Underground excavation tunnel excavator for extra-large section tunnel and intelligent operation system of underground excavation tunnel excavator

Abstract

The invention relates to the technical field of tunnel construction equipment, in particular to an underground excavation tunnel excavator for an extra-large-section tunnel and an intelligent operation system thereof.The underground excavation tunnel excavator comprises a bench main body, a left mechanical arm set, a right mechanical arm set, a left mechanical arm, a right mechanical arm, a right mechanical arm, a left mechanical arm, a right mechanical arm and a right mechanical arm, according to the construction method, the construction efficiency is remarkably improved through optimization of the bench machine body, the daily footage reaches 4-6 meters and is 2.6-4 times that of traditional manual excavation, and the construction period of a 1000-meter tunnel can be greatly shortened; the labor cost is greatly reduced, and the number of workers per shift is reduced to 7.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction equipment, in particular to a dark-digging tunnel excavator for a tunnel with an extra-large cross-section and an intelligent operating system thereof. Background Art

[0002] As an important underground engineering construction, tunnel construction has long relied mainly on manual excavation. Traditional manual excavation methods have many disadvantages, such as low construction efficiency, great safety hazards, and labor shortage. Specifically, the daily advance of manual excavation is only about 1.5 meters, the construction resistance is large, and the equipment adaptability is insufficient; the face workers are dense, the risk of landslides is high, and the construction environment is harsh; at the same time, due to the serious aging of workers, more than 55% are over 45 years old, and the cost of recruitment continues to rise. In addition, the existing tunnel construction trolleys are prone to problems such as material jamming, unstable hydraulic system, low positioning accuracy, and insufficient equipment stability. In response to the above problems, although the existing mountain tunnel mechanized equipment can improve construction efficiency, it is difficult to directly apply it to the underground excavation construction of urban subway tunnels due to the small cross-section of subway tunnels and limited urban construction space. Therefore, there is an urgent need for a multifunctional underground excavation trolley that integrates excavation, support, and transportation to improve the efficiency, safety, and reliability of underground excavation construction of urban subway tunnels. To this end, the present invention proposes a dark-bored tunnel excavator for extra-large cross-section tunnels and its intelligent operating system, which aims to solve the problems of low efficiency, great safety hazards, labor shortage, insufficient equipment stability, etc. existing in the prior art through technical means such as trolley structure optimization, rear-end transportation system innovation, and energy and environmental protection design. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a dark-digging tunnel excavator for a large-section tunnel, comprising a machine body, a crawler chassis is arranged at the bottom of the machine body, and further comprising: The left mechanical arm group is installed on the machine body and is a multi-joint telescopic structure. A cutting head is installed at one end of the left mechanical arm group away from the machine body. The top of the cutting head is hemispherical and has evenly distributed cutting teeth. The middle part is cylindrical and has spirally distributed cutting teeth. The right mechanical arm group has the same structure as the left mechanical arm group, and a flat shovel is installed at one end away from the main body of the machine, and shovel teeth are evenly arranged on the top of the flat shovel; A right arm reinforcement mechanism, which is installed on the right mechanical arm group to reinforce the vulnerable points of the right mechanical arm group; The conveying mechanism is installed on the platform machine body and is used to transport soil and rocks generated during the construction process to the rear of the platform machine body.

[0004] In some embodiments, the right arm reinforcement mechanism includes a first reinforcing rib installed on the upper arm part of the right robotic arm group, and the hydraulic rod that drives the upper arm to rotate is respectively located on both sides of the upper arm, and the two ends of the first reinforcing rib are respectively connected to the upper arm through a first rotating shaft, and the transition section of the right robotic arm group is provided with a fixed frame, and a second reinforcing rib is relatively rotated in the fixed frame, and the second reinforcing rib is connected to a pitch seat through a second rotating shaft, and the pitch seat connects the arm section with the fixed frame and the arm section adjacent to it, and a stress hole is opened on the forearm of the right robotic arm group, and a third reinforcing rib is installed on the forearm.

[0005] In some embodiments, the conveying mechanism includes a shovel plate installed on the machine body, the shovel plate is located directly below the cutting head, a section of the shovel plate close to the machine body is square, and a section away from the machine body gradually widens. A belt conveyor is installed in the machine body, one end of the belt conveyor is located on the shovel plate, the middle section passes through the machine body, and the other end is located behind the machine body and suspended in the air.

[0006] In some embodiments, the horse-drawn heads and I-frame parts in the left robotic arm group and the right robotic arm group are connected with quick-change joints.

[0007] In some embodiments, a back pressure valve is provided in the main oil return circuit of the hydraulic system built into the machine body.

[0008] An intelligent operating system, comprising the above-mentioned dark-digging tunnel excavator for a tunnel with a particularly large cross-section, and further comprising: The robot arm collaborative control module includes a sensor group respectively arranged on the left robot arm group and the right robot arm group. The sensor group includes an angle sensor, a displacement sensor and a pressure sensor. The robot arm collaborative control module is based on the kinematic model of the multi-joint robot arm and combines the data of the sensor group to dynamically adjust the hydraulic drive parameters to ensure the movement accuracy; A conveying synchronization control module, wherein the conveying synchronization control module maintains a weighing sensor disposed on the shovel board, monitors the material load in real time through data transmitted by a pressure sensor, coordinates the excavation action of the belt conveyor and the mechanical arm, and dynamically adjusts the conveying speed according to the amount of soil and rock; A right arm management module, the right arm management module includes an optical fiber sensor disposed on the right mechanical arm group, which is used to monitor the stress distribution of the right mechanical arm group, and dynamically adjust the hydraulic support force in combination with the force feedback of the first reinforcing rib, the second reinforcing rib, and the third reinforcing rib to prevent structural fatigue or fracture; The hydraulic optimization module is used for intelligent control of the back pressure valve of the main oil return line, dynamically adjusting the output of the hydraulic pump according to load changes, and realizing energy-saving operation.

[0009] In some embodiments, the robotic arm collaborative control module has multiple angle sensors, displacement sensors and pressure sensors, which are respectively built into the joints of the left robotic arm group and the right robotic arm group, and an angle encoder is provided on the operation panel part of the machine body. The accuracy of the displacement sensor is ±0.1mm, and the pressure sensor is used to monitor the cutting resistance.

[0010] In some embodiments, the conveying synchronization control module dynamically adjusts the belt conveyor speed through a fuzzy logic algorithm based on the weighing sensor data, switches to a variable frequency drive mode under low load conditions, and reduces the motor speed to 60%-70% of the rated value.

[0011] In some embodiments, the right arm management module includes strain gauges set in the arm segment part and transition segment array of the right robotic arm group. When the optical fiber sensor detects that the stress exceeds a threshold, the hydraulic locking force is automatically increased to limit the range of motion of the joint.

[0012] In some embodiments, the pressure range of the back pressure valve is 0-30 MPa, and the response time is less than 50 ms.

[0013] The present invention has at least the following beneficial effects: 1. Significantly improve construction efficiency, with daily footage reaching 4-6 meters, which is 2.6-4 times that of traditional manual excavation, and can significantly shorten the construction period of a 1,000-meter tunnel; 2. Significantly reduce labor costs, reducing the number of workers per shift to 7; 3. Significantly enhance construction safety and improve the construction environment; 4. Achieve environmentally friendly construction, electric drive + wet spraying process reduces dust emissions by 60%, noise by 40%, and meets environmental protection standards; 5. Improve equipment reliability, reduce failure rate by 50%, shorten quick change time by 30%, improve feeding continuity, and avoid problems such as feeding jam; 6. It solves the problem that existing mechanized equipment for mountain tunnels cannot be applied to dark excavation construction of urban subway tunnels, and realizes multifunctional integrated design. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Flow chart for implementing the present invention; Figure 2 It is a schematic diagram of stress analysis of the right arm reinforcement mechanism of the present invention; Figure 3 It is a schematic diagram of the overall structure of the present invention; Figure 4 It is a schematic diagram of the right arm reinforcement mechanism of the present invention; In the figure: 1. machine body; 11. crawler chassis; 2. left mechanical arm group; 21. cutting head; 3. right mechanical arm group; 31. flat shovel; 4. right arm reinforcement mechanism; 41. first reinforcing rib; 42. first rotating shaft; 43. fixed frame; 44. second reinforcing rib; 45. second rotating shaft; 46. pitch seat; 47. stress hole; 48. third reinforcing rib; 5. conveying mechanism; 51. shovel plate; 52. belt conveyor. DETAILED DESCRIPTION

[0015] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Embodiment 1:

[0016] See also Figure 1-Figure 4 The present invention provides a technical solution: a dark-digging tunnel excavator for a large-section tunnel, comprising a machine body 1, a crawler chassis 11 is arranged at the bottom of the machine body 1, and further comprising: The left mechanical arm group 2 is installed on the machine body 1 and is a multi-joint telescopic structure. A cutting head 21 is installed at one end of the left mechanical arm group 2 away from the machine body 1. The top of the cutting head 21 is hemispherical and has evenly distributed cutting teeth. The middle part is cylindrical and has spirally distributed cutting teeth. The right mechanical arm group 3 has the same structure as the left mechanical arm group 2, and a flat shovel 31 is installed at one end away from the machine body 1, and shovel teeth are evenly arranged on the top of the flat shovel 31; The multi-joint and retractable design of the left robotic arm group 2 and the right robotic arm group 3 gives the equipment a high degree of freedom as a whole to cope with various complex situations during the construction process. The spiral arrangement of the cutting teeth on the side of the cutting head 21 can ensure continuous coverage of the cutting trajectory and complete the efficient crushing of rock and soil. The rotation trajectory of the top cutting teeth is circular, and the impact force is more concentrated. The rock mass is quickly crushed through point loads to reduce cutting resistance, and it is used to groove or pre-crack hard rock formations. The right robotic arm group 3 can achieve a 50° rotation to the left and right, and the middle transition section can achieve a 45° rotation. Together with the flat shovel 31, it has the functions of excavation, grooving, slag removal, and grille lifting.

[0017] A right arm reinforcement mechanism 4, wherein the right arm reinforcement mechanism 4 is installed on the right mechanical arm group 3 to reinforce the vulnerable points of the right mechanical arm group 3; The conveying mechanism 5 is installed on the platform machine body 1 and is used to transport soil and rocks generated during the construction process to the rear of the platform machine body 1.

[0018] The right arm reinforcement mechanism 4 includes a first reinforcing rib 41 installed on the upper arm part of the right mechanical arm group 3, and the hydraulic rod driving the upper arm to rotate is respectively located on both sides of the upper arm, and the two ends of the first reinforcing rib 41 are respectively connected to the upper arm through a first rotating shaft 42, and a fixing frame 43 is provided at the transition section of the right mechanical arm group 3, and a second reinforcing rib 44 is relatively rotatably arranged in the fixing frame 43, and the second reinforcing rib 44 is connected to a pitch seat 46 through a second rotating shaft 45, and the pitch seat 46 connects the arm section with the fixing frame 43 and the arm section adjacent to it, and a stress hole 47 is opened on the forearm of the right mechanical arm group 3, and a third reinforcing rib 48 is installed on the forearm.

[0019] like Figure 2 As shown, there are force analyses of the right robotic arm group 3 in the forearm retracted state and the deployed state, respectively. The dark blue part is subjected to the smallest force, and the force gradually increases to the dark red part, and the dark red part is subjected to the largest force. It can be seen from the figure that the force on the middle section of the arm is relatively large, which may cause problems such as structural weld opening and swing cylinder fracture. The right arm reinforcement mechanism 4 in the present application is processed by local reinforcement and redesign of the transition section pitch seat 46, which solves the problems of structural weld opening and swing cylinder fracture.

[0020] The conveying mechanism 5 includes a shovel plate 51 installed on the machine body 1, and the shovel plate 51 is located directly below the cutting head 21. A section of the shovel plate 51 close to the machine body 1 is square, and a section away from the machine body 1 gradually widens. A belt conveyor 52 is installed in the machine body 1, and one end of the belt conveyor 52 is located on the shovel plate 51, the middle section passes through the machine body 1, and the other end is located behind the machine body 1 and suspended in the air.

[0021] The horse-drawn heads and the I-frame parts in the left robotic arm group 2 and the right robotic arm group 3 are connected with quick-change joints.

[0022] The quick-change joint adopts the same quick-change structure as the traditional excavator. After experiments, the quick-change time on site is shortened by about 30%. The cutting head 21 and the flat shovel 31 connected to the left mechanical arm group 2 or the right mechanical arm group 3 can be replaced through the quick-change joint respectively, and replaced with a bucket, a rock drill head or a punch required for driving a conduit according to different construction needs.

[0023] A back pressure valve is provided in the main oil return line of the hydraulic system built into the machine body 1.

[0024] An intelligent operating system, comprising the above-mentioned dark-digging tunnel excavator for a tunnel with a particularly large cross-section, and further comprising: The robot arm collaborative control module includes a sensor group respectively arranged on the left robot arm group 2 and the right robot arm group 3. The sensor group includes an angle sensor, a displacement sensor and a pressure sensor. The robot arm collaborative control module dynamically adjusts the hydraulic drive parameters based on the kinematic model of the multi-joint robot arm and the data of the sensor group to ensure the motion accuracy; The forward / inverse kinematics model of the robotic arm is established based on the Denavit-Hartenberg (DH) parameter method, and the trajectory is corrected in combination with real-time sensor data. A master-slave control strategy is adopted, with the left arm being the active arm (responsible for rock breaking) and the right arm being the slave arm (following cleaning). The speed synchronization of the two arms is achieved through PID closed-loop control. When the cutting head 21 encounters hard rock, the system automatically reduces the propulsion speed and increases the rotational torque of the pick (through variable frequency control of the hydraulic motor).

[0025] A conveying synchronization control module, wherein the conveying synchronization control module maintains a weighing sensor disposed on the shovel board 51, monitors the material load in real time through data transmitted by the pressure sensor, coordinates the excavation action of the belt conveyor 52 and the mechanical arm, and dynamically adjusts the conveying speed according to the amount of soil and rock; Based on the weighing sensor data, the belt conveyor speed is dynamically adjusted through the fuzzy logic algorithm. For example, when the load is greater than 3 tons, the speed is increased to 2.5m / s. A torque sensor is installed at the belt conveyor drive roller. When abnormal resistance (such as stone jam) is detected, it automatically reverses for 0.5 seconds and restarts. Under low load conditions, it switches to the variable frequency drive mode, reducing the motor speed to 60%-70% of the rated value, saving more than 15% of energy consumption.

[0026] A right arm management module, which includes an optical fiber sensor disposed on the right mechanical arm group 3, and is used to monitor the stress distribution of the right mechanical arm group 3, and dynamically adjust the hydraulic support force in combination with the force feedback of the first reinforcing rib 41, the second reinforcing rib 44, and the third reinforcing rib 48 to prevent structural fatigue or fracture; When the fiber optic sensor detects that the stress exceeds a threshold value (such as 200MPa), the system automatically increases the hydraulic locking force (adjustable from 0 to 20MPa) to limit the range of motion of the joint.

[0027] The hydraulic optimization module is used for intelligent control of the back pressure valve of the main oil return line, dynamically adjusting the output of the hydraulic pump according to load changes, and realizing energy-saving operation.

[0028] The variable piston pump (displacement 0-250mL / r) is combined with a variable frequency motor (power 0-75kW) to achieve stepless speed regulation.

[0029] The robotic arm collaborative control module has multiple angle sensors, displacement sensors and pressure sensors, which are respectively built into the joints of the left robotic arm group 2 and the right robotic arm group 3, and the operation panel part of the machine body 1 is provided with an angle encoder. The accuracy of the displacement sensor is ±0.1mm, and the pressure sensor is used to monitor the cutting resistance.

[0030] The conveying synchronization control module dynamically adjusts the belt conveyor speed through a fuzzy logic algorithm based on the weighing sensor data, switches to the variable frequency drive mode under low load conditions, and reduces the motor speed to 60%-70% of the rated value.

[0031] The right arm management module includes strain gauges arranged in the arm section and transition section array of the right mechanical arm group 3. When the optical fiber sensor detects that the stress exceeds the threshold, the hydraulic locking force is automatically increased to limit the range of joint movement.

[0032] The pressure range of the back pressure valve is 0-30MPa, and the response time is less than 50ms.

[0033] like Figure 1 As shown, the working method of this device includes the following steps: S1. Survey the soil to determine the soil type, and take measures such as precipitation, grouting and reinforcement for strata with poor self-stability to ensure the stability of the excavation surface; S2, using the optimized trolley structure for tunnel excavation and support; S3, determine whether the tunnel excavation and support are completed, if yes, return to S1, if not, execute S4; S4. Use the supporting transportation system to transport the slag out of the tunnel.

[0034] S2 includes: S201, adopt the positioning and operating system of strengthening the left arm structure, adding the transition section pitch seat 46, and upgrading the right arm to the positioning and operating system of supporting remote control operation with the electric control system, so as to achieve precise positioning; S202, adopt the feeding system that changes the chain feeding system into the belt feeding system to avoid the problems of chain jamming and material blocking; S203, adopts a modular quick-change mechanism compatible with excavators to shorten the function switching time; S204. Add a back-pressure valve to the hydraulic system of the main oil return line to adjust the linkage time of the left arm action and reduce hydraulic cavitation and shaking.

[0035] S4 includes: S401, laying narrow tracks in the tunnel and using battery-powered locomotives to pull dump trucks to transport slag; S402, transfer the slag to the shaft in combination with a scraper; S403. Install flash warning system and sound and light alarm device on track sleepers to improve safety.

[0036] S5. The whole machine is driven by electricity and equipped with a wet spraying system instead of dry spraying to reduce dust and noise pollution. Embodiment 2:

[0037] Based on Example 1, the present invention proposes one working mode of the device: First, the soil layers along the tunnel are surveyed to determine the soil type. For gravel layers and weathered rock layers with poor self-stability, grouting reinforcement, anchor spraying support and other measures are taken to ensure the stability of the excavation surface.

[0038] Then, the optimized trolley structure is used for tunnel excavation and support operations. The specific steps include: S201, adopt the positioning and operating system of strengthening the left arm structure and adding the transition section pitch seat 46. The left arm adopts double-layer thickened steel plate structure, and the transition section pitch seat 46 is made of high-strength alloy steel. The right arm is upgraded to an electric control system, supporting wireless remote control operation, and the positioning accuracy is ±3mm.

[0039] S202, the material conveying system is changed from chain conveying to belt conveying system. The belt conveying system adopts flame-retardant and wear-resistant cord belt. The belt width is 1.5 meters and the conveying capacity is 1000 tons / hour, which solves the problems of chain jamming and material blockage in traditional chain conveying.

[0040] S203 adopts a modular quick-change mechanism compatible with excavators, with an arm change time of less than 8 minutes, which can quickly switch between excavation, milling, crushing and other functions.

[0041] S204. A hydraulic system with a back-pressure valve is added to the main oil return line. The pressure range of the back-pressure valve is 12-18MPa. By adjusting the pressure value of the back-pressure valve, the linkage time of the left arm action can be accurately controlled to minimize hydraulic shock and shaking.

[0042] Determine whether tunnel excavation and support are completed. If so, return to the initial step; if not, perform subsequent transportation steps.

[0043] S401. Narrow tracks with a gauge of 1000mm are laid in the tunnel. Battery-powered locomotives are used to pull dump trucks to transport slag. The capacity of the trucks is 4 cubic meters and the maximum traction of the locomotives is 25 tons.

[0044] S402, combined with a scraper conveyor to transfer the slag to the shaft, the scraper conveyor has a conveying capacity of 1000 tons / hour, which matches the conveying capacity of the belt conveyor system.

[0045] S403. Chamfer the ends of rail sleepers by 30 degrees and install LED flash warning system and sound and light alarm device to improve transportation safety.

[0046] Finally, the whole machine is electrically driven with a motor power of 250 kilowatts. It is equipped with a wet spraying system instead of dry spraying. The spraying concentration is 85% and the spraying thickness is 120-180 mm, which effectively reduces dust and noise pollution. Embodiment 3:

[0047] Based on Example 2, the present invention proposes another working mode of the device: First, the soil layers along the tunnel are surveyed to determine the soil type. For gravel layers and weathered rock layers with poor self-stability, grouting reinforcement, anchor spraying support and other measures are taken to ensure the stability of the excavation surface.

[0048] Then, the optimized trolley structure is used for tunnel excavation and support operations. The specific steps include: S201, adopt the positioning and operating system of strengthening the left arm structure and adding the transition section pitch seat 46. The left arm adopts double-layer thickened steel plate structure, and the transition section pitch seat 46 is made of high-strength alloy steel. The right arm is upgraded to an electric control system, supporting wireless remote control operation, and the positioning accuracy is ±3mm.

[0049] S202, the material conveying system is changed from chain conveying to belt conveying system. The belt conveying system adopts flame-retardant and wear-resistant cord belt. The belt width is 1.5 meters and the conveying capacity is 1000 tons / hour, which solves the problems of chain jamming and material blockage in traditional chain conveying.

[0050] S203 adopts a modular quick-change mechanism compatible with excavators, with an arm change time of less than 8 minutes, which can quickly switch between excavation, milling, crushing and other functions.

[0051] S204. A hydraulic system with a back-pressure valve is added to the main oil return line. The pressure range of the back-pressure valve is 12-18MPa. By adjusting the pressure value of the back-pressure valve, the linkage time of the left arm action can be accurately controlled to minimize hydraulic shock and shaking.

[0052] Determine whether tunnel excavation and support are completed. If so, return to the initial step; if not, perform subsequent transportation steps.

[0053] S401. Narrow tracks with a gauge of 1000mm are laid in the tunnel. Battery-powered locomotives are used to pull dump trucks to transport slag. The capacity of the trucks is 4 cubic meters and the maximum traction of the locomotives is 25 tons.

[0054] S402, combined with a scraper conveyor to transfer the slag to the shaft, the scraper conveyor has a conveying capacity of 1000 tons / hour, which matches the conveying capacity of the belt conveyor system.

[0055] S403. Chamfer the ends of rail sleepers by 30 degrees and install LED flash warning system and sound and light alarm device to improve transportation safety.

[0056] Finally, the whole machine is electrically driven with a motor power of 250 kilowatts. It is equipped with a wet spraying system instead of dry spraying. The spraying concentration is 85% and the spraying thickness is 120-180 mm, which effectively reduces dust and noise pollution.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dark-bored tunnel excavator for a tunnel with a particularly large cross-section, comprising a machine body (1), wherein a crawler chassis (11) is provided at the bottom end of the machine body (1), and wherein: Also includes: A left mechanical arm assembly (2), the left mechanical arm assembly (2) being mounted on the machine body (1) and being a multi-joint telescopic structure, a cutting head (21) being mounted on one end of the left mechanical arm assembly (2) away from the machine body (1), the top of the cutting head (21) being hemispherical and having cutting teeth evenly distributed thereon, and a middle section being cylindrical and having cutting teeth distributed thereon in a spiral shape; A right mechanical arm group (3), wherein the right mechanical arm group (3) and the left mechanical arm group (2) have the same structure, and a flat shovel (31) is installed at one end away from the machine body (1), and the top of the flat shovel (31) has shovel teeth arranged in a uniform array; A right arm reinforcement mechanism (4), wherein the right arm reinforcement mechanism (4) is mounted on the right mechanical arm assembly (3) to reinforce vulnerable points of the right mechanical arm assembly (3); A conveying mechanism (5), wherein the conveying mechanism (5) is installed on the platform machine body (1) and is used to convey soil and rocks generated during the construction process to the rear of the platform machine body (1).

2. The dark-digging tunnel excavator for a tunnel with a large cross section according to claim 1, characterized in that: The right arm reinforcement mechanism (4) comprises a first reinforcing rib (41) installed on the upper arm portion of the right mechanical arm group (3), and the hydraulic rod driving the upper arm to rotate is respectively located on both sides of the upper arm, and the two ends of the first reinforcing rib (41) are respectively connected to the upper arm via a first rotating shaft (42), and the transition section of the right mechanical arm group (3) is provided with a fixing frame (43), and a second reinforcing rib (44) is relatively rotatably arranged in the fixing frame (43), and the second reinforcing rib (44) is connected to a pitch seat (46) via a second rotating shaft (45), and the pitch seat (46) connects the arm section provided with the fixing frame (43) and the arm section adjacent thereto, and a stress hole (47) is opened on the forearm of the right mechanical arm group (3), and a third reinforcing rib (48) is installed on the forearm.

3. A dark-digging tunnel excavator for a tunnel with a large cross section according to claim 2, characterized in that: The conveying mechanism (5) comprises a shovel plate (51) mounted on the machine body (1), the shovel plate (51) being located directly below the cutting head (21), a section of the shovel plate (51) close to the machine body (1) being square, and a section away from the machine body (1) gradually becoming wider, a belt conveyor (52) being installed in the machine body (1), one end of the belt conveyor (52) being located on the shovel plate (51), a middle section penetrating the machine body (1), and the other end being located behind the machine body (1) and suspended in the air.

4. A dark-digging tunnel excavator for a tunnel with a particularly large cross-section according to claim 3, characterized in that: The horse-drawn head and the I-frame part in the left mechanical arm group (2) and the right mechanical arm group (3) are connected with a quick-change joint.

5. The dark-digging tunnel excavator for a tunnel with a particularly large cross-section according to claim 4, characterized in that: A back pressure valve is provided in the main oil return circuit of the hydraulic system built into the machine body (1).

6. An intelligent operating system, characterized in that: The dark-digging tunnel excavator for a large-section tunnel according to claim 5 further comprises: A robot arm collaborative control module, the robot arm collaborative control module comprises a sensor group respectively arranged on the left robot arm group (2) and the right robot arm group (3), the sensor group comprising an angle sensor, a displacement sensor and a pressure sensor, the robot arm collaborative control module dynamically adjusts hydraulic drive parameters based on a kinematic model of the multi-joint robot arm and in combination with data from the sensor group to ensure motion accuracy; A conveying synchronization control module, wherein the conveying synchronization control module maintains a weighing sensor disposed on the shovel plate (51), monitors the material load in real time through data transmitted by the pressure sensor, coordinates the excavation action of the belt conveyor (52) and the mechanical arm, and dynamically adjusts the conveying speed according to the amount of soil and rock; A right arm management module, the right arm management module comprising an optical fiber sensor arranged on the right mechanical arm group (3), used to monitor the stress distribution of the right mechanical arm group (3), and dynamically adjust the hydraulic support force in combination with the force feedback of the first reinforcing rib (41), the second reinforcing rib (44), and the third reinforcing rib (48), so as to prevent structural fatigue or fracture; The hydraulic optimization module is used for intelligent control of the back pressure valve of the main oil return line, dynamically adjusting the output of the hydraulic pump according to load changes, and realizing energy-saving operation.

7. An intelligent operating system according to claim 6, characterized in that: The robotic arm cooperative control module has a plurality of angle sensors, displacement sensors and pressure sensors, which are respectively built into the joints of the left robotic arm group (2) and the right robotic arm group (3), and an angle encoder is provided on the operation panel portion of the machine body (1). The accuracy of the displacement sensor is ±0.1 mm, and the pressure sensor is used to monitor the cutting resistance.

8. An intelligent operating system according to claim 7, characterized in that: The conveying synchronization control module dynamically adjusts the belt conveyor speed through a fuzzy logic algorithm based on the weighing sensor data, switches to the variable frequency drive mode under low load conditions, and reduces the motor speed to 60%-70% of the rated value.

9. An intelligent operating system according to claim 8, characterized in that: The right arm management module comprises strain gauges arranged on the arm segment and transition segment array of the right mechanical arm group (3). When the optical fiber sensor detects that the stress exceeds a threshold value, the hydraulic locking force is automatically increased to limit the range of motion of the joint.

10. An intelligent operating system according to claim 9, characterized in that: The pressure range of the back pressure valve is 0-30MPa, and the response time is less than 50ms.

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