An adaptive tunneling robot based on stress environment reconstruction and its tunneling method

Abstract

This invention relates to the field of drilling technology in soil or rock, and provides an adaptive tunneling robot and its tunneling method based on stress environment reconstruction. The robot includes a dynamic stabilization support system, a rock-breaking and shearing system, a rotary support positioning system, a prefabricated free-face system, a rock-drilling system, a guide rail system, an adaptive intelligent control system, and a walking and muck-removal system. The prefabricated free-face system relieves high stress within the rock mass, preventing equipment from getting stuck or quickly and safely resolving drill jamming issues, effectively improving rock-breaking efficiency and equipment safety. The adaptive intelligent control system can acquire tunneling parameters in real time and analyze the rock mass quality of the tunneling area based on the ground acoustic sensors and the drill rod's rotation torque, automatically adjusting operating parameters to adapt to changes in geological conditions. This robot can operate continuously in hard rock geological conditions, reducing downtime, extending equipment lifespan, reducing environmental pollution, and improving tunneling efficiency.

Description

Technical Field

[0001] This invention belongs to the field of drilling technology for soil or rock, and more specifically, it relates to an adaptive tunneling robot for stress environment reconstruction and its tunneling method. Background Technology

[0002] In the field of rock drilling technology, as the drilling depth increases, the physical and mechanical properties of the rock mass change significantly, leading to a series of complex geological challenges for traditional mechanical drilling technology, such as hard rock, high abrasiveness, high ground stress, and dispersed ore bodies.

[0003] Currently, mechanical rock breaking technologies mainly include cantilever tunneling machines (TBMs), tunneling machines (TBMs), and rock splitters. However, in hard rock environments, traditional mechanical rock breaking technologies such as cantilever TBMs, coal mining machines, TBMs, and rock splitters all have certain limitations. For example, cantilever TBMs perform well in soft and medium-hard rock, but their economic efficiency is significantly reduced when facing harder rocks. Although TBMs demonstrate strong rock-breaking capabilities in hard rock tunneling, their high energy consumption, large volume, and poor adaptability and flexibility limit their application in varying geological conditions. Rock splitters are limited by the requirement for a free face; in underground operations, there is usually only one free face, which limits their application underground, especially in situations requiring pre-fabricated free faces and complex equipment operation procedures.

[0004] How to address the challenges 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 better suit the changing geological conditions of hard rock; how to quickly and safely resolve jamming issues after equipment gets stuck in rock; and how to automatically adjust equipment decision-making strategies based on real-time tunneling data and environmental changes. To meet these challenges, there is an urgent need to develop a new type of mechanized tunneling equipment capable of efficient continuous tunneling operations in hard rock environments. This equipment should possess adaptive capabilities, able to adjust in real-time according to changes in geological conditions, thereby improving rock-breaking efficiency and safety. Summary of the Invention

[0005] To address the problems in the prior art, this invention provides an adaptive tunneling robot and its tunneling method based on stress environment reconstruction. By prefabricating free surfaces to relieve high stress within the rock mass, the robot avoids equipment getting stuck in the rock or quickly and safely removes stuck drill bits, effectively improving rock breaking efficiency and equipment safety.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An adaptive tunneling robot for stress environment reconstruction includes: a dynamic stabilization support system, a rock splitting and shearing system, a rotary support positioning system, a prefabricated free surface system, a rock drilling system, a guide rail system, an adaptive intelligent control system, and a walking muck removal system.

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

[0009] The rock-breaking splitting and shearing system includes a splitting cylinder, a first drive cylinder group, a cone, splitting blades, an oil inlet for the splitting cylinder, and a fixed support for the splitting cylinder; the rock-breaking splitting and shearing system is connected to a guide rail system;

[0010] The rotary support positioning system includes a first rotary support connector, a telescopic cylinder, a hole-aligning cylinder, a rotary cylinder, and a second rotary support connector; the rotary support positioning system is connected to the guide rail system through the first rotary support connector, and the rotary support positioning system is connected to the walking slag discharge system through the second rotary support connector.

[0011] The rock drilling system includes a drill bit, a rod protector, a drill rod, a second drive cylinder, a rock drill, and a tubing winder;

[0012] The prefabricated free face system includes a first swing cylinder, a slide rail, a rigid 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 rigid flexible rod and can control the rigid flexible rod to slide on the slide rail. The rigid flexible rod is a flexible rod used to provide continuous support and positioning when the prefabricated free face rock drill is continuously drilling. 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 positioning system connector, a rock drilling system guide rail, and a splitting and shearing rock breaking system guide rail, which are respectively connected to the prefabricated free surface system, the rotary support positioning system, the rock drilling system, and the splitting and shearing rock breaking system; it also includes an arc-shaped stabilizer connector and a second stabilizer cylinder connector; the arc-shaped stabilizer connector is connected to the arc-shaped stabilizer, and the second stabilizer cylinder connector is connected to the second stabilizer cylinder.

[0014] Furthermore, during the robot's tunneling operation, in the initial stage of prefabricating the free face, the adaptive intelligent control system acquires tunneling parameters in real time. The data acquisition module of the adaptive intelligent control system synchronizes the collected data on the drill bit's impact pressure W, the pressure P of the rigid flexible rod, and the amount of slag discharged per unit time q in real time. Simultaneously, by analyzing the wave velocity v transmitted by the ground acoustic sensor within the rock mass and the rotational torque τ of the drill rod, the required splitting force F, pull-out force T, and rock mass mass Q for the area to be tunneled are obtained. These data are then substituted into the tunneling force versus 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] Where W is the impact pressure of the drill bit, P is the pressure of the hard flexible rod, q is the amount of slag discharged per unit time, v is the wave velocity, τ is the rotational torque of the drill rod, F is the splitting force, T is the pull-out force, and Q is the rock mass mass.

[0019] f, m, and n are implicit functions of the drill bit's impact pressure W, the hard-flexible rod's pressure P, the amount of slag discharged per unit time q, the wave velocity v, the drill rod's rotational torque τ, the splitting force F, the pull-out force T, and the rock mass Q of the area to be excavated, respectively.

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

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

[0022] The network's prediction accuracy is improved by analyzing the tunneling data, actual values, and adaptive values ​​using an adaptive learning rate method and adjusting the learning rate.

[0023] A model of an intelligent decision-maker for a tunneling robot is constructed using a fuzzy neural network. A programmable logic controller (PLC) controls drilling, splitting, and tension shearing in the prefabrication free face stage and the tunneling rock breaking stage, and automatically adjusts the operating parameters.

[0024] The particle swarm optimization algorithm is used to further refine the rescue model, optimize the parameters of the PLC controller, and output more accurate intelligent control decisions. The actuator is responsible for performing specific control actions according to the instructions of the intelligent decision-maker through hydraulic mechanisms, etc., to prevent the splitting shear rock breaking mechanism from getting stuck.

[0025] Furthermore, if the splitting shear rock breaking system experiences a stuck drill problem, the dynamic stabilization support system acts on the corresponding rock mass to control the splitting cylinder to retract the cone and split blades of the splitting shear rock breaking system.

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

[0027] Preferably, the splitting hydraulic cylinder of the rock-breaking splitting shear system has a thrust of ≥30MPa and a retraction force of ≥90MPa; the rigid flexible rod of the prefabricated free surface system has a length of ≥2500mm, a central helix diameter of 115mm, a spring thickness of 12mm, and a top opening angle of 15°.

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

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

[0030] S1. The adaptive tunneling robot with stress environment reconstruction moves to the rock mining face under the control of the walking muck removal system and is fixed in the rock mass to be tunneled using the first stabilizing support cylinder; the rock drilling system uses a rock drill to drill a hole with a diameter of 130mm and a depth of 2m in the rock mass to be tunneled, and the rock drilling system is withdrawn from the first drill hole by the second drive cylinder.

[0031] S2. Control the first and second swing cylinders of the prefabricated free surface system to swing the rigid flexible rod vertically to the drilled hole position. Control the second swing cylinder through the hydraulic propulsion cylinder of the prefabricated free surface system to extend the rigid flexible rod into the drilled hole.

[0032] S3. Under the control of the first stabilizing support cylinder, the rotating cylinder, and the hole-aligning cylinder, the drill bit of the rock drilling system is brought close to the previously drilled hole to drill a second hole, with a hole depth of 2m. Then, the second drive cylinder is controlled to withdraw the rock drilling system from the second hole, and the hydraulic propulsion cylinder withdraws the rigid 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 in a loop, eventually forming 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 drilling, the rock drilling system is withdrawn from the drilling hole by the second drive cylinder.

[0034] S5. Under the control of the adaptive intelligent control system and the first drive system, the splitting blades of the splitting shear rock breaking system are extended into the drilled hole, and the splitting cylinder is controlled to push the cone forward to split the rock mass toward the free surface.

[0035] S6. After the rock mass in this area is split, the application of splitting force is stopped, the splitting cylinder will retract the cone, and the broken rock mass will be loaded into the conveyor through the loader; the rock mass in the conveyor will be loaded into the slag truck.

[0036] S7. After all the rock mass inside the free face has been broken and transported, the walking muck removal system moves, enabling the adaptive tunneling robot with stress environment reconstruction to move to the next tunneling face.

[0037] This invention proposes an adaptive tunneling robot and its tunneling method for stress environment reconstruction. A prefabricated free-face system relieves high stress within the rock mass, reconstructing the stress environment. Utilizing the advantages of forward splitting and reverse shearing rock breaking, the splitting and shearing rock breaking system achieves efficient drilling with large-volume rock breaking and no repeated crushing. The prefabricated free-face system and dynamic stabilization support system effectively prevent drill jamming, reducing downtime caused by drill jamming and mechanical failures, enabling continuous and efficient tunneling. An adaptive intelligent control system intelligently controls the tunneling robot's drilling, prefabrication of free faces, and splitting and shearing rock breaking processes, providing better protection for key components, extending equipment lifespan, reducing the cost of frequent component replacements, and enabling unmanned or minimally manned continuous intelligent mechanical tunneling. The adaptive tunneling robot features high energy efficiency and low energy consumption, adapting to complex geological conditions. It allows for more precise tunneling, reducing waste rock production and environmental pollution, aligning with the trend of green tunneling. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[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 stability support system provided by the present invention;

[0042] Figure 4 This is a schematic diagram of the rock-breaking splitting and shearing system provided by the present invention;

[0043] Figure 5 This is a schematic diagram of the rotating support positioning system provided by the present invention;

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

[0045] Figure 7 This is a schematic diagram of the rock drilling system provided by the present invention;

[0046] Figure 8 This is a front structural diagram of the guide rail system provided by the present invention;

[0047] Figure 9 This is a schematic diagram of the reverse side of the guide rail system provided by the present invention;

[0048] Figure 10 This is a schematic diagram of the walking slag removal system provided by the present invention.

[0049] Figure 11 This is a schematic diagram of the drilling and rock-breaking route provided by the present invention.

[0050] The following are the labeling elements in the figure:

[0051] 1. Dynamic stabilization support system; 11. Second stabilization support cylinder; 12. Arc-shaped stabilizing frame; 13. First stabilization support cylinder; 2. Rock splitting and shearing system; 21. Splitting cylinder; 22. First drive cylinder assembly; 23. Cone; 24. Splitting blade; 211. Oil inlet of splitting cylinder; 212. Fixed support of splitting cylinder; 3. Rotary support positioning system; 31. First rotary support connector; 32. Telescopic cylinder; 33. Hole alignment cylinder; 34. Rotary cylinder; 35. Second rotary support connector; 4. Precast free surface system; 41. First swing cylinder; 42. Slide rail; 43. 44. Rigid-flexible rod; 45. Second swing cylinder; 56. Hydraulic propulsion cylinder; 57. Rock drilling system; 58. Drill bit; 59. Rod protector; 50. Drill rod; 51. Second drive cylinder; 52. Rock drill; 53. Tubing winder; 64. Guide rail system; 61. Precast free surface system guide rail; 62. Rotary support positioning system connector; 63. Rock drilling system guide rail; 64. Rock splitting and shearing rock breaking system guide rail; 7. Adaptive intelligent control system; 85. Walking muck removal system; 86. Mechanical arm; 87. Shovel plate; 88. Control room; 89. Walking mechanism; 80. Conveyor; 81. Muck removal car. Detailed Implementation

[0052] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

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

[0054] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0055] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] like Figure 1 and Figure 2 As shown, this embodiment provides an adaptive tunneling robot for stress environment reconstruction, including a dynamic stabilization support system 1, a rock splitting and shearing system 2, a rotary support 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 muck removal system 8.

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

[0058] like Figure 4 The rock splitting and shearing system 2 includes a splitting cylinder 21, a first drive cylinder group 22, a cone 23, a splitting blade 24, a splitting cylinder inlet 211, and a splitting cylinder fixing support 212.

[0059] like Figure 5The rotary support positioning system 3 includes a first rotary support connector 31, a telescopic cylinder 32, a hole-aligning cylinder 33, a rotary cylinder 34, and a second rotary support connector 35.

[0060] like Figure 6 The prefabricated free face system 4 includes a swing cylinder 41, a slide rail 42, a rigid flexible rod 43, and a hydraulic propulsion cylinder 44; the rigid flexible rod 43 includes, but is not limited to, rigid springs, rigid rubber, or other materials with similar properties, and is a flexible rod used to provide continuous support force and positioning when the prefabricated free face rock drill 55 is continuously drilling; 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 drive cylinder 54, a rock drill 55, and a tubing winder 56.

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

[0063] like Figure 10 The walking slag removal system 8 includes a robotic arm 81, a shovel plate 82, a control room 83, a walking mechanism 84, a conveyor 85, and a slag removal vehicle 86;

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

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

[0066] The arc-shaped stabilizer 12 has an arc-shaped structure to provide strong support and reaction forces to the guide rail system 6, the first stabilizing support cylinder 11, and the second stabilizing support cylinder 13. The main function of the arc-shaped stabilizer 12 is to provide stable support and reaction forces to help the robot maintain stability during tunneling. Through its connection with the first stabilizing support cylinder 11 and the guide rail system 6, it assists the robot in performing effective tunneling operations in hard rock environments. The design of the arc-shaped stabilizer 12 also considers the connection with the arc-shaped stabilizer connector 65 to ensure precise positioning and movement during tunneling.

[0067] The connection between the arc-shaped stabilizer 12 and the guide rail system 6 is usually achieved through the arc-shaped stabilizer connector 65, which is designed to withstand high stress and allow the arc-shaped stabilizer to be adjusted or moved when needed.

[0068] The splitting shear rock breaking system 2 is connected to the guide rail system 6 via splitting shear rock breaking system guide rails 64. These connectors are designed for quick installation and disassembly for maintenance or replacement when needed. Once connected, the splitting shear rock breaking system 2 can move along the guide rail system 6 to adapt to different excavation positions and angles. This connection method ensures the flexibility and operational efficiency of the rock breaking system.

[0069] The rotary support positioning system 3 is connected to the rotary support positioning system connector 62 via a specific interface through the first rotary support connector 31; the rotary support positioning system 3 is connected to the walking slag removal system 8 via a specific interface through the second rotary support connector 35.

[0070] The rotary support positioning system 3 is connected to the guide rail system 6 via a specific rotary support connector 31. The rotary support connector 31 is designed to withstand high stress and allows the rotary support positioning system 3 to be adjusted or moved as needed. The connection is located in a specific section of the guide rail system 6, which is designed to cooperate with the rotary support connector 31 to ensure the stability and precise positioning of the rotary support positioning system 3. After connection, the rotary support positioning system 3 can move along the guide rail system 6 to adapt to different tunneling positions and angles, thereby achieving precise tunneling operations.

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

[0072] The prefabricated free surface system 4 and the guide rail system 6 are connected through 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 rigid flexible rod 43 and can control the rigid flexible rod 43 to slide on the slide rail 42.

[0073] Furthermore, during the operation of the tunneling robot, in the initial stage of prefabricating the free face, the adaptive intelligent control system 7 acquires tunneling parameters in real time during the prefabrication process. The data acquisition module of the adaptive intelligent control system 7 synchronizes the collected data on the impact pressure W of the drill bit, the pressure P of the rigid flexible rod, and the amount of slag discharged per unit time q in real time. At the same time, by analyzing the wave velocity v transmitted by the ground acoustic sensor in the rock mass and the rotational torque τ of the drill rod, the required splitting force F, pull-out force T, and rock mass mass Q of the area to be tunneled are obtained. The above data are then substituted into the tunneling force versus 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] Where W is the impact pressure of the drill bit, P is the pressure of the hard flexible rod, q is the amount of slag discharged per unit time, v is the wave velocity, τ is the rotational torque of the drill rod, F is the splitting force, T is the pull-out force, and Q is the rock mass mass.

[0078] f, m, and n are implicit functions of the drill bit's impact pressure W, the hard-flexible rod's pressure P, the amount of slag discharged per unit time q, the wave velocity v, the drill rod's rotational torque τ, the splitting force F, the pull-out force T, and the rock mass Q of the area to be excavated, respectively.

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

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

[0081] The network's prediction accuracy is improved by analyzing the tunneling data, actual values, and adaptive values ​​using an adaptive learning rate method and adjusting the learning rate.

[0082] A model of an intelligent decision-maker for a tunneling robot is constructed using a fuzzy neural network. A programmable logic controller (PLC) controls drilling, splitting, and tension shearing in the prefabrication free face stage and the tunneling rock breaking stage, and automatically adjusts the operating parameters.

[0083] The particle swarm optimization algorithm is used to further refine the rescue model, optimize the parameters of the PLC controller, and output more accurate intelligent control decisions. The actuators are responsible for performing specific control actions through various cylinders and hydraulic systems according to the instructions of the intelligent decision-maker, in order to prevent the occurrence of drill jam accidents in the splitting and shearing rock breaking system.

[0084] Furthermore, if the splitting shear rock breaking system 7 experiences a stuck drill problem, the dynamic stabilization support system 1 acts on the corresponding rock mass to control the splitting cylinder 21 to retract the cone 23 and split blades 24 of the splitting shear rock breaking system 7.

[0085] This invention also provides a method for using an adaptive tunneling robot based on stress environment reconstruction, applied to the aforementioned adaptive tunneling robot based on stress environment reconstruction, comprising the following steps:

[0086] S1. The adaptive tunneling robot with stress environment reconstruction moves to the rock mining face under the control of the walking muck removal system 8 and is fixed in the rock mass to be tunneled using the first stabilizing support cylinder 13; the rock drilling system 5 uses the rock drill 55 to drill a hole with a diameter of 130mm and a depth of 2m in the rock mass to be tunneled, and the rock drilling system 5 is withdrawn from the first drill hole by the second drive cylinder 54.

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

[0088] S3. Under the control of the first stabilizing support cylinder 13, the rotating cylinder 34, and the hole-aligning cylinder 33, the drill bit 51 of the rock drilling system 5 is brought close to the previously drilled hole to drill a second hole, with a hole depth of 2m. Then, the second drive cylinder 54 is controlled to withdraw the rock drilling system 5 from the second hole, and the hydraulic propulsion cylinder 45 withdraws the rigid 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 in a cycle, eventually forming 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 drilling, the rock drilling system 5 is withdrawn from the drilling hole by the second drive cylinder 54.

[0090] S5. Under the control of the adaptive intelligent control system 7 and the first drive system 22, the splitting blade 24 of the splitting shear rock breaking system 2 is inserted into the drilled hole, and the splitting cylinder 21 is controlled to push the cone 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 splitting force is stopped, the splitting cylinder 21 retracts the cone 23, and the broken rock mass is loaded into the conveyor 85 through the loader 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 has been broken and transported, the moving muck removal system 8 moves, enabling the adaptive tunneling robot, which recreates the stress environment, to move to the next tunneling face. Figure 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 within the protection scope of the present invention.

Claims

1. An adaptive tunneling robot for stress environment reconstruction, characterized in that, include: Dynamic stabilization support system (1), splitting 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 muck removal system (8). The dynamic stabilization support system (1) includes a first stabilization support cylinder (13), a second stabilization support cylinder (11), and an arc-shaped stabilizing frame (12); the first stabilization support 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 stabilization support 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 and reaction forces for the guide rail system (6), the first stabilization support cylinder (11), and the second stabilization support cylinder (13); The rock-breaking splitting and shearing system (2) includes a splitting cylinder (21), a first drive cylinder group (22), a cone (23), a splitting blade (24), a splitting cylinder inlet (211), and a splitting cylinder fixed support (212); the rock-breaking splitting and shearing system (2) is connected to the guide rail system (6); The rotary support positioning system (3) includes a first rotary support connector (31), a telescopic cylinder (32), a hole-aligning cylinder (33), a rotary cylinder (34), and a second rotary support connector (35). The rotary support positioning system (3) is connected to the guide rail system (6) through the first rotary support connector (31), and the rotary support positioning system (3) is connected to the walking slag discharge system (8) through the second rotary support connector (35). The rock drilling system (5) includes a drill bit (51), a rod protector (52), a drill rod (53), a second drive cylinder (54), a rock drill (55), and a tubing winder (56). The prefabricated free face system (4) includes a first swing cylinder (41), a slide rail (42), a rigid flexible rod (43), a second swing cylinder (44), and a hydraulic propulsion cylinder (45); the first swing cylinder (41) of the prefabricated free face system (4) is fixed on the slide rail (42), the second swing cylinder (44) is fixed to the rigid flexible rod (43), and controls the rigid flexible rod (43) to slide on the slide rail (42); the rigid flexible rod (43) is a flexible rod used to provide continuous support force and positioning when the prefabricated free face rock drill (55) drills continuously; the prefabricated free face system (4) recreates the stress environment of the rock mass to be excavated; The guide rail system (6) includes 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 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 and shearing rock breaking system (2); It also includes an arc-shaped stabilizer connector (65) and a second stabilizer cylinder connector (66); the arc-shaped stabilizer connector (65) is connected to the arc-shaped stabilizer (12), and the second stabilizer cylinder connector (66) is connected to the second stabilizer cylinder (13); When the robot is performing tunneling operations, the adaptive intelligent control system (7) acquires tunneling parameters in real time through the data acquisition module, including the impact pressure W of the drill bit (51), the pressure P of the hard flexible rod (43) and the amount of slag discharged per unit time q, as well as the wave velocity v transmitted by the ground acoustic 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 the adaptive learning rate method to analyze the tunneling data, actual value and adaptive value, 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 drilling, splitting and shearing respectively through a programmable logic controller (PLC) in the prefabrication free face stage and the tunneling rock breaking stage, and automatically adjusts the operation parameters.

2. The adaptive tunneling robot for stress environment reconstruction according to claim 1, 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.

3. The adaptive tunneling robot for stress environment reconstruction according to claim 1, characterized in that, If the splitting shear rock breaking system (2) gets stuck, the dynamic stabilization support system (1) acts on the corresponding rock mass to control the splitting cylinder (21) to retract the cone (23) and split blade (24) of the splitting shear rock breaking system (2).

4. An adaptive tunneling method for stress environment reconstruction, characterized in that, The adaptive tunneling robot using stress environment reconstruction according to any one of claims 1 to 3 includes the following steps: S1. The adaptive tunneling robot with stress environment reconstruction moves to the rock mining face and is fixed by the first stabilizing 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 drive cylinder (54); S3, Control the prefabricated free surface system (4) to insert the rigid flexible rod (43) into the drilled hole; S4. Repeatedly form a pre-defined free surface shape; S5. Drill holes in the rock mass in the middle of the formed free surface and split the rock by the splitting and shearing rock breaking system (2). S6. The broken rock mass is loaded into the conveyor by the loader and then into the mobile slag removal system (8). S7, an adaptive tunneling robot that recreates the stress environment, moves to the next tunneling face.

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