A modular assembly type fully automatic tunneling and rock breaking robot and its working method

Abstract

The present application relates to the technical field of rock drilling, and provides a modular assembled fully automatic excavation and rock breaking robot and its working method, the robot comprising a robot main body module, a stress advance relief module and a rock breaking module. By using the stress advance relief module to relieve the stress inside the rock body in advance, it can not only improve the rock breaking efficiency of the rock breaking module, but also eliminate hazards such as rock bursts and deformation of the working surface. The stress advance relief module and the rock breaking module are installed on the robot main body module, and the number of modules, module types, and installation positions can be adjusted to adapt to different working conditions. The robot can realize fully automatic unmanned operation by presetting excavation parameters for specific working conditions. In addition, the present invention also provides a working method for the robot, including the steps of movement, stress advance relief, rock breaking, slag discharge, etc., which can realize efficient fully automatic continuous excavation operations.

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] Currently, underground hard rock excavation primarily relies on the drill-and-blast method. While the widespread adoption of drilling rigs and charging rigs has significantly improved the mechanization and efficiency of this method, the inherent discontinuous nature of the blasting, ventilation, slag removal, and support processes remains unresolved. Currently, the drill-and-blast method typically achieves 2.5-3 meters of footage per cycle, with a monthly footage of 60-100 meters. This efficiency is further reduced in areas with rock fragmentation, such as those experiencing rock fragmentation.

[0003] Compared with traditional drilling and blasting methods, mechanical continuous rock breaking has significant advantages in terms of operational safety, efficiency, and production costs: (1) No explosives are required, which can essentially improve the safety of management and operation processes; (2) Rock breaking produces little vibration, and the rock mass is less damaged during the rock breaking process; (3) Continuous operation improves production efficiency, while the optimization of production processes reduces overall production costs. Therefore, the use of mechanical continuous rock breaking methods is the development direction of underground hard rock excavation.

[0004] Currently available mechanical rock-breaking equipment includes coal shearers, cantilever tunnel boring machines (TBMs), and splitters. Coal shearers have been widely used in coal mines with remarkable results, but they are only suitable for coal mining and cannot cut hard rock. Cantilever tunnel boring machines are flexible and simple to operate, but they suffer from low rock-breaking efficiency, severe tool wear, or even tunneling failure when encountering hard rock sections above F8. TBMs, due to their large turning radius, are only suitable for long-distance, small-turning-radius operations. Although splitters have powerful rock-breaking capabilities, they are limited by their requirement for a free surface and are generally used in open-pit conditions.

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

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

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

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

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

[0010] The stress relief module housing is mounted on the stress relief module base via a stress relief module telescopic mechanism; the drill bit moving slot is provided on one side of the stress relief module housing; the stress relief module guide rail, the stress relief module drilling power mechanism, the stress relief module drill rod, the stress relief module drill bit, and the stress relief module sliding mechanism are all arranged inside the stress relief module housing;

[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. 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 includes an upper platform, a lower platform and a robot body telescopic mechanism, wherein the upper platform is mounted on the lower platform through the robot body telescopic mechanism;

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

[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 operating parameters and uses automatic programs to achieve unmanned operations.

[0017] Furthermore, 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 drive guide rail, a translational rock breaking module splitting mechanism, a translational rock breaking module splitting mechanism drive 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, translational rock breaking module drill rod, translational rock breaking module drilling power mechanism, translational rock breaking module drilling power mechanism drive guide rail, translational rock breaking module splitting mechanism, translational rock breaking module splitting mechanism drive guide rail and 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 pushed 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 of the splitting mechanism of the translational rock breaking module are assembled to form a rock breaking assembly of the translational rock breaking module;

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

[0023] Furthermore, 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 thimble, a rotary rock breaking module splitting mechanism, a rotary rock breaking module splitting mechanism drive 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 mounting groove;

[0025] The rotary rock breaking module drill bit, rotary rock breaking module drill rod, rotary rock breaking module drilling power mechanism, rotary rock breaking module thimble, rotary rock breaking module splitting mechanism, rotary rock breaking module splitting mechanism drive guide rail and 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 are assembled to form 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] Furthermore, 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 dynamic 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 mounting 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 dynamic 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 relief 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 can 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 equipment operation and module operations, and can be operated by driver, remote control, or automated according to a pre-set program. The control system supports preset operating parameters, including rock uniaxial compressive strength, rock integrity, working surface height, drill hole spacing, drill hole depth, rock breaking depth, and rock breaking width, enabling unmanned operation through automated programs.

[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 all have integrated docking interfaces, which can quickly complete docking and fixation. The docking content includes water, electricity, oil, etc. required for the operation.

[0041] The stress relief module can be moved 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 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 tunneling efficiency requirements.

[0045] The present invention also provides a working method of a modular assembly-type fully automatic tunneling 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 a modular assembled fully automatic tunneling and rock-breaking robot at one end of the working face tunnel;

[0048] During excavation, the stress relief module performs stress relief on both the upper and lower sides of the rock mass, while the rock breaking module performs efficient splitting and breaking of the rock mass. The two modules can operate simultaneously or sequentially.

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

[0050] S5. After the entire working face tunnel has been excavated horizontally by one workstation, the robot moves forward horizontally by one workstation, and the working face support mechanism also moves forward horizontally by one workstation.

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

[0052] Beneficial effects

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

[0054] (2) Strong rock-breaking capability. The stress-advanced relief module decomposes the complete rock mass into isolated rock masses. The rock-breaking module further utilizes the rock mass's compressive but not tensile properties to break the rock through splitting, giving the robot a strong rock-breaking capability.

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

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

[0057] (5) High safety. The stress advance relief 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 following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0059] Figure 1 The main view of the robot main 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 This is the main view of the robot stress advance relief module provided by this application;

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

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

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

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

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

[0068] Figure 10 This is a front view of the robot rock breaking module provided in Example 2 of the present application;

[0069] Figure 11 This is an internal view of the robot rock breaking module provided in Example 2 of the present application;

[0070] Figure 12 This is a front view of the robot provided in Example 2 of the present application;

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

[0072] Figure 14 This is a front view of the robot rock breaking module provided in Example 3 of the present application;

[0073] Figure 15 This is an internal view of the robot rock breaking module provided in Example 3 of the present application;

[0074] Figure 16 This is a front view of the robot provided in Example 3 of the present application;

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

[0076] Figure 18 This is a front view of the robot provided in Example 4 of the present application;

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

[0078] Figure 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 figures are:

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

[0081] 2. Stress relief module; 21. Stress relief module housing; 22. Drill bit moving slot; 23. Stress relief module base; 24. Stress relief module telescopic mechanism; 25. Stress relief module guide rail; 26. Stress relief module drilling power mechanism; 27. Stress relief module drill rod; 28. Stress relief module drill bit; 29. ​​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 drive guide rail; 38. Translational rock breaking module splitting mechanism; 39. Translational rock breaking module splitting mechanism drive 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 drive 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 relief 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 this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0088] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may 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 may 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 accompanying drawings, and are only for the convenience of describing this 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 cannot be understood as a limitation on this application.

[0090] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise 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 relief module 2 and a translation 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 body telescopic mechanism 16. The upper platform is mounted on the lower platform via the robot body telescopic mechanism. In this embodiment, the robot body telescopic mechanism 16 comprises four hydraulic cylinders, which operate to move the upper platform 12 up and down. By collaboratively controlling the extension and contraction of the hydraulic cylinders, the upper platform's height can be adjusted to accommodate work surfaces at varying heights. The upper platform can also be tilted to meet the tilted drilling requirements of the stress relief module.

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

[0098] The module installation and 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 predetermined 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 the 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) Spatial coordinates of stress advance relief module

[0112] c) Stress relief module drilling spacing

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

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

[0120] The stress relief module housing is mounted on the stress relief module base via a stress relief module telescopic mechanism; the drill bit movement slot is provided on one side of the stress relief module housing; the stress relief module guide rail, the stress relief module drilling power mechanism, the stress relief module drill rod, the stress relief module drill bit, and the stress relief module sliding mechanism are all arranged inside the stress relief module housing; in this embodiment, the stress relief module telescopic mechanism is composed of four oil cylinders, which work in concert to not only lift the stress relief module drilling assembly but also tilt the stress relief module drilling assembly 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 assembly. The stress advance relief module drilling assembly 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 assembly can also be moved along the length direction of the drill bit moving slot.

[0122] The translational rock breaking modules 3 are installed on both sides of the robot main body module 1, with four on each side; the translational rock breaking modules include a translational rock breaking module housing 31, a translational rock breaking module front cover 32, a translational rock breaking module integrated connection port 33, a translational rock breaking module drill bit 34, a translational rock breaking module drill rod 35, a translational rock breaking module drilling power mechanism 36, a translational rock breaking module drilling power mechanism drive guide rail 37, a translational rock breaking module splitting mechanism 38, a translational rock breaking module splitting mechanism drive guide rail 39, and a translational 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. 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 drive guide rail 37, the translational rock breaking module splitting mechanism 38, the translational rock breaking module splitting mechanism drive 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 parallel together; 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, after the translational rock-breaking module drilling assembly completes drilling and exits, the hydraulic cylinder of the translational rock-breaking module sliding mechanism 310 contracts to its minimum, aligning the translational rock-breaking module assembly with the drilled hole. At this point, the translational rock-breaking module splitting mechanism drive guide 39 drives the translational rock-breaking module splitting mechanism 38 into the hole, completing 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 tunneling and rock-breaking robot. Compared with the first embodiment, the main difference lies in the hole alignment assembly on the rock-breaking module. Unlike the translational hole alignment of the first embodiment, the hole alignment method of this embodiment is rotational 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 drive 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. 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 thimble 47, the rotary rock breaking module splitting mechanism 48, the rotary rock breaking module splitting mechanism drive 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 drilling assembly in this embodiment comprises 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 mounted in front of the rotary rock-breaking module splitting mechanism drive guide rail 49. 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 assembly just stays at the position where the rotary rock breaking module drilling assembly 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 Example 1 and Example 2, the main difference lies in the hole alignment component on the rock breaking module. Different from the translational hole alignment of Example 1 and the rotational hole alignment of Example 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. 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 dynamic 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 drilling, 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 forward along the coaxial moving guide rail 58 to complete drilling. At this point, 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 rock breaking.

[0145] Example 4

[0146] like Figures 18 and 19As shown, this embodiment provides a non-assembly type fully automatic tunneling and rock breaking robot. Compared with Example 1, Example 2 and Example 3, the stress advance relief module and 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 Figure 20 As shown, the present invention also provides a working method of a modular assembled fully automatic tunneling 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 relief module 2 performs stress relief on both the upper and lower sides of the rock mass 73, and the rock breaking module performs efficient splitting and breaking of 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 direction of extension 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 scrapers, muck trucks or conveyor belts;

[0153] S5. After the entire working face tunnel has advanced 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 point, an empty area is left behind the working face support mechanism 74. Depending on the on-site working conditions, a method for disposing of the empty area is selected, including no filling, filling with waste rock, filling with paste, filling with cement mortar, etc.

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

Claims

1. A modular assembly type fully automatic tunneling and rock breaking robot, characterized in that: It includes a robot main body module and a stress advance relief module and a rock breaking module arranged on the robot main body module; The stress relief module includes a stress relief module housing, a drill bit moving slot, a stress relief module base, a stress relief module telescopic mechanism, a stress relief module guide rail, a stress relief module drilling power mechanism, a stress relief module drill rod, a stress relief module drill bit and a stress relief module sliding mechanism; The stress relief module housing is mounted on the stress relief module base via a stress relief module telescopic mechanism; the drill bit moving slot is provided on one side of the stress relief module housing; the stress relief module guide rail, the stress relief module drilling power mechanism, the stress relief module drill rod, the stress relief module drill bit, and the stress relief module sliding mechanism are all arranged inside the stress relief module housing; 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. 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 tunneling 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 includes an upper platform, a lower platform and a robot body telescopic mechanism, wherein the upper platform is mounted on the lower platform through the robot body telescopic mechanism; The module installation and docking system includes a top stress advance relief module installation slot, a bottom stress advance relief module installation slot and a side rock breaking module installation slot.

3. The modular assembly-type fully automatic tunneling 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 tunneling and rock-breaking robot according to claim 2 is characterized in that: The control system supports preset operating parameters and uses automatic programs to achieve unmanned operation.

5. The modular assembly-type fully automatic tunneling and rock-breaking robot according to claim 3 is characterized by: The translation rock breaking module includes a translation rock breaking module housing, a translation rock breaking module front cover, a translation rock breaking module integrated connection port, a translation rock breaking module drill bit, a translation rock breaking module drill rod, a translation rock breaking module drilling power mechanism, a translation rock breaking module drilling power mechanism drive guide rail, a translation rock breaking module splitting mechanism, a translation rock breaking module splitting mechanism drive guide rail and a translation 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, translational rock breaking module drill rod, translational rock breaking module drilling power mechanism, translational rock breaking module drilling power mechanism drive guide rail, translational rock breaking module splitting mechanism, translational rock breaking module splitting mechanism drive guide rail and 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 pushed 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 of the splitting mechanism of the translational rock breaking module are assembled to form a rock breaking assembly of the translational rock breaking module; The translation rock breaking module drilling assembly and the translation rock breaking module rock breaking assembly are pushed by the translation rock breaking module sliding mechanism to achieve hole adjustment.

6. The modular assembly-type fully automatic tunneling and rock-breaking robot according to claim 3 is characterized by: 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 thimble, a rotary rock breaking module splitting mechanism, a rotary rock breaking module splitting mechanism drive 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 mounting groove; The rotary rock breaking module drill bit, rotary rock breaking module drill rod, rotary rock breaking module drilling power mechanism, rotary rock breaking module thimble, rotary rock breaking module splitting mechanism, rotary rock breaking module splitting mechanism drive guide rail and 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 are assembled to form 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 tunneling and rock-breaking robot according to claim 3 is characterized by: 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; 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 mounting 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 dynamic 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 tunneling and rock-breaking robot according to claim 1 is characterized in that: 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 tunneling and rock-breaking robot according to claim 1 is characterized in that: The stress advance relief 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.

10. A working method using the modular assembly type fully automatic tunneling and rock breaking robot according to 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 a modular assembled fully automatic tunneling and rock-breaking robot at one end of the working face tunnel; During tunneling, the stress relief module performs stress relief on both the upper and lower sides of the rock mass, while the rock breaking module performs efficient splitting and breaking of the rock mass. The two modules can operate simultaneously or sequentially. S4. After the rock breaking operation is completed, the robot moves longitudinally along the working face tunnel, while the stress advance relief module and rock breaking module continue to operate, and the slag is discharged using the equipment; S5. After the entire working face tunnel has been excavated horizontally by one workstation, the robot moves forward horizontally by one workstation, and the working face support mechanism also moves forward horizontally by one workstation. S6. Tunnel the rock mass again and repeat steps S3 to S5 until the entire tunneling operation is completed.

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