 31. At the same time, the distance between the peristaltic feeding device and the inner walls of the tunnel on both sides is monitored in real time by each ranging sensor 17, 36 until the peristaltic feeding device returns to the feeding direction.

[0035] When the peristaltic feeding device encounters an obstacle during the feeding process, the extension of the second pneumatic foot support 31 at the bottom of the rear unit 3 is increased until the height of the bottom surface of the peristaltic feeding device is higher than the height of the obstacle, and then the front unit 1 is pushed to cross the obstacle, and the extension of the second pneumatic foot support 31 at the bottom of the front unit 1 is increased again, and finally the rear unit 3 is pulled to cross the obstacle, thereby achieving the crossing of the obstacle.

[0036] When excavation is completed, the ventilation is disconnected and the peristaltic feeding device returns to its initial state. Then, the peristaltic feeding device is pulled out of the tunnel through the air pipe used for ventilation, thereby achieving the safe exit of the peristaltic feeding device.

[0037] The peristaltic feeding method of the peristaltic feeding device of the present invention comprises the following steps:

[0038] S1: When the robot moves forward, first the second pneumatic legs 31 around the rear unit 3 extend to contact the tunnel wall and lock.

[0039] S2: Control the screw rod 21 connected to the propulsion device 2 to rotate and push the front unit 1 to move forward. At this time, the gap between the front unit 1 and the rear unit 3 increases.

[0040] S3: After the front unit 1 moves forward to its position, the first pneumatic legs 11 around the front unit 1 extend to contact and lock with the tunnel wall.

[0041] S4: The second pneumatic legs 31 around the rear unit 3 are retracted. At this time, the screw rod 21 connected to the propulsion device 2 is controlled to rotate and pull the rear unit 3 forward. At this time, the gap between the front unit 1 and the rear unit 3 is reduced.

[0042] S5: Repeat steps S1 to S4 to make the device move forward in a creeping manner.

Claims

1. A peristaltic feeding device, characterized in that: The invention comprises a front unit (1), a rear unit (3) and a connecting propulsion device (2), wherein the front unit (1) and the rear unit (3) are connected via the connecting propulsion device (2) for propelling the peristaltic feeding device as a whole to move forward and backward, and the tunneling robot is installed on a side surface of the front unit (1) facing the feeding direction; the front unit (1) comprises a first pneumatic valve island (14) and a plurality of first pneumatic foot supports (11), and the rear unit (3) comprises a second pneumatic valve island (34) and a plurality of second pneumatic foot supports (31), and each pneumatic foot support (14, 34) is ventilated through the pneumatic valve island (14, 34) and the connecting propulsion device (2) to realize the overall support of the peristaltic feeding device, the adjustment of the excavation position and the crossing of obstacles when the tunneling robot is excavating, and returns to the initial state after the ventilation is disconnected, thereby avoiding the peristaltic feeding device from being stuck and realizing the safe exit of the tunneling robot; The connecting propulsion device (2) includes a screw (21) and a plurality of guide rods (22), the screw (21) is arranged horizontally and its two ends are respectively connected to the front unit (1) and the rear unit (3), the guide rods (22) are arranged horizontally and spaced apart and distributed around the screw (21), and the two ends of each guide rod (22) are respectively connected to the front unit (1) and the rear unit (3); the screw (21) and each guide rod (22) are parallel to the feeding direction; The front unit (1) further comprises a screw nut (15), a plurality of first supporting casters (16), two first distance measuring sensors (17) and a front unit housing (19). The front unit housing (19) is an arch-shaped housing. The sides of the front unit housing (19) facing and away from the feeding direction are respectively the first front side and the first rear side. The left and right sides and the bottom surface between the first front side and the first rear side are respectively provided with a plurality of first supporting casters (16) for supporting. The two first distance measuring sensors (17) are respectively symmetrically arranged on the left and right sides of the front unit housing (19) and facing the tunnel walls on both sides of the front unit housing (19); each first pneumatic foot support (11), the first pneumatic valve island (14) and the screw nut (15) are all installed on the front unit housing (19). The front unit housing (19) is provided with a first through slot in the middle of the top surface, the bottom of the left and right sides, and the middle of the bottom surface. Each first pneumatic foot support (11) is installed at a position of each first through slot. After being ventilated through the first pneumatic valve island (14), each first pneumatic foot support (11) passes through its own first through slot and then abuts against the tunnel wall to achieve overall support of the front unit (1). One end of the lead screw (21) passes through the front unit (1) and is vertically installed in the middle of the first rear side of the front unit housing (19) through the lead screw nut (15). One end of each guide rod (22) is vertically movably connected to the first rear side of the front unit housing (19). A mounting slot is provided in the middle of the first front side of the front unit housing (19), and the tunneling robot is installed in the mounting slot.

2. The peristaltic feeding device according to claim 1, characterized in that: The front unit (1) further comprises a plurality of pairs of cameras (12) and fill lights (13) for lighting and position confirmation, each pair of cameras (12) and fill lights (13) being mounted on the first front side surface of the front unit housing (19) and distributed around the tunneling robot, and each camera (12) and fill light (13) being oriented towards the feeding direction.

3. The peristaltic feeding device according to claim 1, characterized in that: The rear unit (3) further comprises a motor gear device, a bearing (33), a plurality of second supporting casters (35), two second distance measuring sensors (36) and a rear unit housing (37). The rear unit housing (37) is an arch-shaped housing. The sides of the rear unit housing (37) facing and away from the feeding direction are respectively the second front side and the second rear side. The left and right sides and the bottom between the second front side and the second rear side are respectively provided with a plurality of second supporting casters (35) for supporting. The two second distance measuring sensors (36) are respectively symmetrically arranged on the left and right sides of the rear unit housing (37) and facing the excavation tunnel wall on both sides of the rear unit housing (37). The motor gear device, the bearing (33), each second pneumatic foot support (31) and the second pneumatic valve island (34) are all The rear unit housing (37) is installed inside the rear unit housing (37). The middle of the top surface, the bottom of the left and right sides, and the middle of the bottom surface of the rear unit housing (37) are all provided with second through slots. Each second pneumatic foot support (31) is respectively installed at the position of a second through slot. After being ventilated through the second pneumatic valve island (34), each second pneumatic foot support (31) passes through its own second through slot and then abuts against the tunnel wall to achieve the overall support of the rear unit (3); the motor gear device is installed in the middle of the second rear side surface inside the rear unit housing (37). The other end of the lead screw (21) passes through the second front side surface of the rear unit (3) and is synchronously connected to the motor gear device through the bearing (33). The other end of each guide rod (22) is respectively vertically connected to the first front side surface of the rear unit housing (37).

4. The peristaltic feeding device according to claim 3, characterized in that: The motor gear device comprises a main motor (321), a first driving wheel (322), a driven wheel (323), a spare motor (324) and a second driving wheel (325), wherein the central axes of the first driving wheel (322), the driven wheel (323) and the second driving wheel (325) are parallel to the lead screw (21), and the bodies of the main motor (321) and the spare motor (324) are respectively mounted on the second rear side surface inside the rear unit housing (37), and the output shafts of the main motor (321) and the spare motor (324) are respectively synchronously connected to the first driving wheel (322) and the second main driving wheel (325). The central axis of the driving wheel (325) and the driven wheel (323) are located between the first driving wheel (322) and the second driving wheel (325) and are respectively engaged with the first driving wheel (322) and the second driving wheel (325). The central axis of the driven wheel (323) is synchronously connected to the other end of the lead screw (21) through the bearing (33); when the main motor (321) fails to start, the second driving wheel (325) is driven to rotate by starting the backup motor (324), thereby driving the lead screw (21) to rotate, and finally driving the front unit (1) and the rear unit (3) to move closer to or away from each other.

5. The feeding method of the peristaltic feeding device according to any one of claims 1 to 4, characterized in that: include: When the peristaltic feeding device is in an initial state, each pneumatic support leg (14, 34) is located inside the unit housing (19, 37); when the peristaltic feeding device drives the excavation robot to feed, first, each second pneumatic support leg (31) of the rear unit (3) passes through the second pneumatic valve island (34) and the air pipe, passes through the respective second through grooves, and then rests against the wall of the excavation tunnel, thereby fixing the rear unit (3), and then drives the main motor (321) or the spare motor (324) of the motor gear device to drive the screw (21) to rotate in the forward direction, pushing the front unit (1) as a whole to move in the feeding direction away from the rear unit (3), until the front unit (1) moves forward. After reaching a preset distance threshold, the movement stops, and each first pneumatic foot support (11) of the front unit (1) passes through the first pneumatic valve island (14) and the air pipe and passes through the respective first through slots and then rests against the tunnel wall, thereby fixing the front unit (1). After the second pneumatic valve island (34) is disconnected from the air, each second pneumatic foot support (31) is restored to its initial state, and then the main motor (321) or the spare motor (324) of the driving motor gear device is driven to drive the lead screw (21) to rotate in the opposite direction, driving the rear unit (3) as a whole to move toward the front unit (1), thereby completing one peristaltic feeding, and repeating the peristaltic feeding multiple times to achieve continuous advancement of the peristaltic feeding device; During the feeding process of the peristaltic feeding device, a plurality of laser beams parallel to the feeding direction are emitted from outside the tunnel and irradiated from the gap between the peristaltic feeding device and the tunnel wall to the tunnel wall in front of the peristaltic feeding device, each fill light (13) illuminates the tunnel wall in front of the peristaltic feeding device, and each camera (12) photographs the laser position on the front tunnel wall. When the camera (12) photographs that the peristaltic feeding device is not at the center position of each laser beam, it is determined that the peristaltic feeding device deviates from the feeding direction, and the position of the tunneling robot is adjusted by adjusting the extension of each pneumatic support leg (11, 31). At the same time, the distance between the peristaltic feeding device and the inner walls of the tunnel on both sides is monitored in real time by each distance measuring sensor (17, 36) until the peristaltic feeding device returns to the feeding direction. When the peristaltic feeding device encounters an obstacle during the feeding process, the second pneumatic foot support (31) at the bottom of the rear unit (3) is extended until the height of the bottom surface of the peristaltic feeding device is higher than the height of the obstacle, and then the front unit (1) is pushed to cross the obstacle, and the second pneumatic foot support (31) at the bottom of the front unit (1) is extended again, and finally the rear unit (3) is pulled to cross the obstacle, thereby achieving the crossing of the obstacle; When excavation is completed, the ventilation is disconnected and the peristaltic feeding device returns to its initial state. Then, the peristaltic feeding device is pulled out of the tunnel through the air pipe used for ventilation, thereby achieving the safe exit of the peristaltic feeding device.

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