Full-automatic total cross-section water milling drilling type hard rock tunnel boring machine

Abstract

The invention belongs to the technical field of tunnel construction, and particularly relates to a full-automatic total cross-section water milling drilling type hard rock tunnel boring machine which comprises a vehicle body, a center cracked rock discharging mechanism, a multi-degree-of-freedom hydraulic telescopic reducing mechanism, a water milling drilling mechanism and a material receiving and conveying integrated mechanism. The multi-degree-of-freedom hydraulic telescopic reducing mechanism is installed on the upper portion of the front end of the vehicle body, the center cracked rock discharging mechanism is installed in the center of the multi-degree-of-freedom hydraulic telescopic reducing mechanism, and the water milling drilling mechanism is installed at the front end of a mechanical arm of the multi-degree-of-freedom hydraulic telescopic reducing mechanism. The material receiving and conveying integrated mechanism is installed on the lower portion of the front end of the vehicle body and located under the multi-degree-of-freedom hydraulic telescopic reducing mechanism. All the components cooperate with one another, the hard rock tunnel can be automatically tunneled, the construction efficiency is high, and the manual labor intensity and potential safety hazards are greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel construction, and in particular relates to a fully automatic full-section water-mill drilling hard rock tunnel boring machine. Background Art

[0002] As the main energy source in my country, coal is the guarantee of economic growth, improvement of people's living standards and national development. According to statistics, my country's coal consumption accounts for more than half of the total global coal consumption, and the demand for coal will continue to increase for a long time in the future. Rock tunneling plays an important role in coal mine construction and production, especially in the construction of new wells. The amount of rock tunneling engineering generally accounts for 40% to 50% of the total engineering volume, and the construction period accounts for 35% to 50%; in production mines, it accounts for about 25% of the total engineering volume.

[0003] At present, the rock breaking methods used in rock tunnel construction in my country are: 1) Drilling and blasting method: The traditional drilling and blasting method of drilling and blasting only has a monthly excavation distance of about 100 meters, and it has a great disturbance to the surrounding rock formations; 2) Mechanical rock breaking method: There are methods such as full rock tunnel boring machine (TBM) rock breaking method, cantilever tunnel boring machine (TBM) rock breaking method, annular seam drilling method and bored hard rock tunnel boring machine (BTM) rock breaking method. However, the above-mentioned mechanical rock breaking methods all have certain limitations: the full rock tunnel boring machine (TBM) rock breaking method is suitable for large-scale tunnel construction with medium and long distances and stable surrounding geological environment, and the overall cost is high, and the hard rock excavation speed is low; the cantilever tunnel boring method has a lot of dust during the excavation process, and the over-excavation and under-excavation are serious, and it is impossible to excavate hard rock tunnels. The annular seam drilling method has high labor intensity, a harsh and dangerous working environment, and low efficiency; the bored hard rock tunnel boring machine rock breaking method only eliminates the work of manually setting up the drill frame, but its drilling and excavation flexibility is insufficient, and manual splitting of rocks is required. The working environment is still dangerous, and broken stone materials must be loaded manually, and the labor intensity of workers is still very high.

[0004] In view of this, the inventor hopes to design a fully automatic full-section water-grinding drilling hard rock tunnel boring machine. Summary of the invention

[0005] The purpose of the present invention is to overcome the above problems existing in the conventional technology and to provide a fully automatic full-section water-grinding drilling hard rock tunnel boring machine.

[0006] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0007] The present invention provides a fully automatic full-section water-mill drilling hard rock tunnel boring machine, comprising a vehicle body, a central rock-splitting discharging mechanism, a multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism, a water-mill drilling mechanism and a material receiving and conveying integrated mechanism, wherein the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism is mounted on the upper front end of the vehicle body, the central rock-splitting discharging mechanism is mounted at the center of the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism, the water-mill drilling mechanism is mounted on the front end of a mechanical arm of the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism, the material receiving and conveying integrated mechanism is mounted on the lower front end of the vehicle body, and the material receiving and conveying integrated mechanism is located directly below the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism.

[0008] Furthermore, in the above-mentioned fully automatic full-section water-grinding drilling hard rock tunnel boring machine, the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism includes an arm plate, a base servo motor, a bottom column, a bottom column servo motor, a lower arm hydraulic cylinder, a lower arm hydraulic cylinder piston, a lower arm servo motor, an upper arm hydraulic cylinder, an upper arm hydraulic piston, an upper arm servo motor and a power angle adjuster, the base servo motor is installed in the outer ring of the arm plate, the bottom column is installed at the other end of the base servo motor, the bottom column servo motor is installed at the other end of the bottom column, the lower arm hydraulic cylinder is installed at the other end of the bottom column servo motor, the lower arm hydraulic cylinder piston is installed in the cavity of the lower arm hydraulic cylinder, the lower arm servo motor is installed at the top end of the lower arm hydraulic cylinder piston, the upper arm hydraulic cylinder is installed at the other end of the lower arm servo motor, the upper arm hydraulic piston is installed in the internal cavity of the upper arm hydraulic cylinder, the upper arm servo motor is installed at the top end of the upper arm hydraulic piston, and the power angle adjuster is installed at the other end of the upper arm servo motor.

[0009] Furthermore, in the above-mentioned fully automatic full-section water-mill drilling hard rock tunnel boring machine, the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanisms are provided in total in a plurality of independent ones, and can coordinate the four-axis robotic arm in dual control mode. The four-axis robotic arm has a high degree of freedom and can realize tunnel excavation of different cross-sectional shapes and cross-sectional sizes. The use of a hydraulic cylinder arm makes the range of telescopic and diameter-changing of the robotic arm larger, and the change of the cross-sectional shape of the tunnel more flexible. The power angle adjuster can adjust the working angle of the water-mill drilling mechanism and provide drilling power for the water-mill drilling mechanism.

[0010] Furthermore, in the above-mentioned fully automatic full-section water-grinding drilling hard rock tunnel boring machine, the central rock splitting discharging mechanism includes a central secondary hydraulic cylinder, a radial rock splitting hydraulic piston, a supporting cylinder, a rock dragging tooth, a supporting tooth rod, a supporting ring, a thrust ball bearing, a rotating spiral column, a supporting motor and a central rock splitting hydraulic cylinder, the piston end of the central secondary hydraulic cylinder is installed in the cavity of the central rock splitting hydraulic cylinder, the radial rock splitting hydraulic piston is provided with a plurality of and is installed in the central secondary hydraulic cylinder, the supporting cylinder is installed at the other end of the central secondary hydraulic cylinder, the rock dragging tooth is provided with a plurality of and is installed in the supporting cylinder, the thrust ball bearing is installed inside the supporting cylinder, the rotating spiral column is installed at the other end of the thrust ball bearing, the supporting ring is installed on the outer surface of the rotating spiral column, the supporting motor is installed inside the supporting cylinder, the supporting motor is directly connected to the other end of the rotating spiral column, and the supporting tooth rod is installed between the rock dragging tooth and the supporting ring for transmitting power.

[0011] Furthermore, in the above-mentioned fully automatic full-section water-mill drilling hard rock tunnel boring machine, the water-mill drilling mechanism includes a drill barrel, a drill barrel locking cover, a fixed barrel, a fixed barrel locking cover, a thrust ball bearing, a thrust ball bearing sealing ring, a core breaking barrel, a reset spring, a drilling hydraulic cylinder, a large core throwing hook, a small core throwing hook, a large throwing spring and a small throwing spring, the drill barrel locking cover is installed on the non-drilling end of the drill barrel by a threaded connection, the fixed barrel locking cover is installed on the small end of the fixed barrel by a threaded connection, the fixed barrel locking cover is located in the installation wall cavity of the drill barrel and is in direct contact with the drill barrel locking cover, and the small end of the fixed barrel is installed on the drill barrel The thrust ball bearing is installed in a special installation groove between the drill barrel and the fixed barrel, the thrust ball bearing sealing ring is installed on the outer surface of the thrust ball bearing, the drilling hydraulic cylinder body is installed on the large end of the fixed barrel by threaded connection, the core breaking barrel is installed in the wall cavity of the drilling hydraulic cylinder body, the reset spring is installed on the outer surface of the core breaking barrel, the large core throwing hook is installed in the large inclined block in the inner cavity of the core breaking barrel, the small core throwing hook is installed in the small inclined block in the inner cavity of the core breaking barrel, the large core throwing spring is installed at the bottom of the large core throwing hook, and the small core throwing spring is installed at the bottom of the small core throwing hook.

[0012] Furthermore, in the above-mentioned fully automatic full-section water-grinding drilling hard rock tunnel boring machine, the integrated material receiving and feeding mechanism includes a vehicle-mounted belt conveyor, a left material receiving plate, a left material receiving side plate, a cotter pin, a left expansion plate hydraulic cylinder, a left expansion plate hydraulic piston, a left vertical guard plate, a right material receiving plate, a right material receiving side plate, a right expansion plate hydraulic piston, a right expansion plate hydraulic cylinder, a right vertical guard plate, and bolts. The left material receiving plate is installed on the left side of the vehicle-mounted belt conveyor and is connected by a cotter pin; the left material receiving side plate is installed on the left side of the left material receiving plate and is connected by a cotter pin; the left vertical guard plate is installed on the left side of the front end of the vehicle body and is fixed by bolts; the lower end of the left expansion plate hydraulic cylinder is installed on the upper end mounting shaft of the left material receiving plate and is connected by a cotter pin; the left expansion plate The plate hydraulic piston is installed in the internal cavity of the left display plate hydraulic cylinder, and the upper end of the left display plate hydraulic piston is installed on the mounting shaft at the upper end of the left material receiving side plate and is connected by a cotter pin; the right vertical guard plate is installed on the right side of the front end of the vehicle body and is fixed by bolts; the right material receiving plate is installed on the right side of the vehicle-mounted belt conveyor and is connected by a cotter pin; the right material receiving side plate is installed on the right side of the right material receiving plate and is connected by a cotter pin; the lower end of the right display plate hydraulic cylinder is installed on the upper end mounting shaft of the right material receiving plate and is connected by a cotter pin; the right display plate hydraulic piston is installed in the internal cavity of the right display plate hydraulic cylinder, and the upper end of the right display plate hydraulic piston is installed on the mounting shaft at the upper end of the right material receiving side plate and is connected by a cotter pin.

[0013] Furthermore, in the above-mentioned fully automatic full-section water-grinding drilling hard rock tunnel boring machine, the vehicle body includes a frame, a power system, a traveling unit, a cab, a hydraulic pump station and a whole-machine control station, the traveling unit is installed directly below the frame, the power system is installed in the lower right area of ​​the upper end of the frame, the whole-machine control station is installed in the upper right area of ​​the upper end of the frame, the hydraulic pump station is installed in the upper left area of ​​the upper end of the frame, and the cab is installed in the lower left area of ​​the upper end of the frame.

[0014] Furthermore, in the above-mentioned fully automatic full-section water-milled boring type hard rock tunnel boring machine, the tunneling method thereof comprises the following steps:

[0015] S1. Rock drilling and contouring stage: The hard rock tunnel boring machine is assembled on the tunneling working face of the coal mine underground. The hard rock tunnel boring machine is started, and the driver controls the mechanical arm to be arranged into the required tunnel shape and size to start rock drilling. After the drill bit of the water-mill drilling mechanism drills into the rock wall to the specified depth, it stops rotating. Under the action of hydraulic pressure, the core breaking barrel in the water-mill drilling mechanism breaks the rock column with a symmetrical but different-sized structure; after breaking the rock column, the reset spring of the water-mill drilling mechanism applies the stored hydraulic energy to the core breaking barrel, causing the core breaking barrel to move backward. At this time, the large and small hooks on the broken core barrel hook the rock column to make it move backward at the same time. The broken core barrel moves to a certain position and stops moving. However, due to the special structure of the large and small hooks, the rock column moves out of the drilling structure without hindrance and falls onto the receiving plate or the display plate of the receiving and feeding mechanism. Since the display plate and the receiving plate are not horizontal, they have a certain inclination, so that the rock column moves to the middle vehicle-mounted belt conveyor and is transported to the rear of the excavation working face. This working process is repeated until all the holes drilled on the rock wall are connected to form the required tunnel cross-sectional shape contour;

[0016] S2, drilling and separating rock wall stage: All mechanical arms start drilling and digging towards the center of the tunnel section in a “*” shape, drilling and digging to split the rock wall into small area strips and columns;

[0017] S3, rock splitting and discharging stage: after the central rock splitting hydraulic cylinder of the central rock splitting and discharging mechanism is started to send the part of the central rock splitting and discharging mechanism except the central rock splitting hydraulic cylinder into the specified distance in the rock wall, the radial rock splitting hydraulic piston is started to break the columnar rock wall around the central rock splitting and discharging mechanism into blocks, and then the supporting motor is started to support the dragging rock teeth to clamp the broken columnar rock blocks around, and then the central rock splitting and discharging mechanism begins to shrink, and with the assistance of the mechanical arm, the broken columnar rock wall is dragged out;

[0018] S4, material collection and conveying stage: The columnar rock blocks dragged out by the central rock splitting and discharging mechanism fall onto the display board or the material collection board, and then move to the middle vehicle-mounted belt conveyor under the action of gravity, and are transported to the rear transportation equipment.

[0019] The beneficial effects of the present invention are:

[0020] The structural design of the present invention is reasonable. It is mainly composed of a vehicle body, a central rock-splitting and discharging mechanism, a multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism, a water-grinding drilling and excavation mechanism, and an integrated material receiving and conveying mechanism. The various components cooperate with each other to realize automated excavation of hard rock tunnels, with high construction efficiency and greatly reduced manual labor intensity and safety hazards.

[0021] Of course, any product implementing the present invention does not necessarily need to achieve all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a structural schematic diagram of the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism of the present invention;

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the central rock splitting and discharging mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the main structure of the central rock splitting and discharging mechanism of the present invention;

[0027] Figure 5 It is a half-section schematic diagram of the center-cracked rock discharging mechanism of the present invention;

[0028] Figure 6 It is a three-dimensional structural schematic diagram of the water-mill drilling mechanism of the present invention;

[0029] Figure 7 It is a schematic diagram of the main structure of the water-mill drilling mechanism of the present invention;

[0030] Figure 8 It is a half-section schematic diagram of the water-mill drilling mechanism of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of the material receiving and conveying integrated mechanism of the present invention;

[0032] Fig.10 It is a structural schematic diagram of a vehicle body of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1-Figure 10As shown, this embodiment provides a fully automatic full-section water-mill drilling hard rock tunnel boring machine, including a vehicle body 1, a central rock-splitting and discharging mechanism 2, a multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism 3, a water-mill drilling and excavating mechanism 4, and a material receiving and conveying integrated mechanism 5, the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism 3 is installed on the upper front end of the vehicle body 1, the central rock-splitting and discharging mechanism 2 is installed at the center of the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism 3, the water-mill drilling and excavating mechanism 4 is installed on the front end of the mechanical arm of the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism 3, the material receiving and conveying integrated mechanism 5 is installed on the lower front end of the vehicle body 1, and the material receiving and conveying integrated mechanism 5 is located directly below the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism 3.

[0035] 2. According to claim 1, the fully automatic full-section water-milled boring type hard rock tunnel boring machine is characterized in that the multi-degree-of-freedom hydraulic telescopic diameter-changing mechanism 3 includes an arm plate 301, a base servo motor 302, a bottom column 303, a bottom column servo motor 304, a lower arm hydraulic cylinder 305, a lower arm hydraulic cylinder piston 306, a lower arm servo motor 307, an upper arm hydraulic cylinder 308, an upper arm hydraulic piston 309, an upper arm servo motor 310 and a power angle adjuster 311, the base servo motor 302 is installed in the outer ring of the arm plate 301, the bottom column 303 is installed at the other end of the base servo motor 302, and the bottom column servo motor 310 is installed at the outer ring of the arm plate 301. The motor 304 is installed at the other end of the bottom column 303, the lower arm hydraulic cylinder 305 is installed at the other end of the bottom column servo motor 304, the lower arm hydraulic cylinder piston 306 is installed in the cavity of the lower arm hydraulic cylinder 305, the lower arm servo motor 307 is installed at the top of the lower arm hydraulic cylinder piston 306, the upper arm hydraulic cylinder 308 is installed at the other end of the lower arm servo motor 307, the upper arm hydraulic piston 309 is installed in the internal cavity of the upper arm hydraulic cylinder 308, the upper arm servo motor 310 is installed at the top of the upper arm hydraulic piston 309, and the power angle adjuster 311 is installed at the other end of the upper arm servo motor 310.

[0036] 3. The fully automatic full-section water-mill drilling hard rock tunnel boring machine according to claim 2 is characterized in that a plurality of multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanisms 3 are provided, each of which is independent and can coordinate a four-axis robotic arm in a dual control mode. The four-axis robotic arm has a high degree of freedom and can realize tunnel excavation of tunnels with different cross-sectional shapes and cross-sectional sizes. The use of a hydraulic cylinder arm allows the robotic arm to have a larger range of telescopic and diameter-changing capabilities, making it more flexible to change the cross-sectional shape of the tunnel. The power angle adjuster 311 can adjust the working angle of the water-mill drilling mechanism 4 and provide drilling power for the water-mill drilling mechanism 4.

[0037] 4. The fully automatic full-section water-grinding boring type hard rock tunnel boring machine according to claim 1 is characterized in that the central rock splitting discharging mechanism 2 comprises a central secondary hydraulic cylinder 201, a radial rock splitting hydraulic piston 202, a support cylinder 203, a rock dragging tooth 204, a support tooth rod 205, a support ring 206, a thrust ball bearing 207, a rotating spiral column 208, a support motor 209 and a central rock splitting hydraulic cylinder 210, the piston end of the central secondary hydraulic cylinder 201 is installed in the cavity of the central rock splitting hydraulic cylinder 210, and the radial rock splitting hydraulic piston 202 is provided with a plurality of and installed in the central secondary hydraulic cylinder 201, the top support cylinder 203 is installed at the other end of the central secondary hydraulic cylinder 201, a plurality of rock dragging teeth 204 are provided and installed in the top support cylinder 203, a thrust ball bearing 207 is installed inside the top support cylinder 203, a rotating spiral column 208 is installed at the other end of the thrust ball bearing 207, a support ring 206 is installed on the outer surface of the rotating spiral column 208, a top support motor 209 is installed inside the top support cylinder 203, and the top support motor 209 is directly connected to the other end of the rotating spiral column 208, and a support tooth rod 205 is installed between the rock dragging tooth 204 and the support ring 206 for transmitting power.

[0038] 5. The fully automatic full-section water-mill drilling hard rock tunnel boring machine according to claim 1 is characterized in that the water-mill drilling mechanism 4 includes a drill barrel 401, a drill barrel locking cover 402, a fixed barrel 403, a fixed barrel locking cover 404, a thrust ball bearing 405, a thrust ball bearing sealing ring 406, a core breaking barrel 407, a reset spring 408, a drilling hydraulic cylinder 409, a large core throwing hook 410, a small core throwing hook 411, a large throwing spring 412 and a small throwing spring 413, the drill barrel locking cover 402 is installed on the non-drilling end of the drill barrel 401 by a threaded connection, the fixed barrel locking cover 404 is installed on the small end of the fixed barrel 403 by a threaded connection, the fixed barrel locking cover 404 is located in the installation wall cavity of the drill barrel 401 and is in direct contact with the drill barrel locking cover 402, The small end of the fixed cylinder 403 is installed in the wall cavity of the drill tube 401, the thrust ball bearing 405 is installed in the special installation groove between the drill tube 401 and the fixed cylinder 403, the thrust ball bearing sealing ring 406 is installed on the outer surface of the thrust ball bearing, the drilling hydraulic cylinder body 409 is installed on the large end of the fixed cylinder 403 by threaded connection, the core breaking cylinder 407 is installed in the wall cavity of the drilling hydraulic cylinder body 409, the reset spring 408 is installed on the outer surface of the core breaking cylinder 407, the large core throwing hook 410 is installed in the large oblique block of the inner cavity of the core breaking cylinder 407, the small core throwing hook 411 is installed in the small oblique block of the inner cavity of the core breaking cylinder 407, the large throwing spring 412 is installed at the bottom of the large core throwing hook 410, and the small throwing spring 413 is installed at the bottom of the small core throwing hook 411.

[0039] 6. The fully automatic full-section water-milled boring type hard rock tunnel boring machine according to claim 1 is characterized in that the material receiving and feeding integrated mechanism 5 comprises a vehicle-mounted belt conveyor 501, a left material receiving plate 502, a left material receiving side plate 503, a cotter pin 504, a left expansion plate hydraulic cylinder 505, a left expansion plate hydraulic piston 506, a left vertical guard plate 507, a right material receiving plate 508, a right material receiving side plate 509, a right expansion plate hydraulic piston 510, a right expansion plate hydraulic cylinder 511, The right vertical guard plate 512 and bolts 513, the left material receiving plate 502 are installed on the left side of the vehicle-mounted belt conveyor 501 and are connected by a split pin 504; the left material receiving side plate 503 is installed on the left side of the left material receiving plate 502 and is connected by a split pin 504; the left vertical guard plate 507 is installed on the left side of the front end of the vehicle body 1 and is connected and fixed by bolts 513; the lower end of the left display plate hydraulic cylinder 505 is installed on the upper end mounting shaft of the left material receiving plate 502 and is connected by a split pin 504. The left display plate hydraulic piston 506 is installed in the internal cavity of the left display plate hydraulic cylinder 505, and the upper end of the left display plate hydraulic piston 506 is installed on the mounting shaft at the upper end of the left material receiving side plate 503, and is connected by a cotter pin 504; the right vertical guard plate 512 is installed on the right side of the front end of the vehicle body 1, and is fixed by a bolt 513; the right material receiving plate 508 is installed on the right side of the vehicle-mounted belt conveyor 501, and is connected by a cotter pin 504; the right material receiving side plate 509 is installed on the right side of the right material receiving plate 508, and is connected by a cotter pin 504; the lower end of the right display plate hydraulic cylinder 511 is installed on the upper end mounting shaft of the right material receiving plate 508, and is connected by a cotter pin 504; the right display plate hydraulic piston 510 is installed in the internal cavity of the right display plate hydraulic cylinder 511, and the upper end of the right display plate hydraulic piston 510 is installed on the mounting shaft at the upper end of the right material receiving side plate 509, and is connected by a cotter pin 504.

[0040] 7. The fully automatic full-section water-grinding boring type hard rock tunnel boring machine according to claim 1 is characterized in that the vehicle body 1 includes a frame 101, a power system 102, a traveling unit 103, a cab 104, a hydraulic pump station 105 and a whole-machine control station 106, the traveling unit 103 is installed directly below the frame 101, the power system 102 is installed in the lower right area of ​​the upper end of the frame 101, the whole-machine control station 106 is installed in the upper right area of ​​the upper end of the frame 101, the hydraulic pump station 105 is installed in the upper left area of ​​the upper end of the frame 101, and the cab 104 is installed in the lower left area of ​​the upper end of the frame 101.

[0041] 8. A fully automatic full-section water-milled hard rock tunnel boring machine according to any one of claims 1 to 7, characterized in that the tunneling method comprises the following steps:

[0042] S1. Rock drilling and contouring stage: The hard rock tunnel boring machine is assembled on the tunneling working face of the coal mine underground. The hard rock tunnel boring machine is started, and the driver controls the mechanical arm to be arranged into the required tunnel shape and size to start rock drilling. After the drill bit of the water-mill drilling mechanism drills into the rock wall to the specified depth, it stops rotating. Under the action of hydraulic pressure, the core breaking barrel in the water-mill drilling mechanism breaks the rock column with a symmetrical but different-sized structure; after breaking the rock column, the reset spring of the water-mill drilling mechanism applies the stored hydraulic energy to the core breaking barrel, causing the core breaking barrel to move backward. At this time, the large and small hooks on the broken core barrel hook the rock column to make it move backward at the same time. The broken core barrel moves to a certain position and stops moving. However, due to the special structure of the large and small hooks, the rock column moves out of the drilling structure without hindrance and falls onto the receiving plate or the display plate of the receiving and feeding mechanism. Since the display plate and the receiving plate are not horizontal, they have a certain inclination, so that the rock column moves to the middle vehicle-mounted belt conveyor and is transported to the rear of the excavation working face. This working process is repeated until all the holes drilled on the rock wall are connected to form the required tunnel cross-sectional shape contour;

[0043] S2, drilling and separating rock wall stage: All mechanical arms start drilling and digging towards the center of the tunnel section in a “*” shape, drilling and digging to split the rock wall into small area strips and columns;

[0044] S3, rock splitting and discharging stage: after the central rock splitting hydraulic cylinder of the central rock splitting and discharging mechanism is started to send the part of the central rock splitting and discharging mechanism except the central rock splitting hydraulic cylinder into the specified distance in the rock wall, the radial rock splitting hydraulic piston is started to break the columnar rock wall around the central rock splitting and discharging mechanism into blocks, and then the supporting motor is started to support the dragging rock teeth to clamp the broken columnar rock blocks around, and then the central rock splitting and discharging mechanism begins to shrink, and with the assistance of the mechanical arm, the broken columnar rock wall is dragged out;

[0045] S4, material collection and conveying stage: The columnar rock blocks dragged out by the central rock splitting and discharging mechanism fall onto the display board or the material collection board, and then move to the middle vehicle-mounted belt conveyor under the action of gravity, and are transported to the rear transportation equipment.

[0046] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A fully automatic full-section water-milled hard rock tunnel boring machine, characterized in that: It includes a vehicle body, a central rock-splitting and discharging mechanism, a multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism, a water-mill drilling and excavation mechanism, and an integrated mechanism for receiving and conveying materials. The multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism is installed on the upper front end of the vehicle body, the central rock-splitting and discharging mechanism is installed at the center of the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism, the water-mill drilling and excavation mechanism is installed on the front end of the mechanical arm of the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism, the integrated mechanism for receiving and conveying materials is installed on the lower front end of the vehicle body, and the integrated mechanism for receiving and conveying materials is located directly below the multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanism.

2. The fully automatic full-section water-milled hard rock tunnel boring machine according to claim 1, characterized in that: The multi-degree-of-freedom hydraulic telescopic and variable diameter mechanism includes an arm plate, a base servo motor, a bottom column, a bottom column servo motor, a lower arm hydraulic cylinder, a lower arm hydraulic cylinder piston, a lower arm servo motor, an upper arm hydraulic cylinder, an upper arm hydraulic piston, an upper arm servo motor and a power angle adjuster. The base servo motor is installed in the outer ring of the arm plate, the bottom column is installed at the other end of the base servo motor, the bottom column servo motor is installed at the other end of the bottom column, the lower arm hydraulic cylinder is installed at the other end of the bottom column servo motor, the lower arm hydraulic cylinder piston is installed in the cavity of the lower arm hydraulic cylinder, the lower arm servo motor is installed at the top end of the lower arm hydraulic cylinder piston, the upper arm hydraulic cylinder is installed at the other end of the lower arm servo motor, the upper arm hydraulic piston is installed in the internal cavity of the upper arm hydraulic cylinder, the upper arm servo motor is installed at the top end of the upper arm hydraulic piston, and the power angle adjuster is installed at the other end of the upper arm servo motor.

3. The fully automatic full-section water-milled hard rock tunnel boring machine according to claim 2, characterized in that: The multi-degree-of-freedom hydraulic telescopic and diameter-changing mechanisms are provided with a total of several, and each is independent, and can coordinate a four-axis robotic arm in a dual control mode. The four-axis robotic arm has a high degree of freedom and can realize tunnel excavation of tunnels with different cross-sectional shapes and cross-sectional sizes. The use of a hydraulic cylinder arm makes the range of telescopic and diameter-changing of the robotic arm larger, and the change of the tunnel cross-sectional shape is more flexible. The power angle adjuster can adjust the working angle of the water-mill drilling mechanism and provide drilling power for the water-mill drilling mechanism.

4. The fully automatic full-section water-milled boring type hard rock tunnel boring machine according to claim 1, characterized in that: The central rock splitting discharging mechanism includes a central secondary hydraulic cylinder, a radial rock splitting hydraulic piston, a supporting cylinder, a rock dragging tooth, a supporting tooth rod, a supporting ring, a thrust ball bearing, a rotating spiral column, a supporting motor and a central rock splitting hydraulic cylinder. The piston end of the central secondary hydraulic cylinder is installed in the cavity of the central rock splitting hydraulic cylinder. Several radial rock splitting hydraulic pistons are provided and installed in the central secondary hydraulic cylinder. The supporting cylinder is installed at the other end of the central secondary hydraulic cylinder. Several rock dragging teeth are provided and installed in the supporting cylinder. The thrust ball bearing is installed inside the supporting cylinder. The rotating spiral column is installed at the other end of the thrust ball bearing. The supporting ring is installed on the outer surface of the rotating spiral column. The supporting motor is installed inside the supporting cylinder. The supporting motor is directly connected to the other end of the rotating spiral column. The supporting tooth rod is installed between the rock dragging tooth and the supporting ring for transmitting power.

5. The fully automatic full-section water-milled boring type hard rock tunnel boring machine according to claim 1, characterized in that: The water mill drilling mechanism includes a drill barrel, a drill barrel locking cover, a fixed barrel, a fixed barrel locking cover, a thrust ball bearing, a thrust ball bearing sealing ring, a core breaking barrel, a reset spring, a drilling hydraulic cylinder, a large core throwing hook, a small core throwing hook, a large throwing spring and a small throwing spring. The drill barrel locking cover is installed on the non-drilling end of the drill barrel by a threaded connection, and the fixed barrel locking cover is installed on the small end of the fixed barrel by a threaded connection. The fixed barrel locking cover is located in the installation wall cavity of the drill barrel and is in direct contact with the drill barrel locking cover. The small end of the fixed barrel is installed in the wall cavity of the drill barrel. The thrust ball bearing is installed in the wall cavity of the drill barrel. Installed in a special mounting groove between the drill barrel and the fixed barrel, the thrust ball bearing sealing ring is installed on the outer surface of the thrust ball bearing, the drilling hydraulic cylinder body is installed on the large end of the fixed barrel by threaded connection, the core breaking barrel is installed in the wall cavity of the drilling hydraulic cylinder body, the reset spring is installed on the outer surface of the core breaking barrel, the large core throwing hook is installed in the large inclined block in the inner cavity of the core breaking barrel, the small core throwing hook is installed in the small inclined block in the inner cavity of the core breaking barrel, the large throwing spring is installed at the bottom of the large core throwing hook, and the small throwing spring is installed at the bottom of the small core throwing hook.

6. The fully automatic full-section water-milled boring hard rock tunnel boring machine according to claim 1, characterized in that: The integrated material receiving and feeding mechanism includes a vehicle-mounted belt conveyor, a left material receiving plate, a left material receiving side plate, a cotter pin, a left display plate hydraulic cylinder, a left display plate hydraulic piston, a left vertical guard plate, a right material receiving plate, a right material receiving side plate, a right display plate hydraulic piston, a right display plate hydraulic cylinder, a right vertical guard plate, and bolts. The left material receiving plate is installed on the left side of the vehicle-mounted belt conveyor and is connected by a cotter pin; the left material receiving side plate is installed on the left side of the left material receiving plate and is connected by a cotter pin; the left vertical guard plate is installed on the left side of the front end of the vehicle body and is fixed by bolts; the lower end of the left display plate hydraulic cylinder is installed on the upper end mounting shaft of the left material receiving plate and is connected by a cotter pin; the left display plate hydraulic piston is installed on the left display plate hydraulic In the internal cavity of the cylinder, the upper end of the left expansion plate hydraulic piston is installed on the mounting shaft on the upper end of the left material receiving side plate and is connected by a cotter pin; the right vertical guard plate is installed on the right side of the front end of the vehicle body and is fixed by bolts; the right material receiving plate is installed on the right side of the vehicle-mounted belt conveyor and is connected by a cotter pin; the right material receiving side plate is installed on the right side of the right material receiving plate and is connected by a cotter pin; the lower end of the right expansion plate hydraulic cylinder is installed on the upper end mounting shaft of the right material receiving plate and is connected by a cotter pin; the right expansion plate hydraulic piston is installed in the internal cavity of the right expansion plate hydraulic cylinder, and the upper end of the right expansion plate hydraulic piston is installed on the mounting shaft on the upper end of the right material receiving side plate and is connected by a cotter pin.

7. The fully automatic full-section water-milled hard rock tunnel boring machine according to claim 1, characterized in that: The vehicle body includes a frame, a power system, a traveling part, a cab, a hydraulic pump station and a whole-machine control station. The traveling part is installed directly below the frame, the power system is installed in the lower right area of ​​the upper end of the frame, the whole-machine control station is installed in the upper right area of ​​the upper end of the frame, the hydraulic pump station is installed in the upper left area of ​​the upper end of the frame, and the cab is installed in the lower left area of ​​the upper end of the frame.

8. The fully automatic full-section water-milled hard rock tunnel boring machine according to any one of claims 1 to 7, characterized in that: The excavation method includes the following steps: S1. Rock drilling and contouring stage: The hard rock tunnel boring machine is assembled on the tunneling working face of the coal mine underground. The hard rock tunnel boring machine is started, and the driver controls the mechanical arm to be arranged into the required tunnel shape and size to start rock drilling. After the drill bit of the water-mill drilling mechanism drills into the rock wall to the specified depth, it stops rotating. Under the action of hydraulic pressure, the core breaking barrel in the water-mill drilling mechanism breaks the rock column with a symmetrical but different-sized structure; after breaking the rock column, the reset spring of the water-mill drilling mechanism applies the stored hydraulic energy to the core breaking barrel, causing the core breaking barrel to move backward. At this time, the large and small hooks on the broken core barrel hook the rock column to make it move backward at the same time. The broken core barrel moves to a certain position and stops moving. However, due to the special structure of the large and small hooks, the rock column moves out of the drilling structure without hindrance and falls onto the receiving plate or the display plate of the receiving and feeding mechanism. Since the display plate and the receiving plate are not horizontal, they have a certain inclination, so that the rock column moves to the middle vehicle-mounted belt conveyor and is transported to the rear of the excavation working face. This working process is repeated until all the holes drilled on the rock wall are connected to form the required tunnel cross-sectional shape contour; S2, drilling and separating rock wall stage: All mechanical arms start drilling and digging towards the center of the tunnel section in a "*" shape, drilling and digging to split the rock wall into small area strips and columns; S3, rock splitting and discharging stage: after the central rock splitting hydraulic cylinder of the central rock splitting and discharging mechanism is started to send the part of the central rock splitting and discharging mechanism except the central rock splitting hydraulic cylinder into the specified distance in the rock wall, the radial rock splitting hydraulic piston is started to break the columnar rock wall around the central rock splitting and discharging mechanism into blocks, and then the supporting motor is started to support the dragging rock teeth to clamp the broken columnar rock blocks around, and then the central rock splitting and discharging mechanism begins to shrink, and with the assistance of the mechanical arm, the broken columnar rock wall is dragged out; S4, material collection and conveying stage: The columnar rock blocks dragged out by the central rock splitting and discharging mechanism fall onto the display board or the material collection board, and then move to the middle vehicle-mounted belt conveyor under the action of gravity, and are transported to the rear transportation equipment.

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