Multi-point coordinated tunneling and rock gas liquefaction conveying multifunctional robot and tunneling and mining method thereof

Abstract

The invention relates to the technical field of mining equipment, and discloses a multi-point cooperative rock breaking and gas liquefaction conveying multifunctional robot and a digging and mining method thereof.The multi-point cooperative rock breaking and gas liquefaction conveying multifunctional robot comprises a carrier used for moving on a mining working face, a mechanical arm assembly is movably arranged on the carrier, and a cutter head assembly is movably controlled in the axial direction and the radial direction; the cutterhead assembly is used for multi-point cutting teeth to cooperatively impact, crush and drive rocks on a working face; the high-pressure gas supply system is used for conveying high-pressure gas to the cutter head assembly through a high-pressure gas flexible conveying pipe; and the rock gas liquefaction conveying working group station is used for carrying out gas-solid-liquid mixing on the rock particles conveyed by the flexible conveying pipe in the tunneling process of the cutter head assembly and pumping the rock particles to an earth surface or an underground warehouse. Through the design of the multi-point independent drill bit, the efficiency of impact pushing and rotary shearing during tunneling is improved, so that the tunneling efficiency is greatly improved, and the abrasion of cutting teeth is reduced.

Description

Technical Field

[0001] The present invention relates to the field of mining equipment, and in particular to a multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation and an excavation method thereof. Background Art

[0002] The construction and rapid development of underground projects such as national defense, water conservancy, transportation, mining, and subways have made the research and development of underground tunnel and roadway excavation equipment increasingly important. At present, for soft rock excavation, mechanization can be better achieved through cantilever excavation, but when facing hard rock geological conditions, blasting excavation and cantilever excavation are mostly used, which have a series of problems and challenges:

[0003] Economical cutting problem: When traditional tunnel boring machines work in hard rock geological conditions, it is often difficult to achieve effective economical cutting due to the rigid design of the pick. This design leads to frequent failures during the tunneling process, high energy consumption, and expensive maintenance costs. In addition, the rigid pick is easily damaged when encountering hard rock and needs to be replaced frequently, further increasing the operating cost.

[0004] Ineffective vibration and wear problems: In the traditional design of tunnel boring machines, the overall impact of the large cutter head will generate a large amount of ineffective vibration during the tunneling process. This vibration not only reduces the tunneling efficiency, but also aggravates the wear of the equipment and shortens the service life of the equipment. Especially under hard rock geological conditions, the problems of ineffective vibration and wear are more serious, seriously affecting the safety and stability of tunneling operations.

[0005] High cost: Traditional rock drilling technology, such as drilling and blasting, involves multiple complex processes, including rock drilling, charging, wiring, ignition, ventilation, slag removal, face transportation, crushing and underground transportation. These processes are not only time-consuming and labor-intensive, but also costly. In addition, the rock slag generated during the excavation process needs to be processed and transported through multiple links, further increasing the operating cost. Summary of the invention

[0006] In order to overcome or alleviate one or more of the above technical problems, the purpose of the present invention is to provide a multifunctional robot for multi-point collaborative excavation and rock gas liquefaction transportation and a mining method thereof, and breakthroughs in technical difficulties have been made in the following three aspects: First, through multi-point collaborative excavation, the problems of inability to achieve economical cutting, frequent failures and high energy consumption are solved; Second, the overall impact of the existing large cutter head is changed to a single point impact, reducing the problem of invalid vibration and severe wear of the customer; Third, through multi-point collaborative excavation and pipeline transportation, the problem of high cost is solved.

[0007] The present invention provides the following technical solutions:

[0008] The present invention provides a multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation, which comprises:

[0009] A carrier, used for moving on the mining working face, on which a mechanical arm assembly is movably provided, the mechanical arm assembly movably controls the cutter head assembly in the axial and radial directions, the cutter head assembly is used for the coordinated impact and crushing of multiple picks and the excavation of the rock on the working face;

[0010] A high-pressure gas supply system, used for delivering high-pressure gas to the cutter head assembly through a high-pressure gas flexible delivery pipe;

[0011] The rock gas liquefaction conveying workstation is used to mix the rock particles in the excavation process of the cutterhead assembly conveyed by the flexible conveying pipe with gas, solid and liquid, and pump them to the surface or underground warehouse.

[0012] According to some embodiments, the robotic arm assembly includes an axially rotatable robotic arm rotating turntable, on which a robotic arm upper arm is fixed, and a radially movable fixed robotic arm swing mechanism is provided at the end of the robotic arm upper arm, and a robotic arm forearm is fixed on the fixed robotic arm swing mechanism; the end of the robotic arm forearm is provided with the cutter disc assembly, and the cutter disc assembly includes a cylindrical cutter disc, and a plurality of drill rods are provided in the cutter disc, and the front end of each of the drill rods is connected to an impactor and a drill bit, and the rear end of the drill rod is driven to rotate and propel by a rotating oil cylinder and a propulsion oil cylinder, and a dust removal and slag collection device is provided in the cutter disc.

[0013] According to some embodiments, the range of the cutter disc diameter is [500mm, 2000mm]; the range of the drill bit diameter is [50mm, 200mm]; and the number of the drill bits arranged on the cutter disc is not less than 10.

[0014] According to some embodiments, the high-pressure gas supply system includes an air compressor and a power system for driving the air compressor to generate high-pressure gas.

[0015] According to some embodiments, the rock gas liquefaction transportation working group station includes an input pipe, a pumping station, a gas-solid-liquid mixing station and an output pipe from the front end to the rear end, and the pumping station includes a pressure-in pumping station and a pumping station. The rock crushed particles transported by the gas-solid-liquid mixing flexible transportation pipe are blown to the gas-solid-liquid mixing station for gas-solid-liquid mixing through the pressure-in pumping station, and the mixed gas-solid-liquid mixture is transported to the surface or underground warehouse through the pumping station.

[0016] According to some embodiments, a displacement sensor and an azimuth sensor are provided on the carrier, and a speed sensor is provided on the cutter disc; the displacement sensor is used to detect the position change of the carrier; the azimuth sensor is used to detect the orientation and posture of the carrier to assist the robotic arm assembly in adjusting its posture; the speed sensor is provided on the cutter disc to detect the rotation speed of the cutter disc to coordinate the adjustment of the hydraulic pressure, air pressure and water supply.

[0017] On the other hand, the present invention provides a mining method according to the above-mentioned multi-point coordinated excavation and rock gas liquefaction transportation multifunctional robot, which comprises the following steps:

[0018] S1: moving the carrier to the rock mining working face, and adjusting the speed and direction of the cutterhead assembly carried by the mechanical arm assembly moving to the working face through the sensing data of the displacement sensor, the azimuth sensor and the speed sensor;

[0019] S2: starting the air compressor and the power system to prepare to provide high-pressure gas required for excavation;

[0020] S3: Start the rock gas-solid-liquid transport working group station, and the cutterhead assembly begins to circulate and complete the excavation action, excavating 10cm-50cm; during this process, the gas provided by the high-pressure gas supply system is transported to the cutterhead assembly through the high-pressure gas flexible delivery pipe to assist in excavation and rock crushing.

[0021] S4: the cutterhead assembly moves to the next cycle operation according to the perception of the speed sensor and the azimuth sensor, completes the cycle operation, and so on, until the full-section synchronous excavation is completed; during the excavation process, the high-pressure gas supply system continuously supplies gas to maintain the excavation efficiency and effect;

[0022] S5: During the whole process of excavation, liquid, powder and rock slag are collected, and the liquid, powder and rock slag are transported to the gas-solid-liquid mixing station through the pump station and the dust removal and slag collection device. After being evenly mixed, they are transported to the surface or underground gas-solid-liquid warehouse through the gas-solid-liquid mixing flexible conveying pipe; at the same time, the high-pressure gas supply system continues to provide gas to maintain the stability of the gas-solid-liquid mixing and conveying process;

[0023] S6: Repeat S1 to S5 to start the next excavation work face until the work is completed.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1) The present invention adopts multi-point collaborative excavation technology, and the robot of the present invention can achieve effective and economical cutting under hard rock geological conditions. The design of the multi-point independent drill bit improves the efficiency of impact pushing and rotary shearing during excavation, thereby greatly improving the excavation efficiency and reducing the wear of the pick. Compared with the rigid cutter head of the existing tunneling machine, multi-point independent impact and collaborative excavation are achieved, which greatly improves the excavation work efficiency, reduces costs, and realizes the mechanization and continuity of excavation operations under hard rock geological conditions. This design overcomes the problems of frequent failures and high energy consumption encountered by traditional tunneling machines in hard rocks, and significantly improves the excavation efficiency. The multi-point collaborative excavation technology enables the robot to more accurately control the contact between the pick and the rock during the excavation process, reducing ineffective impact and wear, thereby reducing energy consumption and maintenance costs.

[0026] 2) The present invention changes the overall impact mode of the traditional tunnel boring machine cutter head and adopts a single-point impact design, which effectively reduces the invalid vibration during the tunneling process. The single-point impact design enables each drill bit to impact and shear the rock independently, reducing the impact on the entire tunnel boring machine, thereby reducing the wear of the equipment and extending the service life of the equipment.

[0027] 3) The present invention simplifies the traditional multi-process operation by combining multi-point coordinated excavation with pipeline transportation, combines powder / fragmentation excavation and pipeline transportation into two processes, and greatly reduces the operation cost. The robot can complete the powderization and transportation of rocks while excavating, realizing the continuous operation from rock excavation to gas-solid-liquid mixed pumping, reducing the intermediate links, improving the operation efficiency and reducing the cost.

[0028] 4) Multi-point collaborative excavation technology enables the robot to better adapt to different geological conditions, improves the flexibility and adaptability of excavation operations, and thus improves the safety of operations. The single-point impact design reduces invalid vibrations, improves the stability of the equipment, and makes the robot's excavation operations under hard rock geological conditions safer and more reliable.

[0029] 5) The rock slag produced by the robot during the excavation process can be mixed with gas, solid and liquid in time and transported to the surface or underground warehouse, reducing the impact of the rock slag on the environment and achieving efficient utilization of resources. Through the gas-solid-liquid mixing pumping technology, the robot can convert the rock slag produced by excavation into liquid resources, reducing the waste of resources and achieving secondary development and utilization of resources.

[0030] 6) The multifunctionality of the multifunctional robot provided by the present invention is reflected in two aspects:

[0031] First, the robot itself can realize multiple functions: ① Multi-point collaborative excavation: The present invention uses multi-point collaborative excavation technology to realize the simultaneous impact and crushing of hard rock by multiple picks. This design improves excavation efficiency, reduces energy consumption, and reduces the probability of failure.

[0032] ② High-pressure gas-assisted excavation: Equipped with a high-pressure gas supply system, it delivers high-pressure gas to the cutterhead assembly through a high-pressure gas flexible delivery pipe to assist in excavation and rock crushing, thereby improving excavation efficiency and results.

[0033] ③ Rock gas liquefaction transportation: The rock gas liquefaction transportation work station mixes the rock particles generated during the excavation process with gas, solid and liquid, and pumps them to the surface or underground warehouses, realizing the effective transportation and processing of rocks.

[0034] ④Application of intelligent sensors: The carrier is equipped with a displacement sensor and an azimuth sensor, and the cutterhead is equipped with a speed sensor. The coordinated use of these sensors can accurately control the excavation process and improve the accuracy and safety of excavation.

[0035] ⑤ Automated excavation cycle: The excavation method of the present invention includes an automated excavation cycle, from the movement of the carrier to the rock mining working face, to the completion of the excavation action, and then to the collection and transportation of rocks, forming an efficient automated excavation process.

[0036] Second, the robot can be used in a variety of application scenarios: ① The robot of the present invention can realize multi-point collaborative operation in the automated excavation of tunnels and underground projects. Through the autonomous perception and control technology of intelligent sensors, the robot's multi-point collaborative excavation capability can accurately control the excavation process and improve the accuracy and safety of excavation.

[0037] ② In the development of deep shale gas, the robot can be used to increase the drilling speed and shorten the drilling cycle, especially in the rock breaking efficiency of hard formations. Through the drill bit that matches the formation, high drilling pressure and high torque rock breaking energy, the drill bit rock breaking energy loss is reduced and the rock breaking efficiency is significantly improved.

[0038] ③ In the construction of urban underground space, the robot can use its gas-liquefaction transportation function to effectively process and transport the rock slag generated during the excavation process, reducing the impact on urban ground traffic and the environment.

[0039] ④ The robot of the present invention can improve the excavation speed and reduce the engineering time in the hard rock mine tunnel through its multi-point collaborative excavation technology. At the same time, through the intelligent sensing technology, it can accurately control the excavation process and improve the accuracy and safety of excavation. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1A schematic diagram of the overall system of a multifunctional robot for multi-point coordinated tunneling and rock gas liquefaction transportation provided in an embodiment of the present application;

[0041] Figure 2 A schematic diagram of the structure of a robotic arm provided in an embodiment of the present application;

[0042] Figure 3 A schematic diagram of a cutter head assembly provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the structure of a high-pressure gas supply system provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the structure of a rock gas solid-liquid transportation working group station provided in an embodiment of the present application.

[0045] In the figure:

[0046] 1. Carrier; 2. Robot arm assembly; 21. Robot arm forearm; 22. Robot arm upper arm; 23. Robot arm rotating turntable; 24. Robot arm swing mechanism; 3. Cutter head assembly; 31. Drill bit; 32. Impactor; 33. Drill rod; 34. Rotating cylinder; 35. Propulsion cylinder; 36. Dust removal and slag collection device; 37. Cutter head; 4. High-pressure gas flexible conveying pipe; 5. Gas-solid-liquid mixing flexible conveying pipe; 6. High-pressure gas supply system; 61. Air compressor; 62. Power system; 7. Rock gas-solid-liquid conveying working group station; 71. Input pipe; 72. Pump station; 73. Gas-solid-liquid mixing station; 74. Output pipe; 8. Displacement sensor; 9. Azimuth sensor; 10. Speed ​​sensor. DETAILED DESCRIPTION

[0047] The present invention is different from the existing large-diameter cantilever tunneling machine boring drill bit, which has an overall rigid pick. The present invention improves the efficiency of impact pushing and rotary shearing during tunneling through the design of a multi-point independent drill bit, thereby greatly improving the tunneling efficiency and reducing the wear of the pick. Specifically, the present invention realizes continuous tunneling and pipeline transportation operations from rock tunneling powder / fragmentation to gas-solid-liquid mixing pumping through multi-point collaborative tunneling, gas-solid-liquid mixing, and pipeline pumping and transportation functions. Compared with the traditional drilling and blasting method, the eight processes of rock drilling, charging, wiring, ignition, ventilation, slag discharge, working face transportation, crushing, and underground transportation in the traditional drilling and blasting method are greatly optimized to two processes of powder / fragmentation tunneling and pipeline transportation; compared with the rigid cutterhead of the existing tunneling machine, multi-point independent impact and collaborative tunneling are realized, which greatly improves the tunneling work efficiency, reduces costs, and realizes the mechanization and continuity of tunneling operations under hard rock geological conditions.

[0048] The present invention is described in detail below in conjunction with the embodiments and drawings, but it should be understood that the embodiments and drawings are only used to exemplify the present invention and do not constitute any limitation on the protection scope of the present invention. All reasonable changes and combinations within the scope of the inventive concept of the present invention fall within the protection scope of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", "front", "rear" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "set", "install", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] The present invention will be further described below in conjunction with the accompanying drawings.

[0051] Example 1

[0052] like Figure 1 The present embodiment provides a multifunctional robot for multi-point collaborative tunneling and rock gas liquefaction transportation, hereinafter referred to as the robot. The robot includes a cutterhead assembly carrier 1, a cutterhead assembly mechanical arm assembly 2, a cutterhead assembly 3, a high-pressure gas flexible delivery pipe 4, a gas-solid-liquid mixed flexible delivery pipe 5, a high-pressure gas supply system 6 and a rock gas liquefaction transportation working group station 7; it is designed according to functional modularization to facilitate maintenance and inspection during operation.

[0053] Specifically, Figure 1 The carrier 1 is a crawler-type mobile vehicle, on which a mechanical arm assembly 2 is movably provided.

[0054] like Figure 2 The robot arm assembly 2 includes an axially rotatable robot arm rotating turntable 23, on which a robot arm arm 22 is movably fixed. A radially movable fixed robot arm swing mechanism 24 is provided at the end of the robot arm arm 22. A robot arm forearm 21 is fixed on the fixed robot arm swing mechanism 24. The robot arm assembly 2 can move flexibly in the axial and radial directions, which is convenient for the robot arm forearm 21 to flexibly position and carry out mining construction.

[0055] The cutter head assembly 3 is fixed to the end of the robot arm 21, and is a cylinder or ellipse with adjustable diameter. The structure of the cutter head assembly 3 is modularly designed. Figure 3 , from front to back, several independently impacting and rotating drill bits 31, impactors 32, drill rods 33, thrust cylinders 34, rotary cylinders 35, dust removal and slag collection devices 36 and cutter discs 37 are sequentially connected. The cutter disc assembly 3 includes a cylindrical cutter disc 37, in which a plurality of drill rods 33 are arranged. The front end of each drill rod 33 is connected to the impactor 32 and the drill bit 31, and the rear end of the drill rod 33 is driven to rotate and propel through the rotary cylinder 35 and thrust cylinder 34. The cutter disc 37 is provided with a dust removal and slag collection device 36. The diameter of the drill bit 31 is designed according to the size of the cutter disc 37 to ensure effective coverage of the entire cutter disc excavation surface; several independently impacting and rotating drill bits 31 can be impacted and rotated to achieve efficient impact and rotary shearing of a single point; these drill bits work together to complete the excavation operation, thereby improving the excavation efficiency.

[0056] like Figure 3 , which is a cylindrical cutterhead assembly with a cutterhead 37 of 1 meter in diameter, which can be adjusted according to the size and shape of the project scale (it can also be an elliptical shape). The structure of the cutterhead assembly 3 is modularly designed, and consists of a number of independent drill bits 31, an impactor 32, a drill rod 33, a propulsion cylinder 35, and a rotating cylinder 34 that can impact and rotate; the diameter of the drill bit 31 is designed according to the size of the cutterhead, the diameter range of the cutterhead 37 is [500mm, 2000mm], the diameter range of the drill bit 31 is [50mm, 200mm], and the number of drill bits 31 arranged on the cutterhead 37 is not less than 10. For example, when the diameter of the drill bit 31 is 100mm, for a 1-meter cutterhead structure, no less than 10 drill bits 31 are arranged to cover the entire cutterhead excavation surface (based on 1m divided by 100mm equals 10).

[0057] like Figure 4 , the high-pressure gas supply system 6 includes an air compressor 61 and a power system 62, and the power system 62 can be realized by driving the air compressor 61 through electricity, diesel, etc.;

[0058] like Figure 5 , the rock gas-solid-liquid transportation working group station 7 includes an input pipe 71, a pumping station 72, a gas-solid-liquid mixing station 73 and an output pipe 74 in sequence, wherein the pumping station 72 includes a pressure-in pumping station and a pumping pumping station. The rock powder or small granular solids after excavation are mixed with gas-solid-liquid through the rock gas-solid-liquid transportation working group station 7 and pumped to the surface or underground warehouse. After the rock is excavated into powder or small granular solids, it is blown to the gas-solid-liquid mixing station 73 with high-pressure gas through the gas-solid-liquid mixing flexible transportation pipe 5, and then pumped to the surface or underground gas-solid-liquid warehouse through the gas-solid-liquid mixing flexible transportation pipe 5;

[0059] The cutterhead assembly 3, the high-pressure gas supply system 6 and the rock gas solid-liquid transport working group 7 can be connected by a flexible connection to facilitate turning and climbing during underground excavation;

[0060] The rock gas liquefaction transportation working group station 7 includes an input pipe 71, a pump station 72, a gas-solid-liquid mixing station 73 and an output pipe 74 from the front end to the rear end. The pump station 72 includes a pressure-in pump station and a pump-out pump station. The rock crushed particles transported by the gas-solid-liquid mixing flexible conveying pipe are blown to the gas-solid-liquid mixing station for gas-solid-liquid mixing through the pressure-in pump station, and the mixed gas-solid-liquid mixture is transported to the surface or underground warehouse through the pump-out pump station.

[0061] The displacement sensor 8 is arranged on the carrier 1 to detect the position change of the carrier 1 relative to the rock mining working surface. By real-time monitoring of the displacement of the carrier 1, the speed and direction of the robot arm assembly 2 can be adjusted to ensure that the cutter head 37 is accurately moved to the working surface.

[0062] The orientation sensor 9 is arranged on the carrier 1 and is used to determine the orientation and posture of the carrier 1. It can help the robot arm assembly 2 to automatically adjust its posture during the excavation process to adapt to different geological conditions and excavation paths, thereby ensuring the continuity and efficiency of the excavation operation.

[0063] The speed sensor 10 is arranged on the cutter head 37 to monitor the rotation speed of the cutter head 37, and can adjust the hydraulic pressure, air pressure and water supply in real time to optimize the excavation efficiency and reduce wear. In addition, the data of the speed sensor can also be used to prevent equipment overload and failure, and protect the mechanical components by controlling the rotation speed of the cutter head 37.

[0064] Example 2

[0065] This embodiment also provides a mining method for the multi-functional robot for multi-point coordinated excavation and rock gas liquefaction transportation provided in Embodiment 1, comprising the following steps:

[0066] S1, the carrier 1 moves to the rock mining working face, and adjusts the speed and direction of the cutterhead assembly 3 carried by the mechanical arm assembly to the working face through the sensing data of the displacement sensor 8, the azimuth sensor 9 and the speed sensor 10;

[0067] S2, starting the high-pressure gas supply system 6, including starting the air compressor 61 and the power system 62, to prepare to provide the high-pressure gas required for excavation;

[0068] S3, start the rock gas solid-liquid transportation working group station 7, the cutterhead assembly 3 starts the first cycle operation, completes the first step of excavation action, and excavates 10cm-50cm; during this process, the gas provided by the high-pressure gas supply system 6 is transported to the cutterhead assembly 3 through the high-pressure gas flexible delivery pipe 4 to assist excavation and rock crushing.

[0069] S4. According to the control of the speed sensor 10 and the azimuth sensor 9 of the cutter head assembly 3, move to the second cycle operation, complete the second cycle operation, and so on, until the full-section synchronous excavation is completed; during the excavation process, continue to provide gas through the high-pressure gas supply system 6 to maintain the excavation efficiency and effect.

[0070] S5. Liquid, powder and rock slag are collected during the whole process of excavation. The liquid, powder and rock slag are transported to the gas-solid-liquid mixing station 73 through the pump station 72 and the dust removal and slag collection device 36. After being evenly mixed, they are transported to the surface or underground gas-solid-liquid warehouse through the gas-solid-liquid mixing flexible conveying pipe 5; at the same time, the high-pressure gas supply system 6 continues to provide gas to maintain the stability of the gas-solid-liquid mixing and conveying process.

[0071] S6. Repeat S1 to S5 to start the next excavation work face until the work is completed.

[0072] The above embodiments are only preferred implementations of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation, characterized in that: include: A carrier, used for moving on the mining working face, on which a mechanical arm assembly is movably provided, the mechanical arm assembly movably controls the cutter head assembly in the axial and radial directions, the cutter head assembly is used for the coordinated impact and crushing of multiple picks and the excavation of the rock on the working face; A high-pressure gas supply system, used for delivering high-pressure gas to the cutter head assembly through a high-pressure gas flexible delivery pipe; The rock gas liquefaction conveying workstation is used to mix the rock particles in the excavation process of the cutterhead assembly conveyed by the flexible conveying pipe with gas, solid and liquid, and pump them to the surface or underground warehouse.

2. The multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation according to claim 1 is characterized in that: The robotic arm assembly includes an axially rotatable robotic arm rotating turntable, on which the robotic arm upper arm is fixed, and a radially movable fixed robotic arm swing mechanism is provided at the end of the robotic arm upper arm, and a robotic arm forearm is fixed on the fixed robotic arm swing mechanism; the end of the robotic arm forearm is provided with the cutter disc assembly, and the cutter disc assembly includes a cylindrical cutter disc, and a plurality of drill rods are provided in the cutter disc, and the front end of each of the drill rods is connected to an impactor and a drill bit, and the rear end of the drill rod is driven to rotate and propel by a rotating oil cylinder and a propulsion oil cylinder, and a dust removal and slag collection device is provided in the cutter disc.

3. The multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation according to claim 2 is characterized in that: The range of the cutter disc diameter is [500mm, 2000mm]; the range of the drill bit diameter is [50mm, 200mm]; the number of the drill bits arranged on the cutter disc is not less than 10.

4. The multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation according to claim 3 is characterized in that: The high-pressure gas supply system includes an air compressor and a power system for driving the air compressor to generate high-pressure gas.

5. The multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation according to claim 4 is characterized in that: The rock gas liquefaction transportation working group station includes an input pipe, a pumping station, a gas-solid-liquid mixing station and an output pipe from the front end to the rear end. The pumping station includes a pressure-in pumping station and a pumping station. The rock crushed particles transported by the gas-solid-liquid mixing flexible conveying pipe are blown to the gas-solid-liquid mixing station for gas-solid-liquid mixing through the pressure-in pumping station, and the mixed gas-solid-liquid mixture is transported to the surface or underground warehouse through the pumping station.

6. The multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation according to claim 5 is characterized in that: The carrier is provided with a displacement sensor and an azimuth sensor, and the cutter disc is provided with a speed sensor; the displacement sensor is used to detect the position change of the carrier; the azimuth sensor is used to detect the direction and posture of the carrier to assist the robotic arm assembly in adjusting its posture; the speed sensor is provided on the cutter disc to detect the rotation speed of the cutter disc to coordinate the adjustment of the hydraulic pressure, air pressure and water supply.

7. A mining method using the multifunctional robot for multi-point coordinated excavation and rock gas liquefaction transportation according to claim 6, characterized in that: The following steps are involved: S1: moving the carrier to the rock mining working face, and adjusting the speed and direction of the cutterhead assembly carried by the mechanical arm assembly moving to the working face through the sensing data of the displacement sensor, the azimuth sensor and the speed sensor; S2: starting the air compressor and the power system to prepare to provide high-pressure gas required for excavation; S3: Start the rock gas-solid-liquid transport working group station, and the cutterhead assembly begins to circulate and complete the excavation action, excavating 10cm-50cm; during this process, the gas provided by the high-pressure gas supply system is transported to the cutterhead assembly through the high-pressure gas flexible delivery pipe to assist in excavation and rock crushing. S4: the cutterhead assembly moves to the next cycle operation according to the perception of the speed sensor and the azimuth sensor, completes the cycle operation, and so on, until the full-section synchronous excavation is completed; during the excavation process, the high-pressure gas supply system continuously supplies gas to maintain the excavation efficiency and effect; S5: During the whole process of excavation, liquid, powder and rock slag are collected, and the liquid, powder and rock slag are transported to the gas-solid-liquid mixing station through the pump station and the dust removal and slag collection device. After being evenly mixed, they are transported to the surface or underground gas-solid-liquid warehouse through the gas-solid-liquid mixing flexible conveying pipe; at the same time, the high-pressure gas supply system continues to provide gas to maintain the stability of the gas-solid-liquid mixing and conveying process; S6: Repeat S1 to S5 to start the next excavation work face until the work is completed.

Images