Mining roadway expanding and repairing robot and expanding and repairing method

Abstract

The invention relates to the technical field of mining machinery, and particularly discloses a mining roadway expanding and repairing robot and an expanding and repairing method.The mining roadway expanding and repairing robot comprises a moving body, a rotary platform and a mechanical arm and further comprises a rotary adjusting base and a crushing mechanism; the rotary adjusting seat is provided with a fixed end and an output end, and the fixed end of the rotary adjusting seat is connected with the execution tail end of the mechanical arm; the crushing mechanism comprises a tool apron, a milling head and a power driving part, the tool apron is connected with the output end of the rotary adjusting seat and is driven by the rotary adjusting seat to rotate in the vertical direction, the milling head is arranged on the outer side of the tool apron, the power driving part is arranged in the tool apron, and the output end of the power driving part extends out of the tool apron to be connected with the milling head. According to the mine roadway expanding and repairing robot, roadway expanding, side repairing, bottom repairing and other operations are integrated, and the problem that mechanical equipment for floor heave repairing, roadway bottom lifting and other operations does not have functional compatibility is solved.

Description

Technical Field

[0001] The invention relates to the technical field of mining machinery, and in particular to a mine tunnel expansion and repair robot and an expansion and repair method. Background Art

[0002] my country's coal mines are mainly mined underground, which requires a large number of tunnels to be excavated underground. In the process of coal mining, the tunnels are the main channels for coal transportation and personnel passage, and their stability and safety are of vital importance. However, in recent years, with the increase in mining intensity and depth, due to the influence of geological conditions, mining pressure and other factors, tunnels often have problems such as floor heaving, roof sinking, and side wall deformation. These problems not only affect the normal use of the tunnels, but may also pose a serious threat to coal mine production safety.

[0003] At present, serious tunnel bottom drum and bottom lifting are mainly carried out by non-specialized equipment such as loaders and excavators, resulting in poor repair and forming effects. Although some tunnel expansion and repair robots on the market have functions of chiseling, digging, transporting and loading, and the whole machine consists of five major parts, namely, working mechanism, cab, scraper transport device, crawler body and hydraulic pump station, the chiseling and digging process is realized by the end effector composed of drill rod, which can only be used in the bottom drum operation process. In addition, due to the large weight and structural dimensions of the whole machine, this repair machine is not adaptable to soft bottom plates or low deformed tunnels, and is difficult to be applied to bottom lifting operations. To carry out bottom lifting operations, either another special machine is needed or other end effectors need to be replaced. The end effector composed of drill rod is relatively heavy and difficult to replace in the tunnel. Therefore, the current mechanical equipment for bottom drum repair and tunnel bottom lifting operations does not have functional compatibility. Summary of the invention

[0004] The purpose of the present invention is to provide a mine tunnel expansion and repair robot and an expansion and repair method to solve the problem that the existing tunnel expansion and repair robots are difficult to have the dual operation functions of bottom drum repair and tunnel bottom lifting.

[0005] The technical solution of the present invention is: A mining tunnel expansion and repair robot comprises a mobile body, a rotating platform and a mechanical arm, wherein the rotating platform is connected to the front side of the mobile body, the mechanical arm is connected to the rotating platform, and realizes horizontal rotation under the drive of the rotating platform, and further comprises a rotating adjustment seat and a crushing mechanism; the rotating adjustment seat is connected to the execution end of the mechanical arm; the crushing mechanism comprises a tool seat, a milling head and a power drive unit, the tool seat is connected to the output end of the rotating adjustment seat, the milling head is arranged on the side of the tool seat away from the rotating adjustment seat, the power drive unit is arranged on the tool seat, and the output end of the power drive unit is connected to the milling head, and the power drive unit is used to drive the milling head to rotate.

[0006] Preferably, as a further improvement of the present invention, the rotary adjustment seat is a hydraulic rotary actuator, the housing of the hydraulic rotary actuator is fixedly connected to the execution end of the robot arm, and the shaft of the hydraulic rotary actuator is fixedly connected to the tool holder.

[0007] Preferably, as a further improvement of the present invention, there are two milling heads, which are symmetrically arranged on both sides of the tool seat, and the two milling heads are connected by a rotating shaft, and the rotating shaft is horizontally passed through the tool seat, and an installation cavity is provided inside the tool seat, and the power drive unit is arranged in the installation cavity, and the output end of the power drive unit is connected to the rotating shaft.

[0008] Preferably, as a further improvement of the present invention, it also includes a shoveling bottom mechanism and a feeding mechanism, wherein the shoveling bottom mechanism is connected to the front side of the mobile body and is located below the mechanical arm, the shoveling bottom mechanism is used to shovel the gangue crushed by the crushing mechanism, and the feeding mechanism is connected to the mobile body and is located at the rear side of the shoveling bottom mechanism, and is used to transport the gangue shoveled by the shoveling bottom mechanism.

[0009] Preferably, as a further improvement of the present invention, the shovel bottom mechanism includes a shovel bottom plate, a connecting rod and two rotary material-discharging wheels, the shovel bottom plate is connected to the mobile body through the connecting rod, the middle part of the shovel bottom plate is provided with a conveying channel connected to the scraper conveyor, the two rotary material-discharging wheels are arranged on the shovel bottom plate and located on both sides of the conveying channel, for gathering the material shoveled by the shovel bottom plate and conveying it to the feeding mechanism through the conveying channel.

[0010] Preferably, as a further improvement of the present invention, the shovel bottom plate is hinged to an end of the connecting rod away from the mobile body, and an inclination adjustment assembly is provided between the shovel bottom plate and the cab, and the inclination adjustment assembly includes a hydraulic telescopic rod, and both ends of the hydraulic telescopic rod are respectively hinged to the shovel bottom plate and the mobile body.

[0011] Preferably, as a further improvement of the present invention, the feeding mechanism is a scraper conveyor, the scraper conveyor is stepped and fixed on the mobile body, and the lowest end of the scraper conveyor is connected to the conveying channel arranged on the shovel bottom plate.

[0012] Preferably, as a further improvement of the present invention, a supporting mechanism is provided above the mobile body, and the supporting mechanism includes a top plate, two telescopic support rods and two protective shells, the two protective shells are connected to the left and right sides of the top of the fuselage, the two telescopic support rods are respectively arranged inside the two protective shells, and the top plate is horizontally mounted and fixed to the telescopic ends of the two telescopic support rods.

[0013] The present invention also discloses a mine tunnel expansion and repair method, which is implemented by using the above-mentioned mine tunnel expansion and repair robot, and comprises the following steps: When performing a bass drum repair job: Adjust the angle of the crushing mechanism by rotating the adjustment seat so that the rotating axis of the milling head is perpendicular to the ground; The mechanical arm drives the milling head to move, so that the side of the milling head contacts the gangue. The mine tunnel expansion and repair robot moves back and forth horizontally along the tunnel, and uses the rotating milling head to perform linear milling and excavation operations on both sides of the tunnel bottom drum from left to right. The shovel bottom mechanism and the scraper conveyor are turned on, and the mine tunnel expansion and repair robot continues to move, and uses the shovel bottom mechanism to shovel and dig the broken gangue and convey it to the scraper conveyor, thereby realizing the function of transporting the broken gangue; After the bottom drum repair operation is completed, the mine tunnel expansion and repair robot exits the tunnel; When performing bottoming operations: Adjust the angle of the milling head by rotating the adjustment seat so that the rotating axis of the milling head is parallel to the ground; Control the rotary platform to drive the mechanical arm to swing horizontally, and use the mechanical arm to drive the rotating milling head to dig from top to bottom; The shovel bottom mechanism and the scraper conveyor are turned on, and the mine tunnel expansion and repair robot continues to move, and uses the shovel bottom mechanism to shovel and dig the broken gangue and convey it to the scraper conveyor, thereby realizing the function of transporting the broken gangue; After the bottom drum repair operation is completed, the mine tunnel expansion and repair robot exits the tunnel.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention transforms the crushing parts that were previously crushed by a drill rod into a crushing assembly composed of a cutter seat, a milling head and a power drive unit. By cooperating with a rotary adjustment seat, the milling direction of the milling head can be changed according to different operation requirements to complete the bottom drum repair and tunnel bottom lifting operations. There is no need to replace the crushing parts back and forth. Therefore, the functional compatibility problem of mechanical equipment for bottom drum repair and tunnel bottom lifting operations can be solved. A mining tunnel repair robot that integrates bottom lifting and bottom drum repair is designed to meet different operation requirements and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the overall structure of a mine tunnel expansion and repair robot according to the present invention.

[0016] Figure 2 The present invention is a schematic structural diagram of a mechanical arm in a mine tunnel expansion and repair robot.

[0017] Figure 3The present invention is a schematic structural diagram of a bottom shoveling mechanism in a mine tunnel expansion and repair robot.

[0018] Figure 4 The present invention is a schematic structural diagram of a scraper conveying mechanism in a mine tunnel expansion and repair robot.

[0019] Figure 5 The present invention is a schematic structural diagram of a support mechanism in a mine tunnel expansion and repair robot.

[0020] Figure 6 The present invention is a schematic diagram of the structure of a rotary platform in a mine tunnel expansion and repair robot.

[0021] Figure 7 The present invention is a schematic structural diagram of a mobile body in a mine tunnel expansion and repair robot.

[0022] Figure 8 It is a structural schematic diagram of a mine tunnel expansion and repair robot in a bottom drum repair operation state according to the present invention; Fig. 9 This is a structural schematic diagram of a mine tunnel expansion and repair robot in a tunnel expansion operation state according to the present invention; Fig.10 This is a structural schematic diagram of a mine tunnel expansion and repair robot in a bottoming operation state according to the present invention; Fig.11 This is a structural schematic diagram of a mine tunnel expansion and repair robot in a repairing operation state according to the present invention; Fig.12 The present invention is a schematic diagram of the process of a mine tunnel expansion and repair method. DETAILED DESCRIPTION

[0023] The following is combined with Figure 1 To the attached Fig.12 , the specific implementation methods of the present invention are described in detail. In the description of the invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0024] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the invention, unless otherwise specified, "plurality" means two or more.

[0025] Example 1 like Figures 1 to 11 As shown, an embodiment of the present invention provides a mining tunnel expansion and repair robot, including a mobile body 1, a rotating platform 2 and a mechanical arm 3, the rotating platform 2 is connected to the front side of the mobile body 1, the mechanical arm 3 is connected to the rotating platform 2, and realizes horizontal rotation under the drive of the rotating platform 2, and also includes a rotating adjustment seat 41 and a crushing mechanism 42; the rotating adjustment seat 41 is connected to the execution end of the mechanical arm 3; the crushing mechanism 42 includes a tool seat 421, a milling head 422 and a power drive unit, the tool seat 421 is connected to the output end of the rotating adjustment seat 41, the milling head 422 is arranged on a side of the tool seat 421 away from the rotating adjustment seat 41, the power drive unit is arranged on the tool seat 421, and the output end of the power drive unit is connected to the milling head 422, and the power drive unit is used to drive the milling head 422 to rotate.

[0026] In this embodiment, the crushing parts that were previously crushed by the drill rod are transformed into a crushing assembly composed of a cutter seat 421, a milling head 422 and a power drive unit. By cooperating with the rotating adjustment seat 41, the milling direction of the milling head can be changed according to different operation requirements. When performing the bottom drum repair operation, the angle of the crushing mechanism 42 is adjusted by the rotating adjustment seat 41, so that the rotating shaft of the milling head 422 is perpendicular to the ground, the mechanical arm 3 is manipulated to drive the milling head 422 to move, so that the side of the milling head 422 contacts the gangue, and the mining tunnel expansion and repair robot is controlled to move back and forth horizontally, and the rotating milling head 422 is used to perform linear milling and excavation operations on both sides of the tunnel bottom drum from left to right. When performing the bottoming operation, the angle of the milling head 422 is adjusted by rotating the adjustment seat 41, so that the rotating shaft of the milling head 422 is parallel to the ground, the rotary platform 2 is controlled to drive the mechanical arm 3 to swing horizontally, and the mechanical arm 3 is used to drive the rotating milling head 422 to dig from top to bottom; the present invention designs a mining tunnel repair robot that integrates bottoming and bottom drum repair to meet different operation requirements, to meet different operation requirements, there is no need to replace the broken parts back and forth, so it can solve the problem that the mechanical equipment for bottom drum repair and tunnel bottoming operation does not have functional compatibility, and designs a mining tunnel repair robot that integrates bottoming and bottom drum repair to meet different operation requirements Specifically, the rotary adjustment seat 41 uses a hydraulic rotary actuator of the Z10 series, which is composed of a shell flange and a shaft flange. The shell flange of the hydraulic rotary actuator is fixedly connected to the execution end of the robot arm 3, and the shaft flange of the hydraulic rotary actuator is fixedly connected to the tool seat 421. The hydraulic rotary actuator can provide stable support to prevent the crushing mechanism 42 from being deformed due to being too heavy.

[0027] Furthermore, in order to improve the milling efficiency, two milling heads 422 are provided and symmetrically arranged on both sides of the tool seat 421. The two milling heads 422 are connected by a rotating shaft, and the rotating shaft is horizontally passed through the tool seat 421. An installation cavity is provided inside the tool seat 421, and a power drive unit is arranged in the installation cavity. The output end of the power drive unit is connected to the rotating shaft.

[0028] In another embodiment of the present invention, it also includes a shoveling bottom mechanism 5 and a scraper conveyor 6. The shoveling bottom mechanism 5 is arranged on the front side of the mobile body 1 and is located below the mechanical arm 3. The shoveling bottom mechanism 5 is used to shovel the gangue crushed by the crushing mechanism 42. The feeding mechanism 6 is connected to the mobile body 1 and is located on the rear side of the shoveling bottom mechanism 5, and is used to transport the gangue shoveled by the shoveling bottom mechanism 5.

[0029] Specifically, the shovel bottom mechanism 5 includes a shovel bottom plate 51, a connecting rod 52 and two rotating material-discharging wheels 53. The shovel bottom plate 51 is connected to the mobile body 1 through the connecting rod 52. A conveying channel connected to the scraper conveyor 6 is provided in the middle of the shovel bottom plate 51. The two rotating material-discharging wheels 53 are arranged on the shovel bottom plate 51 and are located on both sides of the conveying channel. They are used to gather the materials shoveled up by the shovel bottom plate 51 and transport them to the feeding mechanism 6 through the conveying channel.

[0030] Furthermore, in order to adjust the shovel bottom plate 51 by adjusting the angle to adjust the shovel lifting angle, the shovel bottom plate 51 is hinged to the end of the connecting rod 52 away from the mobile body 1, and an inclination adjustment component is provided between the shovel bottom plate 51 and the cab 12. The inclination adjustment component includes a hydraulic telescopic rod 53, and the two ends of the hydraulic telescopic rod 53 are respectively hinged to the shovel bottom plate 51 and the mobile body 1. By controlling the extension and retraction of the hydraulic telescopic rod 53, the shovel bottom plate 51 is rotated around the hinge with the connecting rod 52 to adjust the shovel lifting angle.

[0031] Specifically, Figure 4 and Figure 8 As shown, the feeding mechanism 6 is a scraper conveyor, which is stepped and fixed on the mobile body 1. The lowest end of the scraper conveyor is connected to the conveying channel set on the shovel bottom plate 51. The scraper conveyor scoops up the shovel bottom plate 51 and conveys the crushed gangue to the transport vehicle 8 behind the mining tunnel expansion and repair robot for transportation.

[0032] Further, such as Figure 5As shown, in order to keep the fuselage stable during the repair work, a supporting mechanism 7 is provided above the mobile body 1. The supporting mechanism 7 includes a top plate 71, two telescopic support rods 72 and two protective shells 73. The two protective shells 73 are connected to the left and right sides of the top of the fuselage 4. The two telescopic support rods 72 are respectively arranged inside the two protective shells 73. The top plate 71 and the telescopic ends of the two telescopic support rods 72 are horizontally erected and fixed. By providing the supporting mechanism 7, the top plate 71 can be lifted and contacted with the top plate of the tunnel through the telescopic support rods 72 during operation, so that the entire fuselage is fixed in the tunnel, which can prevent the fuselage from tilting and avoid safety hazards.

[0033] Specifically, Figure 6 As shown, the rotating platform 22 includes a platform body 21, a connecting hole 22, a rotating sleeve 23, a telescopic rod 24 and an articulated shaft 25. A mounting groove is provided on the front side of the cab 4, and the platform body 21 is arranged in the mounting groove. The connecting hole 22 is provided in the middle of the platform body 21. A steering shaft is rotatably connected in the connecting hole 22, and both ends of the steering shaft are fixed to the upper and lower surfaces of the mounting groove. There are two groups of telescopic rods 24, which are arranged on the rear side of the platform body 21. A rotating sleeve 23 is fixed at one end of each telescopic rod 24, and the rotating sleeve 23 is hinged to the connecting shaft fixed in the mounting groove. The other end of each telescopic rod 24 is fixed to the side wall of the articulated shaft 25. Both ends of the articulated shaft 25 are rotatably connected to the grooves provided in the platform body 21. An articulated seat articulated to the first oil cylinder 32 is provided on the platform body 21.

[0034] In this embodiment, the rotary platform 22 is provided to realize the horizontal rotation adjustment of the robot arm 2. During the adjustment, the two telescopic rods 24 are controlled to be in different extension states, so that the platform 21 is horizontally rotated around the steering axis. Figure 6 As shown, by controlling the extension of the telescopic rod 24 on the left side and the shortening of the telescopic rod 24 on the right side, the counterclockwise rotation of the slewing platform 22 in the horizontal direction is realized. By controlling the shortening of the telescopic rod 24 on the left side and the extension of the telescopic rod 24 on the right side, the clockwise rotation of the slewing platform 22 in the horizontal direction is realized, thereby adjusting according to different construction conditions.

[0035] Specifically, Figure 1 and Figure 7 As shown, the mobile body 1 includes a crawler-type walking chassis and a cab 11 arranged on the top. The cab 11 serves as a control center to realize the control process of each component.

[0036] In another embodiment of the present invention, Figure 7 As shown, a visual recognition component and a control system are provided on the cab 11. The visual recognition component includes two cameras 41, which are respectively arranged on the front and rear sides of the fuselage 4 to obtain lane image information for operation.

[0037] Example 2 like Fig.12 As shown, this embodiment, based on the first embodiment, discloses a method for expanding and repairing a mine tunnel, which is implemented by using the above-mentioned mine tunnel expanding and repairing robot, and includes the following steps: S1. Conduct a detailed survey of the tunnel to determine whether to perform bottom drum repair or bottom lifting operations; S2. When performing bass drum repair work: S21. Determine the specific location and scope of the bass drum repair, as well as the required repair materials and tools; S22, adjusting the angle of the crushing mechanism 42 by rotating the adjustment seat 41 so that the rotation axis of the milling head 422 is perpendicular to the ground; S23, driving the mine tunnel expansion and repair robot to the tunnel repair working surface, and opening the support mechanism 7 to make the top plate 71 contact with the tunnel roof; S24, operating the hydraulic mechanical arm mechanism 3 to drive the milling head 422 to move, so that the side of the milling head 422 contacts the gangue, controlling the mining tunnel expansion and repair robot to move horizontally back and forth, and using the rotating milling head 422 to perform linear milling and excavation operations on both sides of the tunnel bottom drum from left to right; S25, start the shoveling mechanism 5 and the scraper conveyor 6, drive the mining tunnel expansion and repair robot to continue moving, use the shoveling mechanism 5 to shovel the crushed gangue and convey it to the scraper conveyor 6, so as to realize the function of transporting the crushed gangue; S26, after the bottom drum repair operation is completed, the mine tunnel expansion and repair robot is controlled to exit the tunnel and close all actuators; S3. When performing bottoming operation: S31. Determine the specific location and scope of the repair, as well as the required repair materials and tools; S32, adjusting the angle of the milling head 422 by rotating the adjustment seat 41, so that the rotation axis of the milling head 422 is parallel to the ground; S33, driving the mine tunnel expansion and repair robot to the tunnel entrance; S34, operate the hydraulic mechanical arm mechanism 2 to drive the milling head 422 to move, so that the rotating milling head 422 contacts the gangue, control the crushing mechanism 3 to perform a straight line grooving operation on the tunnel surface from left to right, and operate the universal mobile body 1 to make the tunnel repair robot move forward and enter the grooving; S35, repeating step S34, when the tunnel bottom digging operation reaches the required depth of the bottom digging operation, controlling the hydraulic mechanical arm mechanism 2 to move and stop the bottom digging; S36, controlling the rotary platform 2 to drive the hydraulic mechanical arm mechanism 3 to swing left and right, and using the hydraulic mechanical arm mechanism 3 to drive the rotating milling head 422 to dig from top to bottom; S37, start the shoveling mechanism 5 and the scraper conveyor, drive the mining tunnel expansion and repair robot to continue moving, use the shoveling mechanism 5 to shovel the crushed gangue and convey it to the scraper conveyor, so as to realize the function of transporting the crushed gangue; S38. After the bottoming operation is completed, the mining tunnel expansion and repair robot is controlled to exit the tunnel and close all actuators.

[0038] The process of the present invention under various working modes is introduced below.

[0039] like Figure 8 As shown, when the mining tunnel expansion and repair robot is repairing the bottom drum 9 generated on the ground, the hydraulic rotary actuator is used to control the milling head 32 to flip so that the rotating axis of the milling head 32 is perpendicular to the ground, and the mobile body 1 is controlled to move horizontally. The hydraulic mechanical arm mechanism 2 is operated to use the rotating milling head 32 to reciprocate horizontally to perform the bottom drum repair operation.

[0040] like Fig. 9 As shown, when the mine tunnel expansion and repair robot is performing tunnel expansion operations, the hydraulic rotary actuator is used to control the milling head 32 to flip so that the rotation axis of the milling head 32 is perpendicular to the ground, and the hydraulic mechanical arm mechanism 2 is controlled to swing back and forth in the horizontal and vertical directions, thereby realizing tunnel expansion operations through the rotating milling head 32.

[0041] like Fig.10 As shown, when the mining tunnel expansion and repair robot is performing bottoming operations, the hydraulic rotary actuator is used to control the milling head 32 to flip so that the rotating axis of the milling head 32 is parallel to the ground, and the hydraulic mechanical arm mechanism 2 is controlled to drive the rotating milling head 32 to excavate the coal seam 11 in the tunnel in the form of excavation.

[0042] like Fig.11 As shown, when the tunnel expansion and repair robot is performing the side wall repair operation, the hydraulic rotary actuator is used to control the milling head 32 to flip so that the rotation axis of the milling head 32 is parallel to the ground, and the hydraulic mechanical arm mechanism 2 is controlled by the rotary platform 22 to make a certain bevel angle so that the rotating milling head 32 contacts the side wall 12 of the tunnel, and the hydraulic mechanical arm mechanism 2 is controlled to utilize the rotating milling head 32 to perform the side wall repair operation vertically reciprocatingly, and the side wall repair operation is achieved by controlling the horizontal movement of the mobile body 1.

[0043] The above disclosures are only several preferred specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A mine tunnel expansion and repair robot, comprising a mobile body (1), a rotary platform (2) and a mechanical arm (3), wherein the rotary platform (2) is connected to the front side of the mobile body (1), and the mechanical arm (3) is connected to the rotary platform (2) and realizes horizontal rotation under the drive of the rotary platform (2), characterized in that: Also includes: A rotating adjustment seat (41) connected to the execution end of the mechanical arm (3); The crushing mechanism (42) comprises a cutter seat (421), a milling head (422) and a power drive unit, wherein the cutter seat (421) is connected to the output end of the rotary adjustment seat (41), the milling head (422) is arranged on a side of the cutter seat (421) away from the rotary adjustment seat (41), the power drive unit is arranged on the cutter seat (421), and the output end of the power drive unit is connected to the milling head (422), and the power drive unit is used to drive the milling head (422) to rotate.

2. The mine tunnel expansion and repair robot according to claim 1, characterized in that: The rotary adjustment seat (41) is a hydraulic rotary actuator, the housing of the hydraulic rotary actuator is fixedly connected to the actuator end of the mechanical arm (3), and the shaft of the hydraulic rotary actuator is fixedly connected to the tool seat (421).

3. The mine tunnel expansion and repair robot according to claim 2, characterized in that: There are two milling heads (422), which are symmetrically arranged on both sides of the tool holder (421). The two milling heads (422) are connected via a rotating shaft, and the rotating shaft is horizontally passed through the tool holder (421). An installation cavity is provided inside the tool holder (421), and the power drive unit is arranged in the installation cavity. The output end of the power drive unit is connected to the rotating shaft.

4. The mine tunnel expansion and repair robot according to claim 3, characterized in that: It also includes a shoveling mechanism (5) and a feeding mechanism (6), wherein the shoveling mechanism (5) is connected to the front side of the mobile body (1) and is located below the mechanical arm (3), and the shoveling mechanism (5) is used to shovel the gangue crushed by the crushing mechanism (42), and the feeding mechanism (6) is connected to the mobile body (1) and is located at the rear side of the shoveling mechanism (5) and is used to transport the gangue shoveled by the shoveling mechanism (5).

5. The mine tunnel expansion and repair robot according to claim 4, characterized in that: The shovel bottom mechanism (5) comprises a shovel bottom plate (51), a connecting rod (52) and two rotary material-discharging wheels (53); the shovel bottom plate (51) is connected to the mobile body (1) via the connecting rod (52); a conveying channel connected to the scraper conveyor (6) is provided in the middle of the shovel bottom plate (51); the two rotary material-discharging wheels (53) are arranged on the shovel bottom plate (51) and located on both sides of the conveying channel, and are used to gather the materials shoveled by the shovel bottom plate (51) and convey them to the feeding mechanism (6) through the conveying channel.

6. The mine tunnel expansion and repair robot according to claim 4, characterized in that: The shovel bottom plate (51) is hinged to one end of the connecting rod (52) away from the mobile body (1), and an inclination adjustment component is provided between the shovel bottom plate (51) and the mobile body (1). The inclination adjustment component comprises a hydraulic telescopic rod (53), and both ends of the hydraulic telescopic rod (53) are respectively hinged to the shovel bottom plate (51) and the mobile body (1).

7. The mine tunnel expansion and repair robot according to claim 4, characterized in that: The feeding mechanism (6) is a scraper conveyor, which is stepped and fixed on the mobile body (1). The lowest end of the scraper conveyor is connected to a conveying channel provided on the shovel bottom plate (51).

8. The mine tunnel expansion and repair robot according to claim 4, characterized in that: A support mechanism (7) is provided above the mobile body (1), the support mechanism (7) comprising a top plate (71), two telescopic support rods (72) and two protective shells (73), the two protective shells (73) being connected to the left and right sides of the top of the fuselage (4), the two telescopic support rods (72) being respectively arranged inside the two protective shells (73), and the top plate (71) and the telescopic ends of the two telescopic support rods (72) being horizontally erected and fixed.

9. A mine tunnel expansion and repair method, implemented by using the mine tunnel expansion and repair robot according to any one of claims 4 to 8, characterized in that: The following steps are involved: When performing a bass drum repair job: The angle of the crushing mechanism (42) is adjusted by rotating the adjustment seat (41) so that the rotation axis of the milling head (422) is perpendicular to the ground; The mechanical arm (3) drives the milling head (422) to move so that the side of the milling head (422) contacts the gangue, and the mine tunnel expansion and repair robot moves back and forth horizontally along the tunnel, using the rotating milling head (422) to perform linear milling and excavation operations on both sides of the tunnel bottom drum from left to right; The shoveling mechanism (5) and the scraper conveyor (6) are turned on, and the mine tunnel expansion and repair robot continues to move, and the crushed gangue is shoveled and conveyed to the scraper conveyor (6) by using the shoveling mechanism (5), thereby realizing the function of transporting the crushed gangue; After the bottom drum repair operation is completed, the mine tunnel expansion and repair robot exits the tunnel; When performing bottoming operations: The angle of the milling head (422) is adjusted by rotating the adjustment seat (41) so that the rotation axis of the milling head (422) is parallel to the ground; Controlling the rotary platform (2) to drive the mechanical arm (3) to swing horizontally, and using the mechanical arm (3) to drive the rotating milling head (422) to perform excavation from top to bottom; The shoveling mechanism (5) and the scraper conveyor (6) are turned on, and the mine tunnel expansion and repair robot continues to move, and the crushed gangue is shoveled and conveyed to the scraper conveyor (6) by using the shoveling mechanism (5), thereby realizing the function of transporting the crushed gangue; After the bottom drum repair operation is completed, the mine tunnel expansion and repair robot exits the tunnel.

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