Modularized assembly type full-automatic tunneling rock breaking robot and working method thereof

Abstract

The invention relates to the technical field of rock drilling, and provides a modular assembly type full-automatic tunneling rock breaking robot and a working method thereof, and the robot comprises a robot main body module, a stress advanced relieving module and a rock breaking module. The stress in the rock mass is relieved in advance through the stress advanced relieving module, the rock breaking efficiency of the rock breaking module can be improved, and damage such as rock burst and working face deformation can be eliminated. The stress advanced relieving module and the rock breaking module are installed on the robot body module, and the number, the types and the installation positions of the modules can be adjusted so as to adapt to different working conditions. According to the robot, full-automatic unmanned operation can be achieved by presetting tunneling parameters according to specific working conditions. In addition, the invention further provides a working method of the robot, the working method comprises the steps of movement, advanced stress relief, rock breaking, deslagging and the like, and efficient full-automatic continuous tunneling operation can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of rock drilling, and more specifically, relates to a modular assembly type fully automatic excavation and rock breaking robot and a working method thereof. Background Art

[0002] At present, the drilling and blasting method is mainly used for underground hard rock excavation. Although the popularity of rock drilling trolleys and charging trolleys has greatly improved the mechanization degree and operation efficiency of the drilling and blasting method, the discontinuous nature of its blasting, ventilation, slag removal and support processes has never been solved. At present, the drilling and blasting method usually has a feed rate of 2.5-3 meters in one operation cycle, and a monthly feed rate of 60-100 meters. If there are special sections such as rock crushing, the operation efficiency will be further reduced.

[0003] Compared with traditional drilling and blasting methods, mechanical continuous rock breaking has significant advantages in terms of operation safety, efficiency and production cost: (1) No explosives are required, which can essentially improve the safety of management and operation; (2) Rock breaking has small vibrations and causes little damage to the rock mass during the rock breaking process; (3) It can operate continuously, improve production efficiency, and optimize production processes, thereby reducing overall production costs. Therefore, the use of mechanical continuous rock breaking methods is the development direction of underground hard rock excavation.

[0004] The existing mechanical rock breaking equipment includes coal mining machines, cantilevered tunnel boring machines, TBMs, splitters, etc. Among them, coal mining machines have been widely used in coal mines with very significant effects, but they are only suitable for coal mining and cannot cut hard rocks; cantilevered tunnel boring machines are flexible and simple to construct, but when encountering hard rock sections above f8, there are also problems such as low rock breaking efficiency, severe tool wear, or inability to dig; and TBMs are only suitable for some long-distance and small turning radius working conditions due to their large turning radius; although splitters have strong rock breaking capabilities, they are generally used in open-pit conditions due to the requirements for free surfaces.

[0005] Therefore, it is urgent to develop a highly adaptable underground hard rock mechanized continuous excavation equipment to realize efficient and fully automatic continuous excavation operations in underground hard rock. Summary of the invention

[0006] In view of the above-mentioned problems in the prior art, the purpose of the present invention is to provide a modular assembled fully automatic excavation and rock breaking robot and a working method thereof. The robot can adjust various highly modular components according to specific working conditions, and can realize fully automatic unmanned operation by presetting excavation parameters. It has wide applicability and can realize efficient fully automatic continuous excavation operations in underground hard rock.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] It includes a robot main body module and a stress advance release module and a rock breaking module arranged on the robot main body module;

[0009] The stress advance relief module comprises a stress advance relief module housing, a drill bit moving slot, a stress advance relief module base, a stress advance relief module telescopic mechanism, a stress advance relief module guide rail, a stress advance relief module drilling power mechanism, a stress advance relief module drill rod, a stress advance relief module drill bit and a stress advance relief module sliding mechanism;

[0010] The shell of the stress advance relief module is installed on the base of the stress advance relief module through the telescopic mechanism of the stress advance relief module, the drill bit moving slot is opened on one side of the shell of the stress advance relief module, and the guide rail of the stress advance relief module, the drilling power mechanism of the stress advance relief module, the drill rod of the stress advance relief module, the drill bit of the stress advance relief module and the sliding mechanism of the stress advance relief module are all arranged inside the shell of the stress advance relief module;

[0011] The stress advance relief module drilling power mechanism, the stress advance relief module drill rod, and the stress advance relief module drill bit are assembled to form a stress advance relief module drilling assembly. The stress advance relief module drilling assembly is placed on the stress advance relief module guide rail, and the stress advance relief module guide rail is pushed by the stress advance relief module sliding mechanism to move along the length direction of the drill bit moving slot.

[0012] Furthermore, the robot main body module includes a walking system, a power system, a control system, a hydraulic system, a circuit system, a main body height adjustment system and a module installation and docking system;

[0013] The main body height adjustment system comprises an upper platform, a lower platform and a robot main body telescopic mechanism, wherein the upper platform is mounted on the lower platform through the robot main body telescopic mechanism;

[0014] The module installation and docking system comprises a top stress advance relief module installation groove, a bottom stress advance relief module installation groove and a side rock breaking module installation groove.

[0015] Furthermore, the rock breaking module is one or more of a translation rock breaking module, a rotation rock breaking module or a coaxial rock breaking module.

[0016] Furthermore, the control system supports preset operation parameters and realizes unmanned operation by using automatic procedures.

[0017] Further, the translational rock breaking module includes a translational rock breaking module housing, a translational rock breaking module front cover, a translational rock breaking module integrated connection port, a translational rock breaking module drill bit, a translational rock breaking module drill rod, a translational rock breaking module drilling power mechanism, a translational rock breaking module drilling power mechanism driving guide rail, a translational rock breaking module splitting mechanism, a translational rock breaking module splitting mechanism driving guide rail and a translational rock breaking module sliding mechanism;

[0018] The front cover of the translational rock breaking module and the integrated connection port of the translational rock breaking module are both arranged on the side wall of the translational rock breaking module housing, and the translational rock breaking module housing is assembled with the side rock breaking module installation groove;

[0019] The translational rock breaking module drill bit, the translational rock breaking module drill rod, the translational rock breaking module drilling power mechanism, the translational rock breaking module drilling power mechanism driving guide rail, the translational rock breaking module splitting mechanism, the translational rock breaking module splitting mechanism driving guide rail and the translational rock breaking module sliding mechanism are all arranged inside the translational rock breaking module housing;

[0020] The translational rock breaking module drill bit, the translational rock breaking module drill rod, and the translational rock breaking module drilling power mechanism are assembled to form a translational rock breaking module drilling assembly, wherein the translational rock breaking module drilling power mechanism can be moved by being driven by the translational rock breaking module drilling power mechanism driving guide rail;

[0021] The splitting mechanism of the translational rock breaking module and the driving guide rail assembly of the splitting mechanism of the translational rock breaking module constitute a rock breaking assembly of the translational rock breaking module;

[0022] The translational rock breaking module drilling assembly and the translational rock breaking module rock breaking assembly are pushed by the translational rock breaking module sliding mechanism to achieve hole adjustment;

[0023] Further, the rotary rock breaking module includes a rotary rock breaking module housing, a rotary rock breaking module front cover, a rotary rock breaking module integrated connection port, a rotary rock breaking module drill bit, a rotary rock breaking module drill rod, a rotary rock breaking module drilling power mechanism, a rotary rock breaking module ejector pin, a rotary rock breaking module splitting mechanism, a rotary rock breaking module splitting mechanism driving guide rail and a rotary rock breaking module rotating mechanism;

[0024] The rotary rock breaking module front cover and the rotary rock breaking module integrated connection port are both arranged on the side wall of the rotary rock breaking module housing, and the rotary rock breaking module housing is assembled with the side rock breaking module installation groove;

[0025] The rotary rock breaking module drill bit, the rotary rock breaking module drill rod, the rotary rock breaking module drilling power mechanism, the rotary rock breaking module ejector pin, the rotary rock breaking module splitting mechanism, the rotary rock breaking module splitting mechanism driving guide rail and the rotary rock breaking module rotating mechanism are all arranged inside the rotary rock breaking module housing;

[0026] The rotary rock breaking module drill bit, the rotary rock breaking module drill rod, and the rotary rock breaking module drilling power mechanism are assembled to form a rotary rock breaking module drilling assembly;

[0027] The rotary rock breaking module splitting mechanism and the rotary rock breaking module splitting mechanism driving guide rail assembly constitute a rotary rock breaking module rock breaking assembly;

[0028] The rotary rock breaking module rotating mechanism drives the rotary rock breaking module drilling assembly and the rotary rock breaking module rock breaking assembly to rotate synchronously.

[0029] Further, the coaxial rock breaking module includes a coaxial rock breaking module housing, a coaxial rock breaking module front cover, a coaxial rock breaking module integrated connection port, a coaxial rock breaking module drill bit, a coaxial rock breaking module drill rod, a coaxial rock breaking module drilling power mechanism, a coaxial rock breaking module splitting mechanism and a coaxial moving guide rail;

[0030] The coaxial rock breaking module front cover and the coaxial rock breaking module integrated connection port are both arranged on the side wall of the coaxial rock breaking module housing, and the coaxial rock breaking module housing is assembled with the side rock breaking module installation groove;

[0031] The coaxial rock breaking module drill bit, the coaxial rock breaking module drill rod, the rotary rock breaking module drilling power mechanism, the coaxial rock breaking module splitting mechanism and the coaxial moving guide rail are all arranged inside the coaxial rock breaking module housing;

[0032] The interior of the splitting mechanism of the coaxial rock breaking module is hollow, and the drill rod of the coaxial rock breaking module can move freely therein.

[0033] Furthermore, the number of the stress advance relief modules and rock breaking modules can be freely configured according to the on-site working conditions.

[0034] Furthermore, the stress advance release module is arranged at the top and bottom of the robot main body module, and the rock breaking module is arranged at both sides of the robot main body module.

[0035] The walking system may be tire-type, crawler-type or guide-rail-type.

[0036] The power system can be electrically driven or diesel driven.

[0037] The control system controls the operation of the equipment and the module operation, and can be operated by driving, remote control or automatic operation according to a predetermined program. The control system supports preset operation parameters, including rock uniaxial compressive strength, rock integrity, operating surface height, drilling spacing, drilling depth, rock breaking depth and rock breaking width, etc., and uses automatic programs to achieve unmanned operation.

[0038] The hydraulic system can support equipment operation and module operation.

[0039] The circuit system can support equipment operation and module operation.

[0040] The robot main body module, stress advance relief module and rock breaking module are all provided with integrated docking interfaces, which can quickly complete docking and fixation. The docking contents include water, electricity, oil and the like necessary for the operation.

[0041] The stress advance relief module can move up and down to adapt to uneven terrain.

[0042] The stress advance relief module can drill holes at an angle to accommodate stress relief operations at corners.

[0043] The operation mode of the rock breaking module is drilling-aligning-splitting, and the aligning methods of the aligning include a translation scheme, a rotation scheme and a coaxial scheme without aligning the holes.

[0044] The number of the stress advance relief modules and rock breaking modules can be freely configured according to the on-site working conditions to adapt to different rock types and excavation efficiency requirements.

[0045] The present invention also provides a working method of a modular assembly type fully automatic excavation and rock breaking robot, comprising the following steps:

[0046] S1. Develop a working face tunnel, and develop two transport tunnels perpendicular to the working face tunnel at both ends of the working face tunnel;

[0047] S2. Arrange a working face support mechanism in the working face tunnel, and arrange a modular assembled fully automatic excavation and rock breaking robot at one end of the working face tunnel;

[0048] S3. During excavation, the stress advance relief module is used to perform stress advance relief operations on both the upper and lower sides of the rock mass, and the rock breaking module is used to perform efficient splitting and rock breaking operations on the rock mass; the two can be operated simultaneously or in sequence;

[0049] S4. After the rock breaking operation is completed, the robot moves longitudinally along the working face tunnel, the stress advance relief module and the rock breaking module continue to operate, and the equipment is used to discharge slag;

[0050] S5. After the working face tunnel is excavated horizontally by one working position, the robot moves horizontally by one working position, and the working face support mechanism also moves horizontally by one working position;

[0051] S6. Excavate the rock mass again, and repeat steps S3 to S5 until the entire excavation operation is completed.

[0052] Beneficial Effects

[0053] (1) Strong applicability. The height adjustment system of the robot main body module can be used for tunneling conditions at different heights. By installing different numbers of stress advance relief modules and rock breaking modules, it can be used for conditions with different rock types.

[0054] (2) Strong rock-breaking capability. The stress advance release module decomposes the complete rock mass into isolated rock masses, and the rock-breaking module further utilizes the rock mass's compressive but not tensile properties to break the rock through splitting, making the robot have extremely strong rock-breaking capability.

[0055] (3) High rock breaking efficiency. Multiple stress advance relief modules and rock breaking modules can be installed to multiply the rock breaking efficiency.

[0056] (4) It can realize fully automatic unmanned operation. The robot's operation steps are simple and repetitive, and the operation program can be preset to realize fully automatic unmanned operation.

[0057] (5) High safety. The stress advance release module can release stress concentration in advance, eliminating hazards such as rock burst and working face deformation. At the same time, fully automatic unmanned operation further improves tunneling safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 A front view of the robot main body module provided in this application;

[0060] Figure 2 A three-dimensional view of the robot main module provided for this application;

[0061] Figure 3 A three-dimensional view of the robot stress advance relief module provided for this application;

[0062] Figure 4 A front view of the robot stress advance relief module provided in this application;

[0063] Figure 5 An internal view of the robot stress advance relief module provided for this application;

[0064] Figure 6 A front view of the robot rock breaking module provided in Example 1 of the present application;

[0065] Figure 7 An internal view of the robot rock breaking module provided in Example 1 of the present application;

[0066] Figure 8 A front view of the robot provided in Example 1 of the present application;

[0067] Fig. 9 A three-dimensional view of the robot provided in Example 1 of the present application;

[0068] Fig.10 A front view of a robot rock breaking module provided in Example 2 of the present application;

[0069] Fig.11 An internal view of the robot rock breaking module provided in Example 2 of the present application;

[0070] Fig.12 A front view of the robot provided in Example 2 of the present application;

[0071] Fig.13 A three-dimensional view of the robot provided in Example 2 of the present application;

[0072] Fig.14 A front view of a robot rock breaking module provided in Example 3 of the present application;

[0073] Fig.15 An internal view of the robot rock breaking module provided in Example 3 of the present application;

[0074] Fig.16 A front view of the robot provided in Example 3 of the present application;

[0075] Fig.17 A three-dimensional view of the robot provided in Example 3 of the present application;

[0076] Fig.18 A front view of the robot provided in Example 4 of the present application;

[0077] Fig.19 A three-dimensional view of the robot provided in Example 4 of the present application;

[0078] Fig. 20 A three-dimensional view illustrating the robot operation provided in Example 5 of the present application.

[0079] Among them, the reference numerals in the figure are:

[0080] 1. Robot main body module; 11. Top stress advance relief module installation slot; 12. Upper platform; 13. Lower platform; 14. Tire; 15. Lower stress advance relief module installation slot; 16. Robot main body telescopic mechanism; 17. Side rock breaking module installation slot.

[0081] 2. Advance stress relief module; 21. Advance stress relief module housing; 22. Drill bit moving slot; 23. Advance stress relief module base; 24. Advance stress relief module telescopic mechanism; 25. Advance stress relief module guide rail; 26. Advance stress relief module drilling power mechanism; 27. Advance stress relief module drill rod; 28. Advance stress relief module drill bit; 29. ​​Advance stress relief module sliding mechanism.

[0082] 3. Translational rock breaking module; 31. Translational rock breaking module housing; 32. Translational rock breaking module front cover; 33. Translational rock breaking module integrated connection port; 34. Translational rock breaking module drill bit; 35. Translational rock breaking module drill rod; 36. Translational rock breaking module drilling power mechanism; 37. Translational rock breaking module drilling power mechanism driving guide rail; 38. Translational rock breaking module splitting mechanism; 39. Translational rock breaking module splitting mechanism driving guide rail; 310. Translational rock breaking module sliding mechanism.

[0083] 4. Rotary rock breaking module; 41. Rotary rock breaking module housing; 42. Rotary rock breaking module front cover; 43. Rotary rock breaking module integrated connection port; 44. Rotary rock breaking module drill bit; 45. Rotary rock breaking module drill rod; 46. Rotary rock breaking module drilling power mechanism; 47. Rotary rock breaking module ejector pin; 48. Rotary rock breaking module splitting mechanism; 49. Rotary rock breaking module splitting mechanism driving guide rail; 410. Rotary rock breaking module rotating mechanism.

[0084] 5. Coaxial rock breaking module; 51. Coaxial rock breaking module housing; 52. Coaxial rock breaking module front cover; 53. Coaxial rock breaking module integrated connection port; 54. Coaxial rock breaking module drill bit; 55. Coaxial rock breaking module drill rod; 56. Coaxial rock breaking module drilling power mechanism; 57. Coaxial rock breaking module splitting mechanism; 58. Coaxial moving guide rail.

[0085] 6. Non-assembly solution robot; 61. Non-assembly solution stress advance release mechanism; 62. Non-assembly solution rock breaking mechanism.

[0086] 7. Robot operation; 71. Lower stress advance relief operation; 72. Upper stress advance relief operation; 73. Rock mass; 74. Working face support mechanism; 75. Working face tunnel. DETAILED DESCRIPTION

[0087] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application 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 application and are not used to limit the present application.

[0088] 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.

[0089] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0090] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0091] Example 1

[0092] like Figures 1 to 9 As shown, this embodiment provides a modular assembled fully automatic tunneling and rock breaking robot, including a robot main body module 1, a stress advance release module 2 and a translational rock breaking module 3.

[0093] The robot main body module includes a walking system, a power system, a control system, a hydraulic system, a circuit system, a main body height adjustment system and a module installation and docking system.

[0094] In this embodiment, the walking system is a tire 14. In other embodiments, the walking system may also be a crawler-type walking mechanism or a guide rail-type walking mechanism.

[0095] The power system is installed inside the robot body module, includes an electric motor and a diesel engine, and can operate using electricity or diesel.

[0096] The main body height adjustment system includes an upper platform 12, a lower platform 13 and a robot main body telescopic mechanism 16, wherein the upper platform is mounted on the lower platform through the robot main body telescopic mechanism; in this embodiment, the robot main body telescopic mechanism 16 is 4 oil cylinders, and the upper platform 12 is driven to move up and down through the operation of the oil cylinders. In this way, by cooperatively controlling the telescopic amount of the oil cylinders, not only can the height of the upper platform be adjusted to adapt to working conditions of work surfaces at different heights; but also the upper platform can be tilted to meet the tilt drilling requirements of the stress advance relief module.

[0097] The module installation and docking system comprises a top stress advance relief module installation slot 11, a lower stress advance relief module installation slot 15 and a side rock breaking module installation slot 17; and is used for installing the stress advance relief module 2 and the translation rock breaking module 3.

[0098] The module installation docking system also includes water, electricity, oil and other docking interfaces required for installing the stress advance relief module 2 and the translation rock breaking module 3.

[0099] The control system is installed inside the robot main body module and has two modes: remote control operation and automatic operation according to a preset program.

[0100] Furthermore, the parameters that need to be measured in advance for the predetermined program automatic operation mode are as follows:

[0101] a) Uniaxial compressive strength of rock R

[0102] b) Rock integrity (RQD value) x

[0103] c) Working surface height H

[0104] d) Working surface length L

[0105] The parameters that need to be set in advance are as follows:

[0106] a) Mechanical parameters such as drilling oil pressure and flow rate of stress relief module

[0107] b) Mechanical parameters of rock breaking module drilling oil pressure, flow rate, etc.

[0108] c) Mechanical parameters of rock breaking module such as splitting oil pressure and flow rate

[0109] The predefined program input parameters are as follows:

[0110] a) Number of stress relief modules

[0111] b) Space coordinates of stress advance relief module

[0112] c) Drilling spacing of stress relief modules

[0113] d) Drilling depth of stress relief module

[0114] e) Rock breaking depth of rock breaking module

[0115] f) Rock breaking width of rock breaking module

[0116] The hydraulic system is installed inside the robot main body module, and the hydraulic pressure and flow can support equipment operation and module operation.

[0117] The circuit system is installed inside the robot main body module and can support equipment operation and module operation.

[0118] In this embodiment, two stress advance relief modules 2 are installed in the top stress advance relief module installation groove 11, and three stress advance relief modules 2 are installed in the lower stress advance relief module installation groove 15; the stress advance relief module 2 includes a stress advance relief module housing 21, a drill bit moving slot 22, a stress advance relief module base 23, a stress advance relief module telescopic mechanism 24, a stress advance relief module guide rail 25, a stress advance relief module drilling power mechanism 26, a stress advance relief module drill rod 27, a stress advance relief module drill bit 28 and a stress advance relief module sliding mechanism 29;

[0119] The stress advance relief module base 23 is connected to the top stress advance relief module installation slot 11 or the lower stress advance relief module installation slot 15 on the robot main body module 1 to ensure that the stress advance relief module 2 can be installed on the robot main body module 1 and operate normally;

[0120] The shell of the stress advance relief module is installed on the base of the stress advance relief module through the telescopic mechanism of the stress advance relief module. The drill bit moving slot is opened on one side of the shell of the stress advance relief module. The guide rail of the stress advance relief module, the drilling power mechanism of the stress advance relief module, the drill rod of the stress advance relief module, the drill bit of the stress advance relief module and the sliding mechanism of the stress advance relief module are all arranged inside the shell of the stress advance relief module. In this embodiment, the telescopic mechanism of the stress advance relief module is composed of four oil cylinders. Through the coordinated work of the four oil cylinders, not only can the drilling assembly of the stress advance relief module be lifted and lowered, but also the drilling assembly of the stress advance relief module can be tilted for drilling.

[0121] The stress advance relief module drilling power mechanism, the stress advance relief module drill rod, and the stress advance relief module drill bit are assembled to form a stress advance relief module drilling component. The stress advance relief module drilling component is placed on the stress advance relief module guide rail. The stress advance relief module guide rail is pushed by the stress advance relief module sliding mechanism to move along the length direction of the drill bit moving slot; in this way, the stress advance relief module drilling component can also be moved along the length direction of the drill bit moving slot.

[0122] The translation rock breaking module 3 is installed on both sides of the robot main body module 1, 4 on each side; the translation rock breaking module includes a translation rock breaking module housing 31, a translation rock breaking module front cover 32, a translation rock breaking module integrated connection port 33, a translation rock breaking module drill bit 34, a translation rock breaking module drill rod 35, a translation rock breaking module drilling power mechanism 36, a translation rock breaking module drilling power mechanism driving guide rail 37, a translation rock breaking module splitting mechanism 38, a translation rock breaking module splitting mechanism driving guide rail 39, and a translation rock breaking module sliding mechanism 310;

[0123] The translational rock breaking module front cover 32 and the translational rock breaking module integrated connection port 33 are both arranged on the side wall of the translational rock breaking module housing 31, and the translational rock breaking module housing is assembled with the side rock breaking module mounting groove 17 to ensure that the translational rock breaking module 3 can be installed on the robot main body module 1 and operate normally.

[0124] The translational rock breaking module drill bit 34, the translational rock breaking module drill rod 35, the translational rock breaking module drilling power mechanism 36, the translational rock breaking module drilling power mechanism driving guide rail 37, the translational rock breaking module splitting mechanism 38, the translational rock breaking module splitting mechanism driving guide rail 39 and the translational rock breaking module sliding mechanism 310 are all arranged inside the translational rock breaking module housing 31;

[0125] The translational rock breaking module drill bit 34, the translational rock breaking module drill rod 35, and the translational rock breaking module drilling power mechanism 36 are assembled to form a translational rock breaking module drilling assembly, wherein the translational rock breaking module drilling power mechanism 36 can be moved by being pushed by the translational rock breaking module drilling power mechanism driving guide rail 37;

[0126] The translational rock breaking module splitting mechanism 38 and the translational rock breaking module splitting mechanism driving guide rail 39 are assembled to form a translational rock breaking module rock breaking assembly.

[0127] The translational rock breaking module drilling assembly and the translational rock breaking module rock breaking assembly are pushed by the translational rock breaking module sliding mechanism 310 to achieve hole adjustment; in this embodiment, the translational rock breaking module sliding mechanism 310 is composed of three oil cylinders, which can drive the translational rock breaking module drilling assembly and the translational rock breaking module rock breaking assembly to move in parallel; the maximum extension distance of the translational rock breaking module sliding mechanism 310 is equal to the center distance between the translational rock breaking module drilling assembly and the translational rock breaking module rock breaking assembly;

[0128] During the hole alignment operation, when the translation rock breaking module drilling assembly completes the drilling and exits, the oil cylinder of the translation rock breaking module sliding mechanism 310 shrinks to the minimum, and the translation rock breaking module rock breaking assembly is just aligned with the drilled hole. At this time, the translation rock breaking module splitting mechanism driving guide rail 39 drives the translation rock breaking module splitting mechanism 38 to move into the hole to complete the rock breaking operation.

[0129] Example 2

[0130] like Figures 10 to 13 As shown, this embodiment provides a second modular assembly type fully automatic excavation rock breaking robot. Compared with the first embodiment, the main difference lies in the hole alignment component on the rock breaking module. Different from the translation hole alignment of the first embodiment, the hole alignment method of this embodiment is rotation hole alignment.

[0131] Specifically, the rotary rock breaking module includes a rotary rock breaking module housing 41, a rotary rock breaking module front cover 42, a rotary rock breaking module integrated connection port 43, a rotary rock breaking module drill bit 44, a rotary rock breaking module drill rod 45, a rotary rock breaking module drilling power mechanism 46, a rotary rock breaking module thimble 47, a rotary rock breaking module splitting mechanism 48, a rotary rock breaking module splitting mechanism driving guide rail 49 and a rotary rock breaking module rotating mechanism 410;

[0132] The rotary rock breaking module front cover 42 and the rotary rock breaking module integrated connection port 43 are both arranged on the side wall of the rotary rock breaking module housing 41, and the rotary rock breaking module housing is assembled with the side rock breaking module mounting groove 17 to ensure that the rotary rock breaking module 4 can be installed on the robot main body module 1 and operate normally.

[0133] The rotary rock breaking module drill bit 44, the rotary rock breaking module drill rod 45, the rotary rock breaking module drilling power mechanism 46, the rotary rock breaking module ejector pin 47, the rotary rock breaking module splitting mechanism 48, the rotary rock breaking module splitting mechanism driving guide rail 49 and the rotary rock breaking module rotating mechanism 410 are all arranged inside the rotary rock breaking module housing 41;

[0134] The rotary rock breaking module drill bit 44, the rotary rock breaking module drill rod 45, and the rotary rock breaking module drilling power mechanism 46 are assembled to form a rotary rock breaking module drilling assembly;

[0135] The rotary rock breaking module splitting mechanism 48 and the rotary rock breaking module splitting mechanism driving guide rail 49 are assembled to form a rotary rock breaking module rock breaking assembly.

[0136] The rotary rock breaking module hole assembly of this embodiment is a rotary rock breaking module thimble 47 and a rotary rock breaking module rotating mechanism 410. The rotary rock breaking module thimble 47 is a cylinder installed in front of the rotary rock breaking module splitting mechanism driving guide rail 49, and the rotary rock breaking module rotating mechanism 410 drives the rotary rock breaking module drilling assembly and the rotary rock breaking module rock breaking assembly to rotate synchronously.

[0137] During the drilling operation, the rotary rock breaking module ejector pin 47 is ejected, and the rotary rock breaking module rotating mechanism 410 rotates 90 degrees with the rotary rock breaking module ejector pin 47 as the center. At this time, the rotary rock breaking module rock breaking component just stays at the position where the rotary rock breaking module drilling component was before the drilling operation.

[0138] Example 3

[0139] like Figures 14 to 17 As shown, this embodiment provides a third modular assembled fully automatic tunneling and rock breaking robot. Compared with Embodiment 1 and Embodiment 2, the main difference lies in the hole alignment component on the rock breaking module. Different from the translational hole alignment of Embodiment 1 and the rotational hole alignment of Embodiment 2, the hole alignment method of this embodiment is a coaxial solution, and no hole alignment is required.

[0140] Specifically, the coaxial rock breaking module 5 includes a coaxial rock breaking module housing 51, a coaxial rock breaking module front cover 52, a coaxial rock breaking module integrated connection port 53, a coaxial rock breaking module drill bit 54, a coaxial rock breaking module drill rod 55, a coaxial rock breaking module drilling power mechanism 56, a coaxial rock breaking module splitting mechanism 57 and a coaxial moving guide rail 58;

[0141] The coaxial rock breaking module front cover 52 and the coaxial rock breaking module integrated connection port 53 are both arranged on the side wall of the coaxial rock breaking module housing 51, and the coaxial rock breaking module housing is assembled with the side rock breaking module mounting groove 17 to ensure that the coaxial rock breaking module 5 can be installed on the robot main body module 1 and operate normally.

[0142] The coaxial rock breaking module drill bit 54, the coaxial rock breaking module drill rod 55, the rotary rock breaking module drilling power mechanism 56, the coaxial rock breaking module splitting mechanism 57 and the coaxial moving guide rail 58 are all arranged inside the coaxial rock breaking module housing 41;

[0143] The coaxial rock breaking module splitting mechanism 57 is hollow inside, and the coaxial rock breaking module drill rod 55 can move freely therein.

[0144] During the drilling operation, the coaxial rock breaking module drilling power mechanism 56 drives the coaxial rock breaking module drill rod 55 and the coaxial rock breaking module drill bit 54 to move forward along the coaxial moving guide rail 58 and complete the drilling. At this time, the coaxial rock breaking module drill rod 55 and the coaxial rock breaking module drill bit 54 do not exit the already drilled hole, and the coaxial rock breaking module splitting mechanism 57 moves forward into the hole to complete the rock breaking.

[0145] Example 4

[0146] like Figure 18 to Figure 19As shown, this embodiment provides a non-assembly type fully automatic tunneling and rock breaking robot. Compared with Embodiment 1, Embodiment 2 and Embodiment 3, the stress advance relief module and the rock breaking module of this embodiment adopt a non-modular design, and are replaced by a non-assembly scheme stress advance relief mechanism 61 and a non-assembly scheme rock breaking mechanism 62 directly installed on the robot main body module 1.

[0147] Example 5

[0148] like Fig. 20 As shown, the present invention also provides a working method of a modular assembled fully automatic excavation and rock breaking robot, comprising the following steps:

[0149] S1. Develop a working face tunnel, and develop two transport tunnels perpendicular to the working face tunnel at both ends of the working face tunnel;

[0150] S2. Arrange a working face support mechanism 74 in the working face tunnel, and arrange a modular assembled fully automatic excavation and rock breaking robot at one end of the working face tunnel;

[0151] S3, during excavation, the stress advance relief module 2 performs stress advance relief operations on both the upper and lower sides of the rock mass 73, and the rock breaking module performs efficient splitting and rock breaking operations on the rock mass; the two can operate simultaneously or sequentially;

[0152] S4. After the rock breaking operation is completed, the robot moves longitudinally along the working face tunnel (in the extension direction of the working face tunnel), the stress advance relief module and the rock breaking module continue to operate, and the slag is discharged using equipment such as a scraper, a muck truck or a conveyor belt;

[0153] S5. After the entire working face tunnel is excavated one workstation in the horizontal direction (a direction perpendicular to the extension direction of the working face tunnel), the robot moves forward one workstation in the horizontal direction, and the working face support mechanism 74 also moves forward one workstation in the horizontal direction; at this time, an empty area is left behind the working face support mechanism 74. According to the on-site working conditions, a disposal method for the empty area is selected, including no filling, waste rock filling, paste filling, cement mortar filling, etc.;

[0154] S6. Excavate the rock mass 73 again, and repeat steps S3 to S5 until the entire excavation operation is completed.

Claims

1. A modular assembly type fully automatic excavation and rock breaking robot, characterized in that: It includes a robot main body module and a stress advance release module and a rock breaking module arranged on the robot main body module; The stress advance relief module comprises a stress advance relief module housing, a drill bit moving slot, a stress advance relief module base, a stress advance relief module telescopic mechanism, a stress advance relief module guide rail, a stress advance relief module drilling power mechanism, a stress advance relief module drill rod, a stress advance relief module drill bit and a stress advance relief module sliding mechanism; The shell of the stress advance relief module is installed on the base of the stress advance relief module through the telescopic mechanism of the stress advance relief module, the drill bit moving slot is opened on one side of the shell of the stress advance relief module, and the guide rail of the stress advance relief module, the drilling power mechanism of the stress advance relief module, the drill rod of the stress advance relief module, the drill bit of the stress advance relief module and the sliding mechanism of the stress advance relief module are all arranged inside the shell of the stress advance relief module; The stress advance relief module drilling power mechanism, the stress advance relief module drill rod, and the stress advance relief module drill bit are assembled to form a stress advance relief module drilling assembly. The stress advance relief module drilling assembly is placed on the stress advance relief module guide rail, and the stress advance relief module guide rail is pushed by the stress advance relief module sliding mechanism to move along the length direction of the drill bit moving slot.

2. The modular assembly type fully automatic excavation and rock breaking robot according to claim 1 is characterized in that: The robot main body module includes a walking system, a power system, a control system, a hydraulic system, a circuit system, a main body height adjustment system and a module installation and docking system; The main body height adjustment system comprises an upper platform, a lower platform and a robot main body telescopic mechanism, wherein the upper platform is mounted on the lower platform through the robot main body telescopic mechanism; The module installation and docking system comprises a top stress advance relief module installation groove, a bottom stress advance relief module installation groove and a side rock breaking module installation groove.

3. The modular assembly type fully automatic excavation and rock breaking robot according to claim 1 is characterized in that: The rock breaking module is one or more of a translation rock breaking module, a rotation rock breaking module or a coaxial rock breaking module.

4. The modular assembly type fully automatic excavation and rock breaking robot according to claim 1 is characterized in that: The control system supports preset operation parameters and realizes unmanned operation by using automatic procedures.

5. The modular assembly type fully automatic excavation and rock breaking robot according to claim 3 is characterized by: The translational rock breaking module includes a translational rock breaking module housing, a translational rock breaking module front cover, a translational rock breaking module integrated connection port, a translational rock breaking module drill bit, a translational rock breaking module drill rod, a translational rock breaking module drilling power mechanism, a translational rock breaking module drilling power mechanism driving guide rail, a translational rock breaking module splitting mechanism, a translational rock breaking module splitting mechanism driving guide rail and a translational rock breaking module sliding mechanism. The front cover of the translational rock breaking module and the integrated connection port of the translational rock breaking module are both arranged on the side wall of the translational rock breaking module housing, and the translational rock breaking module housing is assembled with the side rock breaking module installation groove; The translational rock breaking module drill bit, the translational rock breaking module drill rod, the translational rock breaking module drilling power mechanism, the translational rock breaking module drilling power mechanism driving guide rail, the translational rock breaking module splitting mechanism, the translational rock breaking module splitting mechanism driving guide rail and the translational rock breaking module sliding mechanism are all arranged inside the translational rock breaking module housing; The translational rock breaking module drill bit, the translational rock breaking module drill rod, and the translational rock breaking module drilling power mechanism are assembled to form a translational rock breaking module drilling assembly, wherein the translational rock breaking module drilling power mechanism can be moved by being driven by the translational rock breaking module drilling power mechanism driving guide rail; The splitting mechanism of the translational rock breaking module and the driving guide rail assembly of the splitting mechanism of the translational rock breaking module constitute a rock breaking assembly of the translational rock breaking module; The translational rock breaking module drilling assembly and the translational rock breaking module rock breaking assembly are pushed by the translational rock breaking module sliding mechanism to achieve hole adjustment; 6. The modular assembly type fully automatic excavation and rock breaking robot according to claim 3 is characterized by: The rotary rock breaking module comprises a rotary rock breaking module housing, a rotary rock breaking module front cover, a rotary rock breaking module integrated connection port, a rotary rock breaking module drill bit, a rotary rock breaking module drill rod, a rotary rock breaking module drilling power mechanism, a rotary rock breaking module ejector pin, a rotary rock breaking module splitting mechanism, a rotary rock breaking module splitting mechanism driving guide rail and a rotary rock breaking module rotating mechanism; The rotary rock breaking module front cover and the rotary rock breaking module integrated connection port are both arranged on the side wall of the rotary rock breaking module housing, and the rotary rock breaking module housing is assembled with the side rock breaking module installation groove; The rotary rock breaking module drill bit, the rotary rock breaking module drill rod, the rotary rock breaking module drilling power mechanism, the rotary rock breaking module ejector pin, the rotary rock breaking module splitting mechanism, the rotary rock breaking module splitting mechanism driving guide rail and the rotary rock breaking module rotating mechanism are all arranged inside the rotary rock breaking module housing; The rotary rock breaking module drill bit, the rotary rock breaking module drill rod, and the rotary rock breaking module drilling power mechanism are assembled to form a rotary rock breaking module drilling assembly; The rotary rock breaking module splitting mechanism and the rotary rock breaking module splitting mechanism driving guide rail assembly constitute a rotary rock breaking module rock breaking assembly; The rotary rock breaking module rotating mechanism drives the rotary rock breaking module drilling assembly and the rotary rock breaking module rock breaking assembly to rotate synchronously.

7. The modular assembly type fully automatic excavation and rock breaking robot according to claim 3 is characterized by: The coaxial rock breaking module comprises a coaxial rock breaking module housing, a coaxial rock breaking module front cover, a coaxial rock breaking module integrated connection port, a coaxial rock breaking module drill bit, a coaxial rock breaking module drill rod, a coaxial rock breaking module drilling power mechanism, a coaxial rock breaking module splitting mechanism and a coaxial moving guide rail; The coaxial rock breaking module front cover and the coaxial rock breaking module integrated connection port are both arranged on the side wall of the coaxial rock breaking module housing, and the coaxial rock breaking module housing is assembled with the side rock breaking module installation groove; The coaxial rock breaking module drill bit, the coaxial rock breaking module drill rod, the rotary rock breaking module drilling power mechanism, the coaxial rock breaking module splitting mechanism and the coaxial moving guide rail are all arranged inside the coaxial rock breaking module housing; The interior of the splitting mechanism of the coaxial rock breaking module is hollow, and the drill rod of the coaxial rock breaking module can move freely therein.

8. The modular assembly type fully automatic excavation and rock breaking robot according to claim 1 is characterized by: The number of the stress advance relief modules and rock breaking modules can be freely configured according to the on-site working conditions.

9. The modular assembly type fully automatic excavation and rock breaking robot according to claim 1, characterized in that: The stress advance release module is arranged at the top and the bottom of the robot main body module, and the rock breaking module is arranged at both sides of the robot main body module.

10. A working method using the modular assembly type fully automatic excavation and rock breaking robot as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Develop a working face tunnel, and develop two transport tunnels perpendicular to the working face tunnel at both ends of the working face tunnel; S2. Arrange a working face support mechanism in the working face tunnel, and arrange a modular assembled fully automatic excavation and rock breaking robot at one end of the working face tunnel; S3. During excavation, the stress advance relief module is used to perform stress advance relief operations on both the upper and lower sides of the rock mass, and the rock breaking module is used to perform efficient splitting and rock breaking operations on the rock mass; the two can be operated simultaneously or in sequence; S4. After the rock breaking operation is completed, the robot moves longitudinally along the working face tunnel, the stress advance relief module and the rock breaking module continue to operate, and the equipment is used to discharge slag; S5. After the working face tunnel is excavated horizontally by one working position, the robot moves horizontally by one working position, and the working face support mechanism also moves horizontally by one working position; S6. Excavate the rock mass again, and repeat steps S3 to S5 until the entire excavation operation is completed.

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