A composite rock breaking heading machine

Abstract

The application provides a composite rock breaking tunneling machine, and belongs to the technical field of coal mining equipment. The composite rock breaking tunneling machine comprises a body part, a first drilling mechanism and a breaking mechanism which are assembled on the body part. The first drilling mechanism comprises a first mechanical arm which is assembled on the body part and a first drilling machine which is arranged at the moving end of the first mechanical arm. The breaking mechanism comprises a second mechanical arm which is assembled on the body part and a breaking hammer which is arranged at the moving end of the second mechanical arm. The first drilling machine is driven by the first mechanical arm to drill a round hole on the working face of a hard rock roadway. The breaking hammer is driven by the second mechanical arm to perform a breaking operation on the working face on which the round hole is drilled. Based on the round hole, a bottom digging operation is performed on the working face. The time proportion of the bottom digging in the hard rock roadway construction of the breaking hammer type tunneling machine is greatly reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] This application belongs to the technical field of coal mining equipment, and in particular relates to a composite rock-breaking tunneling machine. Background Technology

[0002] Currently, drilling and blasting will remain a primary method for excavating all-hard rock tunnels in my country for a considerable period. Heavy-duty cantilever roadheaders (TBMs) for large-section rock tunnels are still in the experimental stage in my country. Heavy-duty cantilever TBMs for all-rock tunnels, characterized by high cutting power, high cutting efficiency, stable operation, and excellent dust removal systems, represent the future development direction of rock tunnel excavation technology. In all-rock tunnels and semi-coal-rock tunnels with lower rock hardness (f < 10), cantilever TBMs have seen significant development. The combination of cantilever TBMs and single-unit bolt drilling rigs (also known as integrated mechanized coal roadway excavation) has gradually become the most important method for efficient coal roadway excavation in my country.

[0003] However, the hardness of rock strata is usually an indeterminate value, meaning that the hardness of rock strata in different areas may not be the same, and the working conditions are extremely harsh. When the rock hardness f>10, cantilever tunneling machines not only have extremely low efficiency and increased energy consumption, but also suffer from severe chipping and even cannot tunnel. Usually, the tunneling machine needs to be withdrawn to a safe distance and then the rock needs to be drilled and blasted before tunneling can proceed. This not only results in low tunneling efficiency but also poses significant safety hazards during blasting operations. Tunneling in high-hardness rock has become a bottleneck in the development of tunneling mechanization in my country. Faced with tunneling in high-hardness rock, some construction teams, under the condition that the tunnel size allows (tunnel size must be >9×6.5m), use high-energy hydraulic breakers (chisel diameter >220mm) as auxiliary tools mounted on large excavators of model SY650 and above for operation.

[0004] However, whether it is a cantilever tunneling machine struggling to operate in high-hardness rock tunnels or a large excavator equipped with a high-energy breaker for tunneling in high-hardness rock tunnels, both face significant problems and ultimately focus on the same core challenge: the difficulty of bottom-excavation in high-hardness tunnels, with bottom-excavation time accounting for a large proportion of the total construction time, reaching about 50% in some scenarios. The excessively long bottom-excavation time directly reduces the overall construction progress, resulting in low construction efficiency and seriously restricting the mechanized advancement and project progress of high-hardness rock tunnel excavation. Utility Model Content

[0005] This application provides a composite rock-breaking tunneling machine. Through the coordinated operation of the main body, the first drilling mechanism, and the breaking mechanism, the first robotic arm drives the first drilling rig to drill a circular hole in a high-hardness tunnel; the second robotic arm then drives the breaker hammer to excavate the bottom of the hole, reducing operational resistance. This solves the problem of difficult bottom excavation and shortens the proportion of time spent on bottom excavation, ultimately improving construction efficiency. It addresses the problems of low efficiency and restrictions on mechanized tunneling in high-hardness rock tunnels, where cantilever tunneling machines are inefficient and prone to damage, drill-and-blast methods pose safety hazards, and large excavators with high-energy breakers have poor compatibility. All three methods involve difficult bottom excavation and a high proportion of time spent, resulting in low construction efficiency and hindering the mechanization of tunneling.

[0006] This application provides a composite rock-breaking tunneling machine, including a main body and a first drilling mechanism and a crushing mechanism assembled on the main body; The first drilling mechanism includes a first robotic arm mounted on the main body and a first drilling rig disposed at the moving end of the first robotic arm. The first robotic arm is used to adjust the spatial position of the first drilling rig. The first drilling rig is used to drill a circular hole in the working face of a hard rock tunnel. The crushing mechanism includes a second robotic arm mounted on the main body and a breaker hammer disposed at the moving end of the second robotic arm. The second robotic arm is used to adjust the spatial position of the breaker hammer. The breaker hammer is used to perform crushing operations on the working surface where the circular hole is drilled.

[0007] In one feasible implementation, the crushing mechanism further includes a rotary table; The rotary table is mounted on the main body, and the second robotic arm is mounted on the rotary table. The rotary table is used to drive the second robotic arm to rotate relative to the main body in a horizontal plane.

[0008] In one feasible implementation, the crushing mechanism further includes a first hydraulic cylinder; The connecting end of the second robotic arm is hinged to the rotary table, one end of the first hydraulic cylinder is hinged to the second robotic arm, and the other end of the first hydraulic cylinder is hinged to the rotary table. The first hydraulic cylinder is used to drive the second robotic arm to rotate in the vertical plane, so as to drive the breaker hammer to move up and down. The second robotic arm is a telescopic robotic arm; The second robotic arm is used to drive the breaker hammer to reciprocate along the length of the second robotic arm.

[0009] In one feasible implementation, the crushing mechanism further includes a second hydraulic cylinder; The second robotic arm is hinged to the breaker hammer; one end of the second hydraulic cylinder is hinged to the second robotic arm, and the other end of the second hydraulic cylinder is hinged to the breaker hammer. The second hydraulic cylinder is used to drive the breaker hammer to rotate in the vertical plane to adjust the orientation of the breaker hammer's crushing end.

[0010] In one feasible implementation, the fully hydraulic composite rock-breaking tunneling machine is equipped with two crushing mechanisms, which are symmetrically arranged with respect to the central axis of the main body.

[0011] In one feasible implementation, the first drilling mechanism further includes a first slide table; The first slide is mounted on the main body, and the first robotic arm is mounted on the first slide; The first slide is used to drive the first robotic arm and the first drilling rig to move along the central axis of the main body.

[0012] In one feasible implementation, the fully hydraulic composite rock-breaking tunneling machine is equipped with two first drilling mechanisms, which are symmetrically arranged with respect to the central axis of the main body. The two crushing mechanisms are located between the two first drilling mechanisms.

[0013] In one feasible implementation, the fully hydraulic composite rock-breaking tunneling machine also includes a second drilling mechanism; The second drilling mechanism includes a third robotic arm mounted on the main body and a second drilling rig disposed at the moving end of the third robotic arm. The second drilling rig is used to drill circular holes in the working face of a hard rock tunnel.

[0014] In one feasible implementation, the second drilling mechanism further includes a second slide; The second slide is mounted on the main body, and the third robotic arm is mounted on the second slide; The second slide is used to drive the third robotic arm and the second drilling rig to move along the central axis of the main body.

[0015] In one feasible implementation, the second drilling mechanism is disposed on the body portion, located between the two crushing mechanisms.

[0016] This application provides a composite rock-breaking tunneling machine, including a main body and a first drilling mechanism and a breaking mechanism mounted on the main body. The first drilling mechanism includes a first robotic arm mounted on the main body and a first drilling rig disposed at the moving end of the first robotic arm. The breaking mechanism includes a second robotic arm mounted on the main body and a breaker hammer disposed at the moving end of the second robotic arm. The first robotic arm drives the first drilling rig to drill a circular hole in the working face of the hard rock tunnel. The second robotic arm drives the breaker hammer to perform breaking operations on the working face with the drilled circular hole. Based on the circular hole, the working face is then excavated, which significantly reduces the time spent on excavation in the construction of hard rock tunnels by the breaker hammer tunneling machine and improves the operating efficiency. Attached Figure Description

[0017] Figure 1 This is a side view of a composite rock-breaking tunneling machine provided in this application; Figure 2 This is a top view of a composite rock-breaking tunneling machine; Figure 3 This is a schematic diagram of the first drilling mechanism; Figure 4 This is a schematic diagram of the second drilling mechanism; Figure 5 This is a schematic diagram of the crushing mechanism.

[0018] Explanation of reference numerals in the attached figures: 10-Main body; 20-First drilling mechanism; 30-Crushing mechanism; 40-Second drilling mechanism; 50-Traveling part; 21-First robotic arm; 22-First drilling rig; 23-First slide table; 31-Second robotic arm; 32-Breaker; 33-Rotary table; 34-First hydraulic cylinder; 35-Second hydraulic cylinder; 41-Third robotic arm; 42-Second drilling rig; 43-Second slide table. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0020] Currently, whether it's cantilever tunneling machines struggling to operate in high-hardness rock tunnels or large excavators equipped with high-energy breakers for high-hardness rock tunnel excavation, both face significant problems and ultimately focus on the same core challenge: difficulty in bottom-excavating high-hardness tunnels. The bottom-excavation time accounts for a large proportion of the total construction time, reaching about 50% in some scenarios. The excessively long bottom-excavation time directly reduces the overall construction progress, resulting in low construction efficiency and severely restricting the mechanized advancement and project progress of high-hardness rock tunnel excavation.

[0021] The composite rock-breaking tunneling machine provided in this application, through the coordinated operation of the main body, the first drilling mechanism and the crushing mechanism, allows the first robotic arm to drive the first drilling rig to drill a circular hole in a high-hardness tunnel; the second robotic arm then drives the breaker hammer to excavate the bottom of the circular hole, reducing the operating resistance, solving the problem of difficult bottom excavation, shortening the bottom excavation time, and ultimately improving construction efficiency.

[0022] The specific structure of the composite rock-breaking tunneling machine provided in this application will be described in detail below with reference to the accompanying drawings.

[0023] Reference Figures 1-5 As shown, this application provides a composite rock-breaking tunneling machine, including a main body 10 and a first drilling mechanism 20 and a crushing mechanism 30 assembled on the main body 10. The first drilling mechanism 20 includes a first mechanical arm 21 mounted on the main body 10 and a first drilling machine 22 disposed at the moving end of the first mechanical arm 21. The first mechanical arm 21 is used to adjust the spatial position of the first drilling machine 22; the first drilling machine 22 is used to drill round holes in the working face of the hard rock tunnel. The crushing mechanism 30 includes a second mechanical arm 31 mounted on the main body 10 and a breaker hammer 32 disposed at the moving end of the second mechanical arm 31. The second mechanical arm 31 is used to adjust the spatial position of the breaker hammer 32; the breaker hammer 32 is used to perform crushing operations on a working surface with drilled round holes.

[0024] The fully hydraulic composite rock-breaking tunneling machine includes a main body 10 and a first drilling mechanism 20 and a breaking mechanism 30 mounted on the main body 10.

[0025] The first drilling mechanism 20 includes a first robotic arm 21 mounted on the main body 10 and a first drilling machine 22 disposed at the moving end of the first robotic arm 21. The first robotic arm 21 can drive the first drilling machine 22 to adjust its spatial position, that is, adjust its working position, to adapt to the drilling needs of different areas of the hard rock roadway working face. The first drilling machine 22 is used to drill round holes in the working face of the hard rock roadway to create basic conditions for subsequent crushing operations.

[0026] The crushing mechanism 30 includes a second robotic arm 31 mounted on the main body 10 and a breaker hammer 32 disposed at the moving end of the second robotic arm 31. The second robotic arm 31 can drive the spatial position of the breaker hammer 32 to move it to a designated position on the working surface. The breaker hammer 32 is used to perform crushing operations on the working surface with drilled round holes, thereby reducing the difficulty of crushing the working surface.

[0027] The composite rock-breaking tunneling machine provided in this application, through the combination structure of the first drilling mechanism 20 and the crushing mechanism 30, realizes the operation mode of drilling first and then crushing, which greatly reduces the time ratio of bottom excavation in the construction of hard rock tunnels by rock breaker tunneling machines and greatly improves the operation efficiency.

[0028] In one embodiment, the overall height of the fully hydraulic composite rock-breaking tunneling machine is less than 2900mm, the widest part of the machine is 3600mm (the width of the upper shovel plate on the main body 10), and the body width is 3150mm. The fully hydraulic composite rock-breaking tunneling machine can achieve hard rock tunneling in tunnels of 4000mm×3300mm~5600mm×4500mm, and can achieve non-explosive tunneling for rocks larger than f10. Conventional non-explosive tunneling involves an excavator equipped with a high-energy breaker hammer, which is difficult to construct because the tunnel size is less than 8×6.5 meters.

[0029] Reference Figure 5 As shown, in some embodiments, the crushing mechanism 30 further includes a rotary table 33; The rotary table 33 is mounted on the main body 10, and the second robotic arm 31 is mounted on the rotary table 33. The rotary table 33 is used to drive the second robotic arm 31 to rotate relative to the main body 10 in the horizontal plane.

[0030] The crushing mechanism 30 also includes a rotary table 33, which is mounted on the main body 10. The rotary table 33 can rotate around its own axis, providing rotational freedom for the crushing mechanism 30. The second robotic arm 31 is mounted on the rotary table 33. The rotary table 33 is used to drive the second robotic arm 31 to rotate relative to the main body 10 in the horizontal plane, thereby driving the breaker hammer 32 to rotate relative to the main body 10 in the horizontal plane, so that the breaker hammer 32 can have a larger working range on the working surface and can adjust the crushing position without frequently moving the whole machine.

[0031] In some embodiments, the crushing mechanism 30 further includes a first hydraulic cylinder 34; The connecting end of the second robotic arm 31 is hinged to the rotary table 33. One end of the first hydraulic cylinder 34 is hinged to the second robotic arm 31, and the second end of the first hydraulic cylinder 34 is hinged to the rotary table 33. The first hydraulic cylinder 34 is used to drive the second robotic arm 31 to rotate relative to the rotary table 33 in the vertical plane, so as to drive the breaker hammer 32 to move up and down. The second robotic arm 31 is a telescopic robotic arm; The second robotic arm 31 is used to drive the breaker 32 to reciprocate along the length of the second robotic arm 31.

[0032] The crushing mechanism 30 also includes a first hydraulic cylinder 34. The connecting end of the second robotic arm 31 is hinged to the rotary table 33. The hinge structure allows the second robotic arm 31 to rotate around the hinge point. One end of the first hydraulic cylinder 34 is hinged to the second robotic arm 31, and the other end of the first hydraulic cylinder 34 is hinged to the rotary table 33. The first hydraulic cylinder 34 drives the second robotic arm 31 to rotate relative to the rotary table 33 in the vertical plane through its extension and retraction action, thereby driving the breaker hammer 32 to move up and down, realizing the adjustment of the working position of the breaker hammer 32 in the vertical direction, and meeting the crushing requirements of different heights of the working face.

[0033] The second robotic arm 31 is a telescopic robotic arm that can change its overall length by extending and retracting itself. The second robotic arm 31 is used to drive the breaker 32 to reciprocate along the length direction of the second robotic arm 31, thereby adjusting the distance between the breaker 32 and the working surface and ensuring that the breaker 32 can accurately act on the work point.

[0034] Reference Figure 5 As shown, in some embodiments, the crushing mechanism 30 further includes a second hydraulic cylinder 35; The second robotic arm 31 is hinged to the breaker hammer 32; one end of the second hydraulic cylinder 35 is hinged to the second robotic arm 31, and the other end of the second hydraulic cylinder 35 is hinged to the breaker hammer 32. The second hydraulic cylinder 35 is used to drive the breaker hammer 32 to rotate relative to the second robotic arm 31 in the vertical plane to adjust the orientation of the breaker hammer 32's crushing end.

[0035] The crushing mechanism 30 also includes a second hydraulic cylinder 35. The second robotic arm 31 is hinged to the breaker hammer 32, allowing the breaker hammer 32 to rotate relative to the second robotic arm 31. The two ends of the second hydraulic cylinder 35 are respectively hinged to the second robotic arm 31 and the breaker hammer 32. The second hydraulic cylinder 35 drives the breaker hammer 32 to rotate in the vertical plane relative to the second robotic arm 31 by extension and retraction, so as to adjust the orientation of the crushing end of the breaker hammer 32, so that the breaker hammer 32 can act on the rock face at the optimal angle and improve the crushing effect.

[0036] Reference Figure 1 and Figure 2 As shown, in some embodiments, the fully hydraulic composite rock-breaking tunneling machine is provided with two crushing mechanisms 30, which are symmetrically arranged with respect to the central axis of the main body 10.

[0037] The two crushing mechanisms 30 are symmetrically arranged with respect to the central axis of the main body 10. The symmetrical layout allows the working range of the two crushing mechanisms 30 to evenly cover the working surface, enabling synchronous or complementary operations and avoiding the efficiency bottleneck that exists when a single crushing mechanism 30 is operating.

[0038] Reference Figure 3 As shown, in some embodiments, the first drilling mechanism 20 further includes a first slide 23; The first slide 23 is mounted on the main body 10, and the first robotic arm 21 is mounted on the first slide 23; The first slide 23 is used to drive the first robotic arm 21 and the first drilling rig 22 to move along the central axis of the main body 10.

[0039] The first drilling mechanism 20 also includes a first slide 23. The first slide 23 is mounted on the body 10 and can move stably along a specified direction of the body 10. The first robotic arm 21 is mounted on the first slide 23. The first slide 23 is used to drive the first robotic arm 21 and the first drill 22 to move along the central axis of the body 10, so that the first drill 22 can perform drilling operations at different positions along the central axis, expand the drilling coverage area, and ensure that round holes can be drilled in different areas of the bottom of the working face.

[0040] Reference Figure 1 and Figure 2 As shown, in some embodiments, the fully hydraulic composite rock-breaking tunneling machine is provided with two first drilling mechanisms 20, which are symmetrically arranged with respect to the central axis of the main body 10. The two crushing mechanisms 30 are located between the two first drilling mechanisms 20.

[0041] The two first drilling mechanisms 20 are symmetrically arranged with respect to the central axis of the main body 10. This symmetrical layout allows the drilling operation range of the two first drilling mechanisms 20 to evenly cover the bottom two sides of the working face, achieving synchronous drilling and improving drilling efficiency. The two crushing mechanisms 30 are located between the two first drilling mechanisms 20. This arrangement allows the free surface formed by the drilling operation to be concentrated within the working range of the crushing mechanism 30, facilitating the crushing mechanism 30 to quickly utilize the free surface for crushing operations and reducing the travel distance of the crushing mechanism 30.

[0042] Reference Figure 2 and Figure 4 As shown, in some embodiments, the fully hydraulic composite rock-breaking tunneling machine also includes a second drilling mechanism 40; The second drilling mechanism 40 includes a third mechanical arm 41 mounted on the main body 10 and a second drilling machine 42 disposed at the moving end of the third mechanical arm 41. The second drilling machine 42 is used to drill round holes in the working face of a hard rock tunnel.

[0043] The fully hydraulic composite rock-breaking tunneling machine also includes a second drilling mechanism 40. The second drilling mechanism 40 includes a third robotic arm 41 mounted on the main body 10 and a second drilling rig 42 located at the moving end of the third robotic arm 41. The third robotic arm 41 can drive the second drilling rig 42 to adjust the drilling position to meet the drilling needs of the middle area of ​​the working face. The second drilling rig 42 is used to drill round holes in the working face of hard rock tunnels. In conjunction with the two first drilling mechanisms 20, it can achieve drilling coverage of the entire bottom area of ​​the working face.

[0044] Reference Figure 4 As shown, in some embodiments, the second drilling mechanism 40 further includes a second slide 43; The second slide 43 is mounted on the main body 10, and the third robotic arm 41 is mounted on the second slide 43. The second slide 43 is used to drive the third robotic arm 41 and the second drilling rig 42 to move along the central axis of the main body 10.

[0045] The second drilling mechanism 40 also includes a second slide 43. The second slide 43 is mounted on the main body 10 and can move stably along the central axis of the main body 10. The third robotic arm 41 is mounted on the second slide 43. The second slide 43 is used to drive the third robotic arm 41 and the second drilling rig 42 to move along the central axis of the main body 10, so that the second drilling rig 42 can perform drilling operations at different positions in the middle area of ​​the working face, ensuring the uniformity and comprehensiveness of drilling in the middle area.

[0046] This application improves the drilling flexibility of the second drilling rig 42 by using the second slide 43. Compared with the fixed-position second drilling mechanism 40, it can drill round holes at different positions in the middle area of ​​the working face more accurately, making the distribution of round holes at the bottom of the entire working face more uniform and the resulting free surface more reasonable, further reducing the crushing difficulty of the crushing mechanism 30. At the same time, it can also adapt to the drilling needs of the middle area of ​​working faces of different lengths, enhance the adaptability of the equipment to different working conditions, and ensure the stability and efficiency of the overall tunneling operation.

[0047] In some embodiments, the second drilling mechanism 40 is disposed on the body portion 10 and located between the two crushing mechanisms 30.

[0048] The second drilling mechanism 40 is mounted on the main body 10 and located between the two crushing mechanisms 30. This arrangement allows the circular hole drilled by the second drilling mechanism 40 to be directly within the core working range of the crushing mechanism 30. The crushing mechanism 30 can quickly crush the working surface after drilling in the middle area, reducing the adjustment distance of the crushing mechanism 30.

[0049] By designing the position of the second drilling mechanism 40, the three drilling mechanisms (two first drilling mechanisms 20 and one second drilling mechanism 40) correspond to the bottom sides and middle area of ​​the working face, respectively, and can all be precisely matched with the working range of the dual crushing mechanism 30, achieving efficient connection between drilling and crushing operations. Compared with the staggered layout of the drilling area and the crushing area, the ineffective movement of the crushing mechanism 30 can be significantly reduced, improving work efficiency; at the same time, the all-round free surface formed by the three drilling mechanisms, combined with the flexible operation of the dual crushing mechanism 30, can minimize the crushing resistance of high-hardness rock tunnels, significantly shorten the bottom-excavation operation time, solve the problems of low tunneling efficiency and difficult bottom-excavation in traditional high-hardness rock tunnels, and improve the overall tunneling capacity and practicality of the equipment.

[0050] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0051] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A composite rock-breaking tunneling machine, characterized in that: It includes a main body and a first drilling mechanism and a crushing mechanism assembled on the main body; The first drilling mechanism includes a first robotic arm mounted on the main body and a first drilling rig disposed at the moving end of the first robotic arm. The first robotic arm is used to adjust the spatial position of the first drilling rig. The first drilling rig is used to drill a circular hole in the working face of a hard rock tunnel. The crushing mechanism includes a second robotic arm mounted on the main body and a breaker hammer disposed at the moving end of the second robotic arm. The second robotic arm is used to adjust the spatial position of the breaker hammer. The breaker hammer is used to perform crushing operations on the working surface where the circular hole is drilled. The crushing mechanism also includes a rotary table and a first hydraulic cylinder; The rotary table is mounted on the main body, and the second robotic arm is mounted on the rotary table. The rotary table is used to drive the second robotic arm to rotate relative to the main body in a horizontal plane. The connecting end of the second robotic arm is hinged to the rotary table, one end of the first hydraulic cylinder is hinged to the second robotic arm, and the other end of the first hydraulic cylinder is hinged to the rotary table. The first hydraulic cylinder is used to drive the second robotic arm to rotate in the vertical plane, so as to drive the breaker hammer to move up and down. The second robotic arm is a telescopic robotic arm; The second robotic arm is used to drive the breaker hammer to reciprocate along the length of the second robotic arm.

2. The composite rock-breaking tunneling machine according to claim 1, characterized in that: The crushing mechanism also includes a second hydraulic cylinder; The second robotic arm is hinged to the breaker hammer; one end of the second hydraulic cylinder is hinged to the second robotic arm, and the other end of the second hydraulic cylinder is hinged to the breaker hammer. The second hydraulic cylinder is used to drive the breaker hammer to rotate in the vertical plane to adjust the orientation of the breaker hammer's crushing end.

3. The composite rock-breaking tunneling machine according to claim 2, characterized in that: The fully hydraulic composite rock-breaking tunneling machine is equipped with two crushing mechanisms, which are symmetrically arranged with respect to the central axis of the main body.

4. The composite rock-breaking tunneling machine according to claim 3, characterized in that: The first drilling mechanism also includes a first slide table; The first slide is mounted on the main body, and the first robotic arm is mounted on the first slide; The first slide is used to drive the first robotic arm and the first drilling rig to move along the central axis of the main body.

5. The composite rock-breaking tunneling machine according to claim 4, characterized in that: The fully hydraulic composite rock-breaking tunneling machine is equipped with two first drilling mechanisms, which are symmetrically arranged with respect to the central axis of the main body. The two crushing mechanisms are located between the two first drilling mechanisms.

6. The composite rock-breaking tunneling machine according to claim 5, characterized in that: The fully hydraulic composite rock-breaking tunneling machine also includes a second drilling mechanism; The second drilling mechanism includes a third robotic arm mounted on the main body and a second drilling rig disposed at the moving end of the third robotic arm. The second drilling rig is used to drill circular holes in the working face of a hard rock tunnel.

7. The composite rock-breaking tunneling machine according to claim 6, characterized in that: The second drilling mechanism also includes a second slide; The second slide is mounted on the main body, and the third robotic arm is mounted on the second slide; The second slide is used to drive the third robotic arm and the second drilling rig to move along the central axis of the main body.

8. The composite rock-breaking tunneling machine according to claim 7, characterized in that: The second drilling mechanism is disposed on the main body and located between the two crushing mechanisms.

Images