Drilling-based hard rock tunnel boring method and apparatus

Abstract

The present invention relates to the technical field of rock drilling, and relates to a hard rock tunnel boring method and apparatus. The apparatus comprises a traveling chassis, and a working device, a cab, a power system, and a counterweight mechanism which are detachably mounted on the traveling chassis, wherein the working device is arranged at the front end of the traveling chassis, and the power system and the counterweight mechanism are arranged at the rear end of the traveling chassis so as to form a counterweight relationship between the front end and the rear end of the traveling chassis; the cab is arranged behind the working device; the working device comprises a central lifting / lowering mechanism, a pitch adjusting mechanism, boom head slewing mechanisms, radius telescoping adjusting mechanisms, and a drilling mechanism. In the present invention, the working device is arranged at the front end of the traveling chassis, and the power system and the counterweight mechanism are arranged at the rear end of the traveling chassis to form the counterweight relationship between the front end and the rear end; and the working device is arranged in bilateral symmetry, such that the drilling-based hard rock tunnel boring apparatus has higher construction efficiency because most tunnels are also in bilateral symmetry.

Description

Bored hard rock tunneling method and equipment Technical Field

[0001] The invention belongs to the technical field of rock drilling and relates to a hard rock tunnel excavation method and equipment. Background Art

[0002] In construction and transportation, tunnels are constructed under various conditions. Traditional tunnel construction cannot meet the needs of the times. Therefore, many new tunnel construction technologies have emerged, such as non-explosive excavation. This method uses mechanical and manual excavation when the surrounding environment is not conducive to blasting.

[0003] Existing non-explosive excavation methods mainly include shield boring, milling, manual drilling, hammer drilling, cantilever excavation, and annular drilling. However, each of these excavation methods has certain shortcomings. For example, the manual drilling method has high drilling force, high labor intensity, unstable force application, and low efficiency. The shield method is only applicable to medium- and long-distance tunnels, and the overall cost is high, and the hard rock excavation speed is low. The milling method is only suitable for brittle rock formations or low-strength rock formations, and the excavation process is dusty and inefficient. The hammer method is only suitable for low-strength weathered rock, and the excavation process is dusty and inefficient, making tunnel contour trimming difficult. The cantilever excavation method produces a lot of dust during the excavation process, suffers from serious over- and under-excavation, and is also unable to excavate hard rock tunnels.

[0004] As shown in Figure 14, the circumferential drilling method involves drilling interconnected circumferential seams around the tunnel cross section. Once the circumferential seams are cut, creating an open surface, a predetermined number of holes are drilled in the central area. A splitting device is used to fracture the soil and rock in the middle, and the fractured soil and rock are removed. This process is repeated over and over again to achieve tunneling. The circumferential drilling method often uses a manual water-grinding drill with a scaffolding system. A custom scaffold is created based on the shape and size of the tunnel cross section. The manual water-grinding drill is then mounted on the scaffolding to perform horizontal or inclined drilling. Operators sit or stand on a work platform mounted on the scaffolding to operate the equipment. As you can imagine, this method is extremely dangerous, inefficient, and labor-intensive. In the prior art, when adopting the annular seam drilling scheme for tunnel excavation, a splitting device is often used to split the rock toward the free surface. Common splitting devices generally include splitting rods, stone wedges, etc. These methods all apply a splitting force to the hole mouth. Since in tunnel excavation, the rocks to be split, in addition to the rocks on both sides of the hole mouth being connected together to be split (A surface), the rocks on the bottom working surface are also connected together to be split (B surface), therefore, only the splitting force is applied at the hole mouth. In most cases, the rock is split obliquely from half of the drilling depth, resulting in half of the rock not being split, and it will cause difficulties in the subsequent rock breaking process.

[0005] Therefore, there is an urgent need for a tunnel boring device and method for use in hard rock tunnels to overcome the above problems.

[0006] Summary of the Invention

[0007] In view of this, an object of the present invention is to provide a hard rock tunnel excavation method and equipment to address the shortcomings of existing non-blasting excavation methods.

[0008] In order to achieve the above object, the present invention provides the following technical solutions:

[0009] A bored hard rock tunnel boring equipment includes a traveling chassis and a working device, a power system and a counterweight mechanism installed on the traveling chassis. The working device is arranged at the front end of the traveling chassis, and the power system and the counterweight mechanism are arranged at the rear end of the traveling chassis to form a counterweight relationship at the front and rear ends of the traveling chassis.

[0010] The working device includes a center lifting mechanism, a pitch adjustment mechanism, an arm head rotation mechanism, a radius telescopic adjustment mechanism and a drilling mechanism. One end of the center lifting mechanism is connected to the front end of the walking chassis. The pitch adjustment mechanism includes a support plate, a pitch cylinder and a swing bracket. The support plate is vertically slidably connected to the side of the center lifting mechanism away from the walking chassis. One end of the pitch cylinder is hinged on the support plate. The arm head rotation mechanism includes a rotary reducer, a rotary center frame and a center distance sleeve. The swing bracket is hinged on the support plate. At least two rotary reducers are connected to the support plate. The speed reducers are installed in parallel on the same swing bracket, and the tail ends of at least two rotary center frames are correspondingly installed in two rotary reducers. The rotary center frames rotate around the axis of the rotary reducer under the drive of their corresponding rotary reducers. The center distance sleeve has at least two sleeves, and the number of the rotary reducers, rotary center frames and sleeves corresponds one to one. The sleeves are correspondingly sleeved in the middle of each rotary center frame, and each rotary center frame can rotate in the corresponding sleeve under the drive of the rotary reducer, and the other end of the pitch cylinder is hinged on the center distance sleeve.

[0011] One end of the radius telescopic adjustment mechanism is connected to the rotary center frame, and the other end is connected to the drilling mechanism to adjust the distance from the drilling mechanism to the rotary center, and the number of the radius telescopic adjustment mechanisms is consistent with the number of the rotary center frames.

[0012] Furthermore, there are two rotary reducers and two rotary center frames, and the two rotary reducers and the two rotary center frames are symmetrically arranged; the center distance between the two sleeves on the center distance sleeve is the same as the center distance between the two rotary reducers.

[0013] Furthermore, it also includes a center tightening mechanism and a center tightening oil cylinder. The center tightening mechanism is inserted into the head end of the rotary center frame. One end of the center tightening oil cylinder is hinged to the center distance sleeve, and the other end is hinged to the center tightening mechanism.

[0014] Furthermore, the center tightening mechanism includes a fixed cylinder, a fixed plate, a movable tightening cylinder and a spring tightening mechanism; the fixed cylinder is arranged on the fixed plate and fixedly connected to the fixed plate as a whole, and the number of the fixed cylinders is the same as the number of the rotary center frame. A center tightening cylinder is provided at the center position of the front side of the fixed plate, and a connecting plate that can be hinged to the center tightening cylinder is provided at the center position of the rear side.

[0015] The spring tightening mechanism is mainly composed of a spring base plate, a spring, a screw and a front base plate. Both the spring base plate and the front base plate are provided with screw holes. The screw passes through the spring base plate, the spring and the front base plate in sequence, and then the spring is clamped between the spring base plate and the front base plate by nuts mounted on both ends of the screw, and the spring length is locked.

[0016] There are two movable tightening cylinders, each of which is inserted into the corresponding fixed cylinder through a set of spring tightening mechanisms. Among them, the spring base plate is arranged at the rear end of the fixed cylinder and is fixedly connected to the fixed cylinder, and the front base plate is arranged in the movable tightening cylinder and is fixedly connected to the movable tightening cylinder. The movable tightening cylinder extends out of the fixed cylinder and can move back and forth along the inner wall of the fixed cylinder.

[0017] Furthermore, the drilling mechanism includes a drilling tool, a drilling tool propulsion mechanism and a motor, and the drill tool propulsion mechanism in the drilling mechanism is connected to the radius telescopic adjustment mechanism; the drilling tool propulsion mechanism includes a drilling device frame, a guide rail and a propulsion component, the guide rail is installed on the drilling device frame and combined with the drilling device frame to form a frame structure; the propulsion component is arranged on the drilling device frame, and the guide seat 1 and the guide seat 2 are straddled / embraced on the guide rail.

[0018] The drilling tool propulsion mechanism also includes a push rod arranged above the guide rail, and a push plate is provided at the front end of the push rod; a driving seat is provided on the first guide seat, and the motor is connected to the tail end of the push rod through the driving seat to drive the push rod to rotate; a propulsion seat is provided on the second guide seat, and a propulsion sleeve is fixed to the tail end of the drilling tool, and the propulsion sleeve is inserted into the propulsion seat located behind it and rotatably cooperates with the propulsion seat; the push rod passes through the propulsion sleeve and its front end extends into the drilling tool; the sleeve hole shape of the propulsion sleeve matches the cross-sectional shape of the push rod, so that the propulsion sleeve and the push rod cannot produce circumferential relative rotation and can only produce relative movement in the axial direction.

[0019] The second guide seat is driven by the propulsion member to move along the guide rail as an active moving member, and the first guide seat is driven by the second guide seat to move along the guide rail as a passive moving member.

[0020] Furthermore, the propulsion component includes a front fixed pulley, a rear fixed pulley, a first chain, a second chain, a movable pulley group and a feed cylinder; the front fixed pulley and the rear fixed pulley are both installed on the drilling device frame and correspond to the front and rear end heads of the guide rail; the movable pulley group is mainly composed of a pulley frame, a front movable pulley and a rear movable pulley; the front movable pulley and the rear movable pulley are each installed in parallel on the pulley frame through a guide pin shaft, or the front movable pulley and the rear movable pulley are coaxially installed on the pulley frame through a guide pin shaft.

[0021] The feed cylinder is arranged parallel to the bottom of the guide rail, the rear end of the feed cylinder is installed on the drilling device frame, and the front telescopic end is connected to the pulley frame in the movable pulley group; the protruding end of the guide pin shaft is embedded in the limiting slide groove of the drilling device frame, so that the movable pulley group moves back and forth along the limiting slide groove under the drive of the feed cylinder.

[0022] The upper end of the first chain is connected to the front end of the guide seat 2, and then passes around the front fixed pulley and the front movable pulley in sequence, and its lower end is connected to the front end of the drilling device frame through the front tensioning bolt; the upper end of the second chain is connected to the rear end of the guide seat 2, and then passes around the rear fixed pulley and the rear movable pulley in sequence, and its lower end is connected to the rear end of the drilling device frame through the rear tensioning bolt.

[0023] Furthermore, the drilling device frame includes a frame body and a fixed plate, and the two fixed plates are detachably mounted on both sides of the frame body through a number of connecting parts; a guide bar is provided on the side of the fixed plate facing the pulley frame, and the guide bar cooperates with the frame body to form a limiting slide groove.

[0024] Furthermore, the guide rail and the fixing plate are separate structures, and the two are detachably connected via a connecting piece.

[0025] Furthermore, the first chain and / or the second chain are replaced by steel wire ropes.

[0026] Furthermore, the telescopic end of the feed oil cylinder is rotatably connected to the pulley frame through a connecting pin; both end heads of the connecting pin are also embedded in the limiting sliding groove of the drilling device frame.

[0027] Furthermore, a limiting mechanism for limiting the forward movement distance of the guide seat is provided on the guide rail.

[0028] Furthermore, the limiting mechanism is a chain rope or a guide rod connected between the guide seat 1 and the tail end of the guide rail.

[0029] Furthermore, the push rod is a rod with a quadrilateral, pentagonal or hexagonal cross section, and correspondingly, the sleeve hole of the propulsion sleeve is a square hole, a pentagonal hole or a hexagonal hole that matches the push rod.

[0030] Furthermore, a driving shaft is provided on the driving seat, and the tail end of the push rod is detachably connected to the driving shaft through a connecting piece.

[0031] A bored hard rock tunnel excavation method, using the aforementioned bored hard rock tunnel excavation equipment, specifically comprises the following steps:

[0032] Step 1: Drill intersection holes along the tunnel contour line to separate the rocks and mountain along the tunnel contour line, forming a ring seam;

[0033] Step 2: Based on the rock mechanics characteristics and the capacity of the splitter, split holes are arranged within the entire contour line. The depth of the split holes is not less than the depth of the annular fracture, and the length of the splitter is not less than half the depth of the split holes.

[0034] Step 3: According to the splitting direction, clean the core in the annular crack corresponding to the splitting direction to expand the free surface;

[0035] Step 4: Insert the splitter into all the split holes in at least one row or column, or insert the splitter into all the split holes, and insert the splitter into the bottom of the split hole so that the force applying mechanism of the splitter is close to the bottom of the split hole;

[0036] Step 5: Start all the splitters to apply force to the rock, first splitting the rock from the working surfaces on both sides of the splitting hole, and then splitting the rock from the bottom working surface of the splitting hole, so that the rock is completely split and the bottom working surface is flat;

[0037] Step 6: Reduce large rocks to smaller pieces, remove slag and transport it, completing a cycle of tunneling;

[0038] Step 7: Repeat the above process until the tunnel is through.

[0039] The beneficial effects of the present invention are:

[0040] 1. The present invention provides a method and equipment for boring hard rock tunnels. The working device is arranged at the front end of a traveling chassis, and the power system and counterweight mechanism are at the rear end of the traveling chassis, forming a counterweight relationship between the front and the back to keep the center of gravity of the equipment stable when traveling and working. The cab is located behind the working device, which is convenient for the operator to intuitively observe the working status of the drilling rig and improve the convenience of operation. The working device is located at the front end of the equipment and is arranged symmetrically on the left and right. Most tunnels are also symmetrical on the left and right. Therefore, the symmetrically arranged working devices have higher construction efficiency. A central lifting mechanism is adopted to adapt to tunnels of different heights. A pitch adjustment mechanism is used to adapt to tunnels of different slopes. A symmetrically arranged boom head rotation mechanism is used to facilitate drilling of arc contour lines. A central tightening mechanism is used to tighten the rock wall and stabilize the working device when the drilling rig is working. The drill tool propulsion mechanism is connected through a radius telescopic adjustment mechanism to adapt to tunnels of different widths.

[0041] 2. The two slewing reducers and two slewing centers in the boom head slewing mechanism are arranged symmetrically, dividing the construction surface into two. Each slewing center frame controls and realizes 180° single-sided flipping. The two symmetrically arranged slewing centers can cooperate to realize angle adjustment within a total of 360° on both sides. The equipment can drill simultaneously, which improves working efficiency and meets the requirements of independent control without interfering with each other. The two slewing reducers are installed on the same swing bracket. The two slewing centers are constrained by a center distance sleeve. The entire slewing mechanism forms a whole with good force resistance, which meets the construction requirements of various construction environments. The slewing mechanism adjusts the drilling / pitching angle by the pitch cylinder arranged below. The pitch cylinder below forms a triangular stable structure with the slewing mechanism above through the support plate. The overall structure is compact and stable. The center tightening mechanism is plug-in coordinated with the slewing center frame, which does not interfere with the rotation of the slewing center frame and ensures the structural stability of the center tightening mechanism. The overall force resistance and stability of the mechanism are better.

[0042] 3. A spring-loaded jacking mechanism is installed behind the movable jacking cylinder in the central jacking mechanism. Even when encountering uneven rock walls, the movable jacking cylinder can adapt and tighten. When the drilling rig vibrates, the movable jacking cylinder against the rock wall also provides a certain cushioning effect. The central jacking cylinder is centrally located, and two movable jacking cylinders are symmetrically arranged on either side of the central jacking cylinder. The central jacking cylinder serves as the jacking foundation and limits the jacking depth of the mechanism. The movable jacking cylinders on both sides cooperate with the central jacking cylinder to achieve dual jacking of the entire mechanism. Compared with conventional "single" cylinder jacking, this eliminates the problem of rotation around the jacking cylinder axis during single-cylinder jacking and avoids twisting during jacking.

[0043] 4. In the drill tool propulsion mechanism, the piston rod of the feed cylinder is connected to the movable pulley block. The chain's movement distance is twice the feed cylinder piston rod's stroke, meaning the feed cylinder piston rod's stroke is half. The propulsion seat with the drill tool moves throughout its entire travel on the guide rail, enabling double-stroke propulsion drilling or double-stroke core withdrawal. When the feed cylinder piston rod retracts, the second guide seat moves forward, extending the drill tool forward for drilling. When the feed cylinder piston rod extends, the second guide seat moves backward, retracting the drill tool. This means the pulling force during the cylinder's return is used for drilling, while the thrust during its extension is used for core withdrawal. The cylinder's high thrust and low pulling force meet the force requirements for drilling.

[0044] The drilling rig frame is equipped with a limit slide, which serves as a guide to prevent the movable pulley assembly from swinging up or down. Furthermore, the frame body and fixed plate are designed as separate structures, which can be assembled to form the limit slide. This not only reduces the difficulty of initial component processing but also facilitates subsequent inspection and maintenance. The two guide seats "hug" the guide rails, allowing them to slide smoothly on the rails without causing them to wobble on the rails due to excessive clearance, thus ensuring the stability of the drilling tool.

[0045] Furthermore, the pusher rod and thrust sleeve feature an optimal fit, enabling torque transmission without affecting axial relative movement, resulting in a simple and ingenious structure. The drive seat can be moved appropriately on the guide rail, effectively increasing drilling stroke and operating space within the same equipment dimensions (including guide rail length, pusher rod length, and drill string length). The chain's restraints prevent the pusher plate from uncontrolled contact with the rock wall, potentially leading to rapid wear.

[0046] The overall structural layout of the drilling tool propulsion mechanism is compact, and the axial space of the equipment is maximized; the overall structure of the mechanism is simple, stable, and lightweight, which is convenient for processing and installation, as well as for subsequent maintenance, and the overall cost is lower.

[0047] In general, compared with existing tunneling equipment, the bored hard rock tunnel boring equipment of the present invention has better structural stability, and is symmetrically arranged, which is more beautiful; the adjustment between each structure is linear, namely center lifting adjustment, pitch adjustment, rotation (arc) adjustment and radius adjustment, which is convenient for operators to understand, thereby improving work efficiency, and has good cross-sectional adaptability; and through the accurate positioning and precise hole opening of the bored hard rock tunnel boring equipment in the present invention in combination with the bored hard rock tunnel boring method of the present invention, the excavation size can be accurate, over-excavation and under-excavation can be controlled, and automation and intelligence can be realized.

[0048] Other advantages, objects, and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art upon examination of the following or may be learned from practice of the present invention. The objects and other advantages of the present invention may be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings, in which:

[0050] FIG1 is a schematic structural diagram of a bored hard rock tunnel boring equipment;

[0051] FIG2 is a top view of FIG1 ;

[0052] FIG3 is a side view of FIG1;

[0053] FIG4 is a schematic structural diagram of the pitch adjustment mechanism and the arm head rotation adjustment mechanism;

[0054] FIG5 is a top view of FIG4;

[0055] Figure 6 is a schematic structural diagram of the center tightening mechanism;

[0056] FIG7 is a cross-sectional view of FIG6;

[0057] FIG8 is a schematic structural diagram of a drilling tool propulsion mechanism (upper part);

[0058] Figure 9 is a schematic diagram of the cooperation between the push rod and the push sleeve;

[0059] Figure 10 is a schematic structural diagram of the drilling tool propulsion mechanism (lower part);

[0060] FIG11 is a schematic structural diagram of the drilling tool propulsion mechanism (without the fixing plate);

[0061] Figure 12 is a schematic structural diagram of another movable pulley assembly;

[0062] Figure 13 is a schematic diagram of the cooperation between the movable pulley block and the drilling device frame;

[0063] FIG14 is a schematic diagram showing the principle of a conventional boring hard rock tunnel excavation method (background art);

[0064] FIG15 is a schematic diagram showing the principle of the bored hard rock tunnel excavation method of the present invention.

[0065] Reference numerals: drilling tool 1, drilling tool propulsion mechanism 2, guide rail 201, front fixed pulley 202, rear fixed pulley 203, first chain 204, second chain 205, movable pulley group 206, pulley frame 20601, front movable pulley 20602, rear movable pulley 20603, guide pin 20604, feed cylinder 207, drilling device frame 208, limiting slide 20801, frame body 20802, fixing plate 208 03, guide rail 20804, bolt 20805, push rod 211, guide seat 1 212, guide seat 213, drive seat 214, push seat 215, push sleeve 216, push plate 217, drive shaft 218, chain 219, front limiter 213a, rear limiter 212a, front tensioning bolt 2010, rear tensioning bolt 2011, motor 3, radius telescopic adjustment mechanism 4, center tightening mechanism 5, Fixed cylinder 501, fixed plate 502, movable tightening cylinder 503, spring tightening mechanism 504, spring bottom plate 50401, spring 50402, screw 50403, front bottom plate 50404, nut 50405, center tightening cylinder 505, connecting plate 506, tightening cover plate 507, lower cover plate 50701, upper cover plate 50702, through hole 50703, center cover plate 508, rib plate 509, center top Tightening cylinder 5010, pitch adjustment mechanism 6, support plate 601, upper hinge point 60101, lower hinge point 60102, pitch cylinder 602, arm head rotation adjustment mechanism 7, center distance sleeve 701, swing bracket 702, rotation reducer 703, rotation center frame 704, center lifting mechanism 8, operating platform 9, operator seat 10, power system and counterweight mechanism 11, walking mechanism 12, walking chassis 13, lifting legs 14. DETAILED DESCRIPTION

[0066] The following describes the embodiments of the present invention by means of specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0067] Among them, the accompanying drawings are only for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limiting the present invention. In order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the dimensions of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings.

[0068] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "back", etc. indicating directions or positional relationships, they are based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0069] Please refer to Figures 1 to 15, which show a bored hard rock tunnel boring equipment, including a traveling chassis 13 and a working device, a cab, a power system and a counterweight mechanism 11 detachably mounted on the traveling chassis 13; wherein, the working device is arranged at the front end of the traveling chassis 13, and the power system and the counterweight mechanism 11 are arranged at the rear end of the traveling chassis 13, forming a counterweight relationship between the front and the back to keep the center of gravity of the equipment stable when traveling and working. The cab is located behind the working device, which is convenient for the operator to intuitively observe the working status of the boring equipment and improve the convenience of operation. The operator's seat 10 in the cab is located near the center of gravity of the equipment, which is convenient for the operator to flexibly drive the equipment for traveling and working.

[0070] Specifically, a walking mechanism 12 is installed at the bottom of the walking chassis 13, and the walking mechanism 12 can be specifically set as a crawler track or a wheel; and four lifting legs 14 are installed at the bottom of the walking chassis 13, and the four lifting legs can support the walking chassis 13 off the ground. Generally, during drilling operations, the lifting legs 14 are supported. The cab includes a driver's seat 10, an operating platform 9, and accessories such as a frame. The operating platform 9 is arranged on the side of the walking chassis 13 close to the working device.

[0071] The working device is detachably fixedly mounted on the front end of the walking chassis 13. The working device includes a central lifting mechanism 8, a pitch adjustment mechanism 6, two sets of symmetrically arranged arm head rotation mechanisms 7, two sets of symmetrically arranged radius telescopic adjustment mechanisms 4, a central tightening mechanism 5 and two sets of drilling mechanisms arranged symmetrically on the left and right.

[0072] Among them, one end of the central lifting mechanism 8 is detachably fixed to the front end of the walking chassis 13, and a support plate 601 is vertically slidably connected to the side of the central lifting mechanism 8 away from the walking chassis 13, and the pitch adjustment mechanism 6 and the arm head rotation mechanism 7 are coupled together to form a pitch rotation coupling mechanism.

[0073] With particular reference to Figures 4 and 5, the pitch-slew coupling mechanism comprises a pitch adjustment mechanism 6 comprising a support plate 601, a swing bracket 702, and a pitch cylinder 602, and an arm head slewing mechanism 7 comprising a slewing reducer 703 and a slewing center frame 704. The support plate 601 is provided with hinges at the top and bottom, the swing bracket 702 being hingedly connected to the upper hinge point 60101 of the support plate 601. Two slewing reducers 703 are mounted side by side on the same swing bracket 702, and the tail ends of the two slewing center frames 704 are mounted in the respective slewing reducers 703. Driven by their respective slewing reducers 703, the two slewing center frames 704 rotate about the axes of the slewing reducers 703. The boom head slewing mechanism 7 also includes a center distance sleeve 701, which has two sleeves that fit correspondingly into the middle of two slewing center frames 704. Each sleeve is equipped with a bearing, allowing each slewing center frame 704 to rotate freely within the sleeve of the center distance sleeve 701 under the drive of the slewing reducer 703. One end of the pitch cylinder 602 is hinged to the lower hinge point 60102 of the support plate 601, and the other end is hinged to the center distance sleeve 701.

[0074] In this pitch-rotation coupling mechanism, the two rotating center frames 704 are controlled by their corresponding rotating reducers 703, achieving independent tilt control of each rotating center frame 704. The two rotating reducers 703 are mounted on the same swing bracket 702, and the middle portions of the two rotating center frames 704 are constrained by a center distance sleeve 701. In other words, the rotating mechanism formed by the swing bracket 702, the rotating reducer 703, the rotating center frames 704, and the center distance sleeve 701 is an integral structure with good load-bearing capacity, which can meet the construction needs of various construction environments. The drilling / pitching angle of the rotating mechanism is adjusted by the pitch adjustment mechanism 6 located below. The two ends of the pitch adjustment mechanism 6 are respectively hinged to the lower hinge point 60102 and the center distance sleeve 701. Thus, the pitch adjustment mechanism 6 below forms a triangular stable structure with the rotating mechanism above through the support plate 601, and the overall structure is compact and stable. When the pitch adjustment mechanism 6 is extended, it will push the center distance sleeve 701 up, and at the same time, the rotating center frame 704 will deflect upward around the support plate 601 (the upper hinge point 60101) through the swing bracket 702, thereby realizing the pitch movement; when the pitch adjustment mechanism 6 is retracted, it will pull the center distance sleeve 701 down, and at the same time, the rotating center frame 704 will deflect downward around the support plate 601 (the upper hinge point 60101) through the swing bracket 702, thereby realizing the pitch movement.

[0075] The two slewing reducers 703 and the two slewing steady rests 704 are arranged symmetrically; the center-to-center distance between the two sleeves on the center distance sleeve 701 is the same as the center-to-center distance between the two slewing reducers 703. The symmetrically arranged slewing mechanism divides the construction surface into two halves. Each slewing steady rest 704 independently controls and achieves 180° unilateral rotation. The two symmetrically arranged slewing steady rests 704 can coordinate to achieve a total 360° angle adjustment on either side, thus meeting the requirements of independent control without mutual interference. The equipment can drill simultaneously, improving operational efficiency.

[0076] As a further optimization of the above scheme, the coupling mechanism also includes a center tightening mechanism 5 and a center tightening cylinder 5010. The center tightening mechanism 5 is inserted into the head end of the rotating center frame 704. One end of the center tightening cylinder 5010 is hinged to the center distance sleeve 701, and the other end is hinged to the center tightening mechanism 5.

[0077] Specifically, the support arms on both sides of the center tightening mechanism 5 are correspondingly inserted into the steel pipe at the head end of the rotating center frame 704, and do not interfere with the rotation of the rotating center frame 704. That is, the steel pipe at the head end of the rotating center frame 704 is sleeved outside the support arms of the center tightening mechanism 5 and can rotate relative to the support arms. When the center tightening cylinder 7 is extended, it will push the center tightening mechanism 5 forward along the rotating center frame 704 so that the front end of the center tightening mechanism 5 can be tightened against the rock wall. The center tightening mechanism 5 is inserted and matched with the rotating center frame 704, which neither interferes with the rotation of the rotating center frame 704 nor ensures the structural stability of the center tightening mechanism 5, and the overall force-bearing capacity and stability of the mechanism are better.

[0078] In another embodiment, the number of the rotary reducer 703 and the rotary center frame 704 are both set to four and arranged symmetrically, and the number of sleeves in the center distance sleeve 701 is also correspondingly set to four, thereby increasing the number of drilling mechanisms to achieve the purpose of improving work efficiency per unit time.

[0079] Referring specifically to Figures 6 and 7 , the center jacking mechanism 5 comprises a fixed cylinder 501, a fixed plate 502, a movable jacking cylinder 503, and a spring jacking mechanism 504. Two fixed cylinders 501 are symmetrically located at either end of the fixed plate 502 and inserted into a steel pipe at the front end of the rotating center frame 704. The side / end facing the tunnel face is referred to as the "front side / end," while the side / end facing away from the tunnel face is referred to as the "rear side / end." A center jacking cylinder 505 is located at the center of the front side of the fixed plate 502, while a connecting plate 506, hingedly connected to a center jacking cylinder 5010, is located at the center of the rear side. Here, the fixed cylinder 501 and the fixed plate 502 are fixedly connected as a whole and cannot move relative to each other, so as to form the installation basis of the entire center tightening mechanism; a square groove is provided at the center position of the fixed plate 502 to facilitate connection with the connecting plate 506; the holes provided on the connecting plate 506 are hinged to the center tightening cylinder 5010 through a pin shaft to provide thrust for the tightening mechanism; the center tightening cylinder 505 serves as the basic tightening cylinder, which tightens the rock wall under the thrust of the cylinder.

[0080] The spring tightening mechanism 504 is mainly composed of a spring base plate 50401, a spring 50402, a screw 50403 and a front base plate 50404; both the spring base plate 50401 and the front base plate 50404 are provided with screw holes, and the screw 50403 passes through the spring base plate 50401, the spring 50402 and the front base plate 50404 in turn, and then the spring 50402 is clamped between the spring base plate 50401 and the front base plate 50404 by the nuts 50405 mounted on both ends of the screw 50403, and the length of the spring 50402 is locked. Here, the front end of the spring 50402 is connected to one side of the front base plate 50404, and the rear end of the spring 50402 is connected to one side of the spring base plate 50401. The screw 50403 passes through the center of the spring base plate 50401 and the front base plate 50404 respectively (i.e., the screw outlet hole). The screw 50403 can move relative to the front base plate 50404 and the spring base plate 50401. The front base plate 50404 and the spring base plate 50401 are limited by the nut 50405 on the screw 50403. The knob nut 50405 can adjust the distance between the front base plate 50404 and the spring base plate 50401, thereby realizing the adjustment / limitation of the length (initial expansion and contraction) of the spring 50402.

[0081] There are two movable tightening cylinders 503, each of which is installed in a corresponding fixed cylinder 501 via a set of spring tightening mechanisms 504; wherein, the spring tightening mechanism 504 is entirely inserted into the fixed cylinder 501, and the movable tightening cylinder 503 is partially inserted into the fixed cylinder 501 and partially extends out of the fixed cylinder 501. For each spring tightening mechanism 504, the rear end of the spring tightening mechanism 504 is fixedly connected to the inner wall of the fixed cylinder 501 through a spring bottom plate 50401 located at the rear end of the fixed cylinder 501, and the front end is fixedly connected to the inner wall of the movable tightening cylinder 503 through a front bottom plate 50404 located inside the movable tightening cylinder 503, thereby achieving a reliable connection between the spring tightening mechanism 504 and the fixed cylinder 501 and the movable tightening cylinder 503. When the movable jacking cylinder 503 is subjected to a backward pressing force, it drives the front base plate 50404 backward and compresses the spring 50402. When the pressing force disappears, the movable jacking cylinder 503, under the action of the spring 50402, moves forward along the inner wall of the fixed cylinder 501. This principle allows the jacking cylinders on both sides of the mechanism to have a certain buffering effect when the drilling rig vibrates. In addition, due to the presence of the spring pressing mechanism 504, the movable jacking cylinder 503 can adapt to and tighten even when encountering uneven rock walls.

[0082] This tightening mechanism comprises three tightening cylinders, with a central tightening cylinder 505 positioned centrally and two movable tightening cylinders 503 symmetrically positioned on either side of the central tightening cylinder 505. In their natural state before tightening, the tightening tips of the two movable tightening cylinders 503 are located in front of the tightening tips of the central tightening cylinder 505, allowing for a certain degree of compression margin. The central tightening cylinder 505 serves as the tightening foundation, limiting the tightening depth of the mechanism. The movable tightening cylinders 503 on either side cooperate with the central tightening cylinder 505 to achieve dual tightening of the entire mechanism. Compared to conventional "single" cylinder tightening, this eliminates the problem of rotation around the tightening cylinder axis during single-cylinder tightening and prevents twisting during tightening.

[0083] In this embodiment, the front bottom plate 50404 is provided at the rear end of the movable tightening cylinder 503, and a tightening cover plate 507 is fixed to the front end of the movable tightening cylinder 503. Specifically, the tightening cover plate 507 is fixed to the inner wall of the movable tightening cylinder 503 near the tightening end 703. The tightening cover plate 507 is used to isolate foreign matter and prevent it from damaging the screw 50403 and the nut 50405.

[0084] Preferably, the tightening cover plate 507 is divided into two layers, including a lower cover plate 50701 and an upper cover plate 50702. The lower cover plate 50701 is fixed to the front end of the inner wall of the movable tightening cylinder 503 and is spaced a distance away from the tightening end 703. A through hole 50703 is opened at the center of the lower cover plate 50701, and the upper cover plate 50702 is detachably mounted on the front side of the lower cover plate 50701. The through hole 50703 is used to install / adjust the nut 50405. The diameter of the upper cover plate 50702 is slightly smaller than that of the lower cover plate 50701. It is detachably connected to the lower cover plate 50701 by local bolts to achieve blocking of the through hole 50703, preventing foreign matter from entering the inner cavity of the movable tightening cylinder 503 through the through hole 50703 and damaging the screw 50403 and nut 50405.

[0085] Similarly, a central cover plate 508 is provided at the front end of the inner wall of the central tightening cylinder 505 . The central cover plate 508 can not only increase the strength of the central tightening cylinder 505 , but also protect the connection between the fixing plate 502 and the connecting plate 506 .

[0086] In this solution, the tightening end of the movable tightening cylinder 503 and the tightening end of the central tightening cylinder 505 are both serrated to improve their adaptability to uneven tunnel faces and tightening stability.

[0087] As a further optimization of the aforementioned solution, the tightening mechanism further includes ribs 509, which integrally connect the central tightening cylinder 505, the connecting plate 506, and the fixed cylinder 501. Specifically, the ribs 509 are symmetrically arranged on either side of the central tightening cylinder 505, with three sides of each rib 509 connected to the fixed plate 502, the fixed cylinder 501, and the central tightening cylinder 505, respectively. This ensures the stability of the connection between the three, shares the load, and further stabilizes the tightening mechanism, ensuring its strength and stability.

[0088] The working process of the center tightening mechanism is as follows:

[0089] The opening of the connecting plate 506 is connected to the central tightening cylinder 5010 through a pin shaft. When the central tightening cylinder 5010 pushes / pull the connecting plate 506, the fixed plate 502 connected to the connecting plate 506 will drive the fixed cylinder 501 thereon and the movable tightening cylinder 503 inside it to move synchronously, and the central tightening cylinder 505 will also move accordingly, that is, the extension and contraction of the central tightening cylinder 5010 will drive the movement of the entire tightening mechanism.

[0090] When the central jacking cylinder 5010 pushes the fixed plate 502 forward, the fixed plate 502 drives the fixed cylinder 501 on it forward. In the initial state, the tightening end of the movable jacking cylinder 503, which is located inside the fixed cylinder 501, is located in front of the tightening end of the central jacking cylinder 505. The central jacking cylinder 5010 continues to push forward until the movable jacking cylinder 503 first hits the rock wall.

[0091] After the movable tightening cylinder 503 contacts the rock wall, as the oil cylinder advances, the front base plate 50404 in the spring tightening mechanism 504 applies pressure to the spring 50402 to cause deformation, and continuously contracts the spring 50402 to increase the tightening force until the central tightening cylinder 505 hits the rock wall and is aligned with the movable tightening cylinders 503 on both sides (that is, the three tightening ends are in the same plane), completing the tightening work.

[0092] Until the central tightening cylinder 505 hits the rock wall, the oil cylinder and the movable tightening cylinder 503 should have a certain amount of movement margin, that is, the oil cylinder can continue to extend, and the movable tightening cylinder 503 can continue to compress the spring 50402 to ensure that the central tightening cylinder 505 and the movable tightening cylinder 503 can completely tighten the rock wall. The compression margin of the movable tightening cylinder 503 can play a buffering role during vibration (generated by the drilling rig). At the same time, it is also possible to judge whether the initial deformation of the spring needs to be adjusted during the next drilling based on the expansion and contraction of the movable tightening cylinders 503 on both sides, and the initial deformation of the spring can be fine-tuned by the nuts at both ends of the knob. This tightening mechanism can reduce the impact of vibration and ensure that the drilling rigs on both sides can be constructed symmetrically and the drilling depth is consistent.

[0093] The radius adjustment mechanism 4 is connected to the drill propulsion mechanism 2 to adjust the distance between the drill propulsion mechanism 2 and the rotary center frame. This device includes two pairs of radius adjustment mechanisms, one on the left and one on the right, to adjust the position of the drill propulsion mechanism 2, which is mounted on two rotary center frames 704. Each pair of radius adjustment mechanisms includes two radius adjustment mechanisms 4, one at each end of the drill propulsion mechanism 2, located on its inner and outer sides. This means that a set of drill propulsion mechanisms 2 is equipped with one radius adjustment mechanism 4 at each end, ensuring greater stability.

[0094] Two sets of drill tool propulsion mechanisms 2 are arranged symmetrically on the left and right, and are detachably mounted on two pairs of symmetrical radius telescopic adjustment mechanisms 4. When the radius is extended or retracted, the drill tool propulsion mechanism 2 is driven to extend or retract, and the distance from the drill tool propulsion mechanism 2 to the rotation center is adjusted. The drill tool propulsion mechanism 2, the drilling tool 1 and the motor 3 constitute a drilling mechanism.

[0095] Referring to Figures 8 to 13 , the drill tool propulsion mechanism 2 includes a drilling device frame 208, a guide rail 201, and a propulsion member. The guide rail 201 is mounted on the drilling device frame 208 and combined with the drilling device frame 208 to form a frame structure. The propulsion member is disposed on the drilling device frame 208. The drilling tool 1 is disposed above the guide rail 201 and moves back and forth along the guide rail 201. The pusher rod 211 is disposed above the guide rail 201 and passes through the drilling tool 1 axially. The mechanism also includes a guide seat 1 212 and a guide seat 213 that straddle / embrace the guide rail 201. A drive seat 214 is disposed on the guide seat 12. A motor 3 is connected to the rear end of the pusher rod 211 via the drive seat 214 to drive the pusher rod 211 to rotate. A propulsion seat 215 is mounted on the second guide seat 213. A propulsion sleeve 216 is fixed to the rear end of the drill tool 1. The propulsion sleeve 216 is inserted into the propulsion seat 215 located behind it and rotatably engages with the propulsion seat 215. The pusher rod 211 passes through the propulsion sleeve 216, and its front end extends into the drill tool 1. The shape of the sleeve hole of the propulsion sleeve 216 matches the cross-sectional shape of the pusher rod 211, so that the propulsion sleeve 216 and the pusher rod 211 cannot rotate relative to each other in the circumferential direction, and can only move relative to each other in the axial direction.

[0096] In this drill tool propulsion mechanism 2, a pusher rod 211 is mounted above the guide rail 201 via a guide seat 1 212 and a drive seat 214. The drill tool 1 is mounted above the guide rail 201 via a guide seat 213 and a propulsion seat 215. Guide seat 213 and guide seat 1 212 are arranged in a front-to-rear relationship and can both move forward and backward along the length of the guide rail. The drive seat 214 serves as the transmission component of the motor 3, connecting the motor 3 to the pusher rod 211 and transmitting power, thereby enabling the pusher rod 211 to rotate.

[0097] The rotation of the drill tool 1 is driven by the push rod 211. Specifically, a bearing is provided in the propulsion seat 215, and the propulsion sleeve 216 is inserted into the bearing and fastened. In this way, the drill tool 1 is assembled into a whole with the propulsion seat 215 through the propulsion sleeve 216 at the tail end. There is a sleeve hole in the propulsion sleeve 216, and the sleeve hole is used to pass the push rod 211. The push rod 211 is a rod. When the cross-sectional shape of the push rod 211 is specially set and the sleeve hole is set to a corresponding shape (such as a rod with a regular hexagonal cross-section is inserted into a propulsion sleeve 216 with a regular hexagonal through hole), the cooperation between the propulsion sleeve 216 and the push rod 211 can achieve the purpose of "no circumferential rotation and only axial movement". By driving the second guide seat 213 , the propulsion seat 215 and the propulsion sleeve 216 mounted thereon, and the drilling tool 1 , the drilling tool 1 can be moved forward and backward along the axial direction of the pusher rod 211 . At this time, the drilling tool 1 also moves forward and backward along the length direction of the guide rail 201 .

[0098] The power transmission principle of the drilling tool propulsion mechanism (upper part) is:

[0099] The push rod 211 is driven to rotate by the motor 3. The rotating push rod 211 drives the drill tool 1 to rotate via the propulsion sleeve 216; that is, the motor 3 is used to drive the push rod 211 and the drill tool to rotate. The guide seat 213 serves as the active moving part, which is driven along the guide rail by an external propulsion member (such as a chain pulling the guide seat 213); when the guide seat 213 is driven to move forward and backward by the propulsion member, the propulsion seat 215 and the drill tool 1 installed on the guide seat 213 move forward and backward with the guide seat 213, thereby realizing the "drilling in" or "exiting" of the drill tool based on the high-speed rotation of the drill tool 1.

[0100] In this scheme, guide seat two 213 is an active moving part, is driven by the corresponding propulsion member (Figure 10, 11 shown) connected thereto, and guide seat one 212 is a passive moving part, without corresponding mechanism drive.But pusher rod 211 and propulsion sleeve 216 when transmitting torque, there is positive pressure between the contact surface of propulsion sleeve 216 and pusher rod 211, the friction force caused by this positive pressure can drive pusher rod 211 forward, and the front end of pusher rod 211 is provided with pusher plate 217, so pusher plate 217 can advance with pusher rod 211 simultaneously; That is to say, between propulsion sleeve 216 and pusher rod 211, can produce the force that " drives " drive seat 214 and pusher rod 211 advance thereof.If drive seat 214 is not restricted or constrained, because of the existence of this force, the pusher plate 217 that is positioned at drilling tool 1 can advance always until contact rock wall and just can stop axial movement because of the obstruction of rock wall. The pusher plate 217 rotates at high speed with the pusher rod 211, while the rock wall remains stationary. This high-speed relative rotation causes rapid wear of the pusher plate 217. Therefore, it is necessary to provide a limiter mechanism on the guide rail 201 to limit the forward movement of the guide seat 212. This limiter mechanism limits the maximum travel distance of the pusher plate 217, preventing it from contacting the rock wall as it continues to move forward.

[0101] When the guide seat 213 is driven by the propulsion member and moves forward along the guide rail (i.e., in the "drilling" direction) until the push plate 217 contacts the rear end of the drill tool 1, the guide seat 1 212 and the drive seat 214 and push rod 211 thereon will move forward accordingly under the "pull" of the drill tool 1 until the guide seat 213 reaches its forward limit point. Since the guide seat 1 212 on which the push rod 211 is mounted is limited in its range of movement by a limiting mechanism, it can move forward a suitable distance under the pulling action of the guide seat 213. Under the same equipment dimensions (including the guide rail length, the push rod length, and the drill tool length), this arrangement can enable the drill tool 1 to move forward a certain distance more, thereby increasing the drilling depth of the drill tool 1.

[0102] When the guide seat 213 is driven by the propulsion member and moves backward (i.e., in the "exit" direction) along the guide rail until the guide seat 213 contacts the guide seat 1 212, the guide seat 1 212 and the drive seat 214 and push rod 211 thereon will subsequently retreat under the "pushing" force of the guide seat 213 until the guide seat 1 212 reaches its rearward limit. Since the propulsion seat 215 on which the drilling tool 1 is mounted and the push rod 211 can produce axial movement, and the guide seat 213 can retreat under the action of the propulsion member until the guide seat 1 212 reaches its rearward limit, the drilling tool that retreats with the guide seat 213 will have a longer retreat stroke. Under the same equipment size, the emergence of this stroke creates a certain operating space between the front face of the drilling tool and the face. In this way, some minor inspections and maintenance can be carried out through this operating space without moving the core drilling rig, greatly improving construction efficiency.

[0103] The propulsion components of the aforementioned drilling tool propulsion mechanism 2 include a front fixed pulley 202, a rear fixed pulley 203, a first chain 204, a second chain 205, a movable pulley assembly 206, a feed cylinder 207, and a drilling device frame 208. The guide rail 201 is mounted on the drilling device frame 208 and combined with the drilling device frame 208 to form a frame structure, which serves as the mounting base for the entire propulsion guide mechanism. The front fixed pulley 202 and the rear fixed pulley 203 are both mounted on the drilling device frame 208 and correspond to the front and rear ends of the guide rail 201. The propulsion base 215 serves as the mounting base for the drilling tool 1. It is mounted on the guide rail 201 via the second guide base 213, allowing the drilling tool 1 to move forward and backward along the guide rail 201.

[0104] The movable pulley assembly 206 primarily comprises a pulley frame 20601, a front movable pulley 20602, and a rear movable pulley 20603. In this embodiment, the front movable pulley 20602 and the rear movable pulley 20603 are mounted in a front-to-back arrangement within the pulley frame 20601 (as shown in FIG11 ). Two guide pins 20604 are correspondingly inserted into the bearings of the front movable pulley 20602 and the rear movable pulley 20603, with both ends of the guide pins 20604 extending out of the pulley frame 20601. These extended portions engage with the limiting slots 20801 on the drilling device frame 208, thereby enabling the movable pulley assembly 206 to be installed within the drilling device frame 208.

[0105] Of course, the front movable pulley 20602 and the rear movable pulley 20603 can also be coaxially mounted on the pulley frame 20601 in a left-right arrangement via a guide pin 20604 (as shown in FIG12 ). In this case, there is only one guide pin 20604, and its two ends cooperate with the pulley frame 20601 in the same manner as above. To ensure uniform force, two front movable pulleys 20602 or two rear movable pulleys 20603 can be provided. When the front movable pulley 20602 is located on the inner side, the two rear movable pulleys 20603 are symmetrically arranged on the outer side of the front movable pulley 20602. The number of front movable pulleys 20602 can be odd or even, and vice versa.

[0106] The feed cylinder 207 is arranged parallel to the lower guide rail 201, and the rear end (i.e., the fixed end) of the feed cylinder 207 is hinged to the rear end of the drilling device frame 8, and the front end (i.e., the telescopic end / movable end) is hinged to the pulley frame 20601 in the movable pulley group 206; since the protruding ends of the two guide pins 20604 are embedded in the limiting slide grooves 20801 on both sides of the drilling device frame 208, under the drive of the feed cylinder 207, the movable pulley group 206 can slide back and forth along the limiting slide grooves 20801 through the guide pins 20604.

[0107] Preferably, the front end of the feed cylinder 207 is connected to the pulley frame 20601 via a connecting pin 2015, and both ends of the connecting pin 2015 are also embedded in the limiting chute 20801 of the drilling device frame 208. If the front movable pulley 20602 and the rear movable pulley 20603 are coaxially mounted, the connection pin 2015 embedded in the limiting chute 20801 can effectively solve the problem of "wobbling" of the pulley frame 20601 caused by the force applied by the feed cylinder 207. In other words, the limiting chute 20801 is embedded with at least two pins.

[0108] The upper end of the first chain 204 is connected to the front end of the second guide seat 213, and then passes through the front fixed pulley 202 and the front movable pulley 20602 in sequence. Its lower end is connected to the front end of the drilling device frame 208 via the front tensioning bolt 2010. The upper end of the second chain 205 is connected to the rear end of the second guide seat 213, and then passes through the rear fixed pulley 203 and the rear movable pulley 20603 in sequence. Its lower end is connected to the rear end of the drilling device frame 208 via the rear tensioning bolt 2011. When the feed cylinder 207 is working, it pushes / pull the pulley block 206. The moving movable pulley block 206 pulls the first chain 204 and the second chain 205 accordingly. The two chains in turn pull the second guide seat 213, thereby achieving chain-driven movement of the drilling tool 1.

[0109] In this mechanism, the second guide base 213 is mounted on the guide rail 201 and can move forward and backward along the guide rail 201. The propulsion base 215 is fixed to the second guide base 213 and moves with the second guide base 213. Therefore, the upper ends of the first chain 204 and the second chain 205 can be connected to either the second guide base 213 or the propulsion base 215. In addition, the first chain 204 and / or the second chain 205 can also be replaced by steel wire ropes to achieve the same effect.

[0110] Specifically, the motor 3 is connected to the guide rail 201 through a power head mounting seat slidably mounted on the guide rail 201, and the power head mounting seat is arranged on the side of the propulsion seat 215 away from the drill tool. The motor 3 is fixedly connected to the inner cavity of the drill tool 1 in the circumferential direction and slidably connected in the axial direction through a hexagonal rod passing through the propulsion seat 2092; one end of the power head mounting seat is connected by an iron chain fixedly connected to the end of the guide rail 201 to limit its sliding displacement; and the hexagonal rod is inserted into the drill tool 1, so it also plays the role of core withdrawal.

[0111] In this embodiment, the drilling device frame 208 includes a frame body 20802 and a fixed plate 20803. The two fixed plates 20803 are detachably mounted on either side of the frame body 20802 via a plurality of bolts 20805. The frame body 20802 is fixedly connected to the front end of the radius telescopic movable sleeve 402 to connect the drilling tool propulsion mechanism 2 to the radius telescopic adjustment mechanism 4. A guide rail 20804 is provided on the side of the fixed plate 20803 facing the pulley frame 20601. The guide rail 20804 cooperates with the frame body 20802 to form a limiting slide 20801. The limiting slide 20801 here has a guiding function, and by constraining the two guide pins 20604, it prevents the movable pulley assembly 206 from swinging upward or downward. By configuring the frame body 20802 and the fixing plate 20803 as separate structures, the limiting slide 20801 can be formed through assembly. This not only reduces the difficulty of initial component processing (especially the limiting slide 20801), but also facilitates subsequent inspection and maintenance. Of course, the guide rail 20804 and the fixing plate 20803 can also be configured as separate structures, in which case they are also detachably connected by bolts 20805. To ensure the reliability of the connection between the fixing plate 20803 and the frame body 20802, the bolts 20805 can be arranged in multiple groups in two rows.

[0112] In this embodiment, the guide rail 201 is a rectangular (including square) tube, and the guide seat 213 has a rectangular through hole for inserting the guide rail 1. As an alternative, the guide rail 201 can also be a regular hexagonal tube, and correspondingly, the guide seat 213 has a regular hexagonal through hole.

[0113] The working principle and working process of the drilling tool propulsion mechanism (lower part) are as follows:

[0114] In the initial state, the piston rod of the feed cylinder 207 is in an extended state, the movable pulley group 206 is at the front end of the drilling device frame 208, the guide seat 213 and the propulsion seat 215 are at the rear end of the guide rail 201, and the drilling tool 1 connected to the motor 3 is in a retracted state.

[0115] When the piston rod of feed cylinder 207 retracts, it pulls the movable pulley block 206 backward. Pulled by the first chain 204 and the second chain 205, guide block 213 and propulsion block 215 drive the drill tool 1 thereon to extend forward for drilling. Because the piston rod of feed cylinder 207 is connected to the movable pulley block 206, during this process, the movement distance of the first chain 204 / second chain 205 is twice the retracted length of the feed cylinder 207 piston rod. That is, the piston rod of feed cylinder 207 travels half its stroke, and guide block 213 and propulsion block 215, carrying the drill tool 1, move the full distance on the guide rail, thereby achieving double-stroke propulsion drilling by feed cylinder 207. During the piston rod retraction process, the piston area is reduced, so the force exerted by feed cylinder 207 during this process is less than that during the extension process, making it more suitable for forward drilling of the drill tool 1.

[0116] Conversely, when the piston rod of the feed cylinder 207 extends, it pushes the movable pulley block 206 forward. Under the pull of the first chain 204 and the second chain 205, the guide seat 213 and the propulsion seat 215 will drive the drill tool 1 thereon to retract backward to perform core withdrawal. Because the piston rod of the feed cylinder 207 is connected to the movable pulley block 206, during this process, the movement distance of the first chain 204 / the second chain 205 is twice the extension length of the feed cylinder 207 piston rod, that is, the stroke of the feed cylinder 207 piston rod is half, and the guide seat 213 and the propulsion seat 215 with the drill tool 1 move the full distance on the guide rail, thereby achieving double-stroke core withdrawal of the feed cylinder 207. During the piston rod extension process, the piston area increases, so the force applied by the feed cylinder 207 at this time is greater than that during the retraction process, making it more suitable for retracting the drill tool 1 to prevent the core withdrawal caused by excessive friction between the drill tool 1 barrel wall and the rock core.

[0117] In another embodiment, the propulsion mechanism for pushing the guide seat 213 and the propulsion seat 215 is a gear rack mechanism, which includes a rack arranged on the guide rail 201 and a gear arranged on the guide seat 213 or the propulsion seat 215 and a motor that drives the gear to rotate.

[0118] Preferably, the push rod 211 is a rod with a regular hexagonal cross-section, and correspondingly, the sleeve hole of the push sleeve 216 is a regular hexagonal hole. Of course, there are other variations that can achieve circumferential constraint and axial movement, such as the push rod 211 being a regular pentagonal rod and the sleeve hole of the push sleeve 216 being a regular pentagonal hole; or, the push rod 211 being a round rod with a limiting rib axially provided on its outer circumference, and correspondingly, the sleeve hole of the push sleeve 216 having a groove for inserting the limiting rib; and many other variations are too numerous to mention.

[0119] In this solution, a driving shaft 218 is provided on the driving seat 214 , and the tail end of the push rod 211 is detachably connected to the driving shaft 218 via a connecting piece.

[0120] As a further optimization of the above solution, the rear end of the guide rail 201 is provided with a rear limit portion 212a for limiting the guide seat 1 212, and the front end of the guide rail 201 is correspondingly provided with a front limit portion 213a for limiting the guide seat 2 213. The guide seat 1 212 and the guide seat 2 213 are located between the rear limit portion 212a and the front limit portion 213a. By providing the limit portion, the movement position of the guide seat 1 212 and the guide seat 2 213 is further constrained to ensure the reliability of the operation of the device. In this solution, the front limit portion 213a is the forward limit point of the guide seat 2 213, and the rear limit portion 212a is the backward limit point of the guide seat 1 212. Both are limit blocks provided on the guide rail 201. The farthest moving position of the push plate 217 is at the position of the front limit portion 213a.

[0121] Preferably, the limiting mechanism disposed between the first guide seat 212 and the rear end of the guide rail 201 is a chain 219, which may be a chain or a steel rope. Such limiting mechanisms are flexible, deformable, and simple in structure, meeting the requirement for limiting the first guide seat 212 without affecting the backward movement of the second guide seat 213. Of course, there are other alternatives to this limiting mechanism, such as existing guide rods with limiting functions.

[0122] Preferably, the central lifting mechanism 8 includes a first-level lifting column fixedly connected to the walking chassis 13, a second-level lifting column vertically slidably connected to the first-level lifting column, and a lifting cylinder, the fixed tube of the lifting cylinder is connected to the first-level lifting column, the piston rod is connected to one end of the second-level lifting column to drive it to slide along the axial direction of the first-level lifting column, the support plate 601 is vertically slidably connected to the second-level lifting column, the top and bottom ends of the second-level lifting column are provided with fixed pulleys, and the upper and lower ends of the support plate 601 are connected to the first-level lifting column with chains that bypass the fixed pulleys provided at the top and bottom ends of the second-level lifting column, that is, the chain connected to the upper end of the support plate 601 bypasses the fixed pulley provided at the top of the second-level lifting column to be connected to the first-level lifting column, and the chain connected to the lower end of the support plate 601 bypasses the fixed pulley provided at the bottom end of the second-level lifting column to be connected to the first-level lifting column, so that the central lifting mechanism 8 forms a second-level lifting mechanism, which can make the structure of the central lifting mechanism 8 more compact, occupy less vertical space when retracted, and is conducive to the use of equipment in tunnels.

[0123] Referring to FIG. 15 , a method for boring a hard rock tunnel using the aforementioned boring hard rock tunnel boring equipment includes the following steps:

[0124] Step 1: Drill intersection holes along the tunnel contour line to separate the rocks and mountain along the tunnel contour line, forming a ring seam;

[0125] Step 2: Based on the rock mechanics characteristics and the capacity of the splitter, the splitting holes are reasonably arranged within the entire contour line. The depth of the splitting holes should not be less than the depth of the annular fracture, and the length of the splitter should not be less than half the depth of the splitting holes.

[0126] Step 3: According to the splitting direction, clean the core in the annular crack corresponding to the splitting direction to expand the free surface;

[0127] Step 4: Insert the splitter into all the split holes in at least one row or column, or insert the splitter into all the split holes in the entire section, and insert the splitter into the bottom of the split hole so that the force applying mechanism of the splitter is as close to the bottom of the split hole as possible;

[0128] Step 5: Start all the splitters to apply force to the rock, first splitting the rock from the A side (the two sides of the splitting hole working surface), and then splitting the rock from the B side (the bottom working surface), so that the rock is completely split and the bottom surface is flat;

[0129] Step 6: Reduce large rocks to smaller pieces, remove slag and transport it, completing a cycle of tunneling;

[0130] Step 7: Repeat the above process until the tunnel is through.

[0131] The splitter may be a hydraulic rock splitter, a water pressure rock splitter or a splitting rod or other splitting device that can be used to split rocks.

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions, which should all be included in the scope of the claims of the present invention.

Claims

1. A boring type hard rock tunnel excavation equipment, characterized in that: It includes a walking chassis and a working device, a power system and a counterweight mechanism installed on the walking chassis, wherein the working device is arranged at the front end of the walking chassis, and the power system and the counterweight mechanism are arranged at the rear end of the walking chassis to form a counterweight relationship at the front and rear ends of the walking chassis; The working device includes a central lifting mechanism, a pitch adjustment mechanism, a boom head slewing mechanism, a radius telescopic adjustment mechanism and a drilling mechanism. One end of the central lifting mechanism is connected to the front end of the walking chassis. The pitch adjustment mechanism includes a support plate, a pitch cylinder and a swing bracket. The support plate is vertically slidably connected to the side of the central lifting mechanism away from the walking chassis. One end of the pitch cylinder is hinged on the support plate. The boom head slewing mechanism includes a slewing reducer, a slewing center frame and a center distance sleeve. The swing bracket is hinged on the support plate. At least two slewing reducers are connected to the support plate. The speed reducers are installed in parallel on the same swing bracket, the tail ends of at least two rotating center frames are correspondingly installed in two rotating reducers, the rotating center frames rotate around the axis of the rotating reducers under the drive of their corresponding rotating reducers, the center distance sleeve has at least two sleeves, and the number of the rotating reducers, the rotating center frames and the sleeves corresponds to each other, the sleeves are correspondingly sleeved in the middle of each rotating center frame, and each rotating center frame can rotate in the corresponding sleeve under the drive of the rotating reducer, and the other end of the pitch cylinder is hinged on the center distance sleeve; One end of the radius telescopic adjustment mechanism is connected to the rotary center frame, and the other end is connected to the drilling mechanism to adjust the distance from the drilling mechanism to the rotary center, and the number of the radius telescopic adjustment mechanism is consistent with the number of the rotary center frame.

2. The bored hard rock tunnel boring equipment according to claim 1, characterized in that: There are two rotary reducers and two rotary center frames, and the two rotary reducers and the two rotary center frames are symmetrically arranged; the center distance between the two sleeves on the center distance sleeve is the same as the center distance between the two rotary reducers.

3. The boring type hard rock tunnel excavation equipment according to claim 1 or 2, characterized in that: It also includes a center tightening mechanism and a center tightening oil cylinder. The center tightening mechanism is inserted at the head end of the rotary center frame. One end of the center tightening oil cylinder is hinged on the center distance sleeve, and the other end is hinged on the center tightening mechanism.

4. The bored hard rock tunnel boring equipment according to claim 3, characterized in that: The center tightening mechanism comprises a fixed cylinder, a fixed plate, a movable tightening cylinder and a spring tightening mechanism; the fixed cylinder is arranged on the fixed plate and fixedly connected to the fixed plate as a whole, and the number of the fixed cylinders is the same as the number of the rotary center frame, a center tightening cylinder is arranged at the center position of the front side of the fixed plate, and a connecting plate which can be hinged to the center tightening oil cylinder is arranged at the center position of the rear side; The spring tightening mechanism is mainly composed of a spring bottom plate, a spring, a screw and a front bottom plate. The spring bottom plate and the front bottom plate are both provided with screw holes. The screw passes through the spring bottom plate, the spring and the front bottom plate in sequence, and then the spring is clamped between the spring bottom plate and the front bottom plate through nuts mounted on both ends of the screw, and the length of the spring is locked. There are two movable tightening cylinders, each of which is inserted into the corresponding fixed cylinder through a set of spring tightening mechanisms, wherein the spring bottom plate is arranged at the rear end of the fixed cylinder and is fixedly connected to the fixed cylinder, and the front bottom plate is arranged in the movable tightening cylinder and is fixedly connected to the movable tightening cylinder. The movable tightening cylinder extends out of the fixed cylinder and can move forward and backward along the inner wall of the fixed cylinder.

5. The bored hard rock tunnel boring equipment according to claim 1, characterized in that: The drilling mechanism includes a drilling tool, a drilling tool propulsion mechanism and a motor, and the drilling tool propulsion mechanism in the drilling mechanism is connected to the radius telescopic adjustment mechanism; The drilling tool propulsion mechanism comprises a drilling device frame, a guide rail and a propulsion member, wherein the guide rail is mounted on the drilling device frame and combined with the drilling device frame to form a frame structure; the propulsion member is arranged on the drilling device frame, and the guide seat 1 and the guide seat 2 are straddled / embraced on the guide rail; The drilling tool propulsion mechanism also includes a push rod arranged above the guide rail, and a push plate is provided at the front end of the push rod; a driving seat is provided on the first guide seat, and a motor is connected to the rear end of the push rod through the driving seat to drive the push rod to rotate; a propulsion seat is provided on the second guide seat, and a propulsion sleeve is inserted in the propulsion seat and the propulsion sleeve and the propulsion seat can be rotatably matched, and the drilling tool is fixedly connected to the propulsion sleeve through the flange at the rear end; the push rod passes through the propulsion sleeve and its front end extends into the drilling tool; the sleeve hole shape of the propulsion sleeve matches the cross-sectional shape of the push rod, so that the propulsion sleeve and the push rod cannot produce circumferential relative rotation and can only produce relative movement in the axial direction; The second guide seat is driven by the propulsion member to move along the guide rail as an active moving member, and the first guide seat is driven by the second guide seat to move along the guide rail as a passive moving member.

6. The bored hard rock tunnel boring equipment according to claim 5, characterized in that: The propulsion component includes a front fixed pulley, a rear fixed pulley, a first chain, a second chain, a movable pulley block and a feed cylinder; the front fixed pulley and the rear fixed pulley are both installed on the drilling device frame and correspond to the front and rear end heads of the guide rail; The movable pulley block is mainly composed of a pulley frame, a front movable pulley and a rear movable pulley; the front movable pulley and the rear movable pulley are respectively installed on the pulley frame in parallel through a guide pin shaft, or the front movable pulley and the rear movable pulley are coaxially installed on the pulley frame through a guide pin shaft; The feed oil cylinder is arranged parallel to the lower side of the guide rail, the rear end of the feed oil cylinder is mounted on the drilling device frame, and the front telescopic end is connected to the pulley frame in the movable pulley block; the extended end of the guide pin shaft is engaged in the limit slide groove of the drilling device frame, so that the movable pulley block moves forward and backward along the limit slide groove under the drive of the feed oil cylinder; The upper end of the first chain is connected to the front end of the guide seat 2, and then passes around the front fixed pulley and the front movable pulley in sequence, and its lower end is connected to the front end of the drilling device frame through the front tensioning bolt; the upper end of the second chain is connected to the rear end of the guide seat 2, and then passes around the rear fixed pulley and the rear movable pulley in sequence, and its lower end is connected to the rear end of the drilling device frame through the rear tensioning bolt.

7. The bored hard rock tunnel boring equipment according to claim 6, characterized in that: The drilling device frame includes a frame body and a fixed plate, and the two fixed plates are detachably mounted on both sides of the frame body through a plurality of connectors; a guide rail is provided on one side of the fixed plate facing the pulley frame, and the guide rail cooperates with the frame body to form a limiting slide groove.

8. The bored hard rock tunnel boring equipment according to claim 7, characterized in that: The guide rail and the fixing plate are separate structures, and the two are detachably connected via a connecting piece.

9. The bored hard rock tunnel boring equipment according to claim 6, characterized in that: The first chain and / or the second chain is replaced by a wire rope.

10. The bored hard rock tunnel boring equipment according to claim 6, characterized in that: The telescopic end of the feed oil cylinder is rotatably connected to the pulley frame through a connecting pin shaft; both ends of the connecting pin shaft are also embedded in the limiting sliding groove of the drilling device frame.

11. The bored hard rock tunnel boring equipment according to claim 5, characterized in that: A limiting mechanism for limiting the forward movement distance of the guide seat is arranged on the guide rail.

12. The bored hard rock tunnel boring equipment according to claim 11, characterized in that: The limiting mechanism is a chain rope or a guide rod connected between the guide seat 1 and the tail end of the guide rail.

13. The bored hard rock tunnel boring equipment according to claim 5, characterized in that: The push rod is a rod with a quadrilateral, pentagonal or hexagonal cross section. Correspondingly, the sleeve hole of the pusher sleeve is a square hole, a pentagonal hole or a hexagonal hole matching the push rod.

14. A method for boring a hard rock tunnel, characterized in that: The method of using the boring type hard rock tunnel excavation equipment according to any one of claims 1 to 13 specifically comprises the following steps: Step 1: Drill intersection holes along the tunnel contour line to disconnect the rocks and mountains within the contour line along the tunnel contour line to form a ring seam; Step 2: According to the rock mechanics characteristics and the capacity of the splitter, the splitting holes are arranged within the entire contour line, and the depth of the splitting holes is not less than the hole depth of the annular fracture, and the length of the splitter is not less than half of the depth of the splitting holes; Step 3: According to the splitting direction, clean the core in the annular crack corresponding to the splitting direction to expand the free surface; Step 4: inserting the splitter into all the splitting holes in at least one row or one column, or inserting the splitter into all the splitting holes, and inserting the splitter into the bottom of the splitting hole so that the force adding mechanism of the splitter is close to the bottom of the splitting hole; Step 5: Start all the splitters to add force to the rock, first split the split rock from the working surfaces on both sides of the split hole, and then split the split rock from the bottom working surface of the split hole, so that the rock is completely split and the bottom working surface is flat; Step 6: Reduce the large rocks to smaller pieces, remove the slag and transport it, completing a cycle of tunneling; Step 7: Repeat the above process until the tunnel is through.

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