Metal mine top climbing excavation equipment and excavation method

Abstract

The present invention discloses a metal mine top-climbing tunneling equipment and tunneling method, belonging to the field of rock drilling technology. The tunneling equipment includes a vehicle body and a rock drilling module and a hydraulic blasting module installed at the front end of the vehicle body. The front end of the vehicle body is equipped with two sets of left and right crawling drilling modules, and the rear end of the vehicle body is equipped with two sets of left and right crawling support modules. The present invention utilizes the crawling drilling modules and crawling support modules to achieve movement along the crawling track, and props up the vehicle body and lifts it off the ground during movement. Therefore, while tunneling, other equipment and vehicles can reach the vicinity of the operating surface from the bottom of the vehicle body to perform operations, thereby improving tunneling efficiency. The present invention also has the advantages of stable support and multi-purpose use of a single machine.

Description

Technical Field

[0001] The present invention relates to the technical field of rock drilling, and in particular to a metal mine top-climbing tunneling device and a tunneling method. Background Art

[0002] In the mining industry, underground rock drilling and tunneling are critical operations, and their efficiency and safety directly impact the overall mine's productivity. Currently, underground rock drilling and tunneling in mines have evolved primarily from traditional manual operations to mechanized operations, but many issues remain, particularly interference between operating equipment, leading to overall inefficiency.

[0003] In the early days of mining, rock drilling operations primarily relied on manually operated hand-held drills. This method presented several challenges: First, workers spent extended periods underground, exposed to dust and rock fragments, increasing safety risks and the risk of pneumoconiosis. Second, manual drilling was slow and physically limited, making it difficult to meet the demands of efficient production. Third, hand-held drills were powered by compressed air, requiring the constant installation of compressed air pipelines on-site, adding complexity and cost.

[0004] To overcome the limitations of manual hand-held drilling, rig-based drilling equipment was developed. This mechanized equipment significantly improves drilling efficiency compared to traditional manual operations, but it still presents several challenges: The rig's large size prevents it from operating simultaneously with other equipment and vehicles in the tunnel. Consequently, drilling, anchoring, and transport operations must be performed alternately. After one unit is operational, it must exit the work area, clearing sufficient space, before another unit can enter. This exclusive nature of the process leads to low efficiency and severely impacts the mine's production schedule. Summary of the Invention

[0005] The present invention proposes a metal mine top-climbing tunneling equipment and a tunneling method, the purpose of which is to solve the problem of low efficiency caused by the need for rock drilling equipment and other equipment vehicles to operate alternately.

[0006] The technical solutions of the present invention are as follows:

[0007] A metal mine top-climbing tunneling equipment, comprising a vehicle body and a rock drilling module and a hydraulic blasting module mounted at the front end of the vehicle body. A traveling mechanism is provided at the bottom of the vehicle body. Two left and right sets of crawling drilling modules are mounted at the front end of the vehicle body, and two left and right sets of crawling support modules are mounted at the rear end of the vehicle body.

[0008] The crawling drilling module and the crawling support module each include a first connector, a lifting mechanism, a rotating telescopic arm, a first rotating joint, a second rotating joint and a drill bit, which are sequentially connected from the vehicle body to the end;

[0009] The first connector is connected to the vehicle body; the lifting and lowering mechanism is installed on the first connector; the root of the rotating telescopic arm is rotatably connected to the end of the lifting and lowering mechanism to achieve left and right rotation relative to the lifting and lowering mechanism; the front end of the telescopic part of the rotating telescopic arm is connected to the first rotating joint; the rotation axis of the first rotating joint is parallel to the telescopic direction of the rotating telescopic arm; the rotation axis of the second rotating joint is perpendicular to the rotation axis of the first rotating joint, and is used to drive the drill bit to rotate; the drill bit of the crawling drilling module is connected to the second rotating joint through a rotary drive device, and the drill bit of the crawling support module is directly connected to the second rotating joint.

[0010] As a further improvement of the metal mine top climbing type tunneling equipment: the lifting and lowering mechanism includes a first connecting arm, a second connecting arm, a lifting and lowering hydraulic cylinder and a connecting seat;

[0011] The first connecting arm and the second connecting arm are of equal length and arranged in parallel, and the roots of both are rotatably connected to the first connecting body and the ends of both are rotatably connected to the connecting seat; one end of the lifting and lowering hydraulic cylinder is rotatably connected to the first connecting body and the other end is rotatably connected to the first connecting arm or the second connecting arm;

[0012] The root of the rotating telescopic arm is rotatably connected to the end of the lifting and lowering mechanism, which means that the root of the rotating telescopic arm is rotatably connected to the connecting seat.

[0013] As a further improvement of the metal mine climbing tunneling equipment: the crawling drilling module and the crawling support module both include a deflection hydraulic cylinder, one end of the deflection hydraulic cylinder is rotatably connected to the connecting seat, and the other end is rotatably connected to the arm body of the rotating telescopic arm to drive the rotating telescopic arm to rotate left and right relative to the lifting and lowering mechanism.

[0014] As a further improvement of the metal mine top climbing excavation equipment: a rolling support module is further provided at the bottom of the rotating telescopic arm or the first rotating joint or the second rotating joint.

[0015] As a further improvement of the metal mine top-climbing tunneling equipment: a camera module is also installed on the vehicle body.

[0016] As a further improvement of the metal mine top-climbing tunneling equipment: the camera module includes a camera installed on a pan-tilt platform.

[0017] As a further improvement of the metal mine roof-climbing tunneling equipment: a cleaning module is also installed at the rear end of the vehicle body, and a rotatable cleaning head is provided on the cleaning module for clearing pumice from collapsed areas.

[0018] As a further improvement of the metal mine top climbing tunneling equipment: an anchor protection module is further installed at the rear end of the vehicle body;

[0019] The vehicle body is also provided with a silo for storing anchoring materials.

[0020] The present invention also provides a tunneling method, which uses the aforementioned metal mine top-climbing tunneling equipment; the tunneling method comprises:

[0021] Step 1: Set the lifting and lowering mechanisms of the crawling drilling module and the crawling support module to the raised state, so that the rotating telescopic arm and the drill bit leave the ground, and then drive the metal mine top climbing tunneling equipment to the working starting position;

[0022] Step 2: Rotate the telescopic arms of the two crawling drilling modules toward the corresponding rock walls, then extend the arms and start the drill bits at the ends of the crawling drilling modules. Simultaneously, control the metal mine top-climbing tunneling equipment to continue moving forward, machining groove-shaped crawling tracks on the rock walls on both sides.

[0023] Step 3: When the end of the crawling support module is located in front of the starting end of the crawling track, the metal mine top climbing tunneling equipment stops moving forward, and the rotating telescopic arms of the two crawling support modules are rotated to the direction of the corresponding side rock wall. Then, the telescopic arms are rotated and extended, and the drill bit of the crawling support module is inserted into the crawling track. Then, the climbing drilling module and the climbing support module's lifting and lowering mechanisms are set to the falling state, so that the crawling tracks on both sides are used as support, and the crawling drilling module and the crawling support module are used to support the vehicle body, so that the bottom of the vehicle body is off the ground;

[0024] Step 4: The crawling drilling module and the crawling support module are used to realize telescopic drilling and crawling along the crawling track. During the crawling process, the rock drilling module and the hydraulic blasting module at the front are used to perform rock drilling and blasting operations on the operating surface. At the same time, the cleaning module installed at the rear end of the vehicle body is used to clean the rock wall, and the anchoring module installed at the rear end of the vehicle body is used to anchor the rock wall.

[0025] As a further improvement of the excavation method:

[0026] In step 2, when machining the crawling track, the metal mine top climbing tunneling equipment stops at intervals. The second rotating joint of the crawling drilling module then adjusts the angle of the connected drill bit to drill a positioning hole of a hole structure deep into the rock wall. The second rotating joint then controls the drill bit to return to its original direction, and the metal mine top climbing tunneling equipment continues to move forward.

[0027] The telescopic drilling crawling in step 4 refers to the alternating execution of action A and action B:

[0028] Action A: The second rotating joint of the crawling support module adjusts the angle of the connected drill bit, and the drill bit is inserted into the positioning hole in the crawling track. Then, the rotating telescopic arms of the crawling drilling module and the crawling support module start to extend at the same time, and the drill bit of the crawling drilling module rotates, and the crawling track is processed forward with the positioning hole in which the crawling support module is inserted as the support point. When processing the crawling track forward, the rotating telescopic arms of the crawling drilling module and the crawling support module stop extending at each interval. Then, the second rotating joint of the crawling drilling module adjusts the angle of the connected drill bit, and drills a positioning hole of a hole structure deep into the rock wall. Then, the second rotating joint controls the drill bit to return to its original direction, and the rotating telescopic arms of the crawling drilling module and the crawling support module continue to extend until they reach their maximum length.

[0029] Action B: The second rotating joint of the crawling drilling module adjusts the angle of the connected drill bit to drill a positioning hole of a hole structure deep into the rock wall. Then, the second rotating joint of the crawling support module adjusts the angle of the connected drill bit to withdraw the drill bit from the currently inserted positioning hole. Then, the rotating telescopic arms of the crawling drilling module and the crawling support module are simultaneously shortened, and the metal mine climbing tunneling equipment is dragged forward with the positioning hole in which the crawling drilling module is inserted as the support point until the drill bit of the crawling support module reaches the position corresponding to a certain positioning hole.

[0030] When the metal mine top climbing excavation equipment is in operation, the drill bits of the crawling drilling module and the crawling support module are both inserted into the positioning holes.

[0031] Compared with the prior art, the present invention has the following positive effects:

[0032] 1. The present invention utilizes a crawling drilling module and a crawling support module to realize walking along a crawling track, and props up the vehicle body and leaves the ground during walking, so that while excavating, other equipment and vehicles can reach the vicinity of the operating surface from the bottom of the vehicle body to perform operations, thereby improving excavation efficiency.

[0033] 2. The present invention provides a horizontal force fulcrum for the equipment by drilling positioning holes at intervals in the crawling track, which not only ensures the smooth progress of the crawling track drilling, but also provides a stable support for the excavation operation.

[0034] 3. The telescopic drilling crawling method of the present invention can realize long-distance continuous crawling, laying the foundation for continuous operation.

[0035] 4. The crawling drilling module and crawling support module adopt a parallelogram lifting and lowering mechanism to ensure that the rotating telescopic arm and the end mechanism are in a horizontal state to avoid interference with the crawling track; at the same time, the rolling support module can reduce the resistance encountered when moving along the crawling track.

[0036] 5. The present invention is also provided with a cleaning module and an anchoring module, which can clean and support the rock wall during excavation, realizing multi-purpose use of one machine and further improving operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the structure of the tunneling equipment of the present invention when it moves along the crawling track;

[0038] Figure 2 A top view of the tunneling equipment of the present invention as it moves along the crawling track;

[0039] Figure 3 This is a schematic structural diagram of the crawling drilling module of the present invention;

[0040] Figure 4 for Figure 3 A partial enlarged view of part A;

[0041] Figure 5 This is a top view of the front half of the crawling drilling module;

[0042] Figure 6 This is a structural diagram of the rock drilling module;

[0043] Figure 7 for Figure 6 A partial enlarged view of part B;

[0044] Figure 8 This is a structural diagram of the mobile power supply device.

[0045] Reference numerals include:

[0046] 1. Vehicle body, 2. Camera module, 3. Rock drilling module, 4. Climbing drilling module, 5. Climbing support module, 6. Cleaning module, 7. Anchor protection module, 8. Hydraulic blasting module, 9. Mobile power supply device, 1000, Climbing track, 101. First locking block, 102. Second locking block, 301, Rock drilling robot arm, 4501, Lifting and lowering hydraulic cylinder, 4502, First connecting arm, 4503, Second connecting arm, 4504, Connecting seat, 4505, Deflection hydraulic cylinder, 4506, Rotating telescopic arm, 4507, First rotating joint, 4508, Second rotating joint, 4509, Rolling support module, 4510, Drill bit, 901, Mobile bottom Disk, 902, telescopic cylinder, 903, lifting seat, 904, brush mechanism, 905, cable disk, 20001, upward connecting mechanism, 200011, first connecting column, 200012, first multi-stage oil cylinder, 200013, first connecting rod, 200014, first intermediate sliding disk, 200015, first end sliding disk, 20002, first connecting body, 30001, downward connecting mechanism, 300011, second connecting column, 300012, second multi-stage oil cylinder, 300013, second connecting rod, 300014, second intermediate sliding disk, 300015, second end sliding disk, 30002, second connecting body. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the embodiments described are only a part of the embodiments of the present invention, rather than all the embodiments.

[0048] Example 1

[0049] like Figure 1 and 2 A metal mine top climbing tunneling equipment includes a vehicle body 1, and a walking mechanism is provided at the bottom of the vehicle body 1. The walking mechanism can be a crawler type or a wheel type.

[0050] A camera module 2 is installed on the top of the vehicle body 1. The camera module 2 includes a camera installed on a pan-tilt platform, which is used to shoot the operating surface and upload the image to the server for storage and recognition processing.

[0051] A plurality of working modules are mounted on the vehicle body 1 , each of which includes a robotic arm (working part) and a connector connected to the root of the robotic arm. The connector is detachably connected to the vehicle body 1 via a connecting mechanism.

[0052] Furthermore, the working modules are divided into two categories: an operating module for performing tunneling operations and a supporting module for supporting the entire modular metal mine tunneling equipment.

[0053] The operation module includes a rock drilling module 3 and a hydraulic blasting module 8 installed at the front end of the vehicle body 1, and also includes a cleaning module 6 and an anchor protection module 7 installed at the rear end of the vehicle body 1, thereby achieving multiple uses of one machine. Figure 6 The drilling module 3 includes a drilling arm 301 with a drilling mechanism at its end for drilling blastholes on the operating surface. The hydraulic blasting module is used to perform fracturing and separation on the drilled blastholes. The cleaning module 6 is equipped with a rotatable cleaning head for clearing pumice from collapsed areas after blasting. The rear end of the vehicle body 1 is also equipped with an anchor support module 7 for drilling and inserting anchor holes, as well as for supporting and securing anchor nets to the anchors.

[0054] It should be noted that the robotic arms and actuators of each operating module can utilize existing products. For example, the Sandvik DD311 can be used as the main body of the rock drilling module, the Lead Road and Mine PL1500 can be used as the main body of the hydraulic blasting module, the Sandvik MB670-1 can be used as the main body of the cleaning module, and the Sandvik DS311 can be used as the main body of the anchoring module. Other models of mechanical components can also be selected according to on-site working conditions during implementation, and the specific structures are not detailed here.

[0055] Furthermore, the vehicle body 1 is also provided with a silo for storing anchoring materials.

[0056] The support module includes two left and right groups of crawling drilling modules 4 installed at the front end of the vehicle body 1 and two left and right groups of crawling support modules 5 installed at the rear end of the vehicle body 1 .

[0057] like Figure 1 、 Figure 2 、 Figure 3 and Figure 5 The structures of the crawling drilling module 4 and the crawling support module 5 are basically the same: they both include a first connector 20002, a lifting and lowering mechanism, a rotating telescopic arm 4506, a deflection hydraulic cylinder 4505, a first rotating joint 4507, a second rotating joint 4508 and a drill bit 4510, which are connected in sequence from the vehicle body 1 (root) to the end.

[0058] The first connector 20002 is connected to the vehicle body 1. The lifting and lowering mechanism is installed on the first connector 20002. The lifting and lowering mechanism includes a first connecting arm 4502, a second connecting arm 4503, a lifting and lowering hydraulic cylinder 4501 and a connecting seat 4504. The first connecting arm 4502 and the second connecting arm 4503 are of equal length and arranged in parallel. The roots of both are rotatably connected to the first connector 20002, and the ends are rotatably connected to the connecting seat 4504, forming a parallelogram mechanism to ensure that the rear end components always remain horizontal during lifting and lowering. One end of the lifting and lowering hydraulic cylinder 4501 is rotatably connected to the first connector 20002, and the other end is rotatably connected to the first connecting arm 4502 or the second connecting arm 4503, and the driving control of lifting and lowering is achieved through telescoping.

[0059] The base of the rotating telescopic arm 4506 is rotatably connected to the connecting base 4504 to enable left and right rotation relative to the landing mechanism. A deflection hydraulic cylinder 4505 is rotatably connected to the connecting base 4504 at one end and to the arm body of the rotating telescopic arm 4506 at the other end to drive the rotating telescopic arm 4506 to rotate left and right relative to the landing mechanism.

[0060] The front end of the telescopic portion of the rotating telescopic arm 4506 is connected to the first rotating joint 4507. The rotation axis of the first rotating joint 4507 is parallel to the direction of extension and retraction of the rotating telescopic arm 4506 and is used to adjust the angle of the end. The rotation axis of the second rotating joint 4508 is perpendicular to the rotation axis of the first rotating joint 4507 and is used to drive the drill bit 4510 to rotate.

[0061] In this embodiment, the crawling drilling module 4 and the crawling support module 5 differ in that the drill bit 4510 of the crawling drilling module 4 is connected to the second rotary joint 4508 via a rotary drive device, and the drill bit 4510 is rotatable for drilling. The drill bit 4510 of the crawling support module is directly connected to the second rotary joint 4508 and is non-rotatable, serving only as support. As an alternative embodiment, the crawling support module 5 can also be rotatable, i.e., the structure is identical to that of the crawling drilling module 4.

[0062] Furthermore, a rolling support module 4509 is provided at the bottom of the rotating telescopic arm 4506 or the first rotating joint 4507 or the second rotating joint 4508 to reduce the resistance encountered when moving along the crawling track 1000.

[0063] Furthermore, the vehicle body 1 is also provided with a general control system, a general power supply system and a general hydraulic station.

[0064] Example 2

[0065] This embodiment describes the excavation method of the excavation equipment in Example 1, which includes the following steps:

[0066] Step 1: Set the lifting and lowering mechanisms of the crawling drilling module 4 and the crawling support module 5 to the raised state, so that the rotating telescopic arm 4506 and the drill bit 4510 leave the ground, and then drive the excavation equipment to the working starting position.

[0067] Step 2: Rotate the telescopic arms 4506 of the two crawling drilling modules 4 toward the corresponding side rock walls, then extend the telescopic arms 4506, start the drill bit 4510 at the end of the crawling drilling module 4, and at the same time control the metal mine top climbing tunneling equipment to continue moving forward, processing groove-shaped crawling tracks 1000 on the rock walls on both sides.

[0068] Furthermore, when processing the crawling track 1000, the metal mine top climbing tunneling equipment stops moving forward at every interval, and then the second rotating joint 4508 of the crawling drilling module 4 adjusts the angle of the connected drill bit 4510 and drills a positioning hole of a hole structure deep into the rock wall, and then the second rotating joint 4508 controls the drill bit 4510 to return to the original direction, and the metal mine top climbing tunneling equipment continues to move forward.

[0069] Step 3: When the end of the crawling support module 5 is in front of the starting end of the crawling track 1000, the metal mine top-climbing tunneling equipment stops moving. The telescopic arms 4506 of the two crawling support modules 5 are rotated toward the corresponding rock face. The telescopic arms 4506 are then extended, and the drill bits 4510 of the crawling support modules 5 are inserted into the crawling track 1000. The lifting and lowering mechanisms of both the crawling drilling module 4 and the crawling support module 5 are then set to the lowering position (this refers to the telescopic arms 4506 and their end portions falling relative to the vehicle body 1, not the vehicle body 1 itself). This allows the crawling tracks 1000 on both sides to support the vehicle body 1, raising the bottom of the vehicle body 1 off the ground and leaving space below. Other equipment and vehicles can then reach the operating surface from the bottom of the vehicle body 1 to conduct operations, significantly improving production efficiency.

[0070] Step 4: The crawling drilling module 4 and crawling support module 5 achieve telescopic drilling and crawling along the crawling track 1000. During the crawling process, the front rock drilling module 3 and hydraulic blasting module 8 perform rock drilling and blasting operations on the operating surface. Simultaneously, the cleaning module 6 installed at the rear end of the vehicle body 1 cleans the rock wall, and the anchoring module 7 installed at the rear end of the vehicle body 1 anchors the rock wall.

[0071] The telescopic drilling crawling method refers to the alternating execution of action A and action B:

[0072] Action A: The second rotating joint 4508 of the crawling support module 5 adjusts the angle of the connected drill bit 4510 and inserts it into the positioning hole in the crawling track 1000. The rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 then begin to extend simultaneously, and the drill bit 4510 of the crawling drilling module 4 rotates, machining the crawling track 1000 forward using the positioning hole in which the crawling support module 5 was inserted as a support point. As the crawling track 1000 is machined forward, the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 stop extending at intervals. The second rotating joint 4508 of the crawling drilling module 4 then adjusts the angle of the connected drill bit 4510, drilling a positioning hole deep into the rock wall. The second rotating joint 4508 then controls the drill bit 4510 to return to its original orientation, and the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 continue to extend until they reach their maximum length.

[0073] Action B: The second rotating joint 4508 of the crawling drilling module 4 adjusts the angle of the connected drill bit 4510 and drills a positioning hole of a hole structure deep into the rock wall. Then the second rotating joint 4508 of the crawling support module 5 adjusts the angle of the connected drill bit 4510 and withdraws the drill bit 4510 from the currently inserted positioning hole. Then the rotating telescopic arms 4506 of the crawling drilling module 4 and the crawling support module 5 are shortened at the same time, and the metal mine climbing top excavation equipment is dragged forward with the positioning hole in which the crawling drilling module 4 is inserted as the support point until the drill bit 4510 of the crawling support module 5 reaches the position corresponding to a certain positioning hole.

[0074] Through the above-mentioned telescopic drilling and crawling method, long-distance continuous crawling can be achieved, laying the foundation for continuous operation.

[0075] It should be noted that when the telescopic arm 4506 is extended and retracted, the hydraulic cylinder 4505 can be deflected to ensure that the end of the telescopic arm 4506 is always located in the crawling track 1000 to avoid falling off or being blocked.

[0076] Furthermore, when the metal mine top-climbing tunneling equipment is operating, the drill bits 4510 of the crawling drilling module 4 and the crawling support module 5 are both inserted into the positioning holes, providing stable horizontal support. By drilling positioning holes at intervals in the crawling track 1000, the equipment is provided with horizontal force support points, which not only ensures smooth drilling of the crawling track 1000 but also provides stable support for tunneling operations.

[0077] Example 3

[0078] This embodiment describes the specific structure of the connection mechanism used to connect the connecting body of each working module with the vehicle body 1 in the first embodiment.

[0079] A modular connecting mechanism for a robotic arm is used to connect a base (i.e., the vehicle body 1) to a connecting body to which the robotic arm is connected. The mechanism comprises a connecting column, a multi-stage oil cylinder, a connecting rod, an intermediate sliding plate, and an end sliding plate.

[0080] One end of the connecting column is fixedly connected to the connecting body via multiple parallel connecting rods. The multi-stage hydraulic cylinder is a single-acting, spring-return hydraulic cylinder installed in the connecting column. Its telescopic rod faces the connecting body. The first telescopic rod of the multi-stage hydraulic cylinder is connected to the terminal sliding plate, and the second telescopic rod is connected to the intermediate sliding plate. The intermediate sliding plate is located between the terminal sliding plate and the connecting column, and the connecting rod passes through the intermediate sliding plate and the terminal sliding plate, slidingly connecting them.

[0081] The middle sliding plate is provided with a concave tapered surface at an outer edge close to the end sliding plate.

[0082] The base is provided with a connecting hole that cooperates with the axial hole of the connecting column, and the inner wall of the connecting hole is provided with a working groove. A locking block is installed in the working groove through a rotating connection, and the inner edge of the locking block is provided with a notch for cooperating with the outer edge of the conical surface.

[0083] A first oil circuit interface is provided on the other end surface of the connecting column, and the first oil circuit interface is connected to the multi-stage oil cylinder.

[0084] The modular connection mechanism for the robotic arm also includes a connecting cable. A first electrical connection contact is provided on the other end surface of the connecting post. One end of the connecting cable is connected to the first electrical connection contact. The connecting cable passes through the connecting post and the connecting rod, and the other end is used to connect to the electrical components inside the connector.

[0085] In this embodiment, Figure 3 、 Figure 4 、 Figure 6 and Figure 7 The first connector 20002 in the support module is connected to the vehicle body 1 via an upward connecting mechanism 20001, and the second connector 30002 in the operation module is connected to the vehicle body 1 via a downward connecting mechanism 30001. Both the upward connecting mechanism 20001 and the downward connecting mechanism 30001 are modular connecting mechanisms of the robot arm. The first connector 20002 and the second connector 30002 also respectively contact and cooperate with the vertical outer surface of the vehicle body 1.

[0086] Specifically, if Figure 4The upward connecting mechanism 20001 includes a first connecting post 200011 as the connecting post, a first multi-stage oil cylinder 200012 as the multi-stage oil cylinder, a first connecting rod 200013 as the connecting rod, a first intermediate sliding disk 200014 as the intermediate sliding disk, and a first end sliding disk 200015 as the end sliding disk. A first connecting hole on the vehicle body 1 that cooperates with the first connecting post 200011 is disposed downward. A plurality of first locking blocks 101 evenly distributed around the circumference are correspondingly disposed in the first connecting hole. A first electrical connection contact and a first oil circuit interface are provided at the upper end of the first connecting post 200011. A second electrical connection contact corresponding to the first electrical connection contact and a second oil circuit interface corresponding to the first oil circuit interface are provided at the upper end of the first connecting hole.

[0087] When connecting the modules, a lifting device is required to assist.

[0088] Before the support module is inserted upward, the first multi-stage cylinder 200012 is in a retracted state. During insertion, since the first locking block 101 is rotatable and its center of gravity is located outside the rotation point, the first locking block 101 does not act as a block, and its inner side contacts the first connecting column 200011, the first intermediate sliding plate 200014, and the first end sliding plate 200015 in sequence. When the upper end of the first connecting column 200011 touches the upper end of the first connecting hole (which can be detected by a pressure sensor or directly by the contacts here), the second oil circuit interface injects hydraulic oil into the first multi-stage oil cylinder 200012 through the first oil circuit interface, and the first-stage telescopic rod drives the first end sliding disk 200015 to move first, so that a gap appears between the first end sliding disk 200015 and the first intermediate sliding disk 200014. At this time, the inner end of the first locking block 101 enters the gap under the action of its own weight, and then the second-stage telescopic rod begins to drive the first intermediate sliding disk 200014 to move, so that the outer edge of the conical surface on the first intermediate sliding disk 200014 is engaged with the upward groove on the first locking block 101. This engagement prevents the first locking block 101 from rotating and blocks the first intermediate sliding disk 200014 from continuing to move, thereby firmly fixing the first connecting column 200011 in the first connecting hole through the hydraulic internal force.

[0089] Similarly, if Figure 7The downward connecting mechanism 30001 includes a second connecting post 300011 serving as the connecting post, a second multi-stage oil cylinder 300012 serving as the multi-stage oil cylinder, a second connecting rod 300013 serving as the connecting rod, a second intermediate sliding disk 300014 serving as the intermediate sliding disk, and a second terminal sliding disk 300015 serving as the terminal sliding disk. A second connecting hole on the vehicle body 1 that cooperates with the second connecting post 300011 is disposed upward. A plurality of second locking blocks 102 evenly distributed around the circumference are correspondingly disposed in the second connecting hole. A first electrical connection contact and a first oil circuit interface are provided at the lower end of the second connecting post 300011. A second electrical connection contact corresponding to the first electrical connection contact and a second oil circuit interface corresponding to the first oil circuit interface are provided at the lower end of the second connecting hole.

[0090] Before the working module is inserted downward, the second multi-stage cylinder 300012 is in a retracted state. During insertion, since the second locking block 102 is rotatable and its center of gravity is located outside the rotation point, it does not act as a barrier and its inner side contacts the second connecting column 300011, the second intermediate sliding plate 300014, and the second end sliding plate 300015 in sequence. When the lower end of the second connecting column 300011 touches the lower end of the second connecting hole (which can be detected by a pressure sensor or directly by the contacts here), the second oil circuit interface injects hydraulic oil into the second multi-stage oil cylinder 300012 through the first oil circuit interface, and the first-level telescopic rod drives the second end sliding disk 300015 to move first, so that a gap appears between the second end sliding disk 300015 and the second intermediate sliding disk 300014. At this time, the inner end of the second locking block 102 enters the gap under the action of its own weight, and then the second-level telescopic rod begins to drive the second intermediate sliding disk 300014 to move, so that the outer edge of the conical surface on the second intermediate sliding disk 300014 is engaged with the upward groove on the second locking block 102. This engagement prevents the second locking block 102 from rotating and blocks the second intermediate sliding disk 300014 from continuing to move, thereby firmly fixing the second connecting column 300011 in the second connecting hole through the hydraulic internal force.

[0091] After the middle sliding disk is engaged with the locking block, it can not only firmly fix the connecting column in the connecting hole, but also ensure close contact of the electrical connection contacts, thereby ensuring the stability of signal transmission.

[0092] The main hydraulic station is connected to the second oil circuit interface and is only responsible for providing hydraulic power to the multi-stage oil cylinders of each connecting mechanism. When disconnection is required, the oil supply to the multi-stage oil cylinders can be disconnected and the module can be removed by the lifting device.

[0093] After achieving modular connection of the mechanical parts through the above structure, it is also necessary to realize electrical connection and hydraulic functions within each module:

[0094] The first connector 20002 and the second connector 30002 are both provided with a sub-hydraulic station and a sub-control system; the sub-hydraulic station is used to provide hydraulic power to the module; the sub-control system is electrically connected to the sub-hydraulic station and is used to control the operation of the sub-hydraulic station.

[0095] The connecting cables include power cables and signal cables, each of which has one end connected to a corresponding first electrical connection contact. The other end of the power cable is connected to the sub-control system and sub-hydraulic station for power supply, while the other end of the signal cable is connected to the sub-control system and sub-hydraulic station for signal transmission. The overall control system is connected to the second connection contacts corresponding to each signal cable to transmit signals between modules, and the overall power supply system is connected to the second connection contacts corresponding to each power cable to provide power to each module.

[0096] The present invention realizes a pure electric control connection between the vehicle body 1 and the working module by arranging a sub-control system and a sub-hydraulic station in the connecting body and transmitting power and signals through contacts, eliminating the complex hydraulic connection pipelines between the vehicle body 1 and the working module, further improving the connection efficiency and reducing the difficulty of operation.

[0097] Example 4

[0098] This embodiment describes a mobile power supply device for underground metal mines used for mobile power supply in the tunneling equipment of embodiments 1 to 3:

[0099] like Figure 1 and Figure 8 The portable power supply device 9 includes a mobile chassis 901 , a lifting seat 903 , a telescopic cylinder 902 , a downward connecting mechanism 30001 , a brush mechanism 904 and a cable reel 905 .

[0100] The mobile chassis 901 is preferably remote-controlled.

[0101] The lifting seat 903 cooperates with the vertical slide rail on the mobile chassis 901 , and one end of the telescopic cylinder 902 is connected to the mobile chassis 901 and the other end is connected to the lifting seat 903 .

[0102] The downward connecting mechanism 30001 is installed at the bottom of the flat plate part of the lifting seat 903 and is columnar, and is used to cooperate with the connecting hole on the tunneling equipment body 1 to be powered; a first electrical connection contact is provided on the downward connecting mechanism 30001.

[0103] The downward connecting mechanism 30001 in this embodiment is the same as that in the third embodiment:

[0104] The downward connecting mechanism 30001 includes a second connecting column 300011, a second multi-stage cylinder 300012, a second connecting rod 300013, a second intermediate sliding plate 300014, and a second end sliding plate 300015. The upper end of the second connecting column 300011 is fixedly connected to the flat plate portion via a plurality of parallel second connecting rods 300013. The second multi-stage hydraulic cylinder 300012 is mounted within the second connecting column 300011. Its telescopic rod faces the flat plate. Its first telescopic rod is connected to the second end sliding plate 300015, and its second telescopic rod is connected to the second intermediate sliding plate 300014. The second intermediate sliding plate 300014 is located between the second end sliding plate 300015 and the second connecting column 300011. The second connecting rod 300013 passes through the intermediate sliding plate and the second end sliding plate 300015, slidingly connecting them. The second intermediate sliding plate 300014 has an inwardly concave tapered surface near the outer edge of the second end sliding plate 300015. A working groove is provided on the inner wall of the connecting hole in the vehicle body 1. A second locking block 102 is rotatably mounted within the working groove. The inner edge of the second locking block 102 has a notch for mating with the outer edge of the tapered surface. A first oil circuit interface is provided on the lower end surface of the second connecting column 300011, and the first oil circuit interface is connected to the second multi-stage oil cylinder 300012. A first electrical connection contact is also provided on the lower end surface of the second connecting column 300011.

[0105] A second electrical connection contact is provided in the connection hole corresponding to the downward connection mechanism 30001. The second connection contact corresponds to the position of the first connection contact and is connected to the main power supply system on the vehicle body 1 for supplying power to the entire tunneling equipment.

[0106] The brush mechanism 904 and cable drum 905 are both mounted on the mobile chassis 901. One end of the cable on the cable drum 905 is connected to an electric ring on the drum 905 that rotates synchronously with the cable, and the other end is used to connect to the power supply station. The brush mechanism 904 and the electric ring are electrically connected through contact. The brush mechanism 904 also electrically connects to the first connection contact in the downward connection mechanism 30001 via the connecting cable.

[0107] The portable power supply device 9 can be freely moved to the side of the tunneling equipment that needs to be powered. After upgrading the lifting seat 903, the downward connecting mechanism 30001 is aligned with the connecting hole on the vehicle body 1, and then the lifting seat 903 is dropped to insert the downward connecting mechanism 30001. The second multi-stage cylinder 300012 is in a retracted state. Since the second locking block 102 is rotatable and the center of gravity is located outside the rotation point, the second locking block 102 will not play a blocking role, and the inner side will contact the second connecting column 300011, the second middle sliding disk 300014 and the second end sliding disk 300015 in sequence. When the lower end of the second connecting column 300011 touches the lower end of the second connecting hole (which can be detected by the pressure sensor or directly detected by the contact point here), the second oil circuit interface injects hydraulic oil into the second multi-stage oil cylinder 300012 through the first oil circuit interface, and the first-stage telescopic rod drives the second end sliding plate 300015 to move first, so that a gap appears between the second end sliding plate 300015 and the second middle sliding plate 300014. At this time, the inner end of the second locking block 102 enters the gap under the action of its own weight, and then the second stage The telescopic rod begins to move the second intermediate sliding disc 300014, causing the outer edge of the tapered surface on the second intermediate sliding disc 300014 to engage with the upward-facing notch on the second locking block 102. This engagement prevents the second locking block 102 from rotating and prevents further movement of the second intermediate sliding disc 300014. Consequently, the hydraulic internal force secures the second connecting column 300011 in the second connecting hole, bringing the first and second electrical connection contacts into close contact, establishing both electrical and mechanical connection between the portable power supply unit 9 and the vehicle body 1. As the telescopic cylinder 902 further shortens, it can also raise the entire portable power supply unit 9, facilitating its free movement with the vehicle body 1. As the excavation equipment moves, the rotating cable drum 905 automatically releases cables, ensuring uninterrupted power supply.

[0108] To remove the portable power supply unit 9, the telescopic cylinder 902 is gradually extended, causing the mobile chassis 901 to first land. The oil supply to the second multi-stage oil cylinder 300012 is then disconnected, and the telescopic cylinder 902 continues to extend. As the second multi-stage oil cylinder 300012 automatically returns to its original position, the second locking block 102 is withdrawn, disconnecting the downward connecting mechanism 30001. The entire downward connecting mechanism 30001 can then be removed. At this point, the portable power supply unit 9 can move freely.

[0109] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. The scope of the present invention is defined by the claims rather than the foregoing description.

Claims

1. A metal mine top climbing excavation equipment, comprising a vehicle body (1) and a rock drilling module (3) and a hydraulic blasting module (8) mounted at the front end of the vehicle body (1), wherein a traveling mechanism is provided at the bottom of the vehicle body (1), and characterized in that: The front end of the vehicle body (1) is equipped with two left and right sets of crawling drilling modules (4), and the rear end of the vehicle body (1) is equipped with two left and right sets of crawling support modules (5); The crawling drilling module (4) and the crawling support module (5) each comprise a first connector (20002), a lifting and lowering mechanism, a rotating telescopic arm (4506), a first rotating joint (4507), a second rotating joint (4508), and a drill bit (4510) connected in sequence from the vehicle body (1) to the end. The first connector (20002) is connected to the vehicle body (1); the lifting and lowering mechanism is installed on the first connector (20002); the root of the rotating telescopic arm (4506) is rotatably connected to the end of the lifting and lowering mechanism to achieve left and right rotation relative to the lifting and lowering mechanism; the front end of the telescopic part of the rotating telescopic arm (4506) is connected to the first rotating joint (4507); the rotation axis of the first rotating joint (4507) is parallel to the telescopic direction of the rotating telescopic arm (4506); the rotation axis of the second rotating joint (4508) is perpendicular to the rotation axis of the first rotating joint (4507) and is used to drive the drill bit (4510) to rotate; the drill bit (4510) of the crawling drilling module (4) is connected to the second rotating joint (4508) through a rotary drive device, and the drill bit (4510) of the crawling support module (5) is directly connected to the second rotating joint (4508); The lifting and lowering mechanism comprises a first connecting arm (4502), a second connecting arm (4503), a lifting and lowering hydraulic cylinder (4501) and a connecting seat (4504); The first connecting arm (4502) and the second connecting arm (4503) are of equal length and arranged in parallel, and the roots of both are rotatably connected to the first connecting body (20002), and the ends of both are rotatably connected to the connecting seat (4504); one end of the lifting and lowering hydraulic cylinder (4501) is rotatably connected to the first connecting body (20002), and the other end is rotatably connected to the first connecting arm (4502) or the second connecting arm (4503); The root of the rotating telescopic arm (4506) is rotatably connected to the end of the lifting and lowering mechanism, which is rotatably connected to the connecting seat (4504); The crawling drilling module (4) and the crawling support module (5) both include a deflection hydraulic cylinder (4505), one end of which is rotatably connected to the connecting seat (4504), and the other end of which is rotatably connected to the arm body of the rotating telescopic arm (4506), so as to drive the rotating telescopic arm (4506) to rotate left and right relative to the lifting and lowering mechanism.

2. The metal mine top climbing excavation equipment according to claim 1, characterized in that: A rolling support module (4509) is further provided at the bottom of the rotating telescopic arm (4506) or the first rotating joint (4507) or the second rotating joint (4508).

3. The metal mine top climbing excavation equipment according to claim 1, characterized in that: A camera module (2) is also installed on the vehicle body (1).

4. The metal mine top climbing excavation equipment according to claim 3, characterized in that: The camera module (2) comprises a camera mounted on a pan-tilt platform.

5. The metal mine top climbing excavation equipment according to claim 1, characterized in that: A cleaning module (6) is also installed at the rear end of the vehicle body (1), and a rotatable cleaning head is provided on the cleaning module (6) for cleaning pumice from the collapsed area.

6. The metal mine top climbing excavation equipment according to claim 1, characterized in that: An anchor guard module (7) is also installed at the rear end of the vehicle body (1); The vehicle body (1) is also provided with a silo for storing anchoring materials.

7. A tunneling method, characterized in that: The excavation method uses the metal mine top climbing excavation equipment according to claim 1; the excavation method includes: Step 1: Set the lifting and lowering mechanisms of the crawling drilling module (4) and the crawling support module (5) to the raised state, so that the rotating telescopic arm (4506) and the drill bit (4510) leave the ground, and then drive the metal mine top climbing excavation equipment to the working starting position; Step 2: Rotate the rotating telescopic arms (4506) of the two crawling drilling modules (4) toward the corresponding side rock walls, then extend the rotating telescopic arms (4506), start the drill bit (4510) at the end of the crawling drilling module (4), and at the same time control the metal mine top climbing excavation equipment to continue moving forward, thereby machining the groove-shaped crawling tracks (1000) on the rock walls on both sides; Step 3: When the end of the crawling support module (5) is located in front of the starting end of the crawling track (1000), the metal mine top climbing excavation equipment stops moving forward, the rotating telescopic arms (4506) of the two crawling support modules (5) are rotated to the direction facing the corresponding side rock wall, and then the rotating telescopic arms (4506) are extended to insert the drill bit (4510) of the crawling support module (5) into the crawling track (1000), and then the climbing drilling module (4) and the climbing support module (5) are set to the falling state. The crawling tracks (1000) on both sides are used as support, and the crawling drilling module (4) and the crawling support module (5) are used to support the vehicle body (1), so that the bottom of the vehicle body (1) leaves the ground; Step 4: The crawling drilling module (4) and the crawling support module (5) are used to realize telescopic drilling and crawling along the crawling track (1000), and during the crawling process, the rock drilling module (3) and the hydraulic blasting module (8) at the front end are used to perform rock drilling and blasting operations on the operating surface, while the cleaning module (6) installed at the rear end of the vehicle body (1) is used to clean the rock wall, and the anchoring module (7) installed at the rear end of the vehicle body (1) is used to anchor the rock wall.

8. The excavation method according to claim 7, wherein: In step 2, when the crawling track (1000) is processed, the metal mine top climbing type tunneling equipment stops moving forward at intervals, and then the second rotating joint (4508) of the crawling drilling module (4) adjusts the angle of the connected drill bit (4510) to drill a positioning hole of a hole structure deep into the rock wall, and then the second rotating joint (4508) controls the drill bit (4510) to return to the original direction, and the metal mine top climbing type tunneling equipment continues to move forward; The telescopic drilling crawling in step 4 refers to the alternating execution of action A and action B: Action A: The second rotating joint (4508) of the crawling support module (5) adjusts the angle of the connected drill bit (4510), inserts the drill bit (4510) into the positioning hole in the crawling track (1000), and then the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) begin to extend at the same time, and the drill bit (4510) of the crawling drilling module (4) rotates, and the crawling track (1000) is processed forward with the positioning hole inserted into the crawling support module (5) as the support point; the crawling track (1000) is processed forward. ), at each interval, the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) stop extending, and then the second rotating joint (4508) of the crawling drilling module (4) adjusts the angle of the connected drill bit (4510) and drills a positioning hole of a hole structure deep into the rock wall, and then the second rotating joint (4508) controls the drill bit (4510) to return to the original direction, and the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) continue to extend until they reach the maximum length; Action B: The second rotating joint (4508) of the crawling drilling module (4) adjusts the angle of the connected drill bit (4510) and drills a positioning hole of a hole structure deep into the rock wall. Then, the second rotating joint (4508) of the crawling support module (5) adjusts the angle of the connected drill bit (4510) and withdraws the drill bit (4510) from the currently inserted positioning hole. Then, the rotating telescopic arms (4506) of the crawling drilling module (4) and the crawling support module (5) are shortened at the same time, and the metal mine climbing top excavation equipment is dragged forward with the positioning hole inserted by the crawling drilling module (4) as the support point until the drill bit (4510) of the crawling support module (5) reaches the position corresponding to a certain positioning hole. When the metal mine top climbing excavation equipment is in operation, the drill bits (4510) of the crawling drilling module (4) and the crawling support module (5) are both inserted into the positioning holes.

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