Full-automatic bionic wriggling tunnel well drill

Abstract

The invention discloses a full-automatic bionic wriggling tunnel well drill, and relates to the field of mountain hard rock small-radius tunnel construction. The mechanical system comprises a cutting mechanism for cutting and tunneling the mountain ridge hard rock, a supporting system is installed and connected to the end, away from the tunnel face where the cutting mechanism cuts the mountain ridge hard rock, of the cutting mechanism, and a plurality of adjusting mechanisms capable of stretching and adjusting are arranged on the supporting system. The small-radius position suitable for tunneling the mountain ridge hard rock tunnel is adjusted through the adjusting mechanism. The heading machine improved through the design can adapt to the small-radius hard rock tunnel of the mountain ridge, the tunnel can be rapidly tunneled at the hard rock of the mountain ridge through the heading machine, the construction efficiency is improved, and the cost is saved.

Description

Technical Field

[0001] The present invention relates to the field of construction of small-radius tunnels in hard rock in mountainous areas, and particularly to a fully automatic bionic peristaltic tunnel drilling machine. Background Art

[0002] For tunnel forming construction, mainly the drill and blast method, tunneling machine method, crushing and peeling method, water drilling method, pipe jacking machine method, shield machine method, etc. are adopted, and their respective characteristics are as follows: Although the drill and blast method is flexible in excavation and applicable to various shapes, sizes, and dimensions of chambers, the drill and blast method causes great disturbance to the surrounding rock layers, it is difficult to control overbreak, the shape formed is irregular, and the safety is not high. Especially in areas where there are residential areas, the vibration of blasting will cause irreversible damage to residential houses. And in recent years, the control of explosives has become stricter and stricter, resulting in frequent stoppages of construction sites using the drill and blast method, and it is difficult to construct small-radius tunnels.

[0003] The tunneling machine method cuts rocks through the cutter head of the tunneling machine, and then conveys them to the tail through a self - carried conveyor, and then transports them out of the tunnel through a muck truck. For the existing tunneling machines, it is difficult to construct in small cross - section high - hardness rock layers, and the rock wear is serious. Especially for tunnels less than 3 meters in height, for tunneling machines suitable for this cross - section size, they cannot cut high - hardness rocks. Therefore, in the construction of small - cross - section hard rock tunnels, the crushing and peeling method and the water drilling method have been developed.

[0004] Among them, the crushing and peeling method installs a piston - type breaker at the front end of the working arm of an excavator or mucking loader. The piston - type breaker breaks and peels the rocks, and then the muck is shoveled and loaded into the muck truck through a bucket or conveyor, and then transported out of the tunnel through the transport vehicle. This type of method has the disadvantages of low efficiency and slow construction progress.

[0005] The water drilling method mainly aims at hard rock. It drills holes around the tunnel forming size through a hole opener, and finally peels off the central rock block, and then pulls the rock out of the tunnel through a towing rope. Its construction defects are slow construction efficiency and irregular shape formed. Moreover, the tunneling machine method, the crushing and peeling method, and the water drilling method are difficult to construct in small - radius tunnels.

[0006] The pipe jacking machine method requires a launch shaft. A jacking hydraulic device is installed in the launch shaft. The thrust of the hydraulic cylinder provides thrust for the reinforced concrete pipe and the front cutter head. Then the front cutter head rotates to cut the rock, and the rock is transported out of the tunnel through a pipe or conveyor. Its construction defects are that it requires a launch shaft, and for as long as the tunnel is, the same length of reinforced concrete pipe needs to be jacked. It is very difficult to construct long - distance tunnels, and it will also increase the construction cost. Especially for the construction of mine tunnels, it can hardly meet the cost requirements. And the front cutter head can only move forward and cannot move backward, resulting in difficulties in repairing some components. Similarly, it is difficult to construct in small - radius tunnels.

[0007] The construction cost of the shield method is high and a launch shaft (tunnel) is required, which is not applicable to short-distance small-section hard rock tunnels.

[0008] Among the above several tunnel excavation constructions, although the drill and blast method, the fragmentation and stripping method, the water drilling method, and the pipe jacking machine method can be applied to the excavation of hard rock tunnels, they all have a common drawback: it is difficult to construct in small-radius tunnels. Although the existing tunneling machine method can construct in small-radius tunnels, due to the limitations of the existing tunneling equipment, it also faces great difficulties in constructing small-radius tunnels. For example, how to stably and safely achieve small-radius attitude adjustment? Therefore, in order to enable the "tunneling machine" to cooperate with these construction methods and perform "safe and reliable attitude adjustment" during the tunneling of mountainous small-radius tunnels, it is very necessary to design and improve a hard rock tunneling machine. Summary of the Invention

[0009] The object of the present invention is achieved through the following technical solutions: A fully automatic bionic peristaltic tunnel drilling machine, including a mechanical system installed on a tunneling machine; The mechanical system includes a cutting mechanism for cutting and tunneling hard rock in mountains. One end of the cutting mechanism away from the working face where the hard rock in mountains is cut by the cutting mechanism is installed and connected with a support system. A number of adjustable expansion mechanisms are arranged on the support system, and the small-radius position of the hard rock tunnel in mountains to be tunneled is adjusted and adapted through the expansion mechanisms; Each expansion mechanism includes a rectangular guide rail. The rectangular guide rail is installed and connected to the support system. One end of the support system is used for movable connection with the cutting mechanism. Oil cylinders that can slide along the support system driven by the rectangular guide rail and are telescopically movable are respectively connected to the four sides of the rectangular guide rail. The other end of the oil cylinder is connected with an arc-shaped plate that is controlled by the telescopic movement of the oil cylinder and is used for supporting on the inner wall of the hard rock tunnel in mountains.

[0010] Preferably, it includes a hydraulic system, an electrical system, a conveying system, and a tunnel guiding system; The hydraulic system and the electrical system are used to control the conveying system, adjust the mechanical system and the support system, so as to drive the tunneling machine to tunnel in the small-radius hard rock tunnel in mountains, and drive the conveying system to convey the hard rock in mountains cut and tunneled by the mechanical system to the tail end of the tunneling machine; The tunnel guiding system is used to achieve stable guiding and facilitate attitude adjustment.

[0011] Preferably, the cutting mechanism includes a tunneling cutter head, and hob cutters and scraping blades are installed on the tunneling cutter head. The hob cutters and the scraping blades are used for cutting and tunneling the working face of the hard rock tunnel in mountains being tunneled; One end of the tunneling cutter head away from the face of the hard rock mountain tunnel is connected with a slewing support, one end of the slewing support away from the tunneling cutter head is connected with a drive box, and one end of the drive box away from the slewing support is movably connected with a support system.

[0012] Preferably, an electric drive assembly is installed and connected on the drive box. An output gear driven by the electric drive assembly is installed at the output end of the electric drive assembly. The output gear meshes with the gear connected to the slewing support. The slewing support is driven to move through the output gear, and then the tunneling cutter head is driven to move. Moreover, the electric drive assembly provides power for the tunneling cutter head. One end of the electric drive assembly away from the tunneling cutter head is movably connected with the support system; One end of the electric drive assembly close to the tunneling cutter head is installed and connected with a cutter head housing. An exhaust system is installed in the cutter head housing, and a tunnel guiding system is installed and connected at one end of the cutter head housing away from the tunneling cutter head; A number of hydraulic rods are installed and connected around the support system. One ends of the number of hydraulic rods away from the support system are movably connected with the electric drive assembly. The support system is driven to move in the hard rock mountain tunnel through the number of hydraulic rods.

[0013] Preferably, one end of the support system away from the tunneling cutter head is connected with a hydraulic valve group system. One end of the hydraulic valve group system away from the support system is connected with a tunneling tail system through a connection system structure.

[0014] The beneficial effects of the present invention are as follows: The object of the present invention is to provide a fully automatic bionic peristaltic tunnel drilling machine, which includes a mechanical system installed on the tunneling machine; the mechanical system includes a cutting mechanism for cutting and tunneling hard rock in mountains. At one end of the cutting mechanism away from the face where the cutting mechanism cuts the hard rock in the mountains, a support system is installed and connected. A number of adjustable expansion mechanisms are provided on the support system to adjust and adapt to the small-radius position of tunneling hard rock tunnels in mountains through the adjustment mechanisms; moreover, the provided adjustment mechanisms all include rectangular guide rails, and the rectangular guide rails are installed and connected to the support system. One end of the support system is used for movable connection with the cutting mechanism. Oil cylinders that can slide along the support system driven by the rectangular guide rails and are telescopically movable are respectively connected around the rectangular guide rails. The other end of the oil cylinder is connected to an arc-shaped plate that is connected by the telescopic control of the oil cylinder and is used to support against the inner wall of the hard rock tunnel in the mountains; by controlling the rectangular guide rails to drive the arc-shaped plates connected by the oil cylinders around the rectangular guide rails to move to a suitable position of the small-radius design of the excavated mountain, and then by controlling the oil cylinders to drive the arc-shaped plates to support and lean against the wall of the excavated mountain tunnel to "temporarily" support the entire tunneling machine, and then through the hydraulic system and electrical system set on the tunneling machine, control the entire improved mechanical system to adjust the attitude of the tunneling machine at this small-radius position, so as to realize the adjustment and smooth tunneling of the small-radius tunnel position, and achieve the purpose of designing and improving the tunneling machine. Furthermore, through the improved tunneling machine designed in this way, it can adapt to small-radius hard rock tunnels in mountains. Through this tunneling machine, not only can the tunnel be quickly excavated at the hard rock in the mountains, but also the construction efficiency is improved and the cost is saved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of a fully automatic bionic peristaltic tunnel drilling machine of the present invention; Figure 2 is a partial enlarged schematic diagram of the connection structure of the cutter head housing of a fully automatic bionic peristaltic tunnel drilling machine of the present invention; Figure 3 is a schematic diagram of the connection structure of the adjustment mechanism of a fully automatic bionic peristaltic tunnel drilling machine of the present invention; In the figure, 1 - scraping blade, 2 - tunneling cutter head, 3 - hob, 4 - cutter head housing, 5 - exhaust system, 6 - drive box, 7 - electric drive assembly, 14 - conveyor, 15 - conveyor, 16 - electrical control cabinet, 17 - trailer, 18 - transformer, 19 - filtration system, 20 - soft starter, 21 - high-voltage box, 22 - water spraying system, 23 - slewing bearing, 24 - arc-shaped plate, 25 - small slide rail, 26 - oil cylinder, 27 - rectangular guide rail, 28 - mucking device, 29 - tunnel guiding system, 30 - hydraulic valve group, 31 - motor and oil pump assembly. DETAILED DESCRIPTION OF THE INVENTION

[0016] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0017] Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention. It should be noted that relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0018] Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0019] As Figures 1 to 3 shown, a fully automatic bionic peristaltic tunnel drilling machine, the tunneling machine includes several major system parts in its overall design, such as a mechanical system, a hydraulic system, an electrical system, a conveying system, a tunnel guiding system, and a tunneling tail system, etc.; in the implementation of the excavation of a small-radius tunnel in hard rock in the mountains by this tunneling machine, the overall embodiment is as follows: The mechanical system of the roadheader includes a cutting mechanism for cutting and tunneling hard rock in mountains. At one end of the cutting mechanism away from the face where the cutting mechanism cuts the hard rock in mountains, a support system is installed and connected. A number of extendable and adjustable adjustment mechanisms are provided on the support system to adjust and adapt to the small-radius position of tunneling hard rock tunnels in mountains through the adjustment mechanisms. At one end of the support system away from the tunneling cutter head, a hydraulic valve group system is connected. At one end of the hydraulic valve group system away from the support system, a tunneling tail system is connected through a connection system structure; the hydraulic system and the electrical system are used to control the conveying system, adjust the mechanical system and the support system, so as to drive the roadheader to tunnel in small-radius hard rock tunnels in mountains, and drive the conveying system to convey the hard rock cut and tunneled by the mechanical system to the tail end of the roadheader, and convey the hard rock muck to the slag discharging device 28 through the tunneling tail system and transport it out through the slag discharging device 28.

[0020] Further, in the embodiment, the adjustment mechanisms of the roadheader all include a rectangular guide rail 27, which is installed and connected to the support system. One end of the support system is used for movably connecting with the cutting mechanism. Hydraulic cylinders 26 that can slide along the support system driven by the rectangular guide rail 27 and are telescopically and movably arranged are respectively connected to the four sides of the rectangular guide rail 27. The other end of the hydraulic cylinder 26 is connected to an arc-shaped plate 24 that is connected by the telescopic control of the hydraulic cylinder 26 and is used to support on the inner wall of the hard rock tunnel in the mountain. The cutting mechanism provided includes a roadheader cutter head 2, on which hob cutters 3 and scraping blades 1 are installed. The hob cutters 3 and scraping blades 1 are used to cut and drive the working face of the hard rock tunnel in the mountain. One end of the roadheader cutter head 2 far from the working face of the hard rock tunnel in the mountain is connected to a slewing support 23. One end of the slewing support 23 far from the roadheader cutter head 2 is connected to a drive box 6. One end of the drive box 6 far from the slewing support 23 is movably connected to the support system. And an electric drive assembly 7 is installed and connected to the drive box 6. An output gear driven by the electric drive assembly 7 is installed at the output end of the electric drive assembly 7. The output gear meshes with the gear connected to the slewing support 23. The slewing support 23 is driven to move through the output gear, and then the roadheader cutter head 2 is driven to move. And the electric drive assembly 7 provides power for the roadheader cutter head 2. One end of the electric drive assembly 7 far from the roadheader cutter head 2 is movably connected to the support system. That is, the electric drive assembly 7 is installed on the drive box 6, and the electric drive assembly 7, the drive box 6 and the support system are movably connected. It can be connected in a "hinged" structure, so that the support system, the electric drive assembly 7 and the drive box 6 are in a "movable hinge type", which is convenient for controlling the movement of the roadheader cutter head 2 through the hydraulic system and the electrical system, driving the hob cutters 3 and scraping blades 1 on the roadheader cutter head 2 to cut and drive the working face of the hard rock tunnel in the mountain. And the hard rock soil cut by the hob cutters 3 and scraping blades 1 on the roadheader cutter head 2 passes through the set conveying system. Under the control of the hydraulic system and the electrical system, it starts from the position of the roadheader cutter head 2, then passes through the support system in the middle of the roadheader and enters the roadheader tail system at the tail end of the roadheader. The hard rock soil in the mountain is conveyed to the slag discharging device 28 through the roadheader tail system and transported out through the slag discharging device 28. In the implementation, a cutter head housing 4 is installed and connected to one end of the electric drive assembly 7 close to the roadheader cutter head 2. An exhaust system 5 is installed in the cutter head housing 4, which is used for proper exhaust and ventilation of the cutter head housing 4 and the roadheader cutter head 2 and the working face to ensure the safety quality of ventilation. And a number of tunnel guiding systems 29 are installed and connected to one end of the cutter head housing 4 far from the roadheader cutter head 2. The tunnel guiding system 29 provided guides and positions the roadheader cutter head 2 at the "head" of the roadheader, and plays a role of "attitude adjustment and guidance" for the support system and the roadheader tail system to avoid deviation during driving.The tunnel guiding system 29 includes a first guiding column, a second guiding column, a hydraulic support rod, and a guiding contact roller in its structural design. One end of the first guiding column is hinged to the cutter head housing 4 through a hinge seat. One end of the second guiding column close to the first guiding column is telescopically arranged with the first guiding column. The other end of the second guiding column away from the first guiding column is movably connected with a guiding contact roller through a connecting seat. One end of the hydraulic support rod is hinged to the first guiding column, and the other end of the hydraulic support rod is hinged to the cutter head housing 4. In this way, the "contraction and extension" of the tunnel guiding system 29 can be driven by controlling the hydraulic support rod. When the tunnel guiding system 29 is not needed, the tunnel guiding system 29 is in a "contracted" state. When the tunnel guiding system 29 is needed, by controlling the hydraulic support rod to extend, the first guiding column is driven to rotate to a proper position along the hinge seat, and the second guiding column is driven to rotate along with the first guiding column. By controlling and adjusting the movement of the second guiding column, the guiding contact roller is made to contact the tunnel wall. Then, the direction of the guiding contact roller is adjusted to make the guiding contact roller in the "advancing direction" that needs attitude adjustment, and then the rotation direction of the guiding contact roller is controlled to be consistent with the "advancing direction" that needs attitude adjustment, so as to achieve the purpose of "advancing guidance". And in the implementation, in order to ensure the "accuracy" of attitude adjustment, hydraulic telescopic rods are respectively hinged at both ends of the first guiding column. The housing of the hydraulic telescopic rod is hinged to the first guiding column through a small hydraulic rod, and a hydraulic cylinder for contacting the tunnel wall and for supporting and adjusting is connected to the end of the hydraulic telescopic rod away from the first guiding column. In this way, when attitude adjustment is carried out, by controlling the small hydraulic rod to extend, the hydraulic telescopic rods hinged to the small hydraulic rods are driven to extend, so that the hydraulic telescopic rods "expand", and then by controlling the hydraulic cylinder to extend and support on the tunnel wall. If small-radius attitude adjustment is carried out, when the tunneling machine adjusts its attitude (turns) in which direction, the hydraulic cylinder close to this direction is finely adjusted to contract and extend, and the hydraulic cylinder deviating from this direction is finely adjusted to extend, and then combined with the "movement" of the guiding contact roller, stable guidance can be achieved. In the implementation, modular rectangular rails are used, and rectangular rail modules can be added according to construction needs. Equipment such as bolt drills, advanced drills, arch erectors, and wet shotcreters can be installed on the rails according to construction needs, so as to facilitate adapting to the requirements of small-radius excavation.

[0021] It should be noted that when adjusting the "attitude" of the tunneling machine at the small-radius position of the tunneling tunnel, by controlling the positions of the adjusting mechanisms arranged on the support system, the rectangular slide rails 27 of the respective adjusting mechanisms are placed in appropriate positions for attitude adjustment. Then, by controlling the elongation of the hydraulic cylinders 26 of the respective adjusting mechanisms, the arc-shaped plates 24 connected to the other ends of the hydraulic cylinders 26 of the respective adjusting mechanisms can be telescopically adjusted to abut against the tunnel wall at this position of the tunneling tunnel. To ensure the "stability" of the support limit, a small slide rail 25 for "guiding" support is added between each arc-shaped plate 24 and the rectangular guide rail 27. Then, taking one type of "turning" adjustment as an example according to the design requirements: when it is necessary to adjust the tunneling "attitude" of the tunneling machine at the "small-radius" position, for example, when the tunneling machine needs to make a "small-radius" attitude fine-tuning tunneling to the "left", at this time, by controlling the elongation of the hydraulic cylinder 26 on the "right side" for adjustment, the arc-shaped plate 24 on the "right side" is driven to increase the force and support on the right tunnel wall. At the same time, by controlling the contraction of the hydraulic cylinder 26 on the "left side" for adjustment, the arc-shaped plate 24 on the "left side" is driven to reduce the force, so as to drive the support system of the tunneling machine to shift to the "left" at this position. Moreover, during the implementation process, in order to be able to drive the tunneling cutter head 2 connected to the end of the support system of the tunneling machine in an "articulated" manner to also adjust its attitude, a number of hydraulic rods are installed and connected around the support system. One end of the number of hydraulic rods away from the support system is movably connected (articulated) to the electric drive assembly 7. The support system is driven to move in the hard rock tunnel of the mountain by the number of hydraulic rods; that is, the support system is "movably articulated" with the cutter head housing 4, the electric drive assembly 7, and the tunneling cutter head 2 as a whole through the hydraulic rods. And similarly, at the tail end of the support system, the tunneling tail system as a whole is also "movably articulated" through a number of hydraulic rods. Then, after the support system finely adjusts its attitude through the set number of adjusting mechanisms, the tunneling cutter head 2 is driven to "tunnel forward" and the tunneling tail system is driven to "push forward" respectively through the number of hydraulic rods arranged at both ends of the support system, so as to realize the adjustment of the "tunneling attitude" at the small-radius position, and further realize the function of "bionic peristalsis" for rapid tunneling of the small-radius hard rock tunnel.

[0022] Further, in the embodiment, a tunneling cutter head 2 is installed at the front end of the tunneling machine. A hob 3 and a scraping blade 1 are installed on the tunneling cutter head 2. The cutter head housing 4 installed on the tunneling cutter head 2 plays a role in supporting the cutter head, tunneling guidance, and slag collection during operation. The rectangular guide rail 27 and the small slide rail 25 are both designed with a rectangular cross-section. Also, during the process of the tunneling machine jacking and cutting rocks, it provides a reverse torque for the strong cutting force of the cutter head. At the same time, the set tunneling tail system includes a trailer 17 "actively hinged" to the support system. During implementation, the trailer 17 is divided into upper and lower layers. The upper layer is installed with an electrical control cabinet 16, a transformer 18, a hydraulic oil tank and a filtration system 19, a soft starter 20, a high-voltage box 21, a motor and an oil pump assembly 31, etc. The lower layer is installed with a conveyor 15 (screw feeder). And the conveying system includes a conveyor 14. The tunneling cutter head 2 of the tunneling machine can bring the mountain hard rock slag cut by the hob 3 and the scraping blade 1 to the conveyor 14 of the conveying system. Through the conveyor 14, the mountain hard rock slag is conveyed to the outlet end of the conveyor 15 at the tail of the trailer 17, so that the mountain hard rock slag falls into the slag discharging device 28. Through the slag discharging device 28, the mountain hard rock slag can be transported out of the tunnel; also, an exhaust system 5 is installed at the top of the cutter head housing 4. The front end of the exhaust system 5 communicates with the tunneling cutter head 2, and the rear end of the exhaust system 5 is connected to an exhaust air belt, which can discharge the dust brought out by the mountain hard rock slag cut at the front end out of the tunnel. And in cooperation with the external air supply system, it can ensure the cleanliness of the air in the tunnel and ensure ventilation safety; a water spraying system 22 is installed on the cutter head, which can cool down the hob 3 and the scraping blade 1.

[0023] Further, in the embodiment, the electrical components of the electrical system are all connected to the controller, which is convenient for implementation of control. The hydraulic system includes a motor and an oil pump assembly 31, a hydraulic oil tank and a filtration system 19, a hydraulic valve group 30, hydraulic cylinders, hydraulic pipelines, etc. installed on the trailer 17 of the tunneling tail system, as well as an electrical control cabinet 16, a transformer 18, a hydraulic oil tank and a filtration system 19, a soft starter 20, a high-voltage box 21, a motor and an oil pump assembly 31, etc. installed on the trailer 17; the flow rate and pressure of the hydraulic system are controlled by the controller, and it can provide different pressures and flow rates according to the working needs.

[0024] During the tunneling process, after on-site assembly is completed, the tunneling machine is powered on. Through the human-machine interface or the remote control unit, relevant parameters related to the equipment operation (maximum deflection rate, maximum turning radius, tunneling speed, etc.) are input. The tunneling mode is rotated to automatic tunneling. After clicking to run, the controller collects the data of each sensor, combines with the input relevant parameters of the equipment operation, and automatically calculates the tunneling azimuth correction parameters; Combined with the tunneling azimuth correction parameter, the controller controls the motor and the oil pump assembly 31, the hydraulic valve group 30, and the telescopic amounts of the oil cylinders 26 at different azimuths, so as to realize different coordinate positions of the center point of the rectangular guide rail 27 in the excavated tunnel, drive the support system to deflect in the tunnel, and control the steering and azimuth correction of the tunneling machine; After the position sensor of the mucking device 28 reads that the mucking device 28 is in place, the controller drives the electric drive assembly 7 to operate by controlling the soft starter 20 and the power distribution box 21, drives the tunneling cutterhead 2 and the related components of the tunneling cutterhead 2 (including the hob 3 and the scraping blade 1) to start, performs hard rock crushing tunneling on the heading face, and controls the conveyor of the conveying system to convey the hard rock soil to the mucking device 28, so that it is transported outside the tunnel.

[0025] It should be noted that: in the implementation, the mechanical system, hydraulic system, electrical system, conveying system, tunnel guiding system, and tunneling tail system of the tunneling machine, etc., the technologies for controlling these systems are the existing technologies in the "tunneling machine", so in the implementation, the specific control implementation methods and control components of these systems are not described in detail. The tunneling machine improved by this design can adapt to small-radius hard rock tunnels in mountainous areas. With this tunneling machine, not only can the tunnel be quickly excavated in hard rock in mountainous areas, but also the construction efficiency is improved and the cost is saved.

[0026] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details in the above-described embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention. In addition, it should be noted that, in the above specific embodiments, the various specific technical features described can be combined in any appropriate manner without contradiction. To avoid unnecessary repetition, the present invention does not separately describe various possible combination methods. In addition, the above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention; at the same time, any arbitrary combination can be made between different embodiments of the present invention as long as it does not violate the idea of the present invention, and it should also be regarded as the content disclosed by the present invention.

Claims

1. A fully automatic bionic peristaltic tunnel drilling machine, characterized in that, It includes a mechanical system installed on a roadheader; The mechanical system includes a cutting mechanism for cutting and tunneling hard rock in mountains. At one end of the cutting mechanism away from the working face where the cutting mechanism cuts the hard rock in mountains, a support system is installed and connected. A number of extendable and adjustable adjustment mechanisms are provided on the support system, and the adjustment mechanisms are used to adjust and adapt to the small-radius position of tunneling hard rock tunnels in mountains; Each of the adjustment mechanisms includes a rectangular guide rail. The rectangular guide rail is installed and connected to the support system. One end of the support system is used for movably connecting with the cutting mechanism. Hydraulic cylinders that can slide along the support system driven by the rectangular guide rail and are telescopically and movably arranged are respectively connected around the rectangular guide rail. The other end of the hydraulic cylinder is connected with an arc-shaped plate that is connected and controlled by the telescopic movement of the hydraulic cylinder and is used for supporting on the inner wall of the hard rock tunnel in mountains.

2. The fully automatic bionic peristaltic tunnel drilling machine according to claim 1, wherein, It also includes a hydraulic system, an electrical system, a conveying system, and a tunnel guiding system; The hydraulic system and the electrical system are used to control the conveying system, adjust the mechanical system and the support system, so as to drive the roadheader to tunnel in a small-radius hard rock tunnel in mountains, and drive the conveying system to convey the hard rock cut and tunneled by the mechanical system to the tail end of the roadheader; The tunnel guiding system is used to achieve stable guiding and facilitate attitude adjustment.

3. The fully automatic bionic peristaltic tunnel drilling machine according to claim 2, characterized in that, The cutting mechanism includes a tunneling cutter head. Hob cutters and scraping blades are installed on the tunneling cutter head. The hob cutters and scraping blades are used to cut and tunnel the working face of the hard rock tunnel being tunneled; One end of the tunneling cutter head away from the working face of the hard rock tunnel in mountains is connected with a slewing bearing. One end of the slewing bearing away from the tunneling cutter head is connected with a drive box. One end of the drive box away from the slewing bearing is movably connected with the support system.

4. The fully automatic bionic peristaltic tunnel drilling machine according to claim 3, wherein, An electric drive assembly is installed and connected on the drive box. An output gear driven by the electric drive assembly is installed at the output end of the electric drive assembly. The output gear meshes with the gear connected to the slewing bearing. The slewing bearing is driven to move through the output gear, and then the tunneling cutter head is driven to move. Moreover, power is provided for the tunneling cutter head by the electric drive assembly. One end of the electric drive assembly away from the tunneling cutter head is movably connected with the support system; One end of the electric drive assembly close to the tunneling cutter head is installed and connected with a cutter head housing. An exhaust system is installed in the cutter head housing. Moreover, a tunnel guiding system is installed and connected at one end of the cutter head housing away from the tunneling cutter head; A number of hydraulic rods are installed and connected around the support system. One end of the number of hydraulic rods away from the support system is movably connected with the electric drive assembly. The support system is driven to move in the hard rock tunnel in mountains through the number of hydraulic rods.

5. The fully automatic bionic peristaltic tunnel drilling machine according to claim 4, characterized in that, One end of the support system away from the tunneling cutter head is connected with a hydraulic valve group system. One end of the hydraulic valve group system away from the support system is connected with a tunneling tail system through a connection system structure.

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