A thin vein roadway automatic drilling robot and an automatic drilling method thereof

Abstract

This application relates to the field of mining machinery automation technology, providing an automatic rock drilling robot for thin vein horizontal tunnels and its automated drilling method. The robot includes: a walking system, a rock drilling hydraulic system, a rock drilling arm system, a vehicle body automatic leveling system, and a control system. The tunnel has a track, and the walking system includes a wheel-rail vehicle body that travels on the track. The rock drilling hydraulic system and the rock drilling arm system are detachably mounted on the wheel-rail vehicle body. The rock drilling arm system includes: a mechanical arm mounting base, a first swing cylinder, a helical rotating support arm, and a lifting cylinder. A steering knuckle and a pitch cylinder for adjusting the angle of the steering knuckle are connected to the helical rotating support arm. The steering knuckle has a compensating slide seat and a second swing cylinder. The compensating slide seat has a slide frame, and the slide frame has a hydraulic rock drill and a first propulsion hydraulic cylinder. The hydraulic rock drill has a drill rod. This system enables fully unmanned automated drilling operations in extremely narrow tunnels.

Description

Technical Field

[0001] This application belongs to the field of mining machinery automation technology, and more specifically, relates to an automatic rock drilling robot for thin vein horizontal tunnels in non-ferrous metal mines with narrow roadways and its automated drilling method. Background Technology

[0002] In non-ferrous metal mining, the exploitation of thin-vein deposits faces unique physical bottlenecks: as mining depth increases, the number of extremely narrow underground tunnels with cross-sectional dimensions of only 2.5m × 2.5m is increasing. Within these extreme spaces, existing conventional drilling rigs are too large and difficult to maneuver, making mechanized operations impossible. This has led to a long-term reliance on inefficient manual hand-held pneumatic drills. Manual drilling is not only labor-intensive and inefficient, but also exposes workers to high risks such as roof falls, rock bursts, and other hazards, compromising their personal safety.

[0003] While some "unmanned" rock drilling equipment has emerged in the industry, its technological approach remains essentially at the "remote control" stage—operators sit in a control room and operate the equipment via a screen, representing "human-machine separation" rather than true "machine replacement of humans." Specifically, existing technologies have the following shortcomings: Firstly, most similar products use laser scanning positioning technology, which requires scanning the tunnel to establish a three-dimensional coordinate system, calculating the vehicle's pose, and then planning the drilling arm path. However, the underground environment is characterized by high humidity and dust, which can easily lead to the loss of laser point cloud data. Each positioning operation is time-consuming and cannot meet the needs of rapid operation. Furthermore, laser scanning systems are expensive and complex to maintain.

[0004] Secondly, the drilling parameters (impact pressure, rotational pressure, etc.) of existing equipment rely on manual experience for setting, resulting in poor adaptability to rock layers of varying hardness. Operators need to judge the hardness based on the rock's appearance and manually adjust the parameters, which not only depends on the experience of skilled workers but also suffers from lag in adjustments, easily leading to stuck drills or low efficiency.

[0005] Third, existing equipment mostly adopts an integral structure with large dimensions, making it difficult to transport the entire machine down the well via cage. It also has poor mobility in extremely narrow tunnels and cannot achieve full coverage of boreholes in the bottom and corner areas. Summary of the Invention

[0006] To address one of the shortcomings of the existing technology, the purpose of this application is to provide an automatic rock drilling robot for thin vein horizontal tunnels, which can realize fully unmanned automatic drilling operations in extremely narrow tunnels.

[0007] To achieve the above objectives, the technical solution adopted in this application is: to provide an automatic rock drilling robot for thin vein horizontal tunnels, including: a walking system, a rock drilling hydraulic system, a rock drilling arm system, an automatic vehicle leveling system, and a control system; a track is provided in the tunnel, and the walking system includes a wheel-rail vehicle body that travels on the track; the rock drilling arm system is detachably mounted on the wheel-rail vehicle body; The rock drilling arm system includes: a robotic arm mounting base, on which a first swing cylinder is mounted; a helical rotating arm and a lifting cylinder are respectively mounted at the upper and lower ends of the first swing cylinder; the piston end of the lifting cylinder is connected to the helical rotating arm; a steering knuckle and a pitch cylinder for driving the steering knuckle to adjust its angle are connected to the helical rotating arm; a compensating slide seat and a second swing cylinder are mounted on the steering knuckle; a slide frame is mounted on the compensating slide seat; a hydraulic rock drill and a first propulsion hydraulic cylinder for driving the hydraulic rock drill to slide are slidably mounted on the slide frame; and a chisel is mounted on the hydraulic rock drill.

[0008] In one embodiment, a compensation slide rod is slidably mounted on the compensation slide rod seat. The front end of the compensation slide rod is provided with a face top plate. The face top plate is provided with a positioning through hole for positioning the drill rod. A compensation cylinder is provided on the compensation slide rod seat, and the piston end of the compensation cylinder is connected to the rear end of the compensation slide rod.

[0009] In one embodiment, the slide is provided with a second propulsion hydraulic cylinder, the piston end of which is connected to the top plate of the working face.

[0010] In one embodiment, the slide is provided with a front pull plate and a rear pull plate. The hydraulic rock drill is disposed between the front pull plate and the rear pull plate via a slider. The piston end of the first propulsion hydraulic cylinder is connected to the rear end of the slide. The body of the first propulsion hydraulic cylinder is connected to the front pull plate and the rear pull plate. Both the front pull plate and the rear pull plate are provided with movable pulleys. Two steel wire ropes are provided in the middle of the slide. The two steel wire ropes pass around the two movable pulleys and are then fixed to the front and rear ends of the slider of the hydraulic rock drill, respectively.

[0011] In one embodiment, the automatic vehicle leveling system includes: a front telescopic leveling leg, a rear telescopic leveling leg, and a dual-axis tilt sensor. At least two of the front telescopic leveling legs and the rear telescopic leveling legs are provided, and each includes a hydraulic cylinder with a displacement sensor and a bidirectional hydraulic lock.

[0012] In one embodiment, the travel system further includes a diesel engine, a travel hydraulic pump, and a travel hydraulic motor mounted on the wheel-rail vehicle body.

[0013] In one embodiment, the rock drilling hydraulic system includes a main motor, a rock drilling triple hydraulic pump, a hydraulic oil tank, and a hydraulic oil cooler. The rock drilling triple hydraulic pump is connected to the impact circuit, rotation circuit, and propulsion auxiliary circuit of the rock drilling arm system, and each circuit is connected to an electro-hydraulic proportional valve.

[0014] In one embodiment, the system further includes a water supply system and a water supply system. The air supply system includes an air pump motor, a piston air pump, an air tank, and an air pipe. The air pipe is connected to the air inlet of the hydraulic rock drill. The water supply system includes a multi-stage centrifugal pump and a water pipe. The water pipe is connected to the water inlet of the hydraulic rock drill.

[0015] In one embodiment, the control system includes an electrical control cabinet, an industrial touch screen, and a camera. The electrical control cabinet contains a PLC controller, and the camera is mounted on the top of the electrical control cabinet. The wheel-rail vehicle body is also equipped with a cable reel.

[0016] Another objective of this application is to provide an automated drilling method for a thin-vein horizontal tunnel automatic rock drilling robot, based on the aforementioned thin-vein horizontal tunnel automatic rock drilling robot, the automated drilling method comprising the following steps: Step 1: Site Entry and Track Positioning: Lay out the track in the tunnel and move the wheel-rail vehicle to the target work area on the track; specifically, start the diesel engine to drive the travel hydraulic pump, the travel hydraulic pump outputs hydraulic oil to drive the travel hydraulic motor, and after deceleration, drive the steel wheel to rotate along the track, control the robot to move to the target work area, brake and stop, and the operator fine-tunes the stopping position according to the position of the front end of the rock drilling arm system and the top plate of the working face to ensure that the stopping position meets the work requirements; Step Two: Mode Switching and Power Supply; After the wheel-rail vehicle reaches the target work area, it stops moving and the power supply is switched; Specifically, the PLC controller in the electrical control cabinet issues a command to shut down the diesel engine. After confirming that the diesel power system has completely stopped, the operator releases the external 380V cable through the cable reel and closes the main power contactor to power on the entire machine; The PLC controller performs a power-on self-test on all sensors (displacement, tilt angle, pressure, temperature, etc.) and actuators, checking whether the hydraulic oil temperature, water level, and air pressure are within the allowable range; Step 3: Track offset mode selection; The operator selects the track centering mode, track left offset mode, or track right offset mode on the industrial touch screen according to the actual track offset on site. The PLC controller automatically calls the motion trajectory parameters of the rock drilling arm system corresponding to the mode. Step 4: Automatic vehicle leveling; including the coarse adjustment stage of eliminating false legs and the fine adjustment stage of tilt angle compensation; Coarse adjustment stage: The PLC controller controls the four legs of the front telescopic leveling outrigger and the rear telescopic leveling outrigger to extend synchronously. When the built-in displacement sensor of any outrigger detects that the displacement has reached a certain distance and the pressure sensor in the hydraulic circuit of that outrigger detects that the pressure has suddenly increased to more than 5MPa, it is determined that the outrigger has been reliably grounded and the extension of the outrigger is stopped. Fine-tuning stage: The PLC controller reads the lateral tilt angle θ1 and longitudinal tilt angle θ2 from the dual-axis tilt sensor, and calculates the compensation amounts in the left-right and front-back directions according to the formulas ΔL1=W1×tanθ1 and ΔL2=W2×tanθ2, respectively, where W1 is the distance from the sensor center to the support center of the left and right leveling outriggers, and W2 is the distance from the sensor center to the support center of the front and back leveling outriggers; the PLC controller controls the corresponding lower side outriggers to continue extending until the levelness of the wheel-rail vehicle body reaches within the allowable error. Step 5: Return the rock drilling arm system to its starting origin position; The PLC controller obtains the height of the vehicle body above the ground after leveling based on the displacement sensors of the front telescopic leveling outriggers and the rear telescopic leveling outriggers, selects the preset drilling motion trajectory of the rock drilling arm system, and drives each joint of the rock drilling arm system to the starting origin position. Step Six: Adaptive Control of Drilling Parameters; The operator inputs the rock hardness level of the current working face through the industrial touch screen. The PLC controller adaptively adjusts the impact pressure setting value of the impact circuit and the rotation pressure setting value of the rotation circuit according to the pre-stored rock drilling parameter table, and adjusts them to the corresponding opening degree through the electro-hydraulic proportional valve. Step 7: Automatic Drilling Cycle; The PLC controller controls the rock drilling arm system to drill one hole at a time according to the set drilling position distribution coordinates; specifically, the PLC controller drives the lifting cylinder, spiral rotating arm, pitch cylinder, first swing cylinder, compensation cylinder, compensation seat swing cylinder, and various joint cylinders according to the rock drilling arm system motion trajectory parameters corresponding to the selected track offset mode, so that the slide sequentially reaches the starting position of each hole and automatically adjusts the angle of the push beam to align with the hole position; the multi-stage centrifugal water pump and piston air pump are started to achieve dust removal and impact mechanism lubrication; the PLC controller coordinates the first push hydraulic cylinder, the second push hydraulic cylinder, and the hydraulic rock drill to impact and rotate, and start drilling; During the drilling process, the PLC controller monitors the impact pressure and rotation pressure in real time through pressure sensors in the impact circuit and rotation circuit. When any pressure exceeds the preset threshold, the PLC controller automatically reduces the propulsion speed of the first propulsion hydraulic cylinder or the second propulsion hydraulic cylinder. It can also control the first propulsion hydraulic cylinder or the second propulsion hydraulic cylinder to retreat briefly, and continue drilling after the pressure returns to the normal range. During drilling, when the water or air pressure is lower than the set threshold, the PLC controller automatically pauses drilling and sends an alarm signal through the camera monitoring screen; when the anti-jamming action is triggered three times in a row and still cannot be restored to normal, the PLC controller controls the first and second propulsion hydraulic cylinders to automatically retract the rod and sends an alarm signal, waiting for manual intervention. Step 8: Reset and withdrawal; After all drilling is completed, the PLC controller controls the rock drilling arm system to automatically reset to the driving posture, and controls the front telescopic leveling outriggers and the rear telescopic leveling outriggers to retract synchronously; The operator disconnects the main power supply and manually retrieves the cable through the cable reel, and the robot is ready to withdraw or move to another location.

[0017] The beneficial effects of the automatic rock drilling robot and its automated drilling method for thin vein horizontal tunnels provided in this application are as follows: 1. The wheel-rail vehicle body and track physical constraints replace laser scanning positioning, eliminating the need to establish a three-dimensional coordinate system and solve the pose. The vehicle body position is determined by the track physical constraints. With the help of tilt angle closed-loop leveling, the relative relationship between the rock drilling arm system and the roadway cross-section can be completely reproduced for each operation. The positioning speed is fast and the accuracy is high. It completely avoids the interference of the high humidity and high dust environment in the mine on laser scanning, greatly simplifies the equipment structure and reduces costs.

[0018] 2. The PLC controller has multiple sets of motion trajectory parameters for rock drilling arm systems pre-stored, each corresponding to different track offset conditions. Operators can quickly switch between different working faces and achieve precise positioning with a single click, completely solving the industry pain point of "one track, one adjustment" and avoiding the time-consuming process and error accumulation of repeated calibration on site.

[0019] 3. Both the impact circuit and the rotary circuit are equipped with high-precision pressure sensors. The PLC controller automatically adjusts the opening of the electro-hydraulic proportional valve according to the rock hardness to achieve adaptive control of impact pressure and rotary pressure. This increases energy in hard rock and reduces energy consumption in soft rock. After the drill arm reaches the hole position, it automatically matches the optimal drilling parameters, completely eliminating the reliance on manual experience and improving drilling efficiency and equipment lifespan.

[0020] 4. The rock drilling arm system adopts a detachable structure design, which can be transported down the well via a cage simply by separating it from the chassis, breaking through the physical bottleneck of equipment transportation in extremely narrow tunnels; the drilling arm adopts a compound motion mechanism, combined with closed-loop control of the hydraulic cylinder with built-in displacement sensor, to ensure that there are no blind spots in the drilling at the bottom and corners.

[0021] 5. By employing a two-step leveling strategy of "eliminating false legs + tilt compensation" and using dual criteria of built-in displacement and pressure sensors, the outriggers are reliably grounded and the vehicle body is level. During the fine-tuning phase, only the lower outriggers are extended without retracting the higher outriggers, effectively preventing mechanical interference caused by excessively low chassis height.

[0022] 6. It has achieved fully automated operation without human intervention, from track positioning, vehicle leveling, drill arm positioning to adaptive rock drilling, rod withdrawal and machine shutdown. Operators have been completely removed from the most dangerous tunneling front line, realizing the inherent safety of the drilling process. It is a concrete implementation of "mechanization to replace manpower, automation to reduce manpower, and intelligent unmanned operation" in the field of thin vein mining. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of the overall structure of the automatic rock drilling robot for thin vein horizontal tunnels provided in this application embodiment; Figure 2 This is a schematic diagram of the wheel-rail vehicle body in the automatic rock drilling robot for thin veins in horizontal tunnels provided in the embodiments of this application; Figure 3 A schematic diagram of the rock drilling arm system in an automatic rock drilling robot for thin veins in a horizontal tunnel provided in this application embodiment; Figure 4 Another perspective structural schematic diagram of the rock drilling arm system in the automatic rock drilling robot for thin vein horizontal tunnels provided in the embodiments of this application; Figure 5 This is a schematic diagram of the operation scenario of the automatic rock drilling robot in a simulated tunnel, which is provided in the embodiment of this application for thin vein horizontal tunnel.

[0025] The following are the labeling elements in the figure: 1. Walking system; 11. Air tank; 12. Hydraulic oil cooler; 13. Multistage centrifugal water pump; 14. Air pump motor; 15. Piston air pump; 16. Simulated tunnel; 17. Track; 18. Industrial touch screen; 1-1. Wheel-rail vehicle body; 1-2. Front telescopic leveling outriggers; 1-3. Walking hydraulic motor; 1-4. Dual-axis tilt sensor; 1-5. Rear telescopic leveling outriggers; 1-6. Hydraulic oil tank; 2. Main motor; 3. Rock drilling triple hydraulic pump; 4. Walking hydraulic pump; 5. Diesel engine; 6. Cable reel; 7. Electrical control cabinet; 7-1. Robotic arm mounting base; 7 -2. Spiral rotating support arm; 7-3. Hydraulic rock drill; 7-4. Drill rod; 7-5. First propulsion hydraulic cylinder; 7-6. Pitch cylinder; 7-7. Lifting cylinder; 7-8. First swing cylinder; 7-9. Rear pull plate; 7-10. Front pull plate; 7-11. Slide; 7-12. Second propulsion hydraulic cylinder; 7-13. Face top plate; 7-14. Compensating slide rod; 7-15. Compensating slide rod seat; 7-16. Second swing cylinder; 7-17. Steering knuckle; 7-18. Compensating cylinder; 8. Camera; 9. Rock drilling arm system; 10. Electro-hydraulic proportional valve. Detailed Implementation

[0026] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0027] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0028] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0030] like Figures 1-5 As shown, an automatic rock drilling robot for thin vein horizontal tunnels provided in this application embodiment will now be described. This automatic rock drilling robot for thin vein horizontal tunnels includes: a walking system 1, a rock drilling hydraulic system, a rock drilling arm system 9, an automatic vehicle leveling system, a water-air auxiliary system, and a control system.

[0031] The system includes a track 17 laid within the tunnel, and a traveling system 1 comprising a wheel-rail vehicle body 1-1 that travels on the track 17, and a diesel engine 5, a traveling hydraulic pump 4, and a traveling hydraulic motor 1-3 mounted on the wheel-rail vehicle body 1-1. The output shaft of the diesel engine 5 is connected to the input shaft of the traveling hydraulic pump 4 via a coupling. The hydraulic oil outlet of the traveling hydraulic pump 4 is connected to the oil inlet of the traveling hydraulic motor 1-3 via a hydraulic pipeline. The output shaft of the traveling hydraulic motor 1-3 is connected to a steel wheel on the wheel-rail vehicle body 1-1 via a reduction mechanism, and the steel wheel engages with the track 17.

[0032] In this embodiment, the rock drilling arm system 9 is detachably mounted on the wheel-rail vehicle body 1-1.

[0033] The hydraulic system for rock drilling includes a main motor 2, a triple hydraulic pump 3, hydraulic oil tanks 1-6, and a hydraulic oil cooler 12. The triple hydraulic pump 3 is connected to the impact circuit, rotation circuit, and propulsion auxiliary circuit of the rock drilling arm system 9, and each circuit is connected to an electro-hydraulic proportional valve 10. The rock drilling arm system 9 is a composite motion mechanism, including: a mechanical arm fixed seat 7-1, a helical rotating arm 7-2, a lifting cylinder 7-7, a pitch cylinder 7-6, a first swing cylinder 7-8, a compensation cylinder 7-18, a compensation slide rod 7-14, a compensation slide rod seat 7-15, a second swing cylinder 7-16, a steering knuckle 7-17, a first propulsion hydraulic cylinder 7-5, a second propulsion hydraulic cylinder 7-12, a slide 7-11, a rear pull plate 7-9, a front pull plate 7-10, and a hydraulic rock drill 7-3.

[0034] Specifically: The output shaft of the main motor 2 is connected to the input shaft of the rock drilling triple hydraulic pump 3 via a flexible coupling. The three sections of the rock drilling triple hydraulic pump 3 are the first section (corresponding to the impact circuit), the second section (corresponding to the rotation circuit), and the third section (corresponding to the propulsion auxiliary circuit). The oil outlet of the first section is connected to the impact oil inlet of the hydraulic rock drill 7-3 via a hydraulic pipeline, and a high-precision pressure sensor and an electro-hydraulic proportional valve 10 are installed on the pipeline. The oil outlet of the second section is connected to the rotation oil inlet of the hydraulic rock drill 7-3 via a hydraulic pipeline, and a high-precision pressure sensor and an electro-hydraulic proportional valve 10 are installed on the pipeline. The oil outlet of the third section is connected via hydraulic lines and an electro-hydraulic proportional valve 10 to the oil inlet chambers of the lifting cylinder 7-7, the spiral rotating outrigger 7-2, the pitch cylinder 7-6, the first swing cylinder 7-8, the second swing cylinder 7-16, the compensation cylinder 7-18, the first thrust hydraulic cylinder 7-5, the second thrust hydraulic cylinder 7-12, the front telescopic leveling outrigger 1-2, and the rear telescopic leveling outrigger 1-5, respectively. The return oil lines of each component are connected to the hydraulic oil tank 1-6. The hydraulic oil cooler 12 is installed on the return oil line of the hydraulic oil tank 1-6. The travel system 1 and the working hydraulic system are connected via a hydraulic switching valve. The two power modes are interlocked through the hydraulic switching valve; when the diesel engine 5 is working, the main motor 2 stops, and when the main motor 2 is working, the diesel engine 5 stops.

[0035] Specifically, the robotic arm mounting base 7-1 is bolted to the wheel-rail vehicle body 1-1. The robotic arm mounting base 7-1 is made of Q355B material and is an I-beam plate. The first swing cylinder 7-8 is detachably connected to the robotic arm mounting base 7-1 via a set of M20, 10.9 grade high-strength bolts. The first swing cylinder 7-8 is a vane-type swing cylinder.

[0036] The first swing cylinder 7-8 has a helical rotating support arm 7-2 and a lifting cylinder 7-7 respectively mounted on the hinge seats at its upper and lower ends. The piston end of the lifting cylinder is connected to the helical rotating support arm 7-2. Specifically, the rear end of the helical rotating support arm 7-2 is hinged to the upper hinge seat, and the front end of the helical rotating support arm 7-2 is hinged to the upper hinge seat on the steering knuckle 7-17. The body of the lifting cylinder 7-7 is hinged to the lower hinge seat, and the piston end of the lifting cylinder 7-7 is hinged to the middle of the helical rotating support arm 7-2.

[0037] The cylinder body of the pitch cylinder 7-6 is hinged to the middle of the helical rotating support arm 7-2, and the piston end of the pitch cylinder 7-6 is hinged to the lower hinge seat of the steering knuckle 7-17. The steering knuckle 7-17 is known in the industry as the swing horn, and the pitch cylinder 7-6 drives the steering knuckle 7-17 to adjust the angle. The second swing cylinder 7-16 and the compensating slide rod seat 7-15 are both mounted on the steering knuckle 7-17. The body of the second swing cylinder 7-16 is mounted on the compensating slide rod seat 7-15, and the piston end is mounted on the steering knuckle 7-17. The slide 7-11 is mounted on the compensating slide rod seat 7-15, and a hydraulic rock drill 7-3 and a first propulsion hydraulic cylinder 7-5 that drives the hydraulic rock drill 7-3 to slide are slidably mounted on the slide 7-11. The hydraulic rock drill 7-3 is equipped with a drill rod 7-4. Specifically, a compensating slide rod 7-14 is slidably mounted on the compensating slide rod seat 7-15. A face top plate 7-13 is located at the front end of the compensating slide rod 7-14. The face top plate 7-13 has a positioning through hole for the positioning drill rod 7-4. A compensating cylinder 7-18 is mounted on the compensating slide rod seat 7-15, and the piston end of the compensating cylinder 7-18 is connected to the rear end of the compensating slide rod 7-14. A second propulsion hydraulic cylinder 7-12 is mounted on the slide frame 7-11. The piston end of the second propulsion hydraulic cylinder 7-12 is connected to the face top plate 7-13 and is used to drive the face top plate 7-13 to extend and retract. The first propulsion hydraulic cylinder 7-5 is located inside the slide 7-11. The slide 7-11 is equipped with a front pull plate 7-10 and a rear pull plate 7-9 for the hydraulic rock drill 7-3. The hydraulic rock drill 7-3 is positioned between the front pull plate 7-10 and the rear pull plate 7-9 via a slider. The piston end of the first propulsion hydraulic cylinder 7-5 is connected to the rear end of the slide 7-11, and the body of the first propulsion hydraulic cylinder 7-5 is connected to the front pull plate 7-10 and the rear pull plate 7-9. Both the front pull plate 7-10 and the rear pull plate 7-9 are equipped with movable pulleys inside. Two separate steel wire ropes are located in the middle of the slide 7-11. The two steel wire ropes pass around the two movable pulleys and are then fixed to the front and rear ends of the slider of the hydraulic rock drill 7-3 to form a stroke multiplication mechanism.

[0038] Among them, the lifting cylinder 7-7, the pitching cylinder 7-6, the compensation cylinder 7-18, the first propulsion hydraulic cylinder 7-5, the second propulsion hydraulic cylinder 7-12, and the second swing cylinder 7-16 are all telescopic hydraulic cylinders with built-in magnetic ruler displacement sensors, and the sensor signal lines are connected to the PLC controller in the electrical control cabinet 7.

[0039] In this embodiment, the automatic leveling system includes: a front telescopic leveling leg 1-2, a rear telescopic leveling leg 1-5, and a dual-axis tilt sensor 1-4. At least two of each of the front and rear telescopic leveling legs 1-2 and 1-5 are provided, located on opposite sides of the wheel-rail vehicle body 1-1. Both the front and rear telescopic leveling legs 1-2 and 1-5 include hydraulic cylinders with displacement sensors and bidirectional hydraulic locks. The front telescopic leveling leg 1-2 is fixedly connected to the wheel-rail vehicle body 1-1 using a rectangular box girder structure support beam.

[0040] Specifically, there are two front telescopic leveling outriggers 1-2, installed on both sides of the front of the wheel-rail vehicle body 1-1; there are two rear telescopic leveling outriggers 1-5, installed on both sides of the rear of the wheel-rail vehicle body 1-1. Both the front telescopic leveling outriggers 1-2 and the rear telescopic leveling outriggers 1-5 are hydraulic cylinders with built-in displacement sensors and equipped with two-way hydraulic locks. The dual-axis tilt sensor 1-4 is installed on the wheel-rail vehicle body 1-1, and its signal output terminal is connected to the analog input terminal of the PLC controller. The hydraulic lines of each leveling outrigger are connected to the third section of the rock drilling triple hydraulic pump 3 through the electro-hydraulic proportional valve 10.

[0041] In this embodiment, the water-air auxiliary system includes water The system includes an air supply system and a water supply system. The air supply system includes an air pump motor 14, a piston air pump 15, an air storage tank 11, and an air pipe. The air outlet of the piston air pump 15 is connected to the air inlet of the air storage tank 11 through a pipe. The air outlet of the air storage tank 11 is connected to the air inlet of the hydraulic rock drill 7-3 through a pipe and an oil mist lubricator. The water supply system includes a multi-stage centrifugal pump and a water pipe. The water pipe is connected to the water inlet of the hydraulic rock drill 7-3.

[0042] In this embodiment, the control system includes an electrical control cabinet 7, an industrial touch screen 18, and a camera 8. The electrical control cabinet 7 houses a PLC controller, a Siemens S7 series PLC, which is electrically connected to the dual-axis tilt sensors 1-4, each built-in displacement sensor cylinder, each pressure sensor, the electro-hydraulic proportional valve 10, the camera 8, and each solenoid valve. It is also connected to the soft starter of the main motor 2 and the contactors of each motor. The camera 8 is located on the top of the electrical control cabinet 7 for remote monitoring of the operation screen. The PLC controller has pre-stored multiple sets of motion trajectory parameters for the rock drilling arm system, corresponding to three track offset conditions: track 17 centered, track 17 to the left, and track 17 to the right. The PLC controller also has a pre-stored rock drilling parameter table, including impact pressure and rotation pressure settings corresponding to different rock hardness levels. A manually operated cable reel is also installed on the wheel-rail vehicle body 1-1.

[0043] This embodiment also provides an automated drilling method for a thin-vein horizontal tunnel automatic rock drilling robot. Based on the thin-vein horizontal tunnel automatic rock drilling robot described above, the automated drilling method includes the following steps: Step 1: Site entry and track 17 positioning: Lay track 17 in the tunnel and move the wheel-rail vehicle 1-1 on track 17 to the target work area; specifically, start the diesel engine 5 to drive the travel hydraulic pump 4, the travel hydraulic pump 4 outputs hydraulic oil to drive the travel hydraulic motor 1-3, after deceleration, it drives the steel wheel to rotate along track 17, control the robot to move to the target work area, brake and stop, the operator fine-tunes the stopping position according to the position of the front end of the rock drilling arm system 9 and the top plate 7-13 of the working face to ensure that the stopping position meets the work requirements; Step Two: Mode Switching and Power Supply; After the wheel-rail vehicle 1-1 arrives at the target work area, it stops moving and switches the power supply; Specifically, the PLC controller in the electrical control cabinet 7 issues a command to shut down the diesel engine 5. After confirming that the diesel power system has completely stopped, the operator releases the external 380V cable through the cable reel 6, closes the main power contactor, and powers on the entire machine; The PLC controller performs a power-on self-test on all sensors (displacement, tilt angle, pressure, temperature, etc.) and actuators, and checks whether the hydraulic oil temperature, water level, and air pressure are within the allowable range; Step 3: Track 17 offset mode selection; The operator selects the track centering mode, track left offset mode or track right offset mode on the industrial touch screen 18 according to the actual offset of track 17 on site. The PLC controller automatically calls the motion trajectory parameters of the rock drilling arm system 9 corresponding to the mode. Step 4: Automatic vehicle leveling; including the coarse adjustment stage of eliminating false legs and the fine adjustment stage of tilt angle compensation; Coarse adjustment stage: The PLC controller controls the four legs of the front telescopic leveling outrigger 1-2 and the rear telescopic leveling outrigger 1-5 to extend synchronously. When the built-in displacement sensor of any outrigger detects that the displacement has reached a certain distance and the pressure sensor in the hydraulic circuit of that outrigger detects that the pressure has suddenly increased to more than 5MPa, it is determined that the outrigger has been reliably grounded and the extension of the outrigger is stopped. Fine-tuning stage: The PLC controller reads the lateral tilt angle θ1 and longitudinal tilt angle θ2 from the dual-axis tilt sensors 1-4, and calculates the compensation amounts in the left-right and front-back directions according to the formulas ΔL1=W1×tanθ1 and ΔL2=W2×tanθ2, respectively, where W1 is the distance from the sensor center to the support center of the left and right leveling legs, and W2 is the distance from the sensor center to the support center of the front and back leveling legs; the PLC controller controls the corresponding lower side support legs to continue extending until the levelness of the wheel-rail vehicle body 1-1 reaches within the allowable error. Step 5: The rock drilling arm system 9 returns to its starting origin position; the PLC controller obtains the height of the vehicle body above the ground after leveling based on the displacement sensors of the front telescopic leveling legs 1-2 and the rear telescopic leveling legs 1-5, selects the preset drilling motion trajectory of the rock drilling arm system 9, and drives each joint of the rock drilling arm system 9 to the starting origin position. Step Six: Adaptive Control of Drilling Parameters; The operator inputs the rock hardness level of the current working face through the industrial touch screen 18. The PLC controller adaptively adjusts the impact pressure setting value of the impact circuit and the rotation pressure setting value of the rotation circuit according to the pre-stored rock drilling parameter table, and adjusts them to the corresponding opening degree through the electro-hydraulic proportional valve 10. Step 7: Automatic Drilling Cycle; The PLC controller controls the rock drilling arm system 9 to drill one hole at a time according to the set drilling position distribution coordinates; Specifically, the PLC controller drives the lifting cylinder 7-7, the spiral rotating arm 7-2, the pitch cylinder 7-6, the first swing cylinder 7-8, the compensation cylinder 7-18, the second swing cylinder, and each joint cylinder according to the motion trajectory parameters of the rock drilling arm system 9 corresponding to the selected track 17 offset mode, so that the slide 7-11 sequentially reaches the starting position of each hole and automatically adjusts the angle of the push beam to align with the hole position; the multi-stage centrifugal water pump 13 and the piston air pump 15 are started to achieve dust removal and lubrication of the impact mechanism; the PLC controller coordinates the first push hydraulic cylinder 7-5, the second push hydraulic cylinder 7-12 and the hydraulic rock drill 7-3 to impact and rotate, and start drilling; During the drilling process, the PLC controller monitors the impact pressure and rotation pressure in real time through pressure sensors in the impact circuit and rotation circuit. When any pressure exceeds the preset threshold, the PLC controller automatically reduces the propulsion speed of the first propulsion hydraulic cylinder 7-5 or the second propulsion hydraulic cylinder 7-12. It can also control the first propulsion hydraulic cylinder 7-5 or the second propulsion hydraulic cylinder 7-12 to retreat briefly, and continue drilling after the pressure returns to the normal range. During drilling, when the water or air pressure falls below the set threshold, the PLC controller automatically pauses drilling and sends an alarm signal through the monitoring screen of camera 8. If the anti-jamming action is triggered three times in a row and still cannot be restored to normal, the PLC controller controls the first propulsion hydraulic cylinder 7-5 and the second propulsion hydraulic cylinder 7-12 to automatically retract the rod and send an alarm signal, waiting for manual intervention. After completing a hole, the PLC controller controls the rock drilling arm system 9 to automatically move to the next preset hole position and repeat the above drilling cycle until all drilling tasks are completed. Step 8: Reset and Retreat; After all drilling is completed, the PLC controller controls the rock drilling arm system 9 to automatically reset to the driving posture, and controls the front telescopic leveling legs 1-2 and the rear telescopic leveling legs 1-5 to retract synchronously; the industrial touch screen 18 prompts "Drilling task completed". After the operator confirms that the machine has stopped and reset, the main power supply is disconnected, and the cable is manually retrieved through the cable reel 6. The robot is ready to retreat or move to another location.

[0044] In actual underground mine tunnels, track 17 is not always laid in the center; it is commonly offset to the left or right, with the offset typically ranging from 50 to 200 mm. In this embodiment, the PLC controller has three sets of complete motion trajectory parameters for the rock drilling arm system 9 pre-stored, corresponding to three typical working conditions: track centered, track offset 50-200 mm to the left, and track offset 50-200 mm to the right. Each set of trajectory parameters includes all joint motion data (displacement-time curves of each cylinder) from the starting origin to each target hole position. The operator only needs to observe the relative positional relationship between track 17 and the sidewall of the simulated tunnel 16 on-site, select the corresponding offset mode on the industrial touch screen 18, and the PLC controller will automatically call up all trajectory parameters for that mode.

[0045] Its core control logic is as follows: In track-centered mode, each joint of the rock drilling arm system 9 plans its motion based on the geometric center of the wheel-rail vehicle body 1-1; in track-left bias mode, the PLC controller automatically shifts the motion target point of each joint to the right by a corresponding offset amount on the lateral coordinate (and vice versa), thereby ensuring that no matter how track 17 is biased, the absolute position of each hole relative to the tunnel remains unchanged when the drill bit on the drill rod 7-4 reaches the working face. This function eliminates the need for recalibration when switching between different working faces, achieving a unified approach of rapid site transition and precise positioning.

[0046] In this embodiment, both the impact and rotation circuits are equipped with high-precision pressure sensors to monitor the working and rotation pressures of the hydraulic rock drill 7-3 in real time. The PLC controller has a pre-stored rock drilling parameter table, which is established based on a large amount of rock mechanics test data and covers the optimal impact and rotation pressures for various rock grades within the Protodyakonov hardness coefficient range of f=4-20.

[0047] Before drilling, the operator only needs to select the rock hardness level of the current working face (such as "soft rock f=4-6", "medium hard rock f=8-12", "hard rock f=14-20") via the industrial touch screen 18. The PLC controller will automatically read the corresponding impact pressure setting value and rotation pressure setting value from the rock drilling parameter table, and adjust the system pressure to the target value by controlling the opening of the electro-hydraulic proportional valve 10.

[0048] More importantly, during drilling, when the pressure sensor detects an abnormal increase in rotary pressure (such as a sudden increase from 12MPa to over 18MPa), the PLC controller determines that the drill bit has encountered hard rock interlayers or fissures and automatically executes two actions: First, it increases the impact pressure to a higher level through the electro-hydraulic proportional valve 10 to enhance rock-breaking ability; second, it appropriately reduces the feed speed by controlling the electro-hydraulic proportional valve 10 of the first feed hydraulic cylinder 7-5 and the second feed hydraulic cylinder 7-12 to reduce the load on the drill bit. When the pressure returns to normal, the PLC controller automatically returns to the original set parameters. This closed-loop adaptive mechanism ensures that the hydraulic rock drill 7-3 always operates within the optimal parameter range of the current rock formation, effectively avoiding drill jamming accidents and improving drilling efficiency.

[0049] The rock drilling arm system 9 adopts a bolt-detachable structure design, which can be transported down the well via a cage simply by separating it from the walking system 1, breaking through the physical bottleneck of equipment transportation in extremely narrow tunnels; the rock drilling arm system 9 adopts a composite motion mechanism, combined with closed-loop control of the hydraulic cylinder with built-in displacement sensor, to ensure that there are no blind spots in drilling at the bottom and corners.

[0050] The vehicle body automatic leveling system adopts a two-step strategy of "eliminating false legs + tilt angle compensation", and its specific control logic is as follows: Coarse Adjustment Phase: The PLC controller simultaneously sends extension commands to the electro-hydraulic proportional valves 10 controlling the front telescopic leveling outriggers 1-2 and the rear telescopic leveling outriggers 1-5. The built-in displacement sensor of each leveling outrigger provides real-time feedback on the extension length, while the pressure sensor in the hydraulic circuit monitors the pressure in real-time. When the displacement of an outrigger reaches a certain level and the pressure suddenly increases (absolute value > 5MPa), the PLC controller determines that the outrigger has reliably grounded and is bearing the load, and immediately closes the solenoid valve of that outrigger to stop its extension. The remaining outriggers continue to extend until the same criteria are met. This dual criterion (displacement + pressure) effectively avoids false grounding judgments caused by ground subsidence or the raising of gravel.

[0051] Fine-tuning stage: The PLC controller reads the lateral tilt angle θ1 and longitudinal tilt angle θ2 from the dual-axis tilt sensors 1-4. The calculation formula is as follows: ΔL1 = W1 × tan(θ1) ΔL2 = W2 × tan(θ2) Wherein, ΔL1 is the compensation amount in the left and right directions, W1 is the lateral distance from the center of the dual-axis tilt sensor 1-4 to the support center of the left and right leveling legs; ΔL2 is the compensation amount in the front and back directions, W2 is the longitudinal distance from the center of the dual-axis tilt sensor 1-4 to the support center of the front and back leveling legs.

[0052] The PLC controller determines which side or end of the outrigger needs to be extended based on the sign of the compensation value. Taking the lateral tilt angle as an example: if θ1 is positive (left side higher than right side), the PLC controller only issues extension commands to the right front and right rear outriggers, with a compensation value ΔL1; if θ1 is negative (right side higher than left side), it only issues extension commands to the left front and left rear outriggers. During fine-tuning, the system will not retract any extended outriggers to prevent the vehicle chassis height from being too low and causing interference with the ground. The fine-tuning phase continues until the output values ​​of the dual-axis tilt sensors 1-4 are |θ1|≤0.05° and |θ2|≤0.05°.

[0053] The automated rock drilling robot and its automated drilling method for thin vein horizontal tunnels provided in this embodiment can be widely applied to drilling operations in extremely narrow tunnels (2.5m×2.5m and below cross-section) of non-ferrous metal mines. Compared with manual drilling, the single-hole operation time can be reduced by about 50%, and the efficiency can be increased by more than 150%. Compared with existing laser scanning positioning trolleys, the scanning and mapping step is eliminated, the positioning speed is significantly improved, and it is not affected by underground dust. Compared with existing equipment that relies on manual experience to adjust pressure, the adaptive pressure adjustment function increases rock drilling efficiency by more than 20% and reduces the stuck drill rate by more than 80%. This embodiment realizes a fundamental leap from "separation of man and machine" to "machine replacing man," and has important industrial application value for promoting the intelligent construction of mines and achieving the goals of "reducing manpower, increasing safety, and improving efficiency."

[0054] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated rock drilling robot for thin vein horizontal tunnels, characterized in that, include: The system includes a walking system (1), a rock drilling hydraulic system, a rock drilling arm system (9), a vehicle body automatic leveling system, and a control system; a track (17) is provided in the tunnel, and the walking system (1) includes a wheel-rail vehicle body (1-1) that travels on the track (17); the rock drilling arm system (9) is detachably installed on the wheel-rail vehicle body (1-1); The rock drilling arm system (9) includes: a robotic arm mounting base (7-1), on which a first swing cylinder (7-8) is provided. A helical rotating support arm (7-2) and a lifting cylinder (7-7) are respectively hinged to the upper and lower ends of the first swing cylinder (7-8). The piston end of the lifting cylinder (7-7) is connected to the helical rotating support arm (7-2). A steering knuckle (7-17) and a drive steering knuckle (7-17) are connected to the helical rotating support arm (7-2). -17) An angle-adjusting pitch cylinder (7-6) is provided on the steering knuckle (7-17), a compensating slide block seat (7-15) and a second swing cylinder (7-16) are provided on the compensating slide block seat (7-15), a slide frame (7-11) is provided on the slide frame (7-11), a hydraulic rock drill (7-3) is slidably mounted on the slide frame (7-11), and a first propulsion hydraulic cylinder (7-5) is provided to drive the hydraulic rock drill (7-3) to slide. A chisel (7-4) is provided on the hydraulic rock drill (7-3).

2. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 1, characterized in that: The compensation slide rod (7-14) is slidably mounted on the compensation slide rod seat (7-15). The front end of the compensation slide rod (7-14) is provided with a face top plate (7-13). The face top plate (7-13) is provided with a positioning through hole for positioning the drill rod (7-4). The compensation slide rod seat (7-15) is provided with a compensation cylinder (7-18). The piston end of the compensation cylinder (7-18) is connected to the rear end of the compensation slide rod (7-14).

3. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 2, characterized in that: The slide (7-11) is equipped with a second propulsion hydraulic cylinder (7-12), and the piston end of the second propulsion hydraulic cylinder (7-12) is connected to the top plate (7-13) of the working face.

4. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 3, characterized in that: The slide (7-11) is provided with a front pull plate (7-10) and a rear pull plate (7-9). The hydraulic rock drill (7-3) is set between the front pull plate (7-10) and the rear pull plate (7-9) via a slider. The piston end of the first propulsion hydraulic cylinder (7-5) is connected to the rear end of the slide (7-11). The body of the first propulsion hydraulic cylinder (7-5) is connected to the front pull plate (7-10) and the rear pull plate (7-9). Both the front pull plate (7-10) and the rear pull plate (7-9) are provided with movable pulleys. Two steel wire ropes are provided in the middle of the slide (7-11). The two steel wire ropes pass around the two movable pulleys and are then fixed to the front and rear ends of the slider of the hydraulic rock drill (7-3).

5. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 4, characterized in that: The automatic vehicle leveling system includes: a front telescopic leveling leg (1-2), a rear telescopic leveling leg (1-5), and a dual-axis tilt sensor (1-4). At least two of the front telescopic leveling legs (1-2) and the rear telescopic leveling legs (1-5) are provided, and each includes a hydraulic cylinder with a displacement sensor and a two-way hydraulic lock.

6. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 5, characterized in that: The walking system (1) also includes a diesel engine (5), a walking hydraulic pump (4) and a walking hydraulic motor (1-3) mounted on the wheel-rail car body (1-1).

7. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 6, characterized in that: The rock drilling hydraulic system includes a main motor (2), a rock drilling triple hydraulic pump (3), a hydraulic oil tank (1-6), and a hydraulic oil cooler (12). The rock drilling triple hydraulic pump (3) is connected to the impact circuit, rotation circuit, and propulsion auxiliary circuit of the rock drilling arm system (9), and each circuit is connected to an electro-hydraulic proportional valve (10).

8. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 7, characterized in that: It also includes a water supply system and a water supply system. The air supply system includes an air pump motor (14), a piston air pump (15), an air storage tank (11), and an air pipe. The air pipe is connected to the air inlet of the hydraulic rock drill (7-3). The water supply system includes a multi-stage centrifugal pump and a water pipe. The water pipe is connected to the water inlet of the hydraulic rock drill (7-3).

9. The automatic rock drilling robot for thin vein horizontal tunnels as described in claim 8, characterized in that: The control system includes an electrical control cabinet (7), an industrial touch screen (18), and a camera (8). The electrical control cabinet (7) is equipped with a PLC controller, and the camera (8) is located on the top of the electrical control cabinet (7). The wheel-rail vehicle body (1-1) is also equipped with a cable reel (6).

10. An automated drilling method for a thin-vein horizontal tunnel automatic rock drilling robot, based on the thin-vein horizontal tunnel automatic rock drilling robot of claim 9, characterized in that, The automated drilling method includes the following steps: Step 1: Site entry and track (17) positioning: Lay track (17) in the roadway and drive the wheel-rail vehicle (1-1) on track (17) to the target work area; Step 2: Mode switching and power supply; After the wheel-rail vehicle body (1-1) arrives at the target work area, it stops moving and the power supply is switched; Step 3: Track (17) offset mode selection; The operator selects the track center mode, track left offset mode or track right offset mode on the industrial touch screen (18) according to the actual offset of the track (17) on site. The PLC controller automatically calls the motion trajectory parameters of the rock drilling arm system (9) corresponding to the mode. Step 4: The vehicle body automatically levels itself; Step 5: Return the rock drilling arm system (9) to its starting point; Step 6: Adaptive control of rock drilling parameters; The operator inputs the rock hardness level of the current working face through the industrial touch screen (18). The PLC controller adaptively adjusts the impact pressure setting value of the impact circuit and the rotation pressure setting value of the rotation circuit according to the pre-stored rock drilling parameter table, and adjusts them to the corresponding opening degree through the electro-hydraulic proportional valve (10). Step 7: Automatic drilling cycle; Automatic drilling cycle; The PLC controller controls the rock drilling arm system (9) to drill one hole at a time according to the set drilling position distribution coordinates; Step 8: Reset and Evacuate.

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