Self-adaptive tunneling robot for stress environment reconstruction and tunneling method thereof

Abstract

The invention relates to the technical field of drilling of soil layers or rocks, and provides a self-adaptive tunneling robot for stress environment reconstruction and a tunneling method thereof.The self-adaptive tunneling robot comprises a dynamic stable supporting system, a splitting tensile shear rock breaking system, a rotary supporting and positioning system, a prefabricated free face system, a rock drilling system, a guide rail system, a self-adaptive intelligent control system and a walking deslagging system. The high stress in the rock mass is relieved through the prefabricated free surface system, the equipment is prevented from being clamped by the rock or the drill jamming problem is quickly and safely solved, and the rock breaking efficiency and the equipment safety are effectively improved. The self-adaptive intelligent control system can obtain tunneling parameters in real time, analyze the rock mass quality of a to-be-tunneled area according to the earth sound sensor and the rotation torque of the drill rod, and automatically adjust operation parameters to adapt to changes of geological conditions. The robot can conduct continuous operation under the hard rock geological condition, the downtime is shortened, the service life of equipment is prolonged, environmental pollution is reduced, and the tunneling operation efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of soil or rock drilling, and more specifically, relates to a stress environment recreating adaptive tunneling robot and a tunneling method thereof. Background Art

[0002] In the field of rock drilling technology, as the drilling depth increases, the physical and mechanical properties of the rock mass change significantly, resulting in traditional mechanical drilling technology facing a series of complex geological conditions challenges such as hard rock, high abrasiveness, high ground stress and ore dispersion.

[0003] At present, mechanical rock breaking technologies mainly include cantilevered tunnel boring machines, road boring machines (TBMs), and splitters. However, in hard rock environments, traditional mechanical rock breaking technologies such as cantilevered tunnel boring machines, coal mining machines, tunnel boring machines (TBMs), and splitters all have certain limitations. For example, cantilevered tunnel boring machines perform well in soft and medium-hard rocks, but their cost-effectiveness is greatly reduced in the face of rocks with higher hardness. Although TBMs have demonstrated strong rock breaking capabilities in hard rock excavation, their high energy consumption, large size, and poor adaptability and flexibility limit their application in variable geological conditions. Splitter machines are limited by the need for free faces. There is usually only one free face in underground operations, which limits their application underground, especially in areas that require prefabricated free faces and complex equipment operation processes.

[0004] How to solve the problem of high stress in hard rock and improve rock breaking efficiency; how to optimize the large size, high power consumption, adaptability and flexibility of mechanical tunneling equipment to further adapt to the changing geological conditions of hard rock; how to avoid the equipment being stuck in the rock as much as possible or how to quickly and safely solve the drill stuck problem; how to automatically adjust the equipment decision-making strategy according to the real-time data of the equipment tunneling and environmental changes; In order to meet these challenges, it is urgent to develop a new type of mechanized tunneling equipment that can achieve efficient continuous tunneling operations in the underground hard rock environment. This equipment should have adaptive capabilities and be able to make real-time adjustments according to changes in geological conditions, thereby improving rock breaking efficiency and safety. Summary of the invention

[0005] In response to the above-mentioned problems in the prior art, the present invention provides an adaptive tunneling robot and tunneling method for stress environment reconstruction, which can relieve high stress in the rock mass by prefabricated free surfaces, avoid equipment being stuck in rocks or quickly and safely resolve drill jamming problems, thereby effectively improving rock breaking efficiency and equipment safety.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] An adaptive tunneling robot for stress environment reconstruction, comprising: a dynamic stable support system, a splitting, pulling and shearing rock breaking system, a rotating support positioning system, a prefabricated free surface system, a rock drilling system, a guide rail system, an adaptive intelligent control system and a walking and slag discharging system;

[0008] The dynamic stabilizing support system comprises a first stabilizing support oil cylinder, a second stabilizing support oil cylinder and an arc-shaped stabilizing frame; the first stabilizing support oil cylinder is connected to the guide rail system, the arc-shaped stabilizing frame is connected to the guide rail system, and the second stabilizing support oil cylinder is connected to the arc-shaped stabilizing frame; the arc-shaped stabilizing frame has an arc-shaped structure to provide support force and reaction force for the guide rail system, the first stabilizing support oil cylinder and the second stabilizing support oil cylinder;

[0009] The splitting, pulling, shearing and rock-breaking system comprises a splitting oil cylinder, a first driving oil cylinder group, a vertebral body, a splitting piece, an oil inlet of the splitting oil cylinder and a fixed support of the splitting oil cylinder; the splitting, pulling, shearing and rock-breaking system is connected to the guide rail system;

[0010] The rotary support positioning system comprises a first rotary support connection member, a telescopic oil cylinder, a hole-matching oil cylinder, a rotary oil cylinder, and a second rotary support connection member; the rotary support positioning system is connected to the guide rail system through the first rotary support connection member, and the rotary support positioning system is connected to the walking slag discharging system through the second rotary support connection member;

[0011] The rock drilling system comprises a drill bit, a rod protector, a drill rod, a second driving oil cylinder, a rock drill, and an oil pipe reel;

[0012] The prefabricated free face system includes a first swing cylinder, a slide rail, a hard flexible rod, a second swing cylinder and a hydraulic propulsion cylinder; the first swing cylinder of the prefabricated free face system is fixed on the slide rail, and the second swing cylinder is fixed to the hard flexible rod, and can control the hard flexible rod to slide on the slide rail; the hard flexible rod is a flexible rod used to provide continuous support force and positioning when the prefabricated free face rock drill continuously drills holes, and the prefabricated free face system recreates the stress environment of the rock mass to be excavated.

[0013] The guide rail system includes a prefabricated free surface system guide rail, a rotary support and positioning system connector, a rock drilling system guide rail and a splitting, pulling, shearing and breaking rock system guide rail, which are respectively connected to the prefabricated free surface system, the rotary support and positioning system, the rock drilling system and the splitting, pulling, shearing and breaking rock system; it also includes an arc-shaped stabilizer frame connector and a second stabilizer support cylinder connector; the arc-shaped stabilizer frame connector is connected to the arc-shaped stabilizer frame, and the second stabilizer support cylinder connector is connected to the second stabilizer support cylinder.

[0014] Furthermore, when the robot is performing excavation operations, the adaptive intelligent control system acquires excavation parameters of the prefabricated free surface process in real time at the initial stage of prefabricated free surface through the adaptive intelligent control system. The data acquisition module of the adaptive intelligent control system synchronizes the collected data of the impact pressure W of the drill bit, the pressure P of the hard flexible rod, and the slag discharge volume per unit time q in real time. At the same time, by analyzing the wave velocity v transmitted by the geoacoustic sensor in the rock mass and the rotary torque τ of the drill rod, the required splitting force F, pull-out force T and rock mass quality Q of the area to be excavated are obtained, and the above data are substituted into the excavation force and rock mass function:

[0015] W=f(v,τ,F,T,Q)

[0016] P=m(v,τ,F,T,Q)

[0017] q=n(v,τ,F,T,Q)

[0018] Among them, W is the impact pressure of the drill bit, P is the pressure of the hard flexible rod, q is the slag discharge per unit time, v is the wave velocity, τ is the rotation torque of the drill rod, F is the splitting force, T is the pull-out force, and Q is the rock mass.

[0019] f, m, and n are implicit functions of the impact pressure W of the drill bit, the pressure P of the hard flexible rod, the slag discharge volume q and wave velocity v per unit time, the rotary torque τ of the drill rod, the splitting force F, the pull-out force T, and the rock mass Q of the area to be excavated.

[0020] Furthermore, the adaptive intelligent control process includes:

[0021] In the middle and late stages of prefabricated free face and during rock breaking during excavation, the excavation force and rock mass function W, P, q are used as the adaptive values ​​of the adaptive intelligent control system, and the impact pressure W1 of the drill bit, the pressure P1 of the hard flexible rod and the slag discharge volume q1 per unit time collected in real time by the acquisition module are used as actual values.

[0022] The adaptive learning rate method is used to analyze the excavation data, actual values ​​and adaptation values, and adjust the learning rate to improve the prediction accuracy of the network.

[0023] The model of the intelligent decision-maker of the tunneling robot is constructed through fuzzy neural network. The drilling, splitting and shearing are controlled separately in the prefabrication free face stage and the tunneling and rock breaking stage through the programmable logic controller (PLC), and the operation parameters are automatically adjusted.

[0024] The particle swarm algorithm is used to further search for help in the model, optimize the parameters of the PLC controller, and output more accurate intelligent control decisions. The actuator is responsible for completing specific control actions through hydraulic mechanisms according to the instructions of the intelligent decision maker to prevent drill jamming accidents in the splitting, shearing and rock-breaking mechanisms.

[0025] Furthermore, if the splitting, pulling, shearing and rock-breaking system has a drill stuck problem, the dynamic stable support system acts on the corresponding rock mass to control the splitting cylinder to retract the vertebral body and splitting piece of the splitting, pulling, shearing and rock-breaking system.

[0026] Preferably, the thrust of the first stabilizing support cylinder and the second stabilizing support cylinder of the dynamic stabilizing support system is ≥1500kN, and the thickness of the arc stabilizing frame is ≥20mm;

[0027] Preferably, the splitting cylinder thrust force of the splitting tension-shear rock breaking system is ≥30MPa, and the retraction force is ≥90Mpa; the hard flexible rod length of the prefabricated free surface system is ≥2500mm, the center helix diameter is 115mm, the spring thickness is 12mm, and the top expansion angle is 15°;

[0028] Preferably, the drill bit diameter of the rock drilling system is 127 mm, the drill rod diameter is 53 mm, and the drilling rate of the rock drill is ≥ 1 m / min;

[0029] The method for using the adaptive tunneling robot based on stress environment reconstruction comprises the following steps:

[0030] S1. The adaptive tunneling robot with stress environment reconstruction moves to the rock mining working face under the control of the walking and slag discharging system, and is fixed on the rock to be excavated using the first stable support cylinder; the rock drilling system uses a rock drill to drill a hole with a diameter of 130 mm and a depth of 2 m on the rock to be excavated, and the rock drilling system is withdrawn from the first drill hole through the second driving cylinder;

[0031] S2, controlling the first swing cylinder and the second swing cylinder of the prefabricated free surface system to vertically swing the hard flexible rod to the position of the drilled hole, and controlling the second swing cylinder through the hydraulic propulsion cylinder of the prefabricated free surface system to extend the hard flexible rod into the drilled hole;

[0032] S3, by fixing the first stable support cylinder, under the control of the rotating cylinder and the hole cylinder, the drill head of the rock drilling system is used to drill a second hole next to the last hole drilled, and the hole depth is still 2m; then the second driving cylinder is controlled to withdraw the rock drilling system from the second hole, and the hydraulic propulsion cylinder withdraws the hard flexible rod from the first hole and extends it into the second hole;

[0033] S4. Under the control of the adaptive intelligent control system, the above operations are repeated repeatedly to eventually form a pre-set free surface shape; then the rock drilling system is controlled to drill a hole in the rock mass in the middle of the formed free surface; after the hole is drilled, the rock drilling system is withdrawn from the drilling through the second driving cylinder;

[0034] S5. Under the control of the adaptive intelligent control system and the first drive system, the splitting pieces of the splitting, shearing and rock-breaking system are extended into the drilled hole, and the splitting cylinder is controlled to push the vertebral body forward to split the rock mass toward the free surface;

[0035] S6. After the rock mass in the area is split, the application of the splitting force is stopped, the splitting cylinder retracts the vertebral body, and the broken rock mass is loaded into the conveyor through the forklift part; the rock mass in the conveyor is loaded into the slag truck.

[0036] S7. After all the rock mass inside the free face is crushed and transported, the walking and slag discharge system moves to allow the adaptive tunneling robot with stress environment reconstruction to move to the next tunneling working face.

[0037] The present invention proposes an adaptive tunneling robot and tunneling method for stress environment reconstruction. The prefabricated free surface system can relieve the high stress in the rock mass and reconstruct the stress environment of the rock mass. By utilizing the tunneling advantages of forward splitting tunneling and reverse pulling and shearing rock breaking, the splitting, pulling and shearing rock breaking system realizes efficient drilling with large-volume rock breaking and no repeated crushing. The prefabricated free surface system and the dynamic stable support system can effectively prevent drill jams, reduce downtime caused by drill jams, mechanical failures, etc., and continuously and efficiently perform tunneling. The adaptive intelligent control system is used to intelligently control the tunneling robot's drilling, prefabricated free surface, splitting, pulling and shearing rock breaking processes, so that the key components of the tunneling robot can be better protected, the service life of the equipment is extended, the cost of frequent replacement of components is reduced, and unmanned or few-man continuous intelligent mechanical tunneling is realized. The adaptive tunneling robot has the characteristics of high energy efficiency and low energy consumption, and can adapt to changes in complex geological conditions. The adaptive tunneling robot can dig more accurately, reduce waste rock output and environmental pollution, and is in line with the development trend of green tunneling. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention, the drawings required for use in the embodiments or prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A schematic diagram of the rock-breaking structure of the adaptive tunneling robot for stress environment reconstruction provided by the present invention;

[0040] Figure 2 A schematic cross-sectional view of the rock-breaking structure of the adaptive tunneling robot for stress environment reconstruction provided by the present invention;

[0041] Figure 3 A schematic diagram of the structure of the dynamic stable support system provided by the present invention;

[0042] Figure 4 A schematic diagram of the structure of the splitting, tensile and shearing rock breaking system provided by the present invention;

[0043] Figure 5 A schematic diagram of the structure of the rotary support positioning system provided by the present invention;

[0044] Figure 6 A schematic diagram of the structure of the prefabricated free surface system provided by the present invention;

[0045] Figure 7 A schematic diagram of the structure of the rock drilling system provided by the present invention;

[0046] Figure 8 A schematic diagram of the structure of the front side of the guide rail system provided by the present invention;

[0047] Fig. 9 A schematic diagram of the structure of the reverse side of the guide rail system provided by the present invention;

[0048] Fig.10 This is a schematic structural diagram of the walking slag discharging system provided by the present invention.

[0049] Fig.11 A schematic diagram of the drilling, splitting and rock breaking route provided by the present invention.

[0050] Among them, the reference numerals in the figure are:

[0051] 1. Dynamic stable support system; 11. Second stable support cylinder; 12. Arc stable frame; 13. First stable support cylinder; 2. Splitting, pulling and shearing rock breaking system; 21. Splitting cylinder; 22. First driving cylinder group; 23. Cone; 24. Splitting piece; 211. Splitting cylinder oil inlet; 212. Splitting cylinder fixed support; 3. Rotary support positioning system; 31. First rotary support connector; 32. Telescopic cylinder; 33. Hole-matching cylinder; 34. Rotary cylinder; 35. Second rotary support connector; 4. Prefabricated free surface system; 41. First swing cylinder; 42. Slide rail; 43. Hard flexible rod; 44. Second swing cylinder; 45. Hydraulic propulsion cylinder; 5. Rock drilling system; 51. Drill bit; 52. Rod guard; 53. Drill rod; 54. Second drive cylinder; 55. Rock drill; 56. Oil pipe winder; 6. Guide rail system; 61. Prefabricated free surface system guide rail; 62. Rotary support positioning system connector; 63. Rock drilling system guide rail; 64. Splitting, pulling and shearing rock breaking system guide rail; 7. Adaptive intelligent control system; 8. Walking and slag discharge system; 81. Robotic arm; 82. Shovel board; 83. Control room; 84. Walking mechanism; 85. Conveyor; 86. Slag discharge vehicle. DETAILED DESCRIPTION

[0052] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0054] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0056] like Figure 1 and Figure 2 As shown, this embodiment provides an adaptive tunneling robot for stress environment reconstruction, including a dynamic stable support system 1, a splitting, shearing and rock breaking system 2, a rotary support and positioning system 3, a prefabricated free surface system 4, a rock drilling system 5, a guide rail system 6, an adaptive intelligent control system 7 and a walking and slag discharging system 8.

[0057] like Figure 3 Specifically, the dynamic stabilizing support system 1 includes a first stabilizing support cylinder 11 , a second stabilizing support cylinder 13 and an arc-shaped stabilizing frame 12 .

[0058] like Figure 4 The splitting, pulling and shearing rock breaking system 2 includes a splitting cylinder 21, a first driving cylinder group 22, a vertebral body 23, a splitting piece 24, a splitting cylinder oil inlet 211, and a splitting cylinder fixed support 212.

[0059] like Figure 5The rotating support positioning system 3 includes a first rotating support connecting member 31 , a telescopic cylinder 32 , a hole-matching cylinder 33 , a rotating cylinder 34 , and a second rotating support connecting member 35 .

[0060] like Figure 6 The prefabricated free face system 4 includes a swing cylinder 41, a slide rail 42, a hard flexible rod 43, and a hydraulic propulsion cylinder 44; the hard flexible rod 43 includes but is not limited to a hard spring, hard rubber or other materials with similar properties, and is a flexible rod used to provide continuous support and positioning when the prefabricated free face rock drill 55 continuously drills holes; the prefabricated free face system 4 recreates the stress environment of the rock mass to be excavated.

[0061] like Figure 7 The rock drilling system 5 includes a drill bit 51 , a rod protector 52 , a drill rod 53 , a second driving cylinder 54 , a rock drill 55 , and an oil pipe reel 56 .

[0062] like Figure 8 and Fig. 9 The guide rail system 6 includes a prefabricated free face system guide rail 61, a rotary support positioning system connector 62, a rock drilling system guide rail 63 and a splitting, shearing and rock breaking system guide rail 64, the arc-shaped stabilizing frame connector 65, and the second stabilizing support cylinder connector 66; the prefabricated free face system guide rail 61, the rotary support positioning system connector 62, the rock drilling system guide rail 63 and the splitting, shearing and rock breaking system guide rail 64 are respectively connected to the prefabricated free face system 4, the rotary support positioning system 3, the rock drilling system 5 and the splitting, shearing and rock breaking system 2.

[0063] like Fig.10 The walking and slag discharging system 8 includes a mechanical arm 81, a shovel plate part 82, a control room 83, a walking mechanism 84, a conveyor 85 and a slag discharging vehicle 86;

[0064] The guide rail system and the arc-shaped stabilizer frame are made of forged 42CrMo high-strength steel with a yield strength of 1200MPa. They have excellent tensile and compressive properties, ensuring sufficient strength and rigidity.

[0065] The dynamic stable support system 1 includes a first stable support cylinder 13, a second stable support cylinder 11 and an arc-shaped stable frame 12; the second stable support cylinder 13 is connected to the second stable support cylinder connector 66 to provide forward thrust, while the first stable support cylinder 11 is connected to the arc-shaped stable frame 12 to provide backward support force. This connection method ensures the stability of the robot during excavation and the balance of support force.

[0066] The arc-shaped stabilizer frame 12 is constructed with an arc-shaped structure to provide strong support and reaction force to the guide rail system 6, the first stable support cylinder 11, and the second stable support cylinder 13. The main function of the arc-shaped stabilizer frame 12 is to provide stable support and reaction force to help the robot maintain stability during the excavation process. It assists the robot in performing effective excavation operations in a hard rock environment by connecting with the first stable support cylinder 11 and the guide rail system 6. The design of the arc-shaped stabilizer frame 12 also takes into account the connection with the arc-shaped stabilizer frame connector 65 to ensure accurate positioning and movement during the excavation process.

[0067] The connection between the arc stabilizing frame 12 and the guide rail system 6 is usually achieved through the arc stabilizing frame connecting member 65. The arc stabilizing frame connecting member 65 is designed to withstand high stress and allow the arc stabilizing frame to be adjusted or moved when necessary.

[0068] The splitting, pulling, shearing and breaking rock system 2 is connected to the guide rail system 6 via the splitting, pulling, shearing and breaking rock system guide rails 64. These connectors are designed for quick installation and removal so that they can be maintained or replaced when necessary. After connection, the splitting, pulling, shearing and breaking rock system 2 can be moved along the guide rail system 6 to adapt to different excavation positions and angles. This connection method ensures the flexibility and operating efficiency of the rock breaking system;

[0069] The rotating support positioning system 3 is connected to the rotating support positioning system connecting member 62 through a specific interface via the first rotating support connecting member 31; the rotating support positioning system 3 is connected to the walking slag discharging system 8 through a specific interface via the second rotating support connecting member 35;

[0070] The rotating support positioning system 3 is connected to the guide rail system 6 through a specific rotating support connector 31. The rotating support connector 31 is designed to withstand high stress and allow the rotating support positioning system 3 to be adjusted or moved when necessary. The connection is designed in a specific part of the guide rail system 6, and the guide rail system 6 is designed to cooperate with the rotating support connector 31 to ensure the stability and precise positioning of the rotating support positioning system 3. After connection, the rotating support positioning system 3 can move along the guide rail system 6 to adapt to different excavation positions and angles, thereby achieving precise excavation operations.

[0071] The rotating support positioning system 3 is connected to the walking and slag discharge system 8 via the second rotating support connector 35. This connection method ensures that during the excavation process, the rotating support positioning system can move stably and work in coordination with the walking and slag discharge system. The mechanical arm 81 can be connected to the second rotating support connector 35 to facilitate the rotation and positioning of the rock-breaking structure of the adaptive excavation robot in all directions during the excavation process, and further crushing and transporting the rock. The working relationship after the connection is that the rotating support positioning system 3 provides stable support and precise positioning, while the walking and slag discharge system 8 is responsible for transporting the crushed rock out of the excavation area. The two work together to improve excavation efficiency and safety.

[0072] The prefabricated free surface system 4 is connected to the guide rail system 6 via the prefabricated free surface system guide rail 61, the first swing cylinder 41 is fixed on the slide rail 42, and the second swing cylinder 44 is fixed to the hard flexible rod 43 and can control the hard flexible rod 43 to slide on the slide rail 42;

[0073] Furthermore, when the excavation robot is operating, the adaptive intelligent control system 7 obtains excavation parameters of the prefabricated free surface process in real time at the initial stage of prefabricated free surface through the adaptive intelligent control system 7. The data acquisition module of the adaptive intelligent control system 7 synchronizes the collected data of the impact pressure W of the drill bit, the pressure P of the hard flexible rod and the slag discharge volume q per unit time in real time. At the same time, by analyzing the wave velocity v transmitted by the geoacoustic sensor in the rock mass and the rotary torque τ of the drill rod, the required splitting force F, pulling force T and rock mass quality Q of the area to be excavated are obtained, and the above data are substituted into the excavation force and rock mass function:

[0074] W=f(v,τ,F,T,Q)

[0075] P=m(v,τ,F,T,Q)

[0076] q=n(v,τ,F,T,Q)

[0077] Among them, W is the impact pressure of the drill bit, P is the pressure of the hard flexible rod, q is the slag discharge per unit time, v is the wave velocity, τ is the rotation torque of the drill rod, F is the splitting force, T is the pull-out force, and Q is the rock mass.

[0078] f, m, and n are implicit functions of the impact pressure W of the drill bit, the pressure P of the hard flexible rod, the slag discharge volume q and wave velocity v per unit time, the rotary torque τ of the drill rod, the splitting force F, the pull-out force T, and the rock mass Q of the area to be excavated.

[0079] Furthermore, the adaptive intelligent control process includes:

[0080] In the middle and late stages of prefabricated free face and during rock breaking during excavation, the excavation force and rock mass function W, P, q are used as the adaptive values ​​of the adaptive intelligent control system, and the impact pressure W1 of the drill bit, the pressure P1 of the hard flexible rod and the slag discharge volume q1 per unit time collected in real time by the acquisition module are used as actual values.

[0081] The adaptive learning rate method is used to analyze the excavation data, actual values ​​and adaptation values, and adjust the learning rate to improve the prediction accuracy of the network.

[0082] The model of the intelligent decision-maker of the tunneling robot is constructed through fuzzy neural network. The drilling, splitting and shearing are controlled separately in the prefabrication free face stage and the tunneling and rock breaking stage through the programmable logic controller (PLC), and the operation parameters are automatically adjusted.

[0083] The particle swarm algorithm is used to further rescue the model, optimize the parameters of the PLC controller, and output more accurate intelligent control decisions. The actuator is responsible for completing specific control actions through various cylinders and hydraulic systems according to the instructions of the intelligent decision maker to prevent the occurrence of drill jamming accidents in the splitting, pulling, shearing and rock breaking system 7.

[0084] Furthermore, if the splitting, pulling, shearing and breaking rock system 7 has a drill stuck problem, the dynamic stable support system 1 acts on the corresponding rock mass to control the splitting cylinder 21 to retract the vertebral body 23 and the splitting piece 24 of the splitting, pulling, shearing and breaking rock system 7 .

[0085] The present invention also provides a method for using an adaptive tunneling robot based on stress environment reconstruction, which is applied to the above-mentioned adaptive tunneling robot based on stress environment reconstruction, and comprises the following steps:

[0086] S1. The adaptive excavation robot for stress environment reconstruction moves to the rock mining working face under the control of the walking and slag discharging system 8, and is fixed on the rock to be excavated using the first stable support cylinder 13; the rock drilling system 5 uses the rock drill 55 to drill a hole with a diameter of 130 mm and a depth of 2 m on the rock to be excavated, and the rock drilling system 5 is withdrawn from the first drilled hole by the second driving cylinder 54;

[0087] S2, control the first swing cylinder 41 and the second swing cylinder 44 of the prefabricated free surface system 4 to vertically swing the hard flexible rod 43 to the position of the drilled hole, and control the second swing cylinder 44 through the hydraulic propulsion cylinder 45 of the prefabricated free surface system 4 to extend the hard flexible rod 43 into the drilled hole;

[0088] S3, by fixing the first stable support cylinder 13, under the control of the rotating cylinder 34 and the hole cylinder 33, the drill bit 51 of the rock drilling system 5 is used to drill a second hole next to the last hole drilled, and the hole depth is still 2m; then the second driving cylinder 54 is controlled to withdraw the rock drilling system 5 from the second hole, and the hydraulic propulsion cylinder 45 withdraws the hard flexible rod 43 from the first hole and extends it into the second hole;

[0089] S4. Under the control of the adaptive intelligent control system 7, the above operations are repeated repeatedly to finally form a pre-set free surface shape; then the rock drilling system 5 is controlled to drill a hole in the rock mass in the middle of the formed free surface; after the hole is drilled, the rock drilling system 5 is withdrawn from the drilling by the second driving cylinder 54;

[0090] S5. Under the control of the adaptive intelligent control system 7, under the control of the first drive system 22, the splitting piece 24 of the splitting, pulling and shearing rock breaking system 2 is extended into the drilled hole, and the splitting cylinder 21 is controlled to push the vertebral body 23 forward to split the rock mass toward the free surface;

[0091] S6. After the rock mass in the area is split, the application of the splitting force is stopped, the splitting cylinder 21 retracts the vertebral body 23, and the broken rock mass is loaded into the conveyor 85 through the forklift part 82; the rock mass in the conveyor 85 is loaded into the slag truck 86.

[0092] S7, after all the rock mass inside the free face is crushed and transported, the walking and slag discharging system 8 moves so that the adaptive excavation robot with stress environment reconstruction moves to the next excavation working face, such as Fig.11 .

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An adaptive tunneling robot capable of recreating a stress environment, characterized in that: include: Dynamic stable support system (1), splitting, pulling and shearing rock breaking system (2), rotary support positioning system (3), prefabricated free surface system (4), rock drilling system (5), guide rail system (6), adaptive intelligent control system (7) and walking and slag discharging system (8); The dynamic stabilizing support system (1) comprises a first stabilizing support oil cylinder (13), a second stabilizing support oil cylinder (11) and an arc-shaped stabilizing frame (12); the first stabilizing support oil cylinder (13) is connected to the guide rail system (6), the arc-shaped stabilizing frame (12) is connected to the guide rail system (6), and the second stabilizing support oil cylinder (11) is connected to the arc-shaped stabilizing frame (12); the arc-shaped stabilizing frame (12) has an arc-shaped structure to provide support force and reaction force for the guide rail system (6), the first stabilizing support oil cylinder (11) and the second stabilizing support oil cylinder (13); The splitting, pulling, shearing and rock-breaking system (2) comprises a splitting oil cylinder (21), a first driving oil cylinder group (22), a vertebral body (23), a splitting piece (24), a splitting oil cylinder oil inlet (211) and a splitting oil cylinder fixed support (212); the splitting, pulling, shearing and rock-breaking system (2) is connected to a guide rail system (6); The rotary support positioning system (3) comprises a first rotary support connecting member (31), a telescopic oil cylinder (32), a hole-matching oil cylinder (33), a rotary oil cylinder (34), and a second rotary support connecting member (35); the rotary support positioning system (3) is connected to the guide rail system (6) via the first rotary support connecting member (31), and the rotary support positioning system (3) is connected to the walking and slag discharging system (8) via the second rotary support connecting member (35); The rock drilling system (5) comprises a drill bit (51), a rod protector (52), a drill rod (53), a second driving oil cylinder (54), a rock drill (55), and an oil pipe reel (56); The prefabricated free surface system (4) comprises a first swing cylinder (41), a slide rail (42), a hard flexible rod (43), a second swing cylinder (44) and a hydraulic propulsion cylinder (45); the first swing cylinder (41) of the prefabricated free surface system (4) is fixed on the slide rail (42), the second swing cylinder (44) is fixed to the hard flexible rod (43), and can control the hard flexible rod (43) to slide on the slide rail (42); the hard flexible rod (43) is a flexible rod used to provide continuous support force and positioning when the prefabricated free surface rock drill (55) continuously drills holes, and the prefabricated free surface system (4) recreates the stress environment of the rock mass to be excavated.

2. The adaptive tunneling robot for stress environment reconstruction according to claim 1, characterized in that: The guide rail system (6) comprises a prefabricated free surface system guide rail (61), a rotary support positioning system connector (62), a rock drilling system guide rail (63) and a splitting, tensile and shearing rock breaking system guide rail (64), which are respectively connected to the prefabricated free surface system (4), the rotary support positioning system (3), the rock drilling system (5) and the splitting, tensile and shearing rock breaking system (2); It also includes an arc-shaped stabilizing frame connecting piece (65) and a second stabilizing support cylinder connecting piece (66); the arc-shaped stabilizing frame connecting piece (65) is connected to the arc-shaped stabilizing frame (12), and the second stabilizing support cylinder connecting piece (66) is connected to the second stabilizing support cylinder (13).

3. The adaptive tunneling robot for stress environment reconstruction according to claim 1, characterized in that: When the robot is performing excavation operations, the adaptive intelligent control system (7) acquires excavation parameters in real time through a data acquisition module, including the impact pressure W of the drill bit (51), the pressure P of the hard flexible rod (43) and the slag discharge volume per unit time q, as well as the wave velocity v transmitted by the geoacoustic sensor in the rock mass and the rotation torque τ of the drill rod (53); The adaptive intelligent control process of the adaptive intelligent control system (7) includes using an adaptive learning rate method to analyze excavation data, actual values ​​and adaptation values, and adjusting the learning rate to improve the prediction accuracy of the network; The adaptive intelligent control system (7) constructs a model of the intelligent decision-maker of the tunneling robot through a fuzzy neural network, and controls the drilling, splitting and shearing respectively in the prefabrication free face stage and the tunneling rock breaking stage through a programmable logic controller (PLC), and automatically adjusts the operation parameters.

4. The adaptive tunneling robot for stress environment reconstruction according to claim 3, characterized in that: The adaptive intelligent control system (7) further optimizes the model through the particle swarm algorithm, optimizes the parameters of the PLC controller, and outputs more accurate intelligent control decisions.

5. The adaptive tunneling robot for stress environment reconstruction according to claim 1, characterized in that: If the splitting, pulling, shearing and rock-breaking system (2) has a drill stuck problem, the dynamic stability support system (1) acts on the corresponding rock mass to control the splitting cylinder (21) to retract the vertebral body (23) and the splitting piece (24) of the splitting, pulling, shearing and rock-breaking system (2).

6. An adaptive tunneling method for stress environment reconstruction, characterized in that: The adaptive tunneling robot for stress environment reconstruction using any one of claims 1 to 5 comprises the following steps: S1, the adaptive tunneling robot for stress environment reconstruction moves to the rock mining working face and is fixed by a first stable support cylinder (13); S2, the rock drilling system (5) drills a hole in the rock mass to be excavated, and exits the hole through the second driving cylinder (54); S3, controlling the prefabricated free surface system (4) to extend the hard flexible rod (43) into the drilled hole; S4, repeatedly forming a preset free surface shape; S5, drilling a hole in the rock mass in the middle of the formed free surface, and splitting the rock by the splitting, tensile and shearing rock breaking system (2); S6, the crushed rock mass is loaded into a conveyor through a forklift and then loaded into a traveling slag discharge system (8); S7. Move the adaptive tunneling robot that recreates the stress environment to the next tunneling face.

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