A full-face rock tunneling robot and a working method

Abstract

The present application relates to rock tunneling technical field, provide a kind of full-face rock tunneling robot and its operation method;Including walking mechanism, up-down moving system, left-right moving system, rock drilling and breaking system etc..Walking mechanism includes track, drive wheel, hydraulic telescopic support leg;Rotary platform mechanism is installed on walking mechanism, full-face operation mechanism is movably installed on rotary platform mechanism;Up-down moving system is used to realize rock drilling and breaking system lifting, left-right moving system is used to realize rock drilling and breaking system left-right movement;Rock drilling and breaking system includes mechanical long arm, mechanical short arm and rock breaking equipment;Rock breaking equipment integrates identification system, communicates with control system by wireless signal, uses rock property to carry out pull-shear rock breaking;Control system integrates rock breaking position automation module, communication module and guide rail position adjustment module.The present application can realize that robot carries out full-face continuous tunneling in any shape section roadway in all directions, dead angle, no interference.

Description

Technical Field

[0001] The present invention relates to the field of rock excavation technology, and in particular to a full-section rock excavation robot and operation method, which meet the full-section mining operations of various types of underground tunnel rock masses, improve the efficiency and safety of rock excavation operations, and are particularly suitable for full-section tunnel excavation in hard rock and complex geological conditions. Background Art

[0002] With the gradual increase in the scale of underground engineering projects such as tunnel excavation and underground mining, traditional rock breaking methods and equipment are inefficient and costly when faced with complex rock structures, and there are major safety hazards. In the existing technology, underground engineering and mining mostly rely on blasting for mining and excavation. For hard rocks with high uniaxial strength, the blasting method is not only inefficient, but also easily causes adverse effects on the surrounding geological structures, such as rock bursts, impact ground pressure and other disasters. Therefore, mechanical rock breaking has good application prospects. When faced with hard rock structures with high full-section hardness, mechanical rock breaking often faces problems such as severe tool wear and low excavation efficiency. For example, the tools of the tunnel boring machine need to be replaced frequently, resulting in interruptions in operations and affecting the overall excavation efficiency. At the same time, the structural complexity and homogeneity differences of hard rock geology also increase the difficulty of rock breaking equipment, resulting in poor tunnel forming quality and increased costs for subsequent maintenance and support.

[0003] Single-arm mechanical rock-breaking equipment, when operating in tunnels or roadways, is often limited by the length and flexibility of the mechanical arm, resulting in low efficiency and cumbersome work processes. Multi-arm mechanical rock-breaking equipment can interfere with operations, often requiring multiple devices to work together. The presence of multiple arms can create blind spots in the rock-breaking section. The varying types, shapes, and geological conditions of mine roadways or tunnels increase operational difficulty and can easily lead to equipment wear, maintenance downtime, and low mining efficiency. Therefore, there is an urgent need for full-section tunneling equipment and operating methods that can handle complex rock structures, improve tunneling efficiency, and maintain safety, to meet the needs of modern mines. Summary of the Invention

[0004] To address the shortcomings of the aforementioned prior art, embodiments of the present invention provide a full-section rock tunneling robot and operating method. This robot is suitable for various types of tunnels, such as arched, square, and hexagonal tunnels, and is capable of multi-angle, multi-directional, and seamless operations within tunnels. It can also integrate various additional equipment, such as splitters and breakers, providing flexible rock breaking and crushing capabilities. This full-section rock tunneling robot fully utilizes the geological conditions and mechanical properties of the rock mass to improve rock breaking efficiency and achieve a safe, explosion-free, and continuous operation.

[0005] To achieve the above object, the technical scheme adopted by the present application is as follows: the full-face rock tunneling robot comprises a walking mechanism, a rotating platform mechanism, and a full-face working mechanism arranged on the rotating platform mechanism;

[0006] The walking mechanism comprises a track, a driving wheel, and a hydraulic telescopic supporting leg; the hydraulic telescopic supporting leg is arranged on the left and right sides and the front and back sides of the walking mechanism, can provide a supporting action during tunneling operation, and can overcome uneven and poor working conditions of the ground.

[0007] The rotating platform mechanism is mounted on the walking mechanism, and the full-face working mechanism is movably mounted on the rotating platform mechanism; the rotating platform mechanism is used for changing the orientation of the full-face working mechanism; the full-face working mechanism comprises at least a control system and a power supply system; the full-face working mechanism is provided with an up-down moving system, a left-right moving system, and a rock drilling and breaking system; the rock drilling and breaking system is mounted on the up-down moving system and the left-right moving system; the up-down moving system is used for lifting the rock drilling and breaking system; the left-right moving system is used for moving the rock drilling and breaking system left and right; the control system comprises a rock breaking position automation module, a communication module, and a guide rail position adjustment module.

[0008] In an embodiment, the rotating platform mechanism comprises a rotating mechanism and a supporting platform; the rotating mechanism is connected with the walking mechanism; the supporting platform is connected with the rotating mechanism and can rotate with the rotating mechanism.

[0009] In an embodiment, the up-down moving system comprises a vertical outer guide rail, a vertical inner guide rail, and a vertical sliding block; the vertical outer guide rail is connected with the supporting platform and is arranged left and right; the vertical inner guide rail is externally provided with a rolling bearing and can slide on the vertical outer guide rail; the lower part of the vertical outer guide rail is provided with a power device; a top pulley of the vertical outer guide rail is connected by a traction rope to provide power; the vertical inner guide rail is driven to slide up and down inside; the vertical sliding block is mounted in the vertical inner guide rail and is pulled up and down by a power traction device fixed in the vertical inner guide rail.

[0010] In an embodiment, the left-right moving system comprises a horizontal outer guide rail, a horizontal inner guide rail, and a horizontal sliding block; the horizontal outer guide rail is connected with the vertical sliding block; the horizontal inner guide rail is externally provided with a rolling bearing and can slide on the horizontal outer guide rail; the two ends of the horizontal outer guide rail are respectively provided with power devices to drive the horizontal inner guide rail to slide left and right inside by a traction rope; the horizontal sliding block is movably mounted in the horizontal inner guide rail and is pulled up and down by a power traction device fixed at the two ends of the horizontal inner guide rail.

[0011] In one embodiment, the rock drilling and breaking system includes a mechanical long arm, a mechanical short arm and a rock breaking device; the mechanical long arm is connected to the horizontal sliding block, the mechanical short arm is connected to the mechanical long arm through an axis, and is connected to the rock breaking device. The rock breaking device can be integrated with other different equipment, such as a breaker hammer, a rock drill and other equipment to meet the requirements of different working conditions.

[0012] In one embodiment, the rock breaking equipment integrates an identification system that communicates with the control system via wireless signals and can utilize rock properties for tensile and shear rock breaking. The control system integrates a rock breaking position automation module, a communication module, and a guide rail position adjustment module. The identification system is used to obtain the current position information and rock mass data of the rock drilling and breaking system, and transmits them to the rock breaking position automation module in the control system to generate a cloud map. The rock breaking position automation module determines the starting position function S1 and rock breaking path function S2 of the current rock drilling and breaking system:

[0013] S1=f(x,y,z,T)

[0014] S2=g(x,y,z,T)

[0015] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, and z are the coordinate values ​​of the three directions of space, east-west, north-south, and up-down, T is time, and f and g are implicit functions of the spatial coordinate values ​​x, y, and z and time T. After the cloud map is generated, the rock breaking position automation module determines the current roadway height and generates a coordinate system function G based on the guide rail system:

[0016] G=w(c,d,T)

[0017] Where G is a coordinate system function, c and d are the vertical and horizontal coordinate values ​​of the guide rail system, T is time, and w is an implicit function of the spatial coordinate values ​​c and d and time T. The guide rail position adjustment module issues instructions to adjust the vertical and horizontal movement systems using function G. During operation, the rock breaking position automation module adjusts and optimizes the rock breaking path function S2 in real time based on different obstacle or rock mass front-end data, and uploads this information to the monitoring terminal in real time via a signal system to ensure smooth operation completion.

[0018] Another object of the present invention is to provide a full-section rock tunneling robot and an operation method. Based on the full-section rock tunneling robot described above, the operation method includes the following steps:

[0019] S1. The control system controls the full-section rock tunneling robot to move to a suitable position in front of the tunnel section via the walking mechanism. The crawler tracks cooperate with the rotating mechanism to continuously adjust and optimize the operating angle. The hydraulic telescopic support legs extend to support and secure the full-section rock tunneling robot.

[0020] S2. The rock breaking equipment is scanned by the identification system, and the front-end data is communicated with the rock breaking position automation module in the control system. The current cloud map is drawn according to the mine tunnel data to determine the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system:

[0021] S1=f(x,y,z,T)

[0022] S2=g(x,y,z,T)

[0023] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, and z are the coordinate values ​​of the three directions of space, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, and z and time T. After the cloud map is generated, the rock breaking position automation module determines the current roadway height and generates the coordinate system function G based on the guide rail system:

[0024] G=w(c,d,T)

[0025] Where G is the coordinate system function, c and d are the vertical and horizontal coordinate values ​​of the guide rail system, T is time, and w is the implicit function of the spatial coordinate values ​​c and d and time T. The guide rail position adjustment module issues instructions to adjust the vertical and horizontal movement systems through the function G;

[0026] S3. The control system controls the full-section operating mechanism to start the operation and specifies the path. It controls the power device on the upper part of the vertical outer guide rail to pull the vertical inner guide rail up to the specified height and then stop.

[0027] S4, the control system controls the power devices arranged at both ends of the horizontal outer guide rail to drive the horizontal inner guide rail to slide to the specified position through the traction rope and then stop;

[0028] S5. The control system controls the operation of the mechanical long arm, mechanical short arm, and rock breaking equipment in the rock drilling and breaking system to perform the first drilling and rock breaking along the excavated section;

[0029] S6. After completing the first operation, the control system controls the rock drilling and breaking system to repeat S3 or S4 to perform a second drilling and breaking operation.

[0030] S7. The control system continuously adjusts itself based on the real-time data scanned by the rock breaking equipment through the identification system. When the ore reaches a certain amount, it exits the operating position and begins transportation operations. The rock breaking path is optimized based on the current rock mass geological data.

[0031] S8: The control system repeats S3-S7 according to the optimized rock breaking path to complete the rock breaking operation;

[0032] S9. After the operation is completed, the control system controls the full-section rock tunneling robot to move forward and start the next round of operation.

[0033] The beneficial effects of the full-face rock excavation robot and operation method provided by the present invention are:

[0034] First, the full-section rock tunneling robot can reduce the time of traditional multi-stage operations and improve overall work efficiency. It is especially suitable for hard rock and complex geological conditions.

[0035] Second, the in-situ splitting, pulling and shearing rock breaking structure design reduces the frequent replacement of cutters and equipment wear, extends the service life of the equipment and reduces maintenance costs.

[0036] Third, the equipment can maintain stable operation while efficiently breaking rocks, avoiding the vibration and safety hazards caused by blasting operations, reducing the risk of downtime due to frequent equipment replacement, and improving the safety of the operation process.

[0037] Fourth, the present invention has the flexibility to operate under different hardness and different geological conditions, can automatically adjust rock breaking parameters, and improve adaptability under complex geological conditions, thereby ensuring excavation efficiency and quality.

[0038] Fifth, compared with traditional blasting methods, the mechanical rock breaking operation of this equipment has less impact on the surrounding environment, and the noise, dust emissions and energy consumption are significantly reduced, which meets the requirements of green and environmentally friendly construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 This is a simplified schematic diagram of the front view of the full-section rock tunneling robot of the embodiment;

[0041] Figure 2 A simplified schematic diagram of the side view of a full-section rock tunneling robot according to an embodiment;

[0042] Figure 3 A simplified structural diagram of the up and down movement system of the embodiment;

[0043] Figure 4 A simplified structural diagram of the left-right movement system of the embodiment;

[0044] Figure 5Simplified structure schematic diagram of control system for example;

[0045] Figure 6 Simplified structure schematic diagram of blind area and rock breaking path of hexagonal roadway for example;

[0046] Figure 7 Simplified structure schematic diagram of blind area and rock breaking path of circular-arched roadway for example;

[0047] Figure 8 Simplified structure schematic diagram of multifunctional full-face rock tunneling robot for example;

[0048] Figure 9 Simplified structure schematic diagram of double-layer left-right moving system for example.

[0049] In the drawings, various reference numerals represent various elements, in which:

[0050] Crawler-1, rotating mechanism-2, support platform-3, horizontal outer guide rail-4, vertical outer guide rail-5, vertical inner guide rail-6, horizontal inner guide rail-7, horizontal sliding block-8, mechanical long arm-9, mechanical short arm-10, rock breaking device-11, vertical sliding block-12, full-face working mechanism-13, up-down moving system-14, left-right moving system-15, rotating platform mechanism-16, rock drilling and breaking system-17, hydraulic telescopic support leg-18, driving wheel-19, control system-20, traveling mechanism-21, electric motor-22, traction rope-23, rolling bearing-24, rock breaking position automation module-25, communication module-26, guide rail position adjustment module-27, initial rock breaking position-28, rock breaking path-29, initial rock breaking path-30, blind area-31, breaking hammer-32, mechanical arm-33, double-layer left-right moving system-34, upper horizontal sliding block-35, lower horizontal sliding block-36. DETAILED DESCRIPTION

[0051] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0052] 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.

[0053] 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 the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0054] 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 identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0055] Example 1

[0056] like Figure 1 and Figure 2 As shown, a full-section rock tunneling robot provided by an embodiment of the present invention is now described. The full-section rock tunneling robot includes a walking mechanism 21, a rotating platform mechanism 16 and a full-section operating mechanism 13.

[0057] The traveling mechanism 21 comprises crawler tracks 1, drive wheels 19, and hydraulically retractable support legs 18. The hydraulically retractable support legs 18 are positioned on the left and right sides and front and rear sides of the traveling mechanism 21, providing support during excavation operations. The conventional crawler-type traveling mechanism 21 allows for flexible steering, climbing, and overcoming obstacles, surviving challenging working conditions such as uneven terrain. The drive wheels 19 are conventionally powered, ensuring sufficient power for steering, forward movement, and reverse movement.

[0058] The rotating platform mechanism 16 includes a rotating mechanism 2 and a supporting platform 3; the rotating mechanism 2 is connected to the walking mechanism 21, and the supporting platform 3 is connected to the rotating mechanism 2 and can rotate along with the rotating mechanism 2. The rotating platform mechanism 16 is a conventional rotating platform such as an excavator, which can enable the equipment body to break rocks in blind areas of certain tunnels, and move forward and backward more flexibly.

[0059] The full-section operating mechanism 13 is provided with an up and down moving system 14, a left and right moving system 15, and a rock drilling and breaking system 17; the full-section operating mechanism 13 includes at least a control system 20 and a power supply system, the power supply system is used to provide the functions of the power device of all systems in this embodiment, and the control system is used to control all operating projects of the machine body.

[0060] like Figure 3As shown, a method for moving a vertical movement system 14 is provided. Specifically, the vertical movement system 14 includes a vertical outer guide rail 5, a vertical inner guide rail 6, and a vertical sliding block 12. The vertical outer guide rail 5 is connected to the support platform 3 and arranged on the left and right sides. The vertical inner guide rail 6 is provided with a rolling bearing 24 on the outside and connected to the vertical outer guide rail 5. The vertical outer guide rail 5 is provided with a motor 22 on the top, which drives the vertical inner guide rail 6 to slide up and down inside via a traction rope 23. The vertical sliding block 12 is movably mounted within the vertical inner guide rail 6 and slides up and down under the traction of a power traction device fixed to the vertical inner guide rail 6.

[0061] like Figure 5 As shown, a method for moving a left-right movement system 15 is provided. Specifically, the left-right movement system 15 includes a horizontal outer guide rail 4, a horizontal inner guide rail 7, and a horizontal sliding block 8. The horizontal outer guide rail 4 is connected to the vertical sliding block 12. The horizontal inner guide rail 7 is externally provided with a rolling bearing 24 and is slidable on the horizontal outer guide rail 4. Motors 22 are disposed at each end of the horizontal outer guide rail 4, driving the horizontal inner guide rail 7 to slide left and right inside via a traction rope 23. The horizontal sliding block 8 is movably mounted within the horizontal inner guide rail 7 and slides up and down under the traction of a power traction device fixed to the horizontal inner guide rail 7.

[0062] The rock drilling and breaking system 17 includes a long mechanical arm 9, a short mechanical arm 10, and a rock breaking device 11. The long mechanical arm 9 is connected to the horizontal sliding block 8, while the short mechanical arm 10 is connected to the long mechanical arm 9 via a shaft and is also connected to the rock breaking device 11. The rock drilling and breaking system 17 can be integrated with other equipment, such as a breaker hammer and rock drill, to meet the requirements of different working conditions. The vertical sliding block 12 is driven by a motor 21 fixed to the vertical inner guide rail 6 via a traction rope 22. The horizontal sliding block 8 is driven by a motor 21 fixed to the horizontal inner guide rail 7 via a traction rope 22.

[0063] The rock breaking equipment 11 integrates an identification system and communicates with the control system 20 via wireless signals, and can use the rock properties to perform tension and shear rock breaking; Figure 5 As shown, the control system 20 includes at least a rock breaking position automation module 25, a communication module 26 and a guide rail position adjustment module 27, and the identification system is a laser sensor; the control system is responsible for the overall operation of the system control working parts; the rock breaking position automation module 25 is responsible for the in-situ engineering geological data processing of the section and the rock breaking path planning, and the communication module 26 and the guide rail position adjustment module 27 are used to realize the operating actions and position changes of the tunneling robot.

[0064] The identification system is used to obtain the current position information and rock mass data of the rock drilling and breaking system 17, and transmit it to the rock breaking position automation module 25 in the control system 20 to generate a cloud map. The rock breaking position automation module 25 determines the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system 17:

[0065] S1=f(x,y,z,T)

[0066] S2=g(x,y,z,T)

[0067] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, and z are the coordinate values ​​of the three directions of space, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, and z and time T. After the cloud map is generated, the rock breaking position automation module 25 determines the current roadway height and generates a coordinate system function G based on the guide rail system:

[0068] G=w(c,d,T)

[0069] Here, G is a coordinate system function, c and d are the vertical and horizontal coordinate values ​​of the guide rail system, T is time, and w is an implicit function of the spatial coordinate values ​​c and d and time T. The guide rail position adjustment module 27 issues instructions to adjust the vertical movement system 14 and the horizontal movement system 15 using function G. During the operation, the rock breaking position automation module 25 adjusts and optimizes the rock breaking path function S2 in real time based on different obstacle or rock mass front-end data, and uploads this data to the monitoring terminal in real time via the signal system to ensure smooth operation completion.

[0070] The full-face rock tunneling robot has the following beneficial effects:

[0071] First, the full-section rock tunneling robot can reduce the time of traditional multi-stage operations and improve overall work efficiency. It is especially suitable for hard rock and complex geological conditions.

[0072] Second, the in-situ splitting, pulling and shearing rock breaking structure design reduces the frequent replacement of cutters and equipment wear, extends the service life of the equipment and reduces maintenance costs.

[0073] Third, the equipment can maintain stable operation while efficiently breaking rocks, avoiding the vibration and safety hazards caused by blasting operations, reducing the risk of downtime due to frequent equipment replacement, and improving the safety of the operation process.

[0074] Fourth, the present invention has the flexibility to operate under different hardness and different geological conditions, can automatically adjust rock breaking parameters, and improve adaptability under complex geological conditions, thereby ensuring excavation efficiency and quality.

[0075] Example 2:

[0076] Another object of an embodiment of the present invention is to provide an operation method of a full-section rock tunneling robot. Based on the full-section rock tunneling robot as described in Example 1, the mining method includes the following steps:

[0077] The S1 control system 20 controls the full-section rock tunneling robot to move to a suitable position in front of the tunnel section via the walking mechanism 21. The crawler 1 cooperates with the rotating mechanism 2 to continuously adjust and optimize the working angle. The hydraulic telescopic support legs 18 extend to support and secure the full-section rock tunneling robot.

[0078] The S2 rock breaking device 11 determines the current position by scanning with the front-end data and the rock breaking position automation module 25 in the control system 20 through the identification system, and draws the current cloud map based on the mine tunnel data to determine the starting position function S1 and the rock breaking path function S2:

[0079] S1=f(x,y,z,T)

[0080] S2=g(x,y,z,T)

[0081] Among them, S1 is the position function, S2 is the rock breaking path function, x, y, and z are the coordinate values ​​of the three directions of space, T is time, and f and g are the implicit functions of the spatial coordinate values ​​x, y, and z and time T. After the cloud map is generated, the rock breaking position automation module 25 determines the current roadway height and generates a coordinate system function G based on the guide rail system:

[0082] G=w(c,d,T)

[0083] Where G is the coordinate system function, c and d are the coordinate values ​​of the guide rail system in the vertical and horizontal directions, T is time, and w is the implicit function of the spatial coordinate values ​​c and d and time T. The guide rail position adjustment module 27 issues instructions to adjust the up and down movement system and the left and right movement system through the function G;

[0084] The S3 control system 20 controls the full-section operation mechanism 13 to start operation, specifies a path, and controls the power device on the upper part of the vertical outer guide rail 5 to pull the vertical inner guide rail 6 up to the specified height and then stop;

[0085] S4 control system 20 controls the motors 21 arranged at both ends of the horizontal outer guide rail 4 to drive the horizontal inner guide rail 7 to slide to the designated position through the traction rope 22 and then stop;

[0086] S5. The control system 20 controls the long mechanical arm 9, the short mechanical arm 10, and the rock breaking device 11 in the rock drilling and breaking system 17 to perform the first drilling and rock breaking along the excavated section.

[0087] After the first operation is completed in step S6, the control system 20 controls the rock drilling and breaking system 17 to repeat step S3 or S4 to perform the second drilling and breaking operation;

[0088] The S7 control system 20 continuously adjusts according to the real-time data scanned by the identification system of the rock breaking equipment 11. When the ore reaches a certain amount, it exits the operating position and starts the transportation operation. The rock breaking path is optimized according to the current rock geological data.

[0089] S8 The control system 20 repeats S3-S7 according to the optimized rock breaking path to complete the rock breaking operation;

[0090] S9. After the operation is completed, the control system 20 controls the full-face rock tunneling robot to move forward and start the next round of operation.

[0091] like Figure 6 and Figure 7 As shown, for hexagonal tunnels and circular arch tunnels, the tunnel operation blind spots 31 are mostly concentrated at the boundaries, and operations in corners are the most difficult. In step S2, the rock breaking position automation module 25 in the control system communicates to determine the initial rock breaking position 28 and the rock breaking path 29. In step S7, the rocks are broken in sequence according to the determined initial rock breaking path 30, and adjustments are made at any time according to the actual rock breaking parameters.

[0092] Example 3

[0093] The difference from Example 1 is that a full-face rock excavation robot is provided with another set of left and right movement systems. Figure 8 As shown, the robot includes another set of left and right movement systems 15, which can be used to add other equipment such as splitters, breakers, rock drills, etc. to the full-section rock tunneling robot to enhance the special operation capabilities of the full-section rock tunneling robot. This embodiment provides a mechanical arm 33 connected to the horizontal sliding block 8 and a breaker 32 installed on the mechanical arm 33 to enhance the processing capability for special working conditions, such as when the stone is too large and needs to be broken by a breaker.

[0094] Example 4

[0095] This embodiment provides a double-layer left-right moving system 34 for adding another set of robotic arms. Figure 9 As shown, the double-layer left-right moving system 34 has an upper horizontal slider 35 and a lower horizontal slider 36 mounted on the horizontal inner guide rail 7. The upper horizontal slider 35 and the lower horizontal slider 36 can be installed with two sets of mechanical arms to meet different operation requirements.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An operating method of a full-section rock excavation robot, wherein the full-section rock excavation robot comprises a walking mechanism (21), a rotating platform mechanism (16) and a full-section operating mechanism (13); The walking mechanism (21) includes a crawler (1), a driving wheel (19), and a hydraulically retractable support leg (18); the hydraulically retractable support leg (18) is arranged on the left and right sides and the front and rear sides of the walking mechanism (21) to provide support during mining operations; The rotating platform mechanism (16) is mounted on the walking mechanism (21), and the full-section operation mechanism (13) is mounted on the rotating platform mechanism (16). The rotating platform mechanism (16) is used to change the orientation of the full-section operation mechanism (13); the full-section operation mechanism (13) includes a control system (20) and a power supply system; the full-section operation mechanism (13) is provided with an up-and-down moving system (14), a left-and-right moving system (15), and a rock drilling and breaking system (17); the rock drilling and breaking system (17) is mounted on the up-and-down moving system (14) and the left-and-right moving system (15); the up-and-down moving system (14) is used to realize the lifting and lowering of the rock drilling and breaking system (17), and the left-and-right moving system (15) is used to realize the left-and-right movement of the rock drilling and breaking system (17); The rock drilling and breaking system (17) includes a long mechanical arm (9), a short mechanical arm (10) and a rock breaking device (11); the long mechanical arm (9) is connected to a horizontal sliding block (8), the short mechanical arm (10) is connected to the long mechanical arm (9) via an axis, and is connected to the rock breaking device (11); the rock breaking device (11) is integrated with an identification system, communicates with a control system (20) via wireless signals, and performs tension and shear rock breaking using rock properties; the control system (20) is integrated with a rock breaking position automation module (25), a communication module (26) and a guide rail position adjustment module (27); It is characterized by: The following steps are involved: S1, the control system (20) controls the full-section rock excavation robot to move to a suitable position in front of the tunnel section through the walking mechanism (21), the crawler (1) cooperates with the rotating platform mechanism (16) to continuously adjust and optimize the working angle, and the hydraulic telescopic support legs (18) extend to support and fix the full-section rock excavation robot; S2, the rock breaking equipment (11) communicates the front-end data with the rock breaking position automation module (25) in the control system (20) through the identification system scan to determine the current position, and the rock breaking position automation module (25) generates a cloud map based on the mine tunnel data to determine the starting position function S1 and the rock breaking path function S2 of the current rock drilling and breaking system (17): S 1 =f(x,y,z,T) S 2 =g(x,y,z,T) in, S 1 is the position function, S 2 is the rock breaking path function, x, y, z It is the coordinate value of the three directions of space: east-west, north-south, and up-down. T For time, f, g are spatial coordinate values x, y, z and time T After the cloud map is generated, the rock breaking position automation module (25) determines the current tunnel height and generates a coordinate system function based on the guide rail system. G : G=w(c,d,T) in, G is the coordinate system function, c, d are the vertical and horizontal coordinate values ​​of the guide rail system, T For time, w are spatial coordinate values c, d and time T The guide rail position adjustment module (27) issues a command to adjust the up-down moving system (14) and the left-right moving system (15) through the function G; S3, the control system (20) controls the full-section operation mechanism (13) to start the operation, specifies the path, and controls the up-and-down movement system (14) to rise to the specified height and then stop; The S4 control system (20) controls the left and right moving system (15) to slide horizontally to a designated position and then stop; S5, the control system (20) controls the operation of the mechanical long arm (9), the mechanical short arm (10) and the rock breaking equipment (11) in the rock drilling and breaking system (17), and performs the first drilling and rock breaking along the excavated section; S6 After the first operation is completed, the control system (20) controls the rock drilling and breaking system (17) to repeat step S3 or S4 to perform a second drilling and breaking operation; The S7 control system (20) continuously adjusts according to the real-time data scanned by the identification system of the rock breaking equipment (11). When the ore reaches the set quantity, the system exits the operating position and starts the transportation operation. The rock breaking path function S2 is optimized according to the current rock mass geological data. S8 The control system (20) repeats steps S3-S7 according to the optimized rock breaking path to complete the rock breaking operation; S9. After the operation is completed, the control system (20) controls the full-face rock tunneling robot to move forward and start the next round of operation.

2. The operating method of a full-face rock tunneling robot according to claim 1, characterized in that: The rotating platform mechanism (16) comprises a rotating mechanism (2) and a supporting platform (3); the rotating mechanism (2) is connected to a walking mechanism (21), and the supporting platform (3) is connected to the rotating mechanism (2) and can rotate along with the rotating mechanism (2).

3. The operating method of a full-face rock tunneling robot according to claim 1, characterized in that: The up-and-down moving system (14) comprises a vertical outer guide rail (5), a vertical inner guide rail (6) and a vertical sliding block (12); the vertical outer guide rail (5) is connected to the support platform (3) and is arranged symmetrically on the left and right; a rolling bearing is arranged on the outside of the vertical inner guide rail (6) and is capable of sliding on the vertical outer guide rail (5); a power device is arranged on the upper part of the vertical outer guide rail (5), and is connected to the top pulley of the vertical outer guide rail (5) through a traction rope to provide power to drive the vertical inner guide rail (6) to slide up and down inside; the vertical sliding block (12) is movably installed in the vertical inner guide rail (6), and the vertical sliding block (12) slides up and down under the traction of the power traction device fixed to the vertical inner guide rail (6).

4. The operating method of a full-face rock tunneling robot according to claim 1, characterized in that: The left-right moving system (15) includes a horizontal outer guide rail (4), a horizontal inner guide rail (7) and a horizontal sliding block (8); the horizontal outer guide rail (4) is connected to the vertical sliding block (12); a rolling bearing is arranged on the outside of the horizontal inner guide rail (7) and can slide inside the horizontal outer guide rail (4); power devices are arranged at both ends of the horizontal outer guide rail (4) to drive the horizontal inner guide rail (7) to slide left and right inside through a traction rope; the horizontal sliding block (8) is movably installed in the horizontal inner guide rail (7); the horizontal sliding block (8) slides up and down under the traction of the power traction devices fixed at both ends of the horizontal inner guide rail (7).

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