Thin-machine-body small-section hard rock rolling tunneling equipment and construction process

Abstract

The invention discloses thin-machine-body small-section hard rock rolling tunneling equipment and a construction technology. The thin-machine-body small-section hard rock rolling tunneling equipment comprises a machine body part, a cutting part and a loading part. The machine body part comprises a rack, a walking mechanism and a supporting mechanism; the cutting part comprises a cutting arm, a swing oil cylinder, a rotary platform, a cutting tool bit, a telescopic mechanism and a cutting tool disc; and the loading part comprises a side belt type conveying system and a pneumatic conveying system. According to the thin-machine-body small-section hard rock rolling tunneling equipment provided by the invention, a multi-cylinder support and a side-arranged conveying belt are adopted, and two loading modes are configured, so that the size of the machine body is greatly reduced, and the problems of low kinetic energy output efficiency, insufficient hard rock cutting force and the like of a thin machine body are solved; through combination of self-adaptive cutting control and vibration reduction buffer control, vibration generated by tunneling operation is effectively reduced, and the stability and reliability of tunneling operation equipment are improved. By means of the thin-machine-body small-section hard rock rolling tunneling equipment and the construction technology, small-section underground hard rock space directional tunneling can be efficiently achieved.

Description

Technical Field

[0001] The invention belongs to the field of underground space excavation construction equipment, and in particular relates to a thin-body small-section hard rock rolling excavation equipment and a construction process. Background Art

[0002] Small-section underground space excavation is an important project in underground engineering. In actual excavation work, the small-section space is limited, and large-scale excavation equipment is difficult to enter. Workers can only be relied on to operate, resulting in high labor intensity for workers and the safety of workers cannot be guaranteed. However, the existing excavation equipment is not only complex and costly, but also lacks flexibility. In addition, the equipment is generally large in size and cannot meet the excavation tasks of small-section hard rock. Therefore, there is an urgent need for an operating equipment that can solve the above problems, is small in size, flexible in construction, and does not require manual labor, and is suitable for small-section hard rock space excavation. Summary of the invention

[0003] The purpose of the present invention is to solve the problems existing in the prior art and to propose a thin-body small-section hard rock rolling excavation equipment and a construction process.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A thin-body small-section hard rock rolling excavation equipment, comprising a body part, a cutting part, a loading part, and a hydraulic control system;

[0006] The machine body includes a machine body, a walking mechanism, and a supporting mechanism;

[0007] Eight supporting mechanisms are installed on the upper and lower parts of the machine body, with four supporting mechanisms around the upper part and four supporting mechanisms around the lower part. The eight supporting mechanisms are driven by supporting cylinder 1, supporting cylinder 2, supporting cylinder 3, supporting cylinder 4, supporting cylinder 5, supporting cylinder 6, supporting cylinder 7 and supporting cylinder 8 in sequence to support the height direction of the machine body;

[0008] The walking mechanism is installed on the side of the machine body. The machine body is provided with a walking mechanism driving motor 1 and a walking mechanism driving motor 2 to control the walking mechanism to drive the machine body to move. The walking mechanism driving motor 1 and the walking mechanism driving motor 2 each drive a walking mechanism (1-2). There are three operation modes: 1. Moving forward together; 2. Moving backward together; 3. One moving forward and the other moving backward to achieve turning.

[0009] The cutting part includes a cutting arm, a swing mechanism, a rotary platform, a cutting head, a telescopic mechanism, and a cutting disc;

[0010] The cutting arm is connected to the machine body in a horizontal rotation through a rotating platform. The two sides of the cutting arm are respectively connected to the left and right swings of the cutting arm through a swing mechanism. One end of the swing mechanism is hinged to the machine body, and the other end is hinged to the cutting arm. One of the swing mechanisms is built-in with a swing cylinder 1, and the other swing mechanism is built-in with a swing cylinder 2.

[0011] The cutting head is installed at the front end of the cutting arm through a telescopic mechanism to extend the cutting distance of the cutting arm. The telescopic mechanism is driven by a telescopic cylinder to extend and retract.

[0012] The cutting disc includes a cutting disc 1, a cutting disc 2 and a cutting disc 3. The cutting disc 1, the cutting disc 2 and the cutting disc 3 are mounted on the cutting cutter head and driven to rotate by the cutting disc driving motor 1, the cutting disc driving motor 2 and the cutting disc driving motor 3. Under the driving of the swing cylinder 1, the swing cylinder 2, the telescopic cylinder and the cutting disc driving motor 1, the cutting disc driving motor 2 and the cutting disc driving motor 3, the cutting disc 1, the cutting disc 2 and the cutting disc 3 rotate and swing and roll to crush the hard rock;

[0013] The loading part includes a side belt conveyor system and a pneumatic conveying system; wherein the side belt conveyor system includes a belt conveyor device 1 and a belt conveyor device 1 driving motor, and the pneumatic conveying system includes a pneumatic conveying system pipeline, a belt conveyor device 2 and a belt conveyor device 2 driving motor; the belt conveyor device 1 is installed on the side of the machine body, and is driven by the belt conveyor device 1 driving motor installed on the side of the belt conveyor device, so as to load and transport large-size broken hard rocks; one end of the pneumatic conveying system pipeline is fixed to the cutting head, and the other end is connected to the belt conveyor device 2, and is driven by the belt conveyor device 2 driving motor installed on the side of the belt conveyor device 2, so as to load and transport small-size broken hard rocks.

[0014] As a further preferred solution, an adaptive cutting controller and a vibration damping and buffer controller are also provided in the machine body. The adaptive cutting controller is used to adjust the swing speed of the cutting arm and the speed of the cutting disc to achieve adaptive cutting. The vibration damping and buffer controller controls the opening and closing of the electromagnetic control valve to give a certain return oil back pressure to the supporting cylinder, and then the vibration damping and buffer controller controls the high-speed switching valve to open and close quickly to achieve active vibration reduction. The adaptive cutting controller and the vibration damping and buffer controller are powered by a double-column variable piston pump hydraulic system.

[0015] As a further preferred solution, the cutting disc drive motor 1, the cutting disc drive motor 2, and the cutting disc drive motor 3 are respectively provided with a first solenoid valve, a second solenoid valve, and a third solenoid valve;

[0016] The swing oil cylinder 1 and the swing oil cylinder 2 are respectively provided with a fourth solenoid valve;

[0017] A vibration sensor is provided on the machine body;

[0018] Support cylinder 1, support cylinder 2, support cylinder 3, support cylinder 4, support cylinder 5, support cylinder 6, support cylinder 7, and support cylinder 8 are respectively provided with pressure sensor 4 and pressure sensor 5, and pressure sensor 4 and pressure sensor 5 respectively control the four upper support mechanisms and the four lower support mechanisms;

[0019] The swing oil cylinder 1 and the swing oil cylinder 2 are respectively provided with pressure sensor 2;

[0020] The telescopic oil cylinder is provided with pressure sensor three;

[0021] The cutting disc drive motor 1, the cutting disc drive motor 2, and the cutting disc drive motor 3 are respectively provided with a pressure sensor 1;

[0022] Among them, the vibration sensor, pressure sensor four, pressure sensor five, pressure sensor two, pressure sensor three, and pressure sensor one collect data and feed back electrical signals to the adaptive cutting controller. The adaptive cutting controller analyzes the hardness and outputs control signals to the first solenoid valve, the second solenoid valve, the third solenoid valve, and the fourth solenoid valve to control their opening to increase or decrease, thereby increasing the swing speed of the cutting arm and the rotation speed of the cutting disc one, the cutting disc two, and the cutting disc three.

[0023] As a further preferred solution, the double-column variable displacement pump is provided with a pressure sensor 14 and a pressure sensor 15;

[0024] Support cylinder one, support cylinder two, support cylinder three, support cylinder four, support cylinder five, support cylinder six, support cylinder seven, and support cylinder eight are respectively provided with a first electromagnetic control valve, a second electromagnetic control valve, a third electromagnetic control valve, a fourth electromagnetic control valve, a fifth electromagnetic control valve, a sixth electromagnetic control valve, a seventh electromagnetic control valve, and an eighth electromagnetic control valve, and the first electromagnetic control valve, the second electromagnetic control valve, the third electromagnetic control valve, the fourth electromagnetic control valve, the fifth electromagnetic control valve, the sixth electromagnetic control valve, the seventh electromagnetic control valve, and the eighth electromagnetic control valve are respectively provided with pressure sensors six, seven, eight, nine, ten, eleven, twelve, and thirteen for detecting rock and soil residues;

[0025] The vibration sensor, pressure sensor 4, pressure sensor 5, pressure sensor 14, pressure sensor 15, pressure sensor 6, pressure sensor 7, pressure sensor 8, pressure sensor 9, pressure sensor 10, pressure sensor 11, pressure sensor 12 and pressure sensor 13 collect data and feed back electrical signals to the vibration damping buffer controller, which analyzes the vibration conditions and outputs control signals to the first solenoid control valve, the second solenoid control valve, the third solenoid control valve, the fourth solenoid control valve, the fifth solenoid control valve, the sixth solenoid control valve, the seventh solenoid control valve and the eighth solenoid control valve to control the opening and closing of the corresponding support cylinder 1, support cylinder 2, support cylinder 3, support cylinder 4, support cylinder 5, support cylinder 6, support cylinder 7 and support cylinder 8 return oil back pressure;

[0026] Support cylinder one, support cylinder two, support cylinder three, support cylinder four, support cylinder five, support cylinder six, support cylinder seven, and support cylinder eight are also correspondingly provided with a first high-speed switch valve, a second high-speed switch valve, a third high-speed switch valve, a fourth high-speed switch valve, a fifth high-speed switch valve, a sixth high-speed switch valve, a seventh high-speed switch valve, and an eighth high-speed switch valve. The vibration reduction buffer controller analyzes the vibration situation and outputs a control signal to control the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve), the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve, and the eighth high-speed switch valve to open and close quickly, thereby realizing active vibration reduction;

[0027] The vibration sensor, pressure sensor four, pressure sensor five, pressure sensor six, pressure sensor seven, pressure sensor eight, pressure sensor nine, pressure sensor ten, pressure sensor eleven, pressure sensor twelve and pressure sensor thirteen feed back the vibration reduction conditions of each cylinder to the vibration reduction buffer controller, and the vibration reduction buffer controller performs coordinated posture control.

[0028] A construction process of a thin-body small-section hard rock rolling tunneling equipment comprises the following steps:

[0029] Step 1: During the construction of a small-section underground hard rock space, start the double-column variable piston pump energy supply hydraulic system, control the sixth solenoid valve and the seventh solenoid valve to drive the walking mechanism driving motor 1 and the walking mechanism driving motor 2, and then drive the walking mechanism of the machine body, and transfer the machine body and the cutting part to the construction operation position in a direction, and control the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve, the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve, and the eighth high-speed switch valve to drive the eight supporting mechanisms of the supporting cylinder 1, the supporting cylinder 2, the supporting cylinder 3, the supporting cylinder 4, the supporting cylinder 5, the supporting cylinder 6, the supporting cylinder 7, and the supporting cylinder 8 to extend and retract, and then the supporting mechanism of the machine body is propped up, so that the posture of the machine body is in an ideal construction posture;

[0030] Step 2: The double-column variable piston pump supplies energy to the hydraulic system, controls the first solenoid valve, the second solenoid valve, and the third solenoid valve to drive the cutting disc drive motor 1, the cutting disc drive motor 2, and the cutting disc drive motor 3, and then drives the cutting disc drive motor 1, the cutting disc drive motor 2, and the cutting disc drive motor 3 to rotate, controls the fourth solenoid valve to drive the swing cylinder 1 and the swing cylinder 2 of the swing mechanism to realize the left and right swing of the cutting arm of the cutting part and crush and clean the large-size broken hard rock, and the adaptive cutting controller is based on the vibration sensor, support cylinder 1, support cylinder 2, and support cylinder 3 installed on the machine body. , pressure sensor 4 and pressure sensor 5 on support cylinder 4, support cylinder 5, support cylinder 6, support cylinder 7, support cylinder 8, pressure sensor 2 on swing cylinder 1 and swing cylinder 2, pressure sensor 3 on telescopic cylinder, and pressure sensor 1 on cutting disc drive motor 1, cutting disc drive motor 2 and cutting disc drive motor 3 to analyze the current rock and soil hardness, and control the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve through the adaptive cutting controller to realize the cutting swing speed and the speed of the cutting disc, so as to realize adaptive cutting of rock and soil;

[0031] Step 3: The vibration damping and buffering controller is based on the feedback of the vibration sensor installed on the machine body, the pressure sensor 4 and the pressure sensor 5 on the support cylinder 1, the support cylinder 2, the support cylinder 3, the support cylinder 4, the support cylinder 5, the support cylinder 6, the support cylinder 7, and the support cylinder 8, the pressure sensor 14 and the pressure sensor 15 on the double-column variable piston pump, and the pressure sensor 6, the pressure sensor 7, the pressure sensor 8, the pressure sensor 9, the pressure sensor 10, the pressure sensor 11, the pressure sensor 12, and the pressure sensor 13 on the first solenoid control valve, the second solenoid control valve, the third solenoid control valve, the fourth solenoid control valve, the fifth solenoid control valve, the sixth solenoid control valve, the seventh solenoid control valve, and the eighth solenoid control valve. The electrical signal analyzes the current vibration condition, and outputs a control signal according to the vibration condition, which is applied to the first solenoid control valve, the second solenoid control valve, the third solenoid control valve, the fourth solenoid control valve, the fifth solenoid control valve, the sixth solenoid control valve, the seventh solenoid control valve, and the eighth solenoid control valve to open and close the first solenoid control valve, the second solenoid control valve, the third solenoid control valve, the fourth solenoid control valve, the fifth solenoid control valve, the sixth solenoid control valve, the seventh solenoid control valve, and the eighth solenoid control valve to give a certain return oil back pressure to the support cylinder one, the support cylinder two, the support cylinder three, the support cylinder four, the support cylinder five, the support cylinder six, the support cylinder seven, and the support cylinder eight. The vibration reduction buffer controller determines whether the pressure value reaches the optimal threshold value. If not, Then the electromagnetic control valve continues to be controlled to open and close until the pressure reaches the optimal threshold value, thereby reducing the vibration caused by the rapid extension and contraction of support cylinder one, support cylinder two, support cylinder three, support cylinder four, support cylinder five, support cylinder six, support cylinder seven, and support cylinder eight, thereby realizing pressure regulation, and then outputting a control signal to be applied to the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve, the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve, and the eighth high-speed switch valve to control the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve, the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve, and the eighth high-speed switch valve to open and close quickly, thereby realizing active Vibration reduction, the vibration sensor located on the machine body, the pressure sensor four and the pressure sensor five on the support cylinder one, the support cylinder two, the support cylinder three, the support cylinder four, the support cylinder five, the support cylinder six, the support cylinder seven, and the support cylinder eight, and the pressure sensor six, the pressure sensor seven, the pressure sensor eight, the pressure sensor nine, the pressure sensor ten, the pressure sensor eleven, the pressure sensor twelve, and the pressure sensor thirteen on the first solenoid control valve, the second solenoid control valve, the third solenoid control valve, the fourth solenoid control valve, the fifth solenoid control valve, the sixth solenoid control valve, the seventh solenoid control valve, and the eighth solenoid control valve feed back the vibration reduction condition of each cylinder to the vibration reduction buffer controller, which performs posture coordinated control.

[0032] Step 4: The cutting discs 1, 2 and 3 of the cutting part roll and crush the hard rock. After crushing, the large-size crushed hard rock is crushed into small-size crushed hard rock or swept to the side under the swinging action of the cutting arm. As the construction continues, the belt conveyor 1 driven by the driving motor of the belt conveyor 1 of the side belt conveyor system of the loading part continuously transports and transports the crushed rock; the double-column variable piston pump energy supply hydraulic system controls the fourth solenoid valve to drive the swing cylinder 1 and the swing cylinder 2 of the swing mechanism to realize the left and right swing of the cutting arm of the cutting part. The remaining small-size crushed hard rock is transported to the belt conveyor 2 through the pneumatic conveying system pipeline of the pneumatic conveying system of the loading part under the action of negative pressure pneumatic force, and the belt conveyor 2 driving motor drives the belt conveyor 2 to transport the crushed rock;

[0033] Step 5: After loading is completed, the adaptive cutting controller detects whether there are electrical signals from the vibration sensor, pressure sensor 4, pressure sensor 5, pressure sensor 2, pressure sensor 3, and pressure sensor 1, and the vibration reduction buffer controller detects whether there are electrical signals from the vibration sensor, pressure sensor 4, pressure sensor 5, pressure sensor 14, pressure sensor 15, pressure sensor 6, pressure sensor 7, pressure sensor 8, pressure sensor 9, pressure sensor 10, pressure sensor 11, pressure sensor 12, and pressure sensor 13. If yes, it means that there is rock and soil residue, and the double-column variable piston pump power supply hydraulic system controls the first solenoid valve, the second solenoid valve, and the third solenoid valve to drive the cutting disc drive motor 1, the cutting disc drive motor 2, and the cutting disc drive motor 3 to drive the cutting disc 1 , cutting disc 1 and cutting disc 3 continue to rotate for cutting; otherwise, it means that the cutting in the current state position is completed, and the fifth solenoid valve is controlled to drive the telescopic cylinder and then drive the cutting arm to advance the cutting disc 1, cutting disc 2 and cutting disc 3 to continue cutting until the telescopic cylinder reaches the limit of elongation, and then the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve, the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve and the eighth high-speed switch valve are controlled to drive the supporting cylinder 1, the supporting cylinder 2, the supporting cylinder 3, the supporting cylinder 4, the supporting cylinder 5, the supporting cylinder 6, the supporting cylinder 7 and the supporting cylinder 8 to extend and retract, and then the supporting mechanism of the machine body is retracted, and the sixth solenoid valve and the seventh solenoid valve are controlled to drive the walking mechanism to continue to advance to the next construction position for construction until the construction is completed.

[0034] Among them, the control process of the adaptive cutting controller is as follows:

[0035] (1) By adopting the above technical solution, during the construction of a small-section underground hard rock space, the double-column variable piston pump energy supply hydraulic system is started to control the first solenoid valve, the second solenoid valve, and the third solenoid valve to drive the cutting disc drive motor 1, the cutting disc drive motor 2, and the cutting disc drive motor 3, thereby driving the cutting disc 1, the cutting disc 2, and the cutting disc 3 to rotate, and the fourth solenoid valve is controlled to drive the swing cylinder 1 and the swing cylinder 2 of the swing mechanism to realize the left and right swing of the cutting arm of the cutting part and crush the large-size hard rock.

[0036] (2) The vibration sensor located on the body of the machine body, the pressure sensor 4 and the pressure sensor 5 on the support cylinder 1, the support cylinder 2, the support cylinder 3, the support cylinder 4, the support cylinder 5, the support cylinder 6, the support cylinder 7 and the support cylinder 8 of the support mechanism of the machine body, the pressure sensor 2 on the swing cylinder 1 and the swing cylinder 2 of the swing mechanism of the cutting part, the pressure sensor 3 on the telescopic cylinder of the telescopic mechanism of the cutting part, and the pressure sensor 1 on the cutting disc drive motor 1, the cutting disc drive motor 2 and the cutting disc drive motor 3 of the cutting part collect data and feed back electrical signals to the adaptive cutting controller.

[0037] (3) The adaptive cutting controller analyzes the hardness condition and outputs a control signal according to the hardness condition, which is applied to the first solenoid valve, the second solenoid valve, the third solenoid valve, and the fourth solenoid valve to control the opening of the first solenoid valve, the second solenoid valve, the third solenoid valve, and the fourth solenoid valve to increase or decrease, thereby increasing the swing speed of the cutting arm and the rotation speed of the cutting disc one, the cutting disc two, and the cutting disc three.

[0038] (4) The adaptive cutting controller analyzes whether the speed at this time reaches the optimal threshold. If so, the speed is maintained and the adaptive cutting controller records the hardness corresponding to the speed. Otherwise, the opening of the first solenoid valve, the second solenoid valve, the third solenoid valve, and the fourth solenoid valve are continuously adjusted until the optimal threshold is reached.

[0039] The control process of the vibration damping buffer controller is as follows:

[0040] (1) By adopting the above technical solution, during the construction of a small-section underground hard rock space, the double-column variable displacement piston pump power supply hydraulic system is started, and the vibration sensor on the body of the body, the pressure sensor 4 and the pressure sensor 5 on the support cylinder 1, the support cylinder 2, the support cylinder 3, the support cylinder 4, the support cylinder 5, the support cylinder 6, the support cylinder 7, and the support cylinder 8 of the support mechanism of the body, the pressure sensor 14 and the pressure sensor 15 on the double-column variable displacement piston pump, and the pressure sensors 6, 7, 8, 9, 10, 11, 12, and 13 on the first electromagnetic control valve, the second electromagnetic control valve, the third electromagnetic control valve, the fourth electromagnetic control valve, the fifth electromagnetic control valve, the sixth electromagnetic control valve, the seventh electromagnetic control valve, and the eighth electromagnetic control valve collect data and feed back electrical signals to the vibration damping buffer controller.

[0041] (2) The vibration damping and buffering controller analyzes the vibration condition, and outputs a control signal according to the vibration condition, which is applied to the first electromagnetic control valve, the second electromagnetic control valve, the third electromagnetic control valve, the fourth electromagnetic control valve, the fifth electromagnetic control valve, the sixth electromagnetic control valve, the seventh electromagnetic control valve, and the eighth electromagnetic control valve, so that the first electromagnetic control valve, the second electromagnetic control valve, the third electromagnetic control valve, the fourth electromagnetic control valve, the fifth electromagnetic control valve, the sixth electromagnetic control valve, the seventh electromagnetic control valve, and the eighth electromagnetic control valve are opened and closed to give a certain return oil back pressure to the support cylinder 1, the support cylinder 2, the support cylinder 3, the support cylinder 4, the support cylinder 5, the support cylinder 6, the support cylinder 7, and the support cylinder 8. The vibration damping and buffering controller determines whether the optimal threshold value is reached. If not, it continues to control the opening and closing of the electromagnetic control valves until the optimal threshold value is reached, thereby realizing pressure regulation.

[0042] (3) The vibration damping buffer controller analyzes the vibration condition and outputs a control signal according to the vibration condition, which is applied to the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve, the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve, and the eighth high-speed switch valve to control the first high-speed switch valve, the second high-speed switch valve, the third high-speed switch valve, the fourth high-speed switch valve, the fifth high-speed switch valve, the sixth high-speed switch valve, the seventh high-speed switch valve, and the eighth high-speed switch valve to open and close quickly, thereby realizing active vibration reduction.

[0043] (4) The vibration sensor located on the machine body, the pressure sensor 4 and the pressure sensor 5 on the support cylinder 1, the support cylinder 2, the support cylinder 3, the support cylinder 4, the support cylinder 5, the support cylinder 6, the support cylinder 7 and the support cylinder 8 of the support mechanism of the machine body, and the pressure sensors 6, 7, 8, 9, 10, 11, 12 and 13 on the first electromagnetic control valve, the second electromagnetic control valve, the third electromagnetic control valve, the fourth electromagnetic control valve, the fifth electromagnetic control valve, the sixth electromagnetic control valve, the seventh electromagnetic control valve and the eighth electromagnetic control valve feed back the vibration reduction condition of each cylinder to the vibration reduction buffer controller, which performs posture coordinated control.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] (1) The thin-body small-section hard rock rolling excavation equipment adopts multi-cylinder support and side-mounted conveyor belt, which is suitable for underground small-section hard rock scenes with difficult construction. It is equipped with two loading methods, which greatly reduces the size of the body and improves the support capacity of the equipment. It overcomes the problems of low output kinetic energy efficiency and insufficient hard rock cutting force of the thin body. It has a series of advantages such as less construction supporting equipment, no need for manpower, and high flexibility, and realizes underground hard rock excavation under small-section conditions.

[0046] (2) The thin-body, small-section hard rock rolling tunneling equipment effectively reduces the vibration generated by the tunneling operation by combining adaptive cutting control with vibration reduction and buffering control. It overcomes the problems of large vibration, high energy consumption, and instability during the tunneling operation, improves the stability and reliability of the tunneling equipment, and realizes directional, stable and continuous tunneling of small-section underground hard rock spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A thin-body, small-section hard rock rolling excavation equipment provided by an embodiment of the present invention;

[0048] Figure 2 A hydraulic control diagram for adaptive cutting and vibration reduction and buffering of a thin-body small-section hard rock rolling tunneling equipment provided by an embodiment of the present invention;

[0049] Figure 3 A construction process for a thin-body, small-section hard rock rolling excavation equipment provided by an embodiment of the present invention;

[0050] Figure 4 An adaptive cutting process of a thin-body small-section hard rock rolling tunneling equipment provided by an embodiment of the present invention;

[0051] Figure 5A vibration reduction and buffering process of a thin-body small-section hard rock rolling tunneling equipment provided by an embodiment of the present invention;

[0052] In the figure: 1-machine body, 1-1-machine body, 1-2-travel mechanism, 1-3-support mechanism, 2-cutting part, 2-1-cutting arm, 2-2-swing mechanism, 2-3-rotating platform, 2-4-cutting head, 2-5-telescopic mechanism, 2-6-cutting disc, 2-6-1-cutting disc 1, 2-6-2-cutting disc 2, 2-6-3-cutting disc 3, 3-loading part, 3-1-side belt conveyor system, 3-1-1-belt conveyor device 1, 3-1-2-belt conveyor device 1 drive motor, 3-2-pneumatic conveying system, 3-2-1-pneumatic conveying system pipeline, 3-2-2-belt conveyor device 2, 3-2-3-belt conveyor device 2 drive motor, 4-1-hydraulic system drive Motor, 4-2-Double column variable displacement pump, 4-3-Oil tank, 4-4-Filter, 4-5-Cutter head drive motor 1, 4-6-Cutter head drive motor 2, 4-7-Cutter head drive motor 3, 4-8-First solenoid valve, 4-9-Second solenoid valve, 4-10-Third solenoid valve, 4-11-Pressure sensor 1, 4-12-Pressure sensor 2, 4-13-Fourth solenoid valve, 4-14-Swing cylinder 1, 4-15-Swing cylinder 2, 4-16-Telescopic cylinder, 4-17-Pressure sensor 3, 4-18-Fifth solenoid valve, 4-19-Travel mechanism drive motor 1, 4-20-Travel mechanism drive motor 2, 4-21-Sixth solenoid valve, 4-22-Seventh solenoid valve, 4-2 3-pressure sensor 4, 4-24-pressure sensor 5, 4-25-vibration sensor, 4-26-first high-speed switch valve, 4-27-second high-speed switch valve, 4-28-third high-speed switch valve, 4-29-fourth high-speed switch valve, 4-30-fifth high-speed switch valve, 4-31-sixth high-speed switch valve, 4-32-seventh high-speed switch valve, 4-33-eighth high-speed switch valve, 4-34-support mechanism cylinder 1, 4-35-support mechanism cylinder 2, 4-36-support mechanism cylinder 3, 4-37-support mechanism cylinder 4, 4-38-support mechanism cylinder 5, 4-39-support mechanism cylinder 6, 4-40-support mechanism cylinder 7, 4-41-support mechanism cylinder 8, 4-42-pressure sensor Sensor six, 4-43-pressure sensor seven, 4-44-pressure sensor eight, 4-45-pressure sensor nine, 4-46-pressure sensor ten, 4-47-pressure sensor eleven, 4-48-pressure sensor twelve, 4-49-pressure sensor thirteen, 4-50-first solenoid control valve, 4-51-second solenoid control valve, 4-52-third solenoid control valve, 4-53-fourth solenoid control valve, 4-54-fifth solenoid control valve, 4-55-sixth solenoid control valve, 4-56-seventh solenoid control valve, 4-57-eighth solenoid control valve, 4-58-pressure sensor fourteen, 4-59-pressure sensor fifteen, 4-60-adaptive cutting controller, 4-61-vibration damping buffer controller. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0054] The embodiment of the present invention provides a thin-body small-section hard rock rolling excavation equipment and a construction process, such as Figure 1 As shown, it includes a body part 1, a cutting part 2, a loading part 3 and a hydraulic control system 4.

[0055] The machine body 1 includes a machine body 1-1, a walking mechanism 1-2, and a supporting mechanism 1-3. The supporting mechanism 1-3 is installed on the inner side of the machine body 1-1. Before the excavation work, the supporting mechanism 1-3 installed on the inner side of the frame 1-1 relies on driving the supporting cylinder 1 4-34, the supporting cylinder 2 4-35, the supporting cylinder 3 4-36, the supporting cylinder 4 4-37, the supporting cylinder 5 4-38, the supporting cylinder 6 4-39, the supporting cylinder 7 4-40 and the supporting cylinder 8 4-41 to support the height direction of the machine body 1-1. The machine body posture is regulated by the coordinated action of multiple cylinders to achieve the full force constraint state of the whole machine, reduce the disturbance of the dynamic load on the machine body during the rolling excavation of hard rock, and thus achieve the full force constraint state of the whole machine; the walking mechanism 1-2 is installed in the frame 1-1, and the crawler is driven by controlling the walking mechanism driving motor 1 4-19 and the walking mechanism driving motor 2 4-20 to realize the directional walking of the whole machine, so that the machine body can be flexibly and directionally transported, which is convenient for construction and solves the problem of inconvenience in traditional pipe jacking transportation. The walking mechanism driving motor 1 4-19 and the walking mechanism driving motor 2 4-20 are controlled by the sixth solenoid valve 4-21 and the seventh solenoid valve 4-22 respectively.

[0056] The cutting part 2 includes a cutting arm 2-1, a swing mechanism 2-2, a rotary platform 2-3, a cutting head 2-4, a telescopic mechanism 2-5, and a cutting disc 2-6. The cutting arm 2-1 is connected to the machine body 1 through the rotating platform 2-3. The swing cylinder 1 4-14 and the swing cylinder 2 4-15 adopt a series structure to drive the cutting arm 2-1 to rotate and swing. The telescopic cylinder 4-16 is installed inside the cutting arm 2-1 to extend the cutting distance of the cutting arm 2-1. The cutting disc 1 2-6-1, the cutting disc 2 2-6-2 and the cutting disc 3 2-6-3 are installed on the cutting head 2-4. Under the drive of the swing cylinder 1 4-14, the swing cylinder 2 4-15, the telescopic cylinder 4-16 and the cutting disc drive motor 1 4-5, the cutting disc drive motor 2 4-6 and the cutting disc drive motor 3 4-7, the cutting disc 1 2-6-1, the cutting disc 2 2-6-2 and the cutting disc 3 2-6-3 rotate and swing and roll to crush the hard rock.

[0057] Specifically, the cutting part 2 contacts the hard rock through the cutting disc 1 2-6-1, the cutting disc 2-6-2, and the cutting disc 3 2-6-3 and performs rolling crushing. The cutting disc 1 2-6-1, the cutting disc 2-6-2, and the cutting disc 3 2-6-3 adopt a spoke panel hybrid cutter disc, and the spokes are equipped with center knives, leading knives, cutting knives and other knives to adapt to complex and diverse soil layers and maintain the stability of the excavation surface. The cutting head 2-4 is located at the front end of the cutting arm 2-1, and is used to install the cutting disc 1 2-6-1, the cutting disc 2-6-2, the cutting disc 3 2-6-3 and the cutting disc drive motor 1 4-5, the cutting disc drive motor 2 4-6, and the cutting disc drive motor 3 4-7. The rear end of the cutting arm 2-1 is connected to the swing cylinder 1 4-14 and the swing cylinder 2 4-15, and the thrust cylinder is distributed in a series structure. The cutting arm 2-1 is rotated and swung by controlling the extension and retraction of the thrust cylinder piston rod. The telescopic cylinder 4-16 is installed inside the cutting arm 2-1 to extend the cutting distance of the cutting arm 2-1. The cutting disc 1 2-6-1, the cutting disc 2 2-6-2, and the cutting disc 3 2-6-3 are installed on the cutting head 2-4. Driven by the swing cylinder 1 4-14, the swing cylinder 2 4-15, the telescopic cylinder 4-16 and the cutting disc drive motor 1 4-5, the cutting disc drive motor 2 4-6, and the cutting disc drive motor 3 4-7, the cutting disc 1 2-6-1, the cutting disc 2 2-6-2, and the cutting disc 3 2-6-3 rotate and swing and roll to crush the hard rock.

[0058] Cutting disc one 2-6-1, cutting disc two 2-6-2 and cutting disc three 2-6-3 are driven by cutting disc drive motor one 4-5, cutting disc drive motor two 4-6 and cutting disc drive motor three 4-7. The drive device has a small size and a high energy density and is suitable for small and medium cutting. It can realize stepless speed regulation, facilitate the micro-manipulation of the cutting disc and act as a buffer when encountering soils with different hardness.

[0059] Cutting disc one 2-6-1, cutting disc two 2-6-2, cutting disc three 2-6-3 select disc-shaped roller cutters to adapt to complex rock and soil and perform efficient and low-consumption cutting.

[0060] The loading part 3 includes a side belt conveyor system 3-1 and a pneumatic conveyor system 3-2. The side belt conveyor system 3-1 includes a belt conveyor device 1 3-1-1 and a belt conveyor device 1 drive motor 3-1-2, and the pneumatic conveyor system 3-2 includes a pneumatic conveyor system pipeline 3-2-1, a belt conveyor device 2 3-2-2, and a belt conveyor device 2 drive motor 3-2-3. The side belt conveyor system 3-1 is installed on the outside of the machine body 1, and the belt conveyor device 1 3-1-1 is installed on the side of the machine body 1-1 of the machine body 1, and is driven by a belt conveyor device 1 drive motor 3-1-2 installed on the side of the belt conveyor device 1 3-1-1, and is used to load and transport large-size crushed hard rocks. One end of the pneumatic conveying system pipeline 3-2-1 of the pneumatic conveying system 3-2 is fixed to the cutting head 2-4 of the cutting part 2, and the other end is connected to the belt conveyor device 2 3-2-2, and is driven by the belt conveyor device 2 drive motor 3-2-3 installed on the side of the belt conveyor device 2 3-2-2 to load and transport small-size crushed hard rock.

[0061] The pneumatic conveying system pipeline 3-2-1 is connected by snap-on and bolts, which facilitates positioning during subsequent installation and solves the problem of pipeline sealing.

[0062] like Figure 2As shown, it is a hydraulic system diagram of the present invention, including the hydraulic system drive motor 4-1, double-column variable piston pump 4-2, oil tank 4-3, filter 4-4, cutting disc drive motor 1 4-5, cutting disc drive motor 2 4-6, cutting disc drive motor 3 4-7, first solenoid valve 4-8, second solenoid valve 4-9, third solenoid valve 4-10, pressure sensor 1 4-11, pressure sensor 2 4-12, fourth solenoid valve 4-13, swing cylinder 1 4-14, swing cylinder 2 4-15, telescopic cylinder 4-16, pressure sensor three 4-17, fifth solenoid valve 4-18, walking mechanism drive motor one 4-19, walking mechanism drive motor two 4-20, sixth solenoid valve 4-21, seventh solenoid valve 4-22, pressure sensor four 4-23, pressure sensor five 4-24, vibration sensor 4-25, first high-speed switch valve 4-26, second high-speed switch valve 4-27, third high-speed switch valve 4-28, fourth high-speed switch valve 4-29, fifth high-speed switch valve 4-30, sixth high-speed switch valve 4-31, Seventh high-speed switch valve 4-32, eighth high-speed switch valve 4-33, support mechanism cylinder 1 4-34, support mechanism cylinder 2 4-35, support mechanism cylinder 3 4-36, support mechanism cylinder 4 4-37, support mechanism cylinder 5 4-38, support mechanism cylinder 6 4-39, support mechanism cylinder 7 4-40, support mechanism cylinder 8 4-41, pressure sensor 6 4-42, pressure sensor 7 4-43, pressure sensor 8 4-44, pressure sensor 9 4-45, pressure sensor 10 4-46, pressure sensor Sensor eleven 4-47, pressure sensor twelve 4-48, pressure sensor thirteen 4-49, first solenoid control valve 4-50, second solenoid control valve 4-51, third solenoid control valve 4-52, fourth solenoid control valve 4-53, fifth solenoid control valve 4-54, sixth solenoid control valve 4-55, seventh solenoid control valve 4-56, eighth solenoid control valve 4-57, pressure sensor fourteen 4-58, pressure sensor fifteen 4-59, adaptive cutting controller 4-60, vibration reduction and buffer controller 4-61.

[0063] The pressure sensor 1 4-11 in the cutting disc drive motor 1 4-5, the cutting disc drive motor 2 4-6 and the cutting disc drive motor 3 4-7 transmits an electrical signal to the adaptive cutting controller 4-60 during cutting.

[0064] The vibration sensor 4-25 is installed on the body 1-1 of the body part 1 and is used for signal collection during adaptive cutting.

[0065] Pressure sensor 14 4-58 and pressure sensor 15 4-59 are installed on the double-column variable piston pump 4-2, pressure sensor 4 4-23 and pressure sensor 5 4-24 are installed on the rod chambers of support cylinder 1 4-34, support cylinder 2 4-35, support cylinder 3 4-36, support cylinder 4 4-37, support cylinder 5 4-38, support cylinder 6 4-39, support cylinder 7 4-40, support cylinder 8 4-41, pressure sensor 2 4-12 is installed on the rod chambers of swing cylinder 1 4-14, swing cylinder 2 4-15, pressure sensor 3 4-17 is installed on the rod chamber of telescopic cylinder 4-16, pressure sensor 1 4-11 is installed on the cutting disc On the drive motor one 4-5, the cutting disc drive motor two 4-6, and the cutting disc drive motor three 4-7, the pressure sensor six 4-42, the pressure sensor seven 4-43, the pressure sensor eight 4-44, the pressure sensor nine 4-45, the pressure sensor ten 4-46, the pressure sensor eleven 4-47, the pressure sensor twelve 4-48, and the pressure sensor thirteen 4-49 are correspondingly installed on the first electromagnetic control valve 4-50, the second electromagnetic control valve 4-51, the third electromagnetic control valve 4-52, the fourth electromagnetic control valve 4-53, the fifth electromagnetic control valve 4-54, the sixth electromagnetic control valve 4-55, the seventh electromagnetic control valve 4-56, and the eighth electromagnetic control valve 4-57.

[0066] The vibration sensor 4-25 of the body 1-1 of the body part 1, the pressure sensor four 4-23 and the pressure sensor five 4-24 on the supporting cylinder one 4-34, the supporting cylinder two 4-35, the supporting cylinder three 4-36, the supporting cylinder four 4-37, the supporting cylinder five 4-38, the supporting cylinder six 4-39, the supporting cylinder seven 4-40, and the supporting cylinder eight 4-41, the pressure sensor two 4-12 on the swing cylinder one 4-14 and the swing cylinder two 4-15 of the swing mechanism 2-2, the pressure sensor three 4-17 on the telescopic cylinder 4-16, and the pressure sensor one 4-11 on the cutting disc drive motor one 4-5, the cutting disc drive motor two 4-6, and the cutting disc drive motor three 4-7 transmit electrical signals to the adaptive cutting controller 4-60 when working. The adaptive cutting controller 4-60 analyzes the hardness condition, and outputs a control signal according to the hardness condition, which is applied to the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10, and the fourth solenoid valve 4-13, and controls the opening of the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10, and the fourth solenoid valve 4-13 to increase or decrease, so that the swing speed of the cutting arm 2-1 is increased, and the speed of the cutting disc 1 2-6-1, the cutting disc 2-6-2, and the cutting disc 3 2-6-3 is increased. The adaptive cutting controller 4-60 analyzes whether the speed at this time reaches the optimal threshold. If so, the speed is maintained and the adaptive cutting controller records the hardness corresponding to the speed. Otherwise, the opening of the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10, and the fourth solenoid valve 4-13 is continuously adjusted until the optimal threshold is reached. Then, the neural network records the hardness corresponding to the speed, which is convenient for installing the record to adjust the speed during the next cutting, thereby realizing adaptive cutting.

[0067] The vibration sensor 4-25 on the body 1-1 of the body part 1, the pressure sensor 4-23 and the pressure sensor 5-4-24 on the supporting cylinder 1-4-34, the supporting cylinder 2-4-35, the supporting cylinder 3-4-36, the supporting cylinder 4-37, the supporting cylinder 5-4-38, the supporting cylinder 6-4-39, the supporting cylinder 7-40, and the supporting cylinder 8-4-41 of the supporting mechanism 1-3 of the body part 1, the pressure sensor 14-4-58 and the pressure sensor 15-4-59 on the double-column variable piston pump 4-2, and the first electromagnetic control valve 4-50, the second electromagnetic control valve 4-51, and the third electromagnetic control valve 4-52 The electric signals fed back by the pressure sensors 6-42, 7-43, 8-44, 9-45, 10-46, 11-47, 12-48 and 13-49 on the fourth solenoid control valve 4-53, the fifth solenoid control valve 4-54, the sixth solenoid control valve 4-55, the seventh solenoid control valve 4-56 and the eighth solenoid control valve 4-57 analyze the current vibration situation, and output signals according to the vibration situation to control the first solenoid control valve 4-50, the second solenoid control valve 4-51 and the third solenoid control valve 4-52. -52, the fourth solenoid control valve 4-53, the fifth solenoid control valve 4-54, the sixth solenoid control valve 4-55, the seventh solenoid control valve 4-56, and the eighth solenoid control valve 4-57 open and close to give a certain return oil back pressure to the support cylinder 1 4-34, the support cylinder 2 4-35, the support cylinder 3 4-36, the support cylinder 4-37, the support cylinder 5 4-38, the support cylinder 6 4-39, the support cylinder 7 4-40, and the support cylinder 8 4-41, and the vibration damping buffer controller 4-61 determines whether the pressure value reaches the optimal threshold value. If not, it continues to control the opening and closing of the solenoid control valve until the pressure reaches the optimal threshold value, thereby reducing the pressure caused by The vibration caused by the rapid expansion and contraction of the supporting cylinder 1 4-34, the supporting cylinder 2 4-35, the supporting cylinder 3 4-36, the supporting cylinder 4-37, the supporting cylinder 5 4-38, the supporting cylinder 6 4-39, the supporting cylinder 7 4-40, and the supporting cylinder 8 4-41 is used to realize pressure regulation, and then output signals to control the rapid opening and closing of the first high-speed switch valve 4-26, the second high-speed switch valve 4-27, the third high-speed switch valve 4-28, the fourth high-speed switch valve 4-29, the fifth high-speed switch valve 4-30, the sixth high-speed switch valve 4-31, the seventh high-speed switch valve 4-32, and the eighth high-speed switch valve 4-33 to realize active vibration reduction.The vibration sensor 4-25 located on the body 1-1 of the body part 1, the pressure sensor 4-23 and the pressure sensor 5-4-24 on the supporting cylinder 1-4-34, the supporting cylinder 2-4-35, the supporting cylinder 3-4-36, the supporting cylinder 4-37, the supporting cylinder 5-4-38, the supporting cylinder 6-4-39, the supporting cylinder 7-40, and the supporting cylinder 8-41 of the supporting mechanism 1-3 of the body part 1, and the first electromagnetic control valve 4-50, the second electromagnetic control valve 4-51, the third electromagnetic control valve 4-52, and the fourth electromagnetic control valve 4- 53, the pressure sensor six 4-42, pressure sensor seven 4-43, pressure sensor eight 4-44, pressure sensor nine 4-45, pressure sensor ten 4-46, pressure sensor eleven 4-47, pressure sensor twelve 4-48, pressure sensor thirteen 4-49 on the fifth electromagnetic control valve 4-54, the sixth electromagnetic control valve 4-55, the seventh electromagnetic control valve 4-56, and the eighth electromagnetic control valve 4-57 feed back the vibration reduction of each cylinder to the vibration reduction buffer controller 4-61, and the vibration reduction buffer controller 4-61 performs posture coordinated control.

[0068] The construction process of the present invention is briefly expressed as follows: by driving the walking mechanism 1-2, the machine body 1 and the cutting part 2 are directionally transported to the construction work position, the supporting mechanism 1-3 is driven to prop up the machine body 1, so that the machine body 1 is in an ideal construction position, the cutting disc 2-6 rotates, and the swing mechanism 2-2 realizes the left and right swing of the cutting arm 2-1 and crushes and cleans the large-size broken hard rock. The adaptive cutting controller 4-60 adjusts the cutting swing speed and the speed of the cutting disc to realize adaptive cutting. The vibration damping and buffering controller 4-61 controls the opening and closing of the electromagnetic control valve to give a certain return oil back pressure to the supporting cylinder. Then the vibration damping and buffering controller 4-61 controls the high-speed switch valve (the high-speed switch valve realizes rapid opening and closing according to the control signal) to quickly open and close to realize active vibration reduction. The cutting disc 2-6 of the cutting part 2 rolls and crushes the hard rock. After crushing, the large-size broken hard rock is broken into small-size broken hard rock under the swinging action of the cutting arm 2-1. Rocks may be swept to the side. As the construction progresses, the belt conveyor 3-1-1 driven by the belt conveyor 1 driving motor 3-1-2 continuously transports and transports out the broken rocks. The remaining small-size broken hard rocks are transported to the belt conveyor 2 3-2-2 through the pneumatic conveying system pipeline 3-2-1 under the action of negative pressure pneumatic force. The belt conveyor 2 driving motor 3-2-3 drives the belt conveyor 2 3-2-2 to transport out the broken rocks. After the loading is completed, whether there is an electrical signal from the sensor, if so, continue with the above steps for cutting; otherwise, it means that the cutting is completed at the current state position, and the telescopic mechanism 2-5 is driven to drive the cutting arm 2-1 to advance the cutting disc 2-6 for continuous cutting until the telescopic mechanism 2-5 reaches the limit elongation, then the supporting mechanism 1-3 of the body 1 is retracted, and the walking mechanism 1-2 continues to advance to the next construction position for cutting until the construction is completed.

[0069] Start the double-column variable piston pump 4-2 to supply the hydraulic system, control the first solenoid valve 4-8, the second solenoid valve 4-9, and the third solenoid valve 4-10 to drive the cutting disc drive motor 1 4-5, the cutting disc drive motor 2 4-6, and the cutting disc drive motor 3 4-7 to drive the cutting disc 2-6 to rotate, control the fourth solenoid valve 4-13 to drive the swing cylinder 1 4-14 and the swing cylinder 4-15 to swing the cutting arm 2-1 left and right and crush the large-size hard rock.

[0070] The vibration sensor 4-25, the pressure sensor four 4-23, the pressure sensor five 4-24, the pressure sensor two 4-12, the pressure sensor three 4-17, and the pressure sensor one 4-11 collect data and feed back electrical signals to the adaptive cutting controller 4-60 to analyze the hardness. According to the hardness, the output signal controls the opening of the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10, and the fourth solenoid valve 4-13 to increase or decrease, thereby increasing the swing speed of the cutting arm 2-1 and the speed of the cutting disc 2-6. The adaptive cutting controller 4-60 analyzes whether the speed at this time reaches the optimal threshold. If so, the speed is maintained and the adaptive cutting controller records the hardness corresponding to the speed. Otherwise, the opening of the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10, and the fourth solenoid valve 4-13 is continuously adjusted until the optimal threshold is reached.

[0071] Start the double-column variable piston pump 4-2 to supply the hydraulic system, and the vibration sensor 4-25, pressure sensor four 4-23, pressure sensor five 4-24, pressure sensor six 4-42, pressure sensor seven 4-43, pressure sensor eight 4-44, pressure sensor nine 4-45, pressure sensor ten 4-46, pressure sensor eleven 4-47, pressure sensor twelve 4-48, pressure sensor thirteen 4-49, pressure sensor fourteen 4-58, and pressure sensor fifteen 4-59 feedback signals to collect data to the vibration damping buffer controller 4-61 to analyze the vibration situation, and output signals according to the vibration situation to control the solenoid control valve one 4-50, the solenoid control valve two 4-51, the solenoid control valve three 4-52, The electromagnetic control valve four 4-53, the electromagnetic control valve five 4-54, the electromagnetic control valve six 4-55, the electromagnetic control valve seven 4-56 and the electromagnetic control valve eight 4-57 are opened and closed until the optimal threshold is reached to give the support cylinder a certain return oil back pressure to achieve pressure regulation; the vibration damping and buffering controller 4-61 outputs a signal according to the vibration situation to control the high-speed switch valve one 4-26, the high-speed switch valve two 4-27, the high-speed switch valve three 4-28, the high-speed switch valve four 4-29, the high-speed switch valve five 4-30, the high-speed switch valve six 4-31, the high-speed switch valve seven 4-32 and the high-speed switch valve eight 4-33 to open and close quickly to achieve active vibration reduction, and then perform posture coordinated control through the vibration damping and buffering controller 4-61 according to the sensor signal.

[0072] The excavation equipment of the present invention is a jacking-shield equipment for directional excavation of small-section hard rock underground space, and the specific working process of its implementation process is as follows:

[0073] During the construction of small-section underground hard rock space, the double-column variable piston pump 4-2 is started to supply energy to the hydraulic system, and the sixth solenoid valve 4-21 and the seventh solenoid valve 4-22 are controlled to drive the hydraulic motors 4-19 and 4-20, and then drive the walking mechanism 1-2 of the machine body 1, so as to directionally transport the machine body 1 and the cutting part 2 to the construction site, and control the first high-speed switch valve 4-26, the second high-speed switch valve 4-27, the third high-speed switch valve 4-28, the fourth high-speed switch valve 4-29, and the fifth high-speed switch Valve 4-30, the sixth high-speed switch valve 4-31, the seventh high-speed switch valve 4-32, and the eighth high-speed switch valve 4-33 drive the supporting cylinder 1 4-34, the supporting cylinder 2 4-35, the supporting cylinder 3 4-36, the supporting cylinder 4-37, the supporting cylinder 5 4-38, the supporting cylinder 6 4-39, the supporting cylinder 7 4-40, and the supporting cylinder 8 4-41 of the supporting mechanism 1-3 to extend and retract, thereby propping up the supporting mechanism 1-3 of the body part 1, so that the posture of the body part 1 is in an ideal construction posture.

[0074] The double-column variable piston pump 4-2 supplies energy to the hydraulic system, controls the first solenoid valve 4-8, the second solenoid valve 4-9, and the third solenoid valve 4-10 to drive the cutting disc drive motor 1 4-5, the cutting disc drive motor 2 4-6, and the cutting disc drive motor 3 4-7 to drive the cutting disc 1 2-6-1, the cutting disc 2 2-6-2, and the cutting disc 3 2-6-3 to rotate, controls the fourth solenoid valve 4-13 to drive the swing cylinder 1 4-14 and the swing cylinder 2 4-15 of the swing mechanism 2-2 to realize the left and right swing of the cutting arm 2-1 of the cutting part 2 and crush and clean the large-size broken hard rock, and the adaptive cutting controller 4-60 is based on the vibration sensor 4-25 installed on the body 1-1 of the body 1, the support cylinder 1 4-34, the support cylinder 2 4-35, the support cylinder 3 4-36, the support cylinder 4 4-37, the support cylinder The signals of pressure sensor four 4-23 and pressure sensor five 4-24 on the five 4-38, supporting cylinder six 4-39, supporting cylinder seven 4-40 and supporting cylinder eight 4-41, pressure sensor two 4-12 on the swing cylinder one 4-14 and swing cylinder two 4-15 of the swing mechanism 2-2 of the cutting part 2, pressure sensor three 4-17 on the telescopic cylinder 4-16 of the telescopic mechanism 2-5 of the cutting part 2 and pressure sensor one 4-11 on the cutting disc drive motor one 4-5, cutting disc drive motor two 4-6 and cutting disc drive motor three 4-7 of the cutting part 2 are used to analyze the current rock and soil hardness, and the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10 and the fourth solenoid valve 4-13 are controlled by the adaptive cutting controller 4-60 to realize the cutting swing speed and the cutting disc rotation speed, thereby realizing adaptive cutting of rock and soil.

[0075] The vibration reduction buffer controller 4-61 is based on the vibration sensor 4-25 installed on the body 1-1 of the body part 1, the pressure sensor 4-23 and the pressure sensor 5-4-24 on the support cylinder 1 4-34, the support cylinder 2 4-35, the support cylinder 3 4-36, the support cylinder 4 4-37, the support cylinder 5 4-38, the support cylinder 6 4-39, the support cylinder 7 4-40, and the support cylinder 8 4-41 of the support mechanism 1-3 of the body part 1, the pressure sensor 14 4-58 and the pressure sensor 15 4-59 on the double-column variable piston pump 4-2, and the first electromagnetic control valve 4-50 and the second electromagnetic control valve 4-41. The current vibration condition is analyzed by the electrical signal fed back by the pressure sensors six 4-42, seven 4-43, eight 4-44, nine 4-45, ten 4-46, eleven 4-47, twelve 4-48 and thirteen 4-49 on the first solenoid control valve 4-50, the second solenoid control valve 4-51, the third solenoid control valve 4-52, the fourth solenoid control valve 4-53, the fifth solenoid control valve 4-54, the sixth solenoid control valve 4-55, the seventh solenoid control valve 4-56 and the eighth solenoid control valve 4-57, and the control signal is output according to the vibration condition and applied to the first solenoid control valve 4-50, the second solenoid control valve 4-51, the third solenoid control valve 4-52, the fourth solenoid control valve 4-53, the fifth solenoid control valve 4-54, the sixth solenoid control valve 4-55, the seventh solenoid control valve 4-56 and the eighth solenoid control valve 4-57. The magnetic control valve 4-51, the third electromagnetic control valve 4-52, the fourth electromagnetic control valve 4-53, the fifth electromagnetic control valve 4-54, the sixth electromagnetic control valve 4-55, the seventh electromagnetic control valve 4-56, and the eighth electromagnetic control valve 4-57 enable the first electromagnetic control valve 4-50, the second electromagnetic control valve 4-51, the third electromagnetic control valve 4-52, the fourth electromagnetic control valve 4-53, the fifth electromagnetic control valve 4-54, the sixth electromagnetic control valve 4-55, the seventh electromagnetic control valve 4-56, and the eighth electromagnetic control valve 4-57 to open and close the support cylinder 1 4-34, the support cylinder 2 4-35, the support cylinder 3 4-36, and the support cylinder 4-37. The support cylinder 4-37, the support cylinder 5-4-38, the support cylinder 6-4-39, the support cylinder 7-40, and the support cylinder 8-4-41 have a certain return oil back pressure, and the vibration reduction buffer controller 4-61 determines whether the pressure value reaches the optimal threshold value. If not, it continues to control the opening and closing of the electromagnetic control valve until the pressure reaches the optimal threshold value, thereby reducing the vibration caused by the rapid expansion and contraction of the support cylinder 1 4-34, the support cylinder 2 4-35, the support cylinder 3 4-36, the support cylinder 4 4-37, the support cylinder 5 4-38, the support cylinder 6 4-39, the support cylinder 7 4-40, and the support cylinder 8 4-41, thereby realizing pressure regulation.The output control signal is then applied to the first high-speed switch valve 4-26, the second high-speed switch valve 4-27, the third high-speed switch valve 4-28, the fourth high-speed switch valve 4-29, the fifth high-speed switch valve 4-30, the sixth high-speed switch valve 4-31, the seventh high-speed switch valve 4-32, and the eighth high-speed switch valve 4-33 to control the first high-speed switch valve 4-26, the second high-speed switch valve 4-27, the third high-speed switch valve 4-28, the fourth high-speed switch valve 4-29, the fifth high-speed switch valve 4-30, the sixth high-speed switch valve 4-31, the seventh high-speed switch valve 4-32, and the eighth high-speed switch valve 4-33 to quickly open and close, thereby realizing active vibration reduction (the electromagnetic control valve and the high-speed switch valve work together to realize intelligent vibration reduction), and the vibration sensor 4-25 located on the body 1-1 of the body part 1, the support cylinder one 4-34, the support cylinder two 4-35, the support cylinder three 4-36, and the support The pressure sensors 4-23 and 5-24 on the oil cylinder 4-37, the support oil cylinder 5-38, the support oil cylinder 6-39, the support oil cylinder 7-40, and the support oil cylinder 8-4-41, as well as the pressure sensors 6-4-42, 7-43, 8-4-44, 9-45, 10-46, 11-47, 12-48, and 13-49 on the first electromagnetic control valve 4-50, the second electromagnetic control valve 4-51, the third electromagnetic control valve 4-52, the fourth electromagnetic control valve 4-53, the fifth electromagnetic control valve 4-54, the sixth electromagnetic control valve 4-55, the seventh electromagnetic control valve 4-56, and the eighth electromagnetic control valve 4-57 feed back the vibration reduction of each oil cylinder to the vibration reduction buffer controller 4-61, which performs posture coordinated control.

[0076] The cutting disc 1 2-6-1, the cutting disc 2-6-2 and the cutting disc 3 2-6-3 of the cutting part 2 roll and crush the hard rock. After crushing, the large-size crushed hard rock is crushed into small-size crushed hard rock or swept to the side under the swinging action of the cutting arm 2-1. As the construction continues, the belt conveyor device 3-1-1 driven by the driving motor 3-1-2 of the side belt conveyor system 3-1 of the loading part 3 continuously transports and transports the crushed rock; the double-column variable piston pump 4-2 supplies The hydraulic system can control the fourth solenoid valve 4-13 to drive the swing cylinder 1 4-14 and the swing cylinder 2 4-15 of the swing mechanism 2-2 to realize the left and right swing of the cutting arm 2-1 of the cutting part 2. The remaining small-sized crushed hard rocks are transported to the belt conveyor device 2 3-2-2 through the pneumatic conveying system pipeline 3-2-1 of the pneumatic conveying system 3-2 of the loading part 3 under the action of negative pressure pneumatic force. The belt conveyor device 2 drives the motor 3-2-3 to drive the belt conveyor device 2 3-2-2 to transport the crushed rocks.

[0077] After loading is completed, the adaptive cutting controller 4-60 determines whether there is a vibration sensor 4-25 on the body 1-1 of the body part 1, a support cylinder one 4-34, a support cylinder two 4-35, a support cylinder three 4-36, a support cylinder four 4-37, a support cylinder five 4-38, a support cylinder six 4-39, a support cylinder seven 4-40, and a support cylinder eight 4-41, a pressure sensor four 4-23, a pressure sensor five 4-24 on the swing cylinder one 4-14, and a pressure sensor two 4-12 on the swing cylinder two 4-15 of the swing mechanism 2-2 of the cutting part 2, and a cutting part 2. Whether the pressure sensor three 4-17 on the telescopic cylinder 4-16 of the telescopic mechanism 2-5 of the cutting part 2 and the electrical signals of the pressure sensor one 4-11 on the cutting disc drive motor one 4-5, the cutting disc drive motor two 4-6, and the cutting disc drive motor three 4-7 of the cutting part 2 and the vibration damping buffer controller 4-61 are from the vibration sensor 4-25 installed on the body 1-1 of the body part 1, the supporting cylinder one 4-34, the supporting cylinder two 4-35, the supporting cylinder three 4-36, the supporting cylinder four 4-37, the supporting cylinder five 4-38, the supporting cylinder six 4-39, The pressure sensors 4-23 and 4-24 on the supporting cylinder 7-40 and the supporting cylinder 8-4-41, the pressure sensors 14-58 and 15-59 on the double-column variable displacement pump 4-2, and the pressure sensors 6-42, 7-43, 8-4 on the first electromagnetic control valve 4-50, the second electromagnetic control valve 4-51, the third electromagnetic control valve 4-52, the fourth electromagnetic control valve 4-53, the fifth electromagnetic control valve 4-54, the sixth electromagnetic control valve 4-55, the seventh electromagnetic control valve 4-56, and the eighth electromagnetic control valve 4-57. -44, pressure sensor nine 4-45, pressure sensor ten 4-46, pressure sensor eleven 4-47, pressure sensor twelve 4-48, pressure sensor thirteen 4-49 electrical signals, it means that there is rock and soil residue, the double column variable piston pump 4-2 supplies energy to the hydraulic system, controls the first solenoid valve 4-8, the second solenoid valve 4-9, the third solenoid valve 4-10 to drive the cutting disc drive motor one 4-5, the cutting disc drive motor two 4-6, the cutting disc drive motor three 4-7 and then drives the cutting disc one 2-6-1, the cutting disc two 2-6-2, the cutting disc three 2-6-3 to continue to rotate for cutting;Otherwise, it means that the cutting at the current state position is completed, and the fifth solenoid valve 4-18 is controlled to drive the telescopic cylinder 4-16 and then drive the cutting arm 2-1 to push the cutting disc 1 2-6-1, the cutting disc 2-6-2, and the cutting disc 3 2-6-3 to continue cutting until the telescopic cylinder 4-16 reaches the limit extension, and then controls the first high-speed switch valve 4-26, the second high-speed switch valve 4-27, the third high-speed switch valve 4-28, the fourth high-speed switch valve 4-29, the fifth high-speed switch valve 4-30, the sixth high-speed switch valve 4-31, and the seventh high-speed switch valve 4-32. The high-speed switch valve 4-32 and the eighth high-speed switch valve 4-33 drive the support cylinder 1 4-34, the support cylinder 2 4-35, the support cylinder 3 4-36, the support cylinder 4 4-37, the support cylinder 5 4-38, the support cylinder 6 4-39, the support cylinder 7 4-40, and the support cylinder 8 4-41 of the support mechanism 1-3 to extend and retract, and the support mechanism 1-3 of the body 1 is retracted, and the sixth solenoid valve 4-21 and the seventh solenoid valve 4-22 are controlled to drive the walking mechanism 1-2 to continue to advance to the next construction position for construction until the construction is completed. ;

[0078] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A thin-body, small-section hard rock rolling excavation equipment, characterized in that: It comprises a machine body (1), a cutting part (2), a loading part (3), and a hydraulic control system (4); The machine body (1) comprises a machine body (1-1), a walking mechanism (1-2), and a supporting mechanism (1-3); The eight supporting mechanisms (1-3) are installed on the upper and lower parts of the machine body (1-1), with four supporting mechanisms (1-3) on each of the upper and lower parts. The eight supporting mechanisms (1-3) are sequentially driven by supporting cylinder 1 (4-34), supporting cylinder 2 (4-35), supporting cylinder 3 (4-36), supporting cylinder 4 (4-37), supporting cylinder 5 (4-38), supporting cylinder 6 (4-39), supporting cylinder 7 (4-40), and supporting cylinder 8 (4-41) to achieve height support for the machine body (1-1); The walking mechanism (1-2) is installed on the side of the machine body (1-1), and the machine body (1-1) is provided with a walking mechanism driving motor 1 (4-19) and a walking mechanism driving motor 2 (4-20) to control the walking mechanism (1-2) to drive the machine body (1-1) to move; The cutting part (2) comprises a cutting arm (2-1), a swing mechanism (2-2), a rotary platform (2-3), a cutting head (2-4), a telescopic mechanism (2-5), and a cutting disc (2-6); The cutting arm (2-1) is connected to the machine body (1-1) in a horizontal rotational manner via a rotating platform (2-3), and the two sides of the cutting arm (2-1) are respectively connected via a swing mechanism (2-2) to realize left and right swinging of the cutting arm (2-1), wherein one of the swing mechanisms (2-2) has a built-in swing cylinder 1 (4-14), and the other swing mechanism (2-2) has a built-in swing cylinder 2 (4-15); The cutting blade head (2-4) is installed at the front end of the cutting arm (2-1) through a telescopic mechanism (2-5) and is used to extend the cutting distance of the cutting arm (2-1). The telescopic mechanism (2-5) is driven to be telescopic by a telescopic oil cylinder (4-16); The cutting disc (2-6) comprises a cutting disc 1 (2-6-1), a cutting disc 2 (2-6-2) and a cutting disc 3 (2-6-3). The cutting disc 1 (2-6-1), the cutting disc 2 (2-6-2) and the cutting disc 3 (2-6-3) are mounted on the cutting head (2-4) and driven by a cutting disc driving motor 1 (4-5), a cutting disc driving motor 2 (4-6) and a cutting disc driving motor 3 ( 4-7) is driven to rotate, and under the drive of the swing cylinder 1 (4-14), the swing cylinder 2 (4-15), the telescopic cylinder (4-16) and the cutting disc drive motor 1 (4-5), the cutting disc drive motor 2 (4-6) and the cutting disc drive motor 3 (4-7), the cutting disc 1 (2-6-1), the cutting disc 2 (2-6-2) and the cutting disc 3 (2-6-3) rotate and swing and roll to crush the hard rock; The loading part (3) comprises a side belt conveyor system (3-1) and a pneumatic conveyor system (3-2); wherein the side belt conveyor system (3-1) comprises a belt conveyor device 1 (3-1-1) and a belt conveyor device 1 driving motor (3-1-2); the pneumatic conveyor system (3-2) comprises a pneumatic conveyor system pipeline (3-2-1), a belt conveyor device 2 (3-2-2) and a belt conveyor device 2 driving motor (3-2-3); the belt conveyor device 1 (3-1-1) is installed on the machine body ( The pneumatic conveying system pipeline (3-2-1) is fixed to the cutting head (2-4) at one end and connected to the belt conveyor device (3-2-2) at the other end, and is driven by the belt conveyor device (3-2-3) installed on the side of the belt conveyor device (3-2-2) to load and transport small-size broken hard rocks.

2. The thin-body small-section hard rock rolling tunneling equipment according to claim 1, characterized in that: The machine body (1) is also provided with an adaptive cutting controller (4-60) and a vibration damping and buffering controller (4-61). The adaptive cutting controller (4-60) is used to adjust the swing speed of the cutting arm (2-1) and the speed of the cutting disc (2-6) to achieve adaptive cutting. The vibration damping and buffering controller (4-61) controls the opening and closing of the electromagnetic control valve to give a certain oil return back pressure to the supporting oil cylinder. Then, the vibration damping and buffering controller (4-61) controls the high-speed switch valve to open and close quickly to achieve active vibration reduction. The adaptive cutting controller (4-60) and the vibration damping and buffering controller (4-61) are powered by a double-column variable piston pump (4-2) to supply energy to the hydraulic system.

3. The thin-body small-section hard rock rolling excavation equipment according to claim 2, characterized in that: The cutting disc drive motor 1 (4-5), the cutting disc drive motor 2 (4-6), and the cutting disc drive motor 3 (4-7) are respectively provided with a first solenoid valve (4-8), a second solenoid valve (4-9), and a third solenoid valve (4-10); The swing oil cylinder 1 (4-14) and the swing oil cylinder 2 (4-15) are respectively provided with a fourth solenoid valve (4-13); A vibration sensor (4-25) is provided on the machine body (1-1); Support cylinder one (4-34), support cylinder two (4-35), support cylinder three (4-36), support cylinder four (4-37), support cylinder five (4-38), support cylinder six (4-39), support cylinder seven (4-40), and support cylinder eight (4-41) are provided with pressure sensor four (4-23) and pressure sensor five (4-24) respectively; The swing cylinder 1 (4-14) and the swing cylinder 2 (4-15) are respectively provided with a pressure sensor 2 (4-12); The telescopic oil cylinder (4-16) is provided with a pressure sensor 3 (4-17) correspondingly; The cutting disc drive motor 1 (4-5), the cutting disc drive motor 2 (4-6), and the cutting disc drive motor 3 (4-7) are respectively provided with a pressure sensor 1 (4-11); Among them, the vibration sensor (4-25), the pressure sensor four (4-23), the pressure sensor five (4-24), the pressure sensor two (4-12), the pressure sensor three (4-17), and the pressure sensor one (4-11) collect data and feed back electrical signals to the adaptive cutting controller (4-60). The adaptive cutting controller (4-60) analyzes the hardness and outputs control signals to the first solenoid valve (4-8), the second solenoid valve (4-9), the third solenoid valve (4-10), and the fourth solenoid valve (4-13) to control their openings to increase or decrease, thereby increasing the swing speed of the cutting arm (2-1) and increasing the rotation speed of the cutting disc one (2-6-1), the cutting disc two (2-6-2), and the cutting disc three (2-6-3).

4. The thin-body small-section hard rock rolling excavation equipment according to claim 3, characterized in that: The double-column variable displacement pump (4-2) is provided with a pressure sensor fourteen (4-58) and a pressure sensor fifteen (4-59); The supporting oil cylinder 1 (4-34), supporting oil cylinder 2 (4-35), supporting oil cylinder 3 (4-36), supporting oil cylinder 4 (4-37), supporting oil cylinder 5 (4-38), supporting oil cylinder 6 (4-39), supporting oil cylinder 7 (4-40), and supporting oil cylinder 8 (4-41) are respectively provided with a first electromagnetic control valve (4-50), a second electromagnetic control valve (4-51), a third electromagnetic control valve (4-52), a fourth electromagnetic control valve (4-53), a fifth electromagnetic control valve (4-54), a sixth electromagnetic control valve (4-55), a seventh electromagnetic control valve (4-56), and an eighth electromagnetic control valve (4-57). The first electromagnetic control valve (4-50) -50), the second electromagnetic control valve (4-51), the third electromagnetic control valve (4-52), the fourth electromagnetic control valve (4-53), the fifth electromagnetic control valve (4-54), the sixth electromagnetic control valve (4-55), the seventh electromagnetic control valve (4-56), and the eighth electromagnetic control valve (4-57) are respectively provided with pressure sensors six (4-42), seven (4-43), eight (4-44), nine (4-45), ten (4-46), eleven (4-47), twelve (4-48), and thirteen (4-49) for detecting rock and soil residue; The vibration sensor (4-25), pressure sensor four (4-23), pressure sensor five (4-24), pressure sensor fourteen (4-58), pressure sensor fifteen (4-59), pressure sensor six (4-42), pressure sensor seven (4-43), pressure sensor eight (4-44), pressure sensor nine (4-45), pressure sensor ten (4-46), pressure sensor eleven (4-47), pressure sensor twelve (4-48), and pressure sensor thirteen (4-49) collect data and feed back electrical signals to the vibration damping and buffering controller (4-61), and the vibration damping and buffering controller (4-61) analyzes the vibration conditions and outputs control signals. Number to the first solenoid control valve (4-50), the second solenoid control valve (4-51), the third solenoid control valve (4-52), the fourth solenoid control valve (4-53), the fifth solenoid control valve (4-54), the sixth solenoid control valve (4-55), the seventh solenoid control valve (4-56), and the eighth solenoid control valve (4-57), to control the opening and closing of the corresponding support cylinder one (4-34), support cylinder two (4-35), support cylinder three (4-36), support cylinder four (4-37), support cylinder five (4-38), support cylinder six (4-39), support cylinder seven (4-40), and support cylinder eight (4-41) to return oil back pressure; The supporting oil cylinder 1 (4-34), the supporting oil cylinder 2 (4-35), the supporting oil cylinder 3 (4-36), the supporting oil cylinder 4 (4-37), the supporting oil cylinder 5 (4-38), the supporting oil cylinder 6 (4-39), the supporting oil cylinder 7 (4-40), and the supporting oil cylinder 8 (4-41) are also provided with a first high-speed switch valve (4-26), a second high-speed switch valve (4-27), a third high-speed switch valve (4-28), a fourth high-speed switch valve (4-29), a fifth high-speed switch valve (4-30), a sixth high-speed switch valve (4-3 1), the seventh high-speed switch valve (4-32), the eighth high-speed switch valve (4-33), the vibration damping buffer controller (4-61) analyzes the vibration situation and outputs a control signal to control the first high-speed switch valve (4-26), the second high-speed switch valve (4-27), the third high-speed switch valve (4-28), the fourth high-speed switch valve (4-29), the fifth high-speed switch valve (4-30), the sixth high-speed switch valve (4-31), the seventh high-speed switch valve (4-32), and the eighth high-speed switch valve (4-33) to quickly open and close, thereby realizing active vibration reduction; The vibration sensor (4-25), pressure sensor four (4-23), pressure sensor five (4-24), pressure sensor six (4-42), pressure sensor seven (4-43), pressure sensor eight (4-44), pressure sensor nine (4-45), pressure sensor ten (4-46), pressure sensor eleven (4-47), pressure sensor twelve (4-48), and pressure sensor thirteen (4-49) feed back the vibration reduction conditions of each cylinder to the vibration reduction buffer controller (4-61), and the vibration reduction buffer controller (4-61) performs posture coordinated control.

5. The construction process of a thin-body small-section hard rock rolling tunneling equipment according to claim 4 is characterized in that: The following steps are involved: Step 1: During the construction of a small-section underground hard rock space, the double-column variable piston pump (4-2) is started to supply energy to the hydraulic system, and the sixth solenoid valve (4-21) and the seventh solenoid valve (4-22) are controlled to drive the walking mechanism driving motor 1 (4-19) and the walking mechanism driving motor 2 (4-20), thereby driving the walking mechanism (1-2) of the machine body (1), and the machine body (1) and the cutting part (2) are directional transported to the construction operation position, and the first high-speed switch valve (4-26), the second high-speed switch valve (4-27), the third high-speed switch valve (4-28), the fourth high-speed switch valve (4-29), and the fourth high-speed switch valve (4-30) are controlled to drive the first high-speed switch valve (4-26), the second high-speed switch valve (4-27), the third high-speed switch valve (4-28), the fourth high-speed switch valve (4-30), and the fourth high-speed switch valve (4-31). The fifth high-speed switch valve (4-30), the sixth high-speed switch valve (4-31), the seventh high-speed switch valve (4-32), and the eighth high-speed switch valve (4-33) drive the supporting cylinders 1 (4-34), 2 (4-35), 3 (4-36), 4 (4-37), 5 (4-38), 6 (4-39), 7 (4-40), and 8 (4-41) of the eight supporting mechanisms (1-3) to extend and retract, thereby propping up the supporting mechanism (1-3) of the machine body (1), so that the machine body (1) is in an ideal construction position. Step 2: The double-column variable piston pump (4-2) supplies energy to the hydraulic system, controls the first solenoid valve (4-8), the second solenoid valve (4-9), and the third solenoid valve (4-10) to drive the cutting disc drive motor 1 (4-5), the cutting disc drive motor 2 (4-6), and the cutting disc drive motor 3 (4-7), and then drives the cutting disc drive motor 1 (4-5), the cutting disc drive motor 2 (4-6), and the cutting disc drive motor 3 (4-7) to rotate, and controls The fourth solenoid valve (4-13) drives the swing cylinder 1 (4-14) and the swing cylinder 2 (4-15) of the swing mechanism (2-2) to realize the left and right swing of the cutting arm (2-1) of the cutting part (2) and crush and clean the large-size broken hard rock. The adaptive cutting controller (4-60) controls the cutting arm (2-1) and the cutting arm (2-2) according to the vibration sensor (4-25) installed on the machine body (1-1), the support cylinder 1 (4-34), the support cylinder 2 (4-35), the support cylinder 3 (4-36), the support cylinder 4-37, the support cylinder 4-38 and the support cylinder 4-39. The signals of the pressure sensors 4 (4-23) and 5 (4-24) on the supporting cylinder 4 (4-37), the supporting cylinder 5 (4-38), the supporting cylinder 6 (4-39), the supporting cylinder 7 (4-40) and the supporting cylinder 8 (4-41), the pressure sensors 2 (4-12) on the swinging cylinder 1 (4-14) and the swinging cylinder 2 (4-15), the pressure sensor 3 (4-17) on the telescopic cylinder (4-16), and the pressure sensor 1 (4-11) on the cutting disc drive motor 1 (4-5), the cutting disc drive motor 2 (4-6) and the cutting disc drive motor 3 (4-7) are used to analyze the current rock and soil hardness, and the first solenoid valve (4-8), the second solenoid valve (4-9), the third solenoid valve (4-10) and the fourth solenoid valve (4-13) are controlled through the adaptive cutting controller (4-60) to realize the cutting swing speed and the speed of the cutting disc, thereby realizing adaptive cutting of rock and soil; Step 3: The vibration damping and buffering controller (4-61) is based on the vibration sensor (4-25) installed on the machine body (1-1), the pressure sensor 4 (4-23) and the pressure sensor 5 (4-24) on the supporting cylinder 1 (4-34), the supporting cylinder 2 (4-35), the supporting cylinder 3 (4-36), the supporting cylinder 4 (4-37), the supporting cylinder 5 (4-38), the supporting cylinder 6 (4-39), the supporting cylinder 7 (4-40), and the supporting cylinder 8 (4-41), the pressure sensor 14 (4-58) and the pressure sensor 15 (4-59) on the double-column variable piston pump (4-2), and the first electromagnetic control valve (4-50), the second electromagnetic control valve (4-51), and the third electromagnetic The current vibration condition is analyzed by the electric signals fed back by the pressure sensors six (4-42), seven (4-43), eight (4-44), nine (4-45), ten (4-46), eleven (4-47), twelve (4-48) and thirteen (4-49) on the control valve (4-52), the fourth solenoid control valve (4-53), the fifth solenoid control valve (4-54), the sixth solenoid control valve (4-55), the seventh solenoid control valve (4-56) and the eighth solenoid control valve (4-57), and the output control signal is applied to the first solenoid control valve (4-50), the second solenoid control valve (4-51) and the second solenoid control valve (4-52). 51), the third solenoid control valve (4-52), the fourth solenoid control valve (4-53), the fifth solenoid control valve (4-54), the sixth solenoid control valve (4-55), the seventh solenoid control valve (4-56), and the eighth solenoid control valve (4-57) enable the first solenoid control valve (4-50), the second solenoid control valve (4-51), the third solenoid control valve (4-52), the fourth solenoid control valve (4-53), the fifth solenoid control valve (4-54), the sixth solenoid control valve (4-55), the seventh solenoid control valve (4-56), and the eighth solenoid control valve (4-57) to open and close the support oil cylinder 1 (4-34), the support oil cylinder 2 (4-35), the support oil cylinder 3 (4-36), The support cylinder four (4-37), support cylinder five (4-38), support cylinder six (4-39), support cylinder seven (4-40), and support cylinder eight (4-41) have a certain return oil back pressure, and the vibration reduction buffer controller (4-61) determines whether the pressure value reaches the optimal threshold value. If not, it continues to control the opening and closing of the electromagnetic control valve until the pressure reaches the optimal threshold value, thereby reducing the vibration caused by the rapid expansion and contraction of the support cylinder one (4-34), support cylinder two (4-35), support cylinder three (4-36), support cylinder four (4-37), support cylinder five (4-38), support cylinder six (4-39), support cylinder seven (4-40), and support cylinder eight (4-41), thereby realizing pressure regulation.The output control signal is then applied to the first high-speed switch valve (4-26), the second high-speed switch valve (4-27), the third high-speed switch valve (4-28), the fourth high-speed switch valve (4-29), the fifth high-speed switch valve (4-30), the sixth high-speed switch valve (4-31), the seventh high-speed switch valve (4-32), and the eighth high-speed switch valve (4-33) to control the first high-speed switch valve (4-26), the second high-speed switch valve (4-27), the third high-speed switch valve (4-28), the fourth high-speed switch valve (4-29), the fifth high-speed switch valve (4-30), the sixth high-speed switch valve (4-31), the seventh high-speed switch valve (4-32), and the eighth high-speed switch valve (4-33) to open and close quickly, thereby realizing active vibration reduction. The vibration sensor (4-25), the support oil cylinder one (4-34), the support oil cylinder two (4-35), the support oil cylinder three (4-36), the support oil cylinder four (4-37), the support oil cylinder five (4-38), the support oil cylinder Pressure sensor 4 (4-23) and pressure sensor 5 (4-24) on oil cylinder 6 (4-39), supporting oil cylinder 7 (4-40), supporting oil cylinder 8 (4-41), and pressure sensor 6 (4-42), pressure sensor 7 (4-43), pressure sensor 8 (4-44), pressure sensor 9 (4-45), pressure sensor 10 (4-46), pressure sensor 11 (4-47), pressure sensor 12 (4-48), and pressure sensor 13 (4-49) on first solenoid control valve (4-50), second solenoid control valve (4-51), third solenoid control valve (4-52), fourth solenoid control valve (4-53), fifth solenoid control valve (4-54), sixth solenoid control valve (4-55), seventh solenoid control valve (4-56), and eighth solenoid control valve (4-57) feed back the vibration reduction condition of each oil cylinder to the vibration reduction buffer controller (4-61), and the vibration reduction buffer controller (4-61) performs posture coordinated control; Step 4: The cutting disc 1 (2-6-1), the cutting disc 2 (2-6-2) and the cutting disc 3 (2-6-3) of the cutting part (2) roll and crush the hard rock. After crushing, the large-sized crushed hard rock is crushed into small-sized crushed hard rock or swept to the side under the swinging action of the cutting arm (2-1). As the construction continues, the belt conveyor device 1 (3-1-1) driven by the belt conveyor device 1 driving motor (3-1-2) of the side belt conveyor system (3-1) of the loading part (3) continuously transports and transports the crushed rock. The double-column variable piston pump (4-2) supplies The hydraulic system controls the fourth solenoid valve (4-13) to drive the swing cylinder 1 (4-14) and the swing cylinder 2 (4-15) of the swing mechanism (2-2) to swing the cutting arm (2-1) of the cutting part (2) left and right. The remaining small-sized crushed hard rocks are transported to the belt conveyor device 2 (3-2-2) through the pneumatic conveying system pipeline (3-2-1) of the pneumatic conveying system (3-2) of the loading part (3) under the action of negative pressure pneumatic force. The belt conveyor device 2 drives the belt conveyor device 2 (3-2-2) to transport the crushed rocks. Step 5: After loading is completed, the adaptive cutting controller (4-60) detects whether there are electrical signals from the vibration sensor (4-25), the pressure sensor four (4-23), the pressure sensor five (4-24), the pressure sensor two (4-12), the pressure sensor three (4-17), and the pressure sensor one (4-11), and the vibration damping and buffering controller (4-61) detects whether there are electrical signals from the vibration sensor (4-25), the pressure sensor four (4-23), the pressure sensor five (4-24), the pressure sensor fourteen (4-58), the pressure sensor fifteen (4-59), the pressure sensor six (4-42), the pressure sensor seven (4-43), the pressure sensor eight (4-4 4) The electrical signals of pressure sensor nine (4-45), pressure sensor ten (4-46), pressure sensor eleven (4-47), pressure sensor twelve (4-48) and pressure sensor thirteen (4-49) represent that there is rock and soil residue, and the double-column variable piston pump (4-2) supplies energy to the hydraulic system, controls the first solenoid valve (4-8), the second solenoid valve (4-9) and the third solenoid valve (4-10) to drive the cutting disc drive motor one (4-5), the cutting disc drive motor two (4-6) and the cutting disc drive motor three (4-7), and then drives the cutting disc one (2-6-1), the cutting disc two (2-6-2) and the cutting disc three (2-6-3) to continue to rotate for cutting; Otherwise, it means that the cutting at the current state position is completed, and the fifth solenoid valve (4-18) is controlled to drive the telescopic cylinder (4-16) and then drive the cutting arm (2-1) to advance the cutting disc 1 (2-6-1), the cutting disc 2 (2-6-2), and the cutting disc 3 (2-6-3) to continue cutting until the telescopic cylinder (4-16) reaches the limit extension, and then the first high-speed switch valve (4-26), the second high-speed switch valve (4-27), the third high-speed switch valve (4-28), the fourth high-speed switch valve (4-29), the fifth high-speed switch valve (4-30), the sixth high-speed switch valve (4-31), The seventh high-speed switch valve (4-32) and the eighth high-speed switch valve (4-33) drive the supporting cylinder one (4-34), the supporting cylinder two (4-35), the supporting cylinder three (4-36), the supporting cylinder four (4-37), the supporting cylinder five (4-38), the supporting cylinder six (4-39), the supporting cylinder seven (4-40), and the supporting cylinder eight (4-41) to extend and retract, thereby retracting the supporting mechanism (1-3) of the machine body (1), and controlling the sixth solenoid valve (4-21) and the seventh solenoid valve (4-22) to drive the walking mechanism (1-2) to continue to advance to the next construction position for construction until the construction is completed.

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