Self-adaptive narrow rock drilling robot

Abstract

The invention relates to a self-adaptive narrow rock drilling robot which comprises a rack, a chassis system installed at the bottom of the rack, a machine body system installed on the rack and a working device installed at the front end of the machine body system. The track units are connected through the variable-pitch module, the working device comprises a moving mechanism, a rock drill and a stable supporting mechanism, the rock drill and the stable supporting mechanism are installed on the moving mechanism, and the moving mechanism is used for driving the rock drill to reach a working position. The stable supporting mechanism is used for tightly jacking a top plate and a bottom plate of a stope during rock drilling operation so as to stabilize the rock drill. The device is suitable for small mine roadway tunneling and large mine small mining face tunneling operation, and the problems that the small mining face space is limited, and large equipment cannot be matched can be solved.

Description

Technical Field

[0001] This invention relates to the field of mining equipment technology, and in particular to an adaptive narrow-body rock drilling robot. Background Technology

[0002] Rock drilling is a core part of resource acquisition in mining, widely used in vein development, roadway maintenance, and ore extraction in stopes. Currently, large mines generally use large and medium-sized rock drilling rigs. However, mainstream equipment on the market is designed for open stopes in large mines, and its inherent characteristics of being bulky and heavy make it difficult to adapt to small mines with scattered resources and limited mining space, nor can it meet the tunneling needs of small working faces in large mines (such as narrow vein sections and corner mining areas). This results in small working faces still relying on manual rock drilling. Therefore, the vast majority of small mines are still forced to use traditional handheld rock drills. This equipment uses pneumatic, hydraulic, or electric drive to generate impact rotation, drilling blast holes in the rock mass. Its operation process includes positioning, hole opening, drilling, and slag removal, aiming to create free faces for subsequent blasting or for prospecting sampling.

[0003] However, this manual-intensive operation mode has significant drawbacks, including low drilling accuracy, poor efficiency, severe dust and noise hazards, and high labor intensity for operators. To improve the mechanization level of small mines, some attempts have been made to introduce small and medium-sized tracked rock drilling equipment into narrow working faces; however, these devices have a series of inherent design limitations, making them unsuitable for effective application in complex small mines.

[0004] The root of these problems lies in the fundamental contradiction between the rigid, fixed structure of existing equipment and the dynamic, extremely narrow operational requirements of underground mining. Firstly, the fixed width of the machine directly leads to an irreconcilable conflict between "transport flexibility" and "operational stability": a narrow machine body is needed to pass through narrow tunnels; however, wide tracks are required to create a large support surface for stability during operation. Existing equipment cannot be dynamically adjusted, resulting in a trade-off and thus limiting its application.

[0005] Secondly, the crux of the insufficient mobility lies in the traditional tracked chassis steering mechanism. It relies on the differential speed movement of the two tracks, requires a large turning radius, makes turning around in extreme spaces difficult, and has a large number of blind spots. This prevents the equipment from approaching all areas to be mined, seriously affecting mining efficiency.

[0006] Third, poor vibration reduction performance stems from passive damping design. When the rock drill generates severe high-frequency impacts, traditional passive damping systems cannot effectively isolate these vibrations, causing harmful energy to be directly transmitted to the frame that supports precision sensors and control components. Over time, this seriously threatens the reliability and lifespan of the entire machine.

[0007] Finally, low system integration is the direct cause of the bulky equipment structure and susceptibility to interference and collisions. The working mechanism, stabilizing mechanism, and traveling mechanism of existing equipment are often simply stacked rather than integrated into a single design, resulting in a bulky overall shape and an excessively high center of gravity. In low-lying and narrow mines, this complex structure is highly prone to collisions and interference with the tunnel walls, posing not only safety risks but also further limiting its operational capabilities in extreme environments.

[0008] In conclusion, there is an urgent need for an innovative solution that can dynamically adapt to different scenario requirements and exhibit optimal performance in transportation, movement, and operation states, in order to break through the current bottlenecks in the development of mechanization and automation. Summary of the Invention

[0009] The present invention aims to provide an adaptive narrow-body rock drilling robot to overcome the shortcomings of the prior art. The technical problem to be solved by the present invention is achieved through the following technical solution.

[0010] According to a first aspect of this application, an adaptive narrow-body rock drilling robot is provided, comprising a frame, a chassis system mounted to the bottom of the frame, a body system mounted on the frame, and a working device mounted to the front end of the body system, wherein: The chassis system includes a slewing mechanism, a pitch control module, and two track units, which are connected to each other via the pitch control module. The working device includes a moving mechanism, a rock drill and a stabilizing support mechanism mounted on the moving mechanism. The moving mechanism is used to drive the rock drill to the working position, and the stabilizing support mechanism is used to press against the top and bottom plates of the mining area to stabilize the rock drill during rock drilling operations.

[0011] Preferably, the pitch-changing module includes a chassis frame, and at least two pitch-changing cylinders are respectively arranged on both sides of the chassis frame, with the piston rods of the pitch-changing cylinders connected to the track unit.

[0012] Preferably, each of the four corners of the frame is provided with a vertical hydraulic outrigger, which can support the chassis system to the ground and lift it off the ground.

[0013] Preferably, the bottom of each vertical hydraulic outrigger is connected to an adaptive tray via a buffer, and the adaptive tray is connected to the buffer via a ball joint.

[0014] Preferably, the slewing mechanism includes a slewing bearing and a hydraulic motor, the slewing bearing connecting the chassis frame and the machine frame, and the hydraulic motor driving the chassis frame or the machine frame to rotate relative to each other.

[0015] Preferably, the moving mechanism includes a vertical sliding gantry, a horizontal sliding table, a telescopic sliding table, and a deflection mechanism. The vertical sliding gantry is fixed to the frame for adjusting the height of the horizontal sliding table. The horizontal sliding table is used to adjust the lateral position of the telescopic sliding table. The deflection mechanism is installed on the horizontal sliding table for adjusting the extension angle of the telescopic sliding table. The rock drill is installed on the telescopic sliding table and its extension length is controlled by the telescopic sliding table.

[0016] Preferably, the stabilizing support mechanism is installed on the frame of the vertical sliding gantry and includes a bidirectional hydraulic support column, with buffers provided at the ends of both support columns of the bidirectional hydraulic support column.

[0017] Preferably, the bidirectional hydraulic support columns are provided on both sides of the frame of the vertical sliding gantry, and the buffer is a mushroom-shaped rubber buffer block.

[0018] Preferably, the deflection mechanism includes a deflection block, a vertical deflection cylinder, and a horizontal deflection cylinder. One end of the deflection block is connected to the transverse slide via the vertical deflection cylinder, and the other end of the deflection block is connected to the telescopic slide via the horizontal deflection cylinder.

[0019] Preferably, the fuselage system includes an electronic control system and a hydraulic system. The electronic control system includes a main controller, a vision positioning unit, a laser scanning unit, a pressure sensor, and a tilt sensor, wherein: The visual positioning unit includes an RGBD camera and a monitoring camera, used to acquire image information of the work surface and send it to the main controller; The laser scanning unit is installed around the frame to detect obstacles and send signals to the main controller; The pressure sensors include several, used to detect the supporting force of the vertical hydraulic outrigger and the pressure of the hydraulic cylinder in the hydraulic outrigger, and send the data to the main controller; The tilt sensor is used to monitor the overall tilt angle and send the data to the main controller.

[0020] The embodiments of the present invention have the following advantages: The chassis system of this application can change the overall width of the chassis. In transport or passage mode, the track spacing is reduced to the minimum to adapt to cage hoisting and narrow tunnel passage in small mines; in operation or walking mode, the track spacing is extended to the maximum to increase the ground contact area and improve the stability of the robot's movement and operation on slopes and rough roads. The stabilizing support mechanism is vertically supported between the top and bottom plates of the ore body, providing reverse support force for the rock drill. This ensures that the vibration force of the rock drill is not transmitted to the robot body, avoiding the impact of vibration on various precision components such as cameras, radars, and sensors, thus improving the safety and stability of the equipment. This rock drilling robot is suitable for tunneling in small mines and small mining faces in large mines, and can solve the problems of limited space in small mining faces and the inability of large equipment to adapt. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of an adaptive narrow-body rock drilling robot according to the present invention; Figure 2 yes Figure 1 Main view of the mid-chassis system; Figure 3 yes Figure 2 A side view of the mid-chassis system. Figure 4 yes Figure 2 Schematic diagram of the vertical hydraulic outrigger; Figure 5 yes Figure 1 Schematic diagram of the working device in the middle; Figure 6 yes Figure 5 A schematic diagram of the deflection block in the deflection mechanism; Figure 7 yes Figure 1 A schematic diagram of the structure after the deflection mechanism has been activated. Detailed Implementation

[0022] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the above detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] Example 1: Adaptive Narrow-Body Rock Drilling Robot

[0025] like Figures 1 to 7 As shown, an adaptive narrow-body rock drilling robot according to one embodiment of this application includes a frame 100, a chassis system 200 mounted to the bottom of the frame 100, a body system 300 mounted on the frame 100, and a working device 400 mounted to the front end of the body system 300, wherein: The chassis system 200 includes a slewing mechanism 230, a pitch module 220, and two track units 210. The track units 210 are connected to each other through the pitch module 220, and the pitch module 220 is connected to the frame 100 through the slewing mechanism 230. The working device 400 includes a moving mechanism, a rock drill and a stabilizing support mechanism 440 mounted on the moving mechanism. The moving mechanism is used to drive the rock drill to the working position, and the stabilizing support mechanism 440 is used to press against the top and bottom plates of the mining area to stabilize the rock drill during rock drilling operations.

[0026] In this embodiment, the left and right track units 210 can be driven independently. Each track adopts a "four wheels and one track" structure. By controlling the speed and direction of the left and right track units 210, the robot can move forward, backward, turn, and turn in place, meeting the basic movement needs in the mine tunnel.

[0027] The pitch control module 220 includes a chassis frame 222. At least two pitch control cylinders 221 are respectively installed on both sides of the chassis frame 222. The piston rods of the pitch control cylinders 221 are connected to the track unit 210. A horizontal telescopic leg can also be installed between the chassis frame 222 and the track unit 210 to improve strength and stability during movement. The extension and retraction of the pitch control cylinders 221 drives the horizontal telescopic legs to move the left and right tracks laterally, thereby adjusting the track spacing and changing the chassis width.

[0028] When the variable pitch cylinder 221 is activated, it drives the horizontal telescopic legs to extend and retract the left and right tracks laterally, thereby changing the overall width of the chassis. In transport or passage mode, the variable pitch cylinder 221 retracts, and the track spacing is reduced to the minimum to adapt to cage hoisting and narrow tunnel passage in small mines; in operation or walking mode, the variable pitch cylinder 221 extends, and the track spacing is extended to the maximum, increasing the ground contact area and improving the stability of the robot's movement and operation on slopes and rough surfaces.

[0029] To adapt to the complex terrain environment underground, a tracked grounding pressure adaptive adjustment system based on distributed pressure sensing was designed, mainly including: Miniature, high-impact piezoresistive or piezoelectric pressure sensors are integrated into the ground contact surface of each track link. These sensors are distributed in a matrix to form a real-time monitoring network for the ground contact pressure at the front, middle, and rear of each track.

[0030] This matrix can sense and output a pressure distribution cloud map of a track on the ground in different sections in real time. For example, it can identify whether the pressure is high at the front (downhill), high at the rear (uphill), or abnormal pressure on one side (one track sinking into soft ground).

[0031] Due to the rugged terrain and enormous rock drilling reaction forces underground, long-term use of traditional telescopic legs may lead to wear and deformation of the guide mechanism, or intrusion of foreign objects (such as gravel and mud). Therefore, the "horizontal telescopic leg" in the variable pitch module 220 of this application adopts a box-shaped structure design with internal reinforcing ribs to ensure its bending and torsional stiffness.

[0032] Multiple dustproof rings and stainless steel protective covers are installed at all telescopic movements (such as the pitch cylinder 221 rod and the vertical hydraulic outrigger 110) to effectively isolate rock powder and moisture. Pressure sensors are integrated into the hydraulic circuits of the pitch cylinder 221 and the slewing mechanism 230 to monitor the working pressure in real time. If the pressure rises abnormally, it may indicate jamming, and the system will immediately alarm and stop operation.

[0033] In this embodiment, vertical hydraulic outriggers 110 are provided at each of the four corners of the frame 100. These outriggers 110 can support the ground and lift the chassis system 200 off the ground. The bottom of each vertical hydraulic outrigger 110 is connected to an adaptive tray 111 via a buffer 112. The adaptive tray 111 and the buffer 112 are connected by a ball joint. This increases the ground contact area and adapts to ground with varying flatness, improving stability during operation.

[0034] The vertical hydraulic outriggers 110 are detachably mounted on the four corners of the frame by bolts. Each vertical hydraulic outrigger 110 includes an outrigger cylinder, a two-way hydraulic lock, a displacement sensor, and a pressure sensor. The sensors can provide real-time feedback on the outrigger length and supporting force, which facilitates the precise automatic leveling of the robot. The two-way hydraulic lock can prevent the cylinder from retracting unexpectedly.

[0035] The vertical hydraulic outrigger 110 can also be equipped with a magnetic displacement sensor, which contacts the ground ore via a universal tray. The magnetic displacement sensor, pressure sensor, and dual-axis tilt sensor mounted on the robot frame 100 work together to monitor the pressure and extension length of each outrigger cylinder in real time. If the ground collapses, causing abnormal changes in the pressure of one or more outrigger cylinders, or if the robot itself tilts, the system can autonomously adjust the extension length of the corresponding outrigger in real time, thereby maintaining uniform force on all outriggers and keeping the robot in a horizontal position, thus preventing tipping.

[0036] When the adaptive tray 111 at the bottom of the vertical hydraulic outrigger 110 is about to contact the ground (based on prediction by a displacement sensor or initial feedback from a pressure sensor), the system automatically reduces the extension speed. This parabolic velocity curve, characterized by initial high speed followed by slower speed, effectively avoids impact loads caused by the outrigger striking the ground at high speed, protecting the mechanical structure and preventing machine body swaying or tray slippage due to impact. After the adaptive tray 111 contacts the ground, the hydraulic transmitter (pressure sensor) begins to detect the supporting force data of the vertical hydraulic outrigger 110.

[0037] If the pressure value of one of the vertical hydraulic outriggers 110 is below the target range, the main controller will instruct that vertical hydraulic outrigger 110 to continue extending very slowly until the pressure value reaches the target. If the pressure value of one outrigger is too high (indicating that it is bearing too much weight), the main controller will instruct the other outriggers with lower pressure to extend slightly to distribute the load, ultimately making the force on all outriggers balanced. The main controller adjusts the supporting force of the four outriggers to a uniform and stable range.

[0038] When the system confirms that the machine body is level through the tilt sensor and that the hydraulic transmitters of all outriggers confirm that the support pressure of the four outriggers is within a stable and balanced target range, the leveling and stabilization support is completed.

[0039] The slewing mechanism 230 includes a slewing bearing and a hydraulic motor. The slewing bearing connects the chassis frame 222 and the frame 100. The hydraulic motor drives the chassis frame 222 or the frame 100 to rotate relative to each other. When the vertical hydraulic outriggers 110 lift the chassis system 200 off the ground, the slewing mechanism 230 activates, enabling the chassis system 200 to rotate 360°, providing a basis for the robot to adjust its working direction and achieve lateral movement.

[0040] After reaching the working position, the slewing mechanism 230 can first start to drive the frame 100, the body system and the working device 400 to rotate to a suitable angle, and then start the vertical hydraulic outriggers 110 to support the ground and fix the body. At this time, the vertical hydraulic outriggers 110 and the tracks support the ground at the same time.

[0041] In this embodiment, the moving mechanism includes a vertical sliding gantry 410, a horizontal sliding table 420, a telescopic sliding table 430, and a deflection mechanism 450. The vertical sliding gantry 410 is fixed to the frame 100 to adjust the height of the horizontal sliding table 420. The horizontal sliding table 420 is used to adjust the lateral position of the telescopic sliding table 430. The deflection mechanism 450 is installed on the horizontal sliding table 420 to adjust the extension angle of the telescopic sliding table 430. The rock drill is installed on the telescopic sliding table 430, and its extension length is controlled by the telescopic sliding table 430. The telescopic sliding table 430 is a two-stage sliding platform that can drive the rock drill to the working area to complete the drilling action.

[0042] The vertical sliding gantry 410 is a two-stage lifting gantry that can provide two stages of vertical lifting motion. While ensuring a wide range of operating strokes, it also takes into account the compactness of the structure and is suitable for narrow downhole spaces.

[0043] The stabilizing support mechanism 440 is installed on the frame of the vertical sliding gantry 410 and includes a bidirectional hydraulic support column 441. Each end of the two support columns of the bidirectional hydraulic support column 441 is provided with a buffer member 112. The bidirectional hydraulic support column 441 is provided on both sides of the frame of the vertical sliding gantry 410, and the buffer member 112 is a mushroom-shaped rubber buffer block 442.

[0044] When drilling upwards, the bidirectional hydraulic support column 441 extends, and the mushroom-shaped rubber buffer block 442 at its top contacts the roof of the tunnel, while the bottom abuts against the floor of the tunnel, forming a force flow channel independent of the robot body. This directs the drilling impact force directly to the top and bottom plates, significantly reducing the vibration transmitted to the machine body and protecting the precision components inside the machine body.

[0045] If the support point of the bidirectional hydraulic support column 441 happens to be located on loose rock, it may slip or sink, leading to support failure. Therefore, in this application, the adaptive tray 111 and the buffer 112 are connected by a ball joint to ensure surface contact with uneven ground.

[0046] Furthermore, a two-way recognition and early warning system for the top and bottom plates is set up: using an RGBD camera and a laser scanning unit, the top and bottom plates are scanned simultaneously before support is provided. The flatness and integrity of the top plate and the solidity, depressions / protrusions of the bottom plate are analyzed through point cloud models. If a large area of ​​the top plate is found to be broken, the tilt angle is too large, or the soft area of ​​the bottom plate exceeds the standard or there is a through crack, the system will issue a warning to the operator and suggest selecting another support point, cleaning up the debris on the bottom plate, or taking support measures for the top and bottom plates.

[0047] The system controls the bidirectional hydraulic support column 441 to slowly press against the top and bottom plates with extremely low pressure and speed in the final stage of contact, while continuously monitoring the pressure feedback. Once the pressure cannot be stably established, it is determined that the point is unreliable, and the column automatically retracts and attempts to fine-tune its position.

[0048] The vertical sliding gantry 410, the horizontal sliding table 420, and the telescopic sliding table 430 all include slide rails and drive devices. Each drive device drives the horizontal sliding table 420 to move up and down along the vertical sliding gantry 410, the telescopic sliding table 430 to move left and right along the horizontal sliding table 420, and the rock drill to move back and forth on the telescopic sliding table 430, thus adapting to working areas at different heights and horizontal positions. Specifically, the vertical sliding gantry 410 is driven by a hydraulic cylinder to achieve two-stage up and down movement; the horizontal sliding table 420 uses a hydraulic motor and a rack and pinion mechanism to achieve precise left and right movement. The telescopic slide 430 drives the rock drill mounted on it to move horizontally by extending and retracting, thus enabling rock drilling operations. The telescopic slide 430 achieves precise forward and backward movement through the cooperation of a lead screw and a motor; the lead screw drive also increases the clamping force on the rock drill.

[0049] The deflection mechanism 450 includes a deflection block 451, a vertical deflection cylinder, and a horizontal deflection cylinder. One end of the deflection block 451 is connected to the transverse slide 420 through the vertical deflection cylinder, and the other end of the deflection block 451 is connected to the telescopic slide 430 through the horizontal deflection cylinder.

[0050] The deflection block 451 has a triangular structure. Its vertical side is connected to the transverse slide 420 through a vertical deflection cylinder, and its horizontal side is connected to the telescopic slide 430 through a horizontal deflection cylinder. The cooperation between the vertical deflection cylinder and the horizontal deflection cylinder allows the rock drill to be adjusted to any working angle, thereby adapting to different angle requirements of different working positions.

[0051] Through the coordinated operation of these devices, the working angle and position of the rock drill can be adjusted to meet the rock drilling needs in different directions and locations.

[0052] An automatic drill bit replacement system can also be installed on the telescopic slide 430, which can automatically replace the drill bit of the rock drill. This not only improves work efficiency, but also eliminates the risk of manual entry into the tunnel face to replace the drill bit, which is suitable for tunnel excavation and enables remote unmanned operation.

[0053] According to the above technical solution of this embodiment, the rock drilling robot has the following operating mode: 1. In the transportation and narrow passage mode, the vertical hydraulic outriggers retract, the pitch module retracts, and the chassis moves or is hoisted in the minimum width state via the tracks, which is convenient for passing through the cages and narrow tunnels of small mines.

[0054] Second, in the stable rock drilling operation mode, the variable pitch module extends, and the four vertical hydraulic outriggers extend to the ground, forming a "six-point support" with the two tracks to improve the robot's stability. At the same time, the bidirectional hydraulic support column can tighten against the top plate as needed to reduce vibration, and then control the working device to carry out rock drilling operations.

[0055] 3. In zero-radius lateral movement mode, based on the stable rock drilling operation mode, extend the vertical hydraulic outriggers to lift the tracks off the ground, start the slewing mechanism to drive the chassis system to rotate 90°, and then retract the outriggers to put the tracks back on the ground. This enables the robot to move laterally, flexibly adjust the working position, reduce blind spots, and make up for the problem of insufficient lateral working width.

[0056] This makes the robot suitable for tunneling in small mines and small mining faces in large mines, solving the problems of limited space in small mining faces and the inability of large equipment to adapt.

[0057] Example 2: Modular Design of an Adaptive Narrow-Body Rock Drilling Robot

[0058] To improve transportation convenience, this embodiment, based on the robot in Embodiment 1, adopts a modular design for the overall body, facilitating quick assembly and disassembly. Specifically: The frame is designed as several separable main modules, either horizontally or vertically, for example, a chassis module, a main control unit module, a working device module, and a counterweight module. The chassis module includes a slewing mechanism, a pitch control module, and two track units, which are used to support the other modules and for functions such as walking, steering, and positioning. The main control module is used to carry the working device and the body system, and to control the overall movement of the robot. The working device module is used for specific rock drilling work; The counterweight frame module is used to set the counterweight blocks as needed.

[0059] The four modules are connected by high-strength conical locating pins and hydraulically driven wedge locking blocks.

[0060] During transportation and installation at the designated location, a hydraulic cylinder first drives a precision-machined tapered pin to insert into the corresponding tapered sleeve, achieving millimeter-level precise positioning and ensuring coaxiality and flatness between modules. After positioning, the hydraulic cylinder drives a high-strength alloy steel wedge block to embed into the slot on the module's connecting surface, generating a huge preload force to rigidly tighten the module, forming an overall frame sufficient to withstand rock drilling reaction forces and vibrations.

[0061] All hydraulic lines and electrical harnesses use self-sealing quick-connect fittings and military-grade rectangular electrical connectors. When the module is closed, the fittings automatically align and lock, ensuring leak-free hydraulic pressure and stable signal transmission.

[0062] At the connection between the chassis frame and the slewing bearing, a flange-type quick-release mechanism is designed. By removing the outer ring (e.g., 4-8) of specially designed quick-release locking bolts and disconnecting the hydraulic and electrical quick-connect joints between the chassis and the upper body, the entire chassis system (including tracks and pitch control module) can be separated from the upper body. This greatly facilitates the replacement of faulty chassis or the adaptation of special chassis for specific working conditions.

[0063] In use, each module is hoisted to the underground assembly chamber. First, the chassis system is placed on the ground. The main control frame module is hoisted and connected to the chassis slewing mechanism. The hydraulic / electrical connectors are connected, and the wedge locking device is activated. Then, the front frame module and the counterweight frame module are hoisted and locked in sequence.

[0064] After all pipelines are connected, the system automatically performs sealing pressure and circuit continuity checks. Once everything is confirmed to be in order, it can be put into use. The entire process can be completed by two workers within 30 minutes.

[0065] In addition, the working device module is designed for quick replacement. For example, an integrated quick-change female connector is provided on the telescopic slide, including a high-strength cast steel base fixedly connected to the telescopic slide. The base has a hydraulically driven locking pin at its center. Its front end is a hemispherical or T-shaped head, and its rear end is connected to the piston rod of a double-acting hydraulic cylinder.

[0066] The base integrates two or more sets of hydraulic quick-connect female connectors (with check valves), corresponding to the rock drill's impact oil circuit, rotary oil circuit, etc. It also integrates a multi-pin waterproof electrical connector female for transmitting control signals and sensor power. The front end of the base is machined with a high-precision tapered positioning surface or stop to ensure repeatability and positioning accuracy on the tool side.

[0067] The tool is mounted on a rock drill or other tool and features a male interface end, including a locking groove. The rear end of the tool is designed with an L-shaped groove or annular groove that matches the T-shaped or hemispherical head of the locking pin. It is equipped with corresponding hydraulic quick-connect male connectors and electrical connector male connectors. To improve positioning accuracy, a tapered sleeve or positioning flange that mates with the tapered surface of the female end is provided.

[0068] Taking the replacement of a rock drill as an example, the quick change process is as follows: Disassembly: The operator issues the "uninstall tool" command via remote control.

[0069] Pressure relief: The system first releases the pressure in the hydraulic lines on the tool side.

[0070] Unlocking: The hydraulic cylinder of the female end "hydraulic drive locking pin" is supplied with oil in the reverse direction, the piston rod retracts, and drives the locking pin to exit from the horizontal section of the tool's "L-shaped groove" to the vertical section.

[0071] Disengagement: The telescopic slide 430 moves slightly backward, causing the hydraulic and electrical connections to automatically disconnect under axial force (a check valve ensures no leakage), separating the tool from the robot.

[0072] Alignment: The robot moves to roughly align the female end of the quick-change interface with the male end of the tool to be installed.

[0073] Docking: The telescopic slide 430 slowly extends, automatically correcting minor deviations by utilizing the guiding effect of the conical positioning surface.

[0074] Connection and Locking: When fully engaged, the female hydraulic and electrical connectors are inserted into the male connector. Subsequently, the hydraulic cylinder of the "hydraulic-driven locking pin" is supplied with oil in the forward direction, pushing the locking pin into the horizontal section of the tool slot and finally locking it in place. Once the system detects that the locking cylinder pressure has reached the preset value, it indicates successful installation.

[0075] The tool library can also be expanded according to job requirements, for example: Hydraulic breakers: used for tunnel repair and crushing large pieces of ore.

[0076] Anchor bolt / anchor mesh installation machine: Enables integrated tunneling and support operations, greatly improving efficiency.

[0077] Multi-functional hydraulic gripper: used for cleaning work surfaces and moving materials.

[0078] High-precision 3D scanner: After replacement, the tunnel face is scanned to generate a digital model, which is used to accurately plan the blast hole positions for the next cycle.

[0079] Example 3: Control System and Safety Design of an Adaptive Narrow-Body Rock Drilling Robot

[0080] In this embodiment, the machine body system includes an electronic control system and a hydraulic system. The electronic control system is the core of realizing the intelligent operation of the whole machine. It supports four working modes: mechanical handle, remote control, host computer remote control and intelligent autonomous operation. It adopts a three-layer architecture of perception, decision-making and execution.

[0081] The sensing layer consists of a lidar, an RGBD camera, a monitoring camera, a tilt sensor, a pressure sensor, and a displacement sensor. It can achieve an accuracy of ±1cm, meeting the accuracy requirements of the slotting hole. The 3D lidar detects obstacles and environmental contours downhole, the RGBD camera acquires images and depth information of the working face, the tilt sensor monitors the tilt state of the machine body, the pressure sensor provides feedback on the support force of the outriggers and the pressure of the hydraulic cylinders, and the displacement sensor records the extension and retraction of the hydraulic cylinders, all of which together provide data support for control.

[0082] The decision-making layer uses a PLC as its core, integrating multi-sensor fusion algorithms to combine perception data to determine whether the machine body is level, whether there are obstacles, and whether the rock drilling pressure is normal. It is also equipped with a path planning algorithm to plan the machine body's movement path, generate a blast hole array by combining blasting parameters, and has an anomaly detection function to identify problems such as the outriggers not supporting properly or the drill bit getting stuck and trigger an early warning.

[0083] The execution layer is centered on an industrial control computer and connected to an electro-hydraulic proportional valve via an EtherCAT bus. Based on instructions from a mechanical handle, remote control, or host computer, or autonomous decision-making results, it drives the chassis pitch cylinder to extend and retract, adjusts the vertical outriggers to level, and moves the rock drilling components. It controls the direction and speed of the track movement, adjusts the rock drilling impact frequency and advance speed, and ensures that the mechanical actions are synchronized with the control commands.

[0084] The intelligent control unit (as a submodule of the main controller) receives data from all pressure sensors in real time and combines it with data from the body tilt sensor. The algorithm can determine the robot's current terrain conditions (such as level hard ground, slope, soft foundation, crossing ditches) and stability coefficient in real time based on the pressure distribution pattern.

[0085] Based on algorithmic decisions, the control unit sends precise commands to the electro-hydraulic proportional valve of the pitch cylinder, driving dynamic and fine-tuning of the track spacing, rather than simply adjusting it to either "widest" or "narrowest" positions. This allows the system to operate continuously during robot movement, achieving a millisecond-level "perception-decision-adjustment" closed loop.

[0086] The specific functions of this system are as follows: Lateral slip prevention on slopes: When the robot travels laterally on a slope, the pressure matrix shows that the ground pressure of the track on the lower slope side is significantly greater than that on the higher slope side, and the tilt sensor detects a lateral tilt angle. The system determines that there is a risk of lateral slippage. The stability algorithm calculates the optimal track spacing required to counteract the tilt moment. The system controls the pitch cylinder to moderately retract the track on the higher slope side and extend the track on the lower slope side (i.e., to make the two tracks asymmetrically arranged). This essentially shifts the robot's center of gravity projection towards the lower slope side, significantly increasing its anti-rollover and anti-slip capabilities.

[0087] Preventing subsidence on soft or uneven surfaces: A sudden increase in pressure sensor readings in the middle of a track, while pressure decreases at both ends, exhibiting an "arched" pressure distribution, typically indicates impending subsidence in the middle of the track. The system identifies this as a "soft ground" risk. To reduce the ground pressure and prevent further subsidence, the algorithm decides to increase the track's ground contact area. The pitch-changing cylinders are immediately controlled to simultaneously extend both tracks to a wider position. This immediately distributes the vehicle's weight across a larger area of ​​the track plates, allowing the robot to "float" over soft ground sections.

[0088] Maintaining posture when crossing obstacles or ditches: When the pressure on the first set of load-bearing wheels at the front of the tracks suddenly increases (contact with the obstacle), the pressure on the rear decreases, and the center of pressure shifts forward. To maintain vehicle stability and prevent "nose-diving," the system needs to shift the center of pressure backward. Fine-tuning of the pitch, combined with precise control of the travel motor, allows for smoother obstacle crossing.

[0089] It achieves true adaptive walking: It solves the rigid problem in existing technologies where "variable pitch" is only used for transportation or operation mode switching, and realizes dynamic stability self-optimization during walking in complex terrain, which is an outstanding innovation.

[0090] Relationship with outrigger leveling: This system focuses on dynamic stability during travel and is the first line of defense. When the system determines that even optimal pitch adjustment cannot safely traverse the terrain (such as on extremely soft ground), it will issue an alarm and advise the operator to stop the vehicle. Subsequently, the vertical hydraulic outriggers will be used for static stabilization and leveling. The responsibilities of both are clearly defined, and their timing is well-defined.

[0091] Relationship with the slewing mechanism: When zero-radius lateral movement is required, this system can first confirm that the ground is solid and uniform through pressure sensing, providing a preliminary guarantee for the safe lifting of the outriggers.

[0092] Improve overall operational efficiency: By enhancing mobility, the number of times forced to stop and use outriggers for adjustments due to complex terrain is reduced, making site transitions smoother and shortening the overall operation cycle time.

[0093] This enables the robot to intelligently cope with complex road surfaces such as slopes and soft foundations, significantly improving safety and maneuverability during movement.

[0094] To improve the robot's ease of use and reliability, it is equipped with a one-button fully automatic mode switching and safety interlock system. With just a physical button or a "one-click" operation via the software interface, the robot can safely, orderly, and automatically switch between "narrow-body transport mode" and "stable operation mode" without human intervention. This compresses a complex process that originally required several minutes and multiple steps into a process completed automatically within tens of seconds. Through programmed hard interlocks, structural interference, equipment damage, and even tipping accidents caused by incorrect manual operation sequences are eliminated. The specific solution is as follows: A separate one-button mode switching button (with a protective cover) is set on the remote control and the main control panel, with clear indications for "transport mode" and "operation mode".

[0095] Combined with a state-aware network, this includes position and state sensors for all key components, such as: displacement sensors for the extension and retraction of the pitch cylinders, providing real-time feedback on track spacing; displacement and pressure sensors for the vertical hydraulic outriggers, providing feedback on outrigger length and whether they are under load; absolute encoders on the slewing mechanism, providing feedback on the relative angle between the vehicle body and the chassis; pressure sensors for the stabilizing support mechanism, providing feedback on whether the top and bottom plates are tightly engaged; limit switches for each joint of the working device, providing feedback on whether the vehicle body has been retracted to the transport locking position; and tilt sensors, providing feedback on the overall attitude of the vehicle body.

[0096] It is equipped with a dedicated safety interlock logic controller, which is a high-priority dedicated module within the main controller. Its core is a pre-programmed, inviolable safety logic sequence. It monitors the entire sensing network in real time, and immediately interrupts the process and issues an alarm if any condition is not met.

[0097] The specific actuators include all electro-hydraulic proportional valves, hydraulic motors, etc., which are precisely driven by the interlock logic controller.

[0098] The system operates in the following ways: 1. Switch from "Narrow-body Transport Mode" to "Stable Operation Mode" with one click: Pre-start safety check (interlock prerequisite): After receiving the "switch to operation mode" command, the system does not act immediately, but first performs a global status scan: Interlock condition 1: The robot must be in the "power ON & walking motor stopped" state; Interlock condition 2: The fuselage tilt angle must be within a safe range; Interlock condition 3: The working device must be fully retracted and locked in the transport position; Interlock condition 4: There are no continuously moving obstacles within 1 meter of the robot detected by the lidar; If any condition is not met, the system will refuse to execute and will provide a clear message on the host computer.

[0099] Step 1: Unfold the grounding base

[0100] Action: Control the extension of the pitch cylinder to expand the track spacing to the preset "working width"; Interlock: Once the extension is complete, the displacement sensor provides confirmation. If confirmation is not received, the next step will not be initiated.

[0101] Step 2: Leveling and Stabilizing the Vehicle Body

[0102] Action: The four vertical hydraulic outriggers extend sequentially. Based on feedback from tilt sensors and outrigger pressure sensors, the system automatically performs precise leveling until the tracks are slightly off the ground or all outriggers are evenly stressed. Interlock: a) If the pressure on any leg falls below the safety threshold (false support), the process is paused and an alarm is triggered; b) If the tilt angle still exceeds the limit after leveling, the process will be paused and an alarm will be triggered.

[0103] Step 3: Working device ready

[0104] Action: Unlock the working device. After the working device is in place, extend the stabilizing support mechanism to support the top plate and the bottom plate.

[0105] Step 4: Complete the switch

[0106] Once all actions are completed, the sensor network feedback fully meets the preset state of "stable operation mode".

[0107] The system prompts: "Mode switching complete, ready," and transfers control to the rock drilling subsystem.

[0108] The logic for reverse switching (job -> transport) is equally strict, and the order is completely reversed: Prerequisite: The rock drill has been stopped and retracted, and the stabilizing support mechanism has been fully retracted.

[0109] Sequence: Stabilizing support mechanism retracts -> Working device retracts and locks -> Vertical hydraulic outriggers fully retract (pressure sensor confirms they are off the ground) -> Pitch cylinder retracts to its narrowest width -> Switching complete.

[0110] After switching from "operation to transportation" mode and retracting the outriggers, before the robot starts walking, the ground pressure adaptive system immediately takes over, optimizing the initial and final track spacing based on the real-time pressure distribution, achieving a seamless transition from "static stability" to "dynamic stability".

[0111] When the system detects that the front-end tools are not installed or locked, it can prevent switching to "job mode".

[0112] The adaptive narrow-body rock drilling robot is characterized by further including a one-button fully automatic mode switching and safety interlock system; the system includes: The instruction input unit is used to receive mode switching instructions; State-aware networks are used to monitor the real-time status of various robot components; The safety interlock logic controller is configured to: respond to the instruction and, based on a preset safety logic sequence, automatically and orderly control the variable pitch module, vertical hydraulic outriggers, slewing mechanism, and working device to coordinate their actions after confirming that all safety preconditions are met, to complete the switching between the narrow-body transport mode and the stable operation mode; if any safety condition is not met, the switching is interrupted and an alarm is triggered.

[0113] Because this device operates in an underground environment with a lot of dust, the hydraulic oil is easily contaminated; the pipeline vibrates violently, and the joints may become loose; continuous high-intensity operation can easily lead to insufficient heat dissipation and other problems. The solutions in this embodiment are as follows: High-precision filters are specially installed in the return oil circuit of the hydraulic system and before the key valve blocks, and a blockage alarm is provided to promptly remind you to replace the filter element.

[0114] A level sensor is installed in the oil tank to monitor abnormal oil level drops in real time. Key pipeline joints adopt a 24° tapered seal with O-rings for superior shock resistance.

[0115] Integrate an independent air-cooled or water-cooled radiator into the hydraulic system, and automatically start and stop based on feedback from the oil temperature sensor to ensure that the oil temperature is within the optimal operating range.

[0116] Due to the dampness and high vibration levels underground, sensors are easily damaged; high-power equipment such as motors generate electromagnetic interference; and long-distance wireless signal transmission is unstable. The main solutions in this embodiment are as follows: Sensor redundancy: Redundancy is adopted for critical sensors (such as tilt sensors and main controllers). For example, two tilt sensors are installed, and the system compares the data of the two. If the difference is too large, an alarm is triggered, and a safety value or third-party data (such as outrigger length) is used for fusion judgment.

[0117] Electromagnetic shielding and protection level: All electrical control boxes meet IP67 or higher protection level to ensure dust and water resistance. Internal cables use shielded twisted-pair cables, and ferrite cores are used at the interfaces to suppress electromagnetic interference.

[0118] Wired backup and "dead dog" protection: The remote control signal uses anti-interference technologies such as frequency hopping. At the same time, the system must have a "signal loss protection" function: if the main controller does not receive any control signal within a set time (such as 100ms), it will immediately cut off the hydraulic supply to all main motion cylinders, causing the robot to stop in the current state and only retain the basic posture maintenance function.

[0119] To ensure that this device can operate stably for extended periods in small mining areas, the following design was also implemented: Physical anti-collision bars: Flexible anti-collision bars are installed at the four corners of the robot's body outline. Once a collision occurs with the tunnel wall, the anti-collision bars trigger limit switches, immediately stopping all movement.

[0120] Soft and hard limits: All joint movements (such as vertical, lateral, and yaw) are electronically limited in the software to prevent overtravel. Simultaneously, mechanical hard limits are implemented in the physical structure as a final safety barrier.

[0121] Intrinsically safe or explosion-proof designs for mining are used at all electrical components that may generate electric sparks (such as motors, controllers, and junction boxes) to ensure absolute safety.

[0122] A prominent, physical emergency stop button is installed on both the robot body and the remote controller. Pressing it will directly cut off the power to the main pump motor and the main hydraulic valve, instantly stopping all movements.

[0123] Each time the robot is powered on and during periodic operation, it automatically executes a self-diagnostic program to check whether the sensor readings are within a reasonable range, whether the hydraulic pressure is normal, and whether the communication is unobstructed.

[0124] Establish predictive maintenance models to predict component lifespan based on historical operating data (such as hydraulic oil contamination level, cumulative motor operating time, and bearing vibration frequency), provide early warnings, and transform "post-failure repair" into "preventive maintenance".

[0125] The system continuously monitors tilt sensor data. When the robot is in walking mode, if the tilt angle of the robot body exceeds the safety threshold (e.g., 15°), it immediately issues a tipping warning and automatically limits the walking speed.

[0126] During the leveling process, the system calculates the stable support polygon in real time to ensure that the robot's center of gravity always falls within the support area formed by the outriggers and tracks.

[0127] Audible and visual alarms: Before the robot starts, moves, or begins operation, it automatically triggers a buzzer and rotating warning light to alert people in the vicinity to avoid it.

[0128] Personnel detection: A dynamic safety zone is established around the robot using a laser scanning unit. When a person enters this zone, the robot automatically slows down or stops any dangerous actions.

[0129] As mentioned earlier, all exposed interfaces, sensor lenses, and other components must have a sealing and purging design. For example, equip the camera with an automatic air purging system to spray compressed air to remove dust adhering to the lens before operation.

[0130] All metal structural components, especially the chassis and outriggers, are treated with heavy-duty anti-corrosion coatings or zinc spraying to resist the corrosive environment of high humidity and high acidity / alkalinity downhole.

[0131] This robot adopts a combination design of variable pitch tracked chassis, detachable vertical outriggers with feedback and chassis-body rotation mechanism, which can realize dynamic switching of three modes: transportation, operation and lateral movement, to meet the movement and operation needs of small mines under different working conditions.

[0132] The bidirectional hydraulic support column in the working device, together with the mushroom-shaped rubber buffer block, forms an independent force flow channel, which guides the rock drilling impact force to the top and bottom plates, reduces the vibration transmitted to the machine body, and protects the precision components.

[0133] Example 4: Specific usage method of the adaptive narrow-body rock drilling robot

[0134] In practical use, taking tunnel excavation as an example, the specific workflow of this adaptive narrow-body rock drilling robot is as follows: Phase 1: Well Entry and Deployment Scenario A: Lowering the equipment into the well via a cage: On the surface, the robot automatically switches to transport mode: the vertical hydraulic outriggers retract, the pitch module retracts to its narrowest state, and the working device (drill arm) retracts and locks to the minimum envelope size.

[0135] If the wellbore or cage dimensions are extremely demanding, initiate the modular quick-release procedure. The operator, using a remote control, disconnects the hydraulic / electric quick-connect couplings and releases the wedge-shaped locking devices between the frames. The robot is then disassembled into the "chassis module," "main control body module," "working device module," and "counterweight module."

[0136] Using a wellhead crane, each module is hoisted into the cage in sequence and transported to the mine.

[0137] At the mine bottom yard, rapid assembly is carried out on a pre-prepared flat site: chassis positioning -> main control body module docking and locking -> installation of working device module -> connection of all pipelines.

[0138] The system powers on and performs a self-test: checking sensor communication, hydraulic system pressure, and the normal movement of each joint. After passing the self-test, the robot returns to walking mode.

[0139] Scene B: Entering the well via a ramp: The robot is towed / loaded by a dedicated explosion-proof rubber-wheeled transport vehicle and descends along a ramp. The laser scanning unit works continuously to sense the surrounding environment and avoid collisions.

[0140] Phase Two: Proceeding to the Initial Working Surface

[0141] The robot relies on a pre-stored map (or follows a guide vehicle) and combines LiDAR and visual positioning unit to autonomously move to the entrance of the target alley.

[0142] In narrow tunnels, the variable pitch module can be retracted to pass through again. Stop after reaching the first working face (such as the beginning of a tunnel).

[0143] Phase 3: Rock Drilling Operation Cycle

[0144] The robot slowly moves to the optimal position in front of the working face; it switches to stable rock drilling mode: the pitch module extends to its maximum width, forming a wide support base. Four vertical hydraulic outriggers extend, contacting the ground via a "fast-then-slow" speed curve, and continue extending until they provide support along with the tracks. Based on feedback from tilt and pressure sensors, the system automatically and precisely levels itself, forming a stable "six-point support."

[0145] The visual positioning unit (RGBD camera) scans the face of the tunnel and generates a 3D point cloud model.

[0146] Based on the blasting design requirements, the main controller automatically plans the position and angle of all blast holes in the 3D model.

[0147] The stabilizing support mechanism (bidirectional hydraulic support column) extends from both sides of the vertical sliding gantry, and the mushroom-shaped buffer block at its top firmly presses against the roadway roof, establishing an independent force flow channel.

[0148] The vertical sliding gantry and the horizontal sliding platform work together to position the rock drill at the first borehole location; the deflection mechanism adjusts the pitch and yaw angles of the rock drill to align it with the hole position. The telescopic sliding platform advances smoothly, the rock drill starts, and drilling begins.

[0149] During this process, the intelligent rock drilling system monitors the motor current and oil pressure in real time, adaptively adjusts drilling parameters, and effectively predicts and avoids drill bit jamming.

[0150] After completing one borehole, the moving mechanism automatically positions itself to the next borehole until all boreholes in the cycle are drilled.

[0151] Phase 4: Recovery and Preparation for Transfer

[0152] The rock drill stops working and retracts; the stabilizing support mechanism retracts; the vertical hydraulic outriggers retract, the weight of the robot chassis is once again borne by the tracks, and the pitch module can be retracted as needed, ready to move.

[0153] Phase 5: Cross-floor transfer (lifting via atrium)

[0154] The robot autonomously moves to the connecting alley below the target courtyard; switches to transport mode (narrow body) and retracts its working device.

[0155] The dedicated lifting point at the top of the frame (designed to match the lifting wire rope shackle) is exposed.

[0156] Downhole workers (or the robot automatically positions itself) connect the hook of the hoisting wire rope to the robot's lifting point. A small winch above ground starts, slowly lifting the robot. The robot is vertically hoisted through the shaft. Its narrow design ensures it can smoothly pass through the narrow shaft. The robot is lifted to the upper section of the shaft opening. Guided by workers in the connecting tunnel, the robot is smoothly placed on the tunnel floor, and the hook is released.

[0157] The robot performs a self-check upon power-up, switches back to walking mode, and autonomously moves to a new work surface, repeating the third stage of the rock drilling cycle.

[0158] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0159] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0160] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0161] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatial relative descriptions used herein will be interpreted accordingly.

[0162] In the detailed description above, reference has been made to the accompanying drawings, which form part of this document. In the drawings, similar symbols typically identify similar parts unless the context otherwise indicates otherwise. The illustrated embodiments described in the detailed specification, drawings, and claims are not intended to be limiting. Other embodiments may be used and other changes may be made without departing from the spirit or scope of the subject matter presented herein.

[0163] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive narrow-body rock drilling robot, characterized in that, The system includes a frame, a chassis system mounted to the bottom of the frame, a fuselage system mounted on the frame, and a working device mounted to the front end of the fuselage system, wherein: The chassis system includes a slewing mechanism, a pitch control module, and two track units. The track units are connected to each other via the pitch control module, and the pitch control module is connected to the frame via the slewing mechanism. The working device includes a moving mechanism, a rock drill and a stabilizing support mechanism mounted on the moving mechanism. The moving mechanism is used to drive the rock drill to the working position, and the stabilizing support mechanism is used to press against the top and bottom plates of the mining area to stabilize the rock drill during rock drilling operations.

2. The adaptive narrow-body rock drilling robot according to claim 1, characterized in that, The pitch control module includes a chassis frame, and at least two pitch control cylinders are respectively arranged on both sides of the chassis frame. The piston rod of the pitch control cylinder is connected to the track unit.

3. The adaptive narrow-body rock drilling robot according to claim 1, characterized in that, Vertical hydraulic outriggers are provided at each of the four corners of the frame, which can support the chassis system to the ground and lift it off the ground.

4. The adaptive narrow-body rock drilling robot according to claim 3, characterized in that, The bottom of each vertical hydraulic outrigger is connected to an adaptive tray via a buffer, and the adaptive tray is connected to the buffer via a ball joint.

5. The adaptive narrow-body rock drilling robot according to claim 2, characterized in that, The slewing mechanism includes a slewing bearing and a hydraulic motor. The slewing bearing connects the chassis frame and the machine frame. The hydraulic motor drives the slewing bearing to drive the chassis frame or the machine frame to rotate relative to each other.

6. The adaptive narrow-body rock drilling robot according to claim 1, characterized in that, The moving mechanism includes a vertical sliding gantry, a horizontal sliding table, a telescopic sliding table, and a deflection mechanism. The vertical sliding gantry is fixed to the frame to adjust the height of the horizontal sliding table. The horizontal sliding table is used to adjust the lateral position of the telescopic sliding table. The deflection mechanism is installed on the horizontal sliding table to adjust the extension angle of the telescopic sliding table. The rock drill holds the drill rod with a drill bit clamp and is fixed on the telescopic sliding table, and its extension length is controlled by the telescopic sliding table.

7. The adaptive narrow-body rock drilling robot according to claim 6, characterized in that, The stabilizing support mechanism is installed on the frame of the vertical sliding gantry and includes a bidirectional hydraulic support column, with buffers provided at the ends of both support columns of the bidirectional hydraulic support column.

8. The adaptive narrow-body rock drilling robot according to claim 7, characterized in that, The vertical sliding gantry is equipped with bidirectional hydraulic support columns on both sides of its frame, and the buffer is a mushroom-shaped rubber buffer block.

9. The adaptive narrow-body rock drilling robot according to claim 6, characterized in that, The deflection mechanism includes a deflection block, a vertical deflection cylinder, and a horizontal deflection cylinder. One end of the deflection block is connected to the transverse slide via the vertical deflection cylinder, and the other end of the deflection block is connected to the telescopic slide via the horizontal deflection cylinder.

10. The adaptive narrow-body rock drilling robot according to claim 3, characterized in that, The fuselage system includes an electronic control system and a hydraulic system. The electronic control system includes a main controller, a vision positioning unit, a laser scanning unit, a pressure sensor, a tilt sensor, a miniature pressure sensor, and limit switches, wherein: The visual positioning unit includes an RGBD camera and a monitoring camera, used to acquire image information of the work surface and send it to the main controller; The laser scanning unit is installed around the frame to detect obstacles and send signals to the main controller; The pressure sensors include several, used to detect the supporting force of the vertical hydraulic outrigger and the pressure of the hydraulic cylinder in the hydraulic outrigger, and send the data to the main controller; The tilt sensor is used to monitor the overall tilt angle and send the data to the main controller; The ground plane of the track unit is integrated with several miniature pressure sensors, which are used to detect the pressure data of the track unit and send it to the main controller. The limit switches include several units, used for detecting the range of motion of moving parts and for collision prevention detection.

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