MODULARLY ASSEMBLED FULL-AUTOMATIC TUNNELING AND ROCK-BREAKING ROBOTS AND WORKING METHODS THEREOF

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese patent application 202411849544.5, filed December 16, 2024, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to the technical field of rock drilling, and in particular relates to a modularly assembled full-automatic tunneling and rock-breaking robot and a working method using the modularly assembled full-automatic tunneling and rock-breaking robot.

BACKGROUND

Currently, the main method for tunneling underground hard rock is the drilling-blasting method. Although the widespread adoption of rock drilling jumbo and charging jumbo significantly enhances the mechanization level and the operational efficiency of the drilling-blasting method, the inherent discontinuity of processes such as blasting, ventilation, muck removal, and support remains fundamentally unresolved. Currently, the drilling-blasting method typically achieves an advance of 2.5 meters to 3 meters per operational cycle, with a monthly advance of 60 meters to 100 meters. In some special sections such as rock fragmentation, the operational efficiency will further decrease.

Mechanical continuous rock-breaking has significant advantages over the traditional drilling-blasting method in terms of operational safety, operational efficiency, and production cost. There is no need to use the explosives, which can essentially improve safety of the management and the operation process; the rock-breaking vibration is small, which results in minimal damage to the rock mass during the rock-breaking process; and the mechanical continuous rock-breaking can operate continuously to improve production efficiency, and the optimization of the production process reduces the comprehensive production cost. Therefore, the use of the mechanical continuous rock-breaking method is the development direction of underground hard rock tunneling.

However, the current mechanical rock-breaking devices, including a coal mining machine, a boom-type roadheader, a tunnel boring machine (TBM), and a rock splitter, have limitations. For example, the coal mining machine is only suitable for coal mining and cannot cut hard rock; the boom-type roadheader is flexible and simple to operate, but the boom-type roadheader has low rock-breaking efficiency, severe cutting tool wear, or even inability to tunnel for hard rock sections above f8 (i.e., with a uniaxial compressive strength (UCS) of over 8 MPa); the TBM, which is limited by a large turning radius, is suitable only for certain long-distance and small turning radius working conditions; and although the rock splitter has a strong rock-breaking capability, the rock splitter has a high requirement for a free surface and is generally applied in open-air working conditions.

Therefore, it is necessary to provide a modularly assembled full-automatic tunneling and rock-breaking robot and a working method using the modularly assembled full-automatic tunneling and rock-breaking robot, which can improve the adaptability of the mechanical rock-breaking devices to achieve efficient, fully automatic, and continuous tunneling operations in underground hard rock.

SUMMARY

One or more embodiments of the present disclosure provide a modularly assembled full-automatic tunneling and rock-breaking robot. The modularly assembled full-automatic tunneling and rock-breaking robot includes a robot main body module, and stress advance relief modules and rock-breaking modules arranged on the robot main body module; wherein each of the stress advance relief modules includes a stress advance relief module housing, a drill bit moving notch, a stress advance relief module base, a stress advance relief module telescopic mechanism, a stress advance relief module guide rail, a stress advance relief module drilling power mechanism, a stress advance relief module drill rod, a stress advance relief module drill bit, and a stress advance relief module sliding mechanism; the stress advance relief module housing is mounted on the stress advance relief module base by the stress advance relief module telescopic mechanism, the drill bit moving notch is opened on one side of the stress advance relief module housing, the stress advance relief module guide rail, the stress advance relief module drilling power mechanism, the stress advance relief module drill rod, the stress advance relief module drill bit, and the stress advance relief module sliding mechanism are all arranged inside the stress advance relief module housing; and the stress advance relief module drilling power mechanism, the stress advance relief module drill rod, and the stress advance relief module drill bit are assembled to form a stress advance relief module drilling assembly, the stress advance relief module drilling assembly is arranged on the stress advance relief module guide rail, the stress advance relief module guide rail is pushed by the stress advance relief module sliding mechanism to move along a length direction of the drill bit moving notch.

In some embodiments, the robot main body module includes a walking system, a power system, a control system, a hydraulic system, an electrical circuit system, a main body height adjustment system, and a module installation and docking system; the main body height adjustment system includes an upper platform, a lower platform, and a robot main body telescopic mechanism, and the upper platform is mounted on the lower platform by the robot main body telescopic mechanism; and the module installation and docking system includes a top stress advance relief module installation slot, a lower stress advance relief module installation slot, and a side rock-breaking module installation slot.

In some embodiments, each of the rock-breaking modules is one or more of a translational rock-breaking module, a rotational rock-breaking module, or a coaxial rock-breaking module.

In some embodiments, the control system supports to preset operation parameters and realizes unmanned operation through automatic programs.

In some embodiments, the operation parameters include an engineering geological parameter, a hydraulic process parameter, and a module configuration parameter.

In some embodiments, the engineering geological parameter includes a rock uniaxial compressive strength, a rock integrity, a working face height, and a working face length.

In some embodiments, the hydraulic process parameter includes drilling oil pressures of the stress advance relief modules, drilling flow rates of the stress advance relief modules, drilling oil pressures of the rock-breaking modules, drilling flow rates of the rock-breaking modules, splitting oil pressures of the rock-breaking modules, and splitting flow rates of the rock-breaking modules.

In some embodiments, the module configuration parameter includes a count of the stress advance relief modules, spatial coordinates of the stress advance relief modules, drilling spacings of the stress advance relief modules, drilling depths of the stress advance relief modules, rock-breaking depths of the rock-breaking modules, and rock-breaking widths of the rock-breaking modules.

In some embodiments, the translational rock-breaking module includes a translational rock-breaking module housing, a translational rock-breaking module front cover, a translational rock-breaking module integrated connection port, a translational rock-breaking module drill bit, a translational rock-breaking module drill rod, a translational rock-breaking module drilling power mechanism, a translational rock-breaking module drilling power mechanism driving guide rail, a translational rock-breaking module splitting mechanism, a translational rock-breaking module splitting mechanism driving guide rail, and a translational rock-breaking module sliding mechanism; the translational rock-breaking module front cover and the translational rock-breaking module integrated connection port are both arranged on a side wall of the translational rock-breaking module housing, and the translational rock-breaking module housing is assembled with the side rock-breaking module installation slot; the translational rock-breaking module drill bit, the translational rock-breaking module drill rod, the translational rock-breaking module drilling power mechanism, the translational rock-breaking module drilling power mechanism driving guide rail, the translational rock-breaking module splitting mechanism, the translational rock-breaking module splitting mechanism driving guide rail, and the translational rock-breaking module sliding mechanism are all arranged inside the translational rock-breaking module housing; the translational rock-breaking module drill bit, the translational rock-breaking module drill rod, and the translational rock-breaking module drilling power mechanism are assembled to form a translational rock-breaking module drilling assembly, wherein the translational rock-breaking module drilling power mechanism is pushed to move by the translational rock-breaking module drilling power mechanism driving guide rail; the translational rock-breaking module splitting mechanism and the translational rock-breaking module splitting mechanism driving guide rail are assembled to form a translational rock-breaking module rock-breaking assembly; and the translational rock-breaking module drilling assembly and the translational rock-breaking module rock-breaking assembly are pushed by the translational rock-breaking module sliding mechanism to achieve hole alignment adjustment.

In some embodiments, the rotational rock-breaking module includes a rotational rock-breaking module housing, a rotational rock-breaking module front cover, a rotational rock-breaking module integrated connection port, a rotational rock-breaking module drill bit, a rotational rock-breaking module drill rod, a rotational rock-breaking module drilling power mechanism, a rotational rock-breaking module thimble, a rotational rock-breaking module splitting mechanism, a rotational rock-breaking module splitting mechanism driving guide rail, and a rotational rock-breaking module rotating mechanism; the rotational rock-breaking module front cover and the rotational rock-breaking module integrated connection port are both arranged on a side wall of the rotational rock-breaking module housing, and the rotational rock-breaking module housing is assembled with the side rock-breaking module installation slot; the rotational rock-breaking module drill bit, the rotational rock-breaking module drill rod, the rotational rock-breaking module drilling power mechanism, the rotational rock-breaking module thimble, the rotational rock-breaking module splitting mechanism, the rotational rock-breaking module splitting mechanism driving guide rail, and the rotational rock-breaking module rotating mechanism are all arranged inside the rotational rock-breaking module housing; the rotational rock-breaking module drill bit, the rotational rock-breaking module drill rod, and the rotational rock-breaking module drilling power mechanism are assembled to form a rotational rock-breaking module drilling assembly; the rotational rock-breaking module splitting mechanism and the rotational rock-breaking module splitting mechanism driving guide rail are assembled to form a rotational rock-breaking module rock-breaking assembly; and the rotational rock-breaking module rotating mechanism drives the rotational rock-breaking module drilling assembly and the rotational rock-breaking module rock-breaking assembly to rotate synchronously.

In some embodiments, the coaxial rock-breaking module includes a coaxial rock-breaking module housing, a coaxial rock-breaking module front cover, a coaxial rock-breaking module integrated connection port, a coaxial rock-breaking module drill bit, a coaxial rock-breaking module drill rod, a coaxial rock-breaking module drilling power mechanism, a coaxial rock-breaking module splitting mechanism, and a coaxial moving guide rail; the coaxial rock-breaking module front cover and the coaxial rock-breaking module integrated connection port are both arranged on a side wall of the coaxial rock-breaking module housing, and the coaxial rock-breaking module housing is assembled with the side rock-breaking module installation slot; the coaxial rock-breaking module drill bit, the coaxial rock-breaking module drill rod, the rotational rock-breaking module drilling power mechanism, the coaxial rock-breaking module splitting mechanism, and the coaxial moving guide rail are all arranged inside the coaxial rock-breaking module housing; and the coaxial rock-breaking module splitting mechanism is hollow inside, and the coaxial rock-breaking module drill rod moves freely within the coaxial rock-breaking module splitting mechanism.

In some embodiments, a count of the stress advance relief modules and a count of the rock-breaking modules are freely set according to on-site working conditions.

In some embodiments, the stress advance relief modules are arranged on a top and a bottom of the robot main body module, and the rock-breaking modules are arranged on both sides of the robot main body module.

One or more embodiments of the present disclosure further provide a working method using the modularly assembled full-automatic tunneling and rock-breaking robot. The working method includes: S1, developing a working face roadway, and developing two transportation roadways perpendicular to the working face roadway at both ends of the working face roadway; S2, arranging a working face support mechanism in the working face roadway, and arranging the modularly assembled full-automatic tunneling and rock-breaking robot at one end of the working face roadway; S3, during tunneling, performing stress advance relief operations on both upper and lower sides of a rock mass by the stress advance relief modules, and performing splitting and rock-breaking operations on the rock mass by the rock-breaking modules, wherein the stress advance relief operations and the splitting and rock-breaking operations are performed simultaneously or in sequence; S4, after the splitting and rock-breaking operations are completed, the modularly assembled full-automatic tunneling and rock-breaking robot moving longitudinally along the working face roadway, the stress advance relief modules and the rock-breaking modules continuing operations, and a muck transport device removing mucks; S5, after the working face roadway is fully tunneled transversely by one working position, the modularly assembled full-automatic tunneling and rock-breaking robot advancing transversely by one working position, and the working face support mechanism also advancing transversely by one working position; and S6, tunneling the rock mass again, and repeating the step S3 to the step S5 until an entire tunneling operation is completed.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure will be illustrated by way of exemplary embodiments in some embodiments, which will be described in detail by means of the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbering denotes the same structure, wherein:

FIG. 1 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure;

FIG. 2 is a main view of a robot main body module according to some embodiments of the present disclosure;

FIG. 3 is an internal three-dimensional structural view of a robot main body module according to some embodiments of the present disclosure;

FIG. 4 is a three-dimensional structural view of a stress advance relief module according to some embodiments of the present disclosure;

FIG. 5 is a main view of a stress advance relief module according to some embodiments of the present disclosure;

FIG. 6 is an internal structural view of a stress advance relief module according to some embodiments of the present disclosure;

FIG. 7 is a main view of a translational rock-breaking module according to some embodiments of the present disclosure;

FIG. 8 is an internal structural view of a translational rock-breaking module according to some embodiments of the present disclosure;

FIG. 9 is a main view of a robot according to some embodiments of the present disclosure;

FIG. 10 is a main view of a rotational rock-breaking module according to some embodiments of the present disclosure;

FIG. 11 is an internal structural view of a rotational rock-breaking module according to some embodiments of the present disclosure;

FIG. 12 is a main view of a robot according to some embodiments of the present disclosure;

FIG. 13 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure;

FIG. 14 is a main view of a coaxial rock-breaking module according to some embodiments of the present disclosure;

FIG. 15 is an internal structural view of a coaxial rock-breaking module according to some embodiments of the present disclosure;

FIG. 16 is a main view of a robot according to some embodiments of the present disclosure

FIG. 17 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure;

FIG. 18 is a main view of a robot according to some embodiments of the present disclosure;

FIG. 19 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure;

FIG. 20 is an exemplary three-dimensional view of a robot operation according to some embodiments of the present disclosure.

DETAILED DESCRIPTION

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the accompanying drawings required to be used in the description of the embodiments will be briefly described below. Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present disclosure, and it is possible for a person of ordinary skill in the art to apply the present disclosure to other similar scenarios in accordance with these drawings without creative labor. Unless obviously obtained from the context or the context illustrates otherwise, the same numeral in the drawings refers to the same structure or operation.

FIG. 1 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure.

As shown in FIG. 1, the present embodiment provides a modularly assembled full-automatic tunneling and rock-breaking robot (hereinafter referred to as a robot), including a robot main body module 1 and stress advance relief modules 2 and rock-breaking modules arranged on the robot main body module 1.

FIG. 2 is a main view of a robot main body module according to some embodiments of the present disclosure. FIG. 3 is an internal three-dimensional structural view of a robot main body module according to some embodiments of the present disclosure.

The robot main body module 1 is configured to carry the stress advance relief modules 2 and the rock-breaking modules and adjust a height and a position of the robot. In some embodiments, as shown in FIG. 1 and FIG. 2, the robot main body module 1 includes a walking system 11, a power system 12, a control system 13, a hydraulic system 14, an electrical circuit system 15, a main body height adjustment system 16, and a module installation and docking system 17.

The walking system 11 refers to a system that drives the robot to walk. In some embodiments, the walking system 11 is tires, as shown in FIG. 2. In other embodiments, the walking system 11 may also be a tracked travel mechanism, a railed travel mechanism, etc.

The power system 12 refers to a system that provides power for the robot. In some embodiments, the power system 12 is mounted inside the robot main body module 1, and the power system 12 includes an electric motor and a diesel engine, which may utilize electricity or diesel fuel to provide power for the robot.

The main body height adjustment system 16 refers to a system that adjusts a height of the robot main body module 1. In some embodiments, the main body height adjustment system 16 includes an upper platform 161, a lower platform 162, and a robot main body telescopic mechanism 163, and the upper platform 161 is mounted on the lower platform 162 by the robot main body telescopic mechanism 163.

The upper platform 161 refers to a platform located above the robot main body telescopic mechanism 163, the lower platform 162 refers to a platform located below the robot main body telescopic mechanism 163, and the robot main body telescopic mechanism 163 refers to a mechanism for adjusting a distance between the upper platform 161 and the lower platform 162. In some embodiments, the robot main body telescopic mechanism 163 is four cylinders, and the four cylinders may drive the upper platform 161 to move upward or downward. In this way, by synergistically controlling the amount of extension and contraction of the four cylinders, it can not only adjust the height of the upper platform to adapt to the working conditions of the working faces at different heights, but also enable the upper platform to be in a tilted state to meet the tilted drilling requirements of the stress advance relief modules.

The module installation and docking system 17 is configured to locate the installed positions of modules. In some embodiments, the module installation and docking system 17 includes a top stress advance relief module installation slot 171, a lower stress advance relief module installation slot 172, and a side rock-breaking module installation slot 173.

The top stress advance relief module installation slot 171 and the lower stress advance relief module installation slot 172 are used for installing the stress advance relief modules 2, and the side rock-breaking module installation slot 173 is used for installing the rock-breaking modules.

In some embodiments, the module installation and docking system 17 further includes docking ports for water, electricity, oil, etc., required for the working of the stress advance relief modules 2 and the rock-breaking modules.

The control module 13 is configured to receive and execute instructions, process data, and coordinate each hardware component of a computer. For example, the control module 13 may include one of a Programmable Logic Controller (PLC), a microcontroller, etc. In some embodiments, a technician may interact with the control module 13 through a terminal device (e.g., an operator in a cockpit, a remote controller, a computer device, etc.), thereby interacting with the robot. In some embodiments, the control system 13 is mounted inside the robot main body module 1.

In some embodiments, the robot operates in three models including a driving operation, a remote control operation, and an automatic operation based on a preset program. The driving operation means that the technician is located in the cockpit inside the robot and operates the robot to perform a splitting and rock-breaking operations; the remote control operation means that the technician is located in a safe area outside of the robot and controls the robot by the remote controller to perform the splitting and rock-breaking operations; and the automatic operation based on the preset program means that the robot performs the splitting and rock-breaking operations automatically based on the preset program after the technician presets operation parameters.

In some embodiments, the control system 13 supports to preset the operation parameters and realizes unmanned operation through automatic programs.

The operation parameters are parameters that need to be preset or input by the technician before the robot implements the unmanned operation. In some embodiments, the operation parameters include an engineering geological parameter, a hydraulic process parameter, and a module configuration parameter.

The engineering geological parameter refers to a parameter related to an engineering geological condition of an operating space. In some embodiments, the engineering geological parameter may be obtained in advance by a technician through a geological survey or an experiment.

In some embodiments, the engineering geological parameter includes a rock uniaxial compressive strength, a rock integrity, a working face height, and a working face length.

The rock uniaxial compressive strength refers to a load strength per unit area that a rock specimen withstands when subjected to uniaxial compression until failure. The rock integrity is used to indicate an integrity degree of a rock, and the rock integrity may be quantified using a Rock Quality Designation (ROD). A working face refers to a plane on which the robot works (e.g., drilling or splitting). The working face height and the working face length of the robot indicate a height of the working face from the ground and a horizontal width of the working face, respectively.

By inputting the engineering geological parameter, the control system 13 can better match the appropriate hydraulic process parameter and module configuration parameter, which can, on the one hand, avoid accidents or damage to the robot, and on the other hand, improve the applicability of the robot.

The hydraulic process parameter refers to a mechanical parameter related to driving the robot to perform operations. In some embodiments, the hydraulic process parameter may be set by the technician based on experience and actual working conditions, or may be automatically determined by the control system 13 based on the engineering geological parameter.

In some embodiments, the hydraulic process parameter includes drilling oil pressures of the stress advance relief modules 2, drilling flow rates of the stress advance relief modules 2, drilling oil pressures of the rock-breaking modules, drilling flow rates of the rock-breaking modules, splitting oil pressures of the rock-breaking modules, and splitting flow rates of the rock-breaking modules.

By inputting the hydraulic process parameter, the robot can automatically match the strength and speed of drilling and splitting to improve the rock-breaking efficiency.

The module configuration parameter refers to a parameter related to module configuration and module operations. In some embodiments, the module configuration parameter may be set by the technician based on experience and actual working conditions, or may be automatically determined by the control system 13 based on the engineering geological parameter.

In some embodiments, the module configuration parameter includes a count of the stress advance relief modules 2, spatial coordinates of the stress advance relief modules 2, drilling spacings of the stress advance relief modules 2, drilling depths of the stress advance relief modules 2, rock-breaking depths of the rock-breaking modules, and rock-breaking widths of the rock-breaking modules.

The spatial coordinates are used to indicate an installation position of the stress advance relief modules 2 on the robot main body module 1, the drilling spacings refer to spacings among stress advance relief module drill bits of the stress advance relief modules 2, and the drilling depths and the rock-breaking depths refer to depths at which drill bits of the stress advance relief modules 2 and the rock-breaking modules are inserted into rock mass, respectively, and the rock-breaking widths refer to widths of the rock mass to be split.

By inputting the module configuration parameter, the robot can automatically adjust the module configuration to better realize the unmanned operation.

In some embodiments, the count of the stress advance relief modules and a count of the rock-breaking modules are freely set according to on-site working conditions to adapt to different rock types and tunneling efficiency requirements.

The hydraulic system 14 is configured to drive various modules and components of the robot to complete operations. In some embodiments, the hydraulic system 14 is mounted inside the robot main body module, and a hydraulic pressure and flow rate may support device operations and module operations.

The electrical circuit system 15 is configured to power various modules and components of the robot. For example, the electrical circuit system 15 may be wires connecting various modules and components of the robot. In some embodiments, the electrical circuit system 15 is mounted inside the robot main body module 1 and may support device operations and module operations.

FIG. 4 is a three-dimensional structural view of a stress advance relief module according to some embodiments of the present disclosure. FIG. 5 is a main view of a stress advance relief module according to some embodiments of the present disclosure. FIG. 6 is an internal structural view of a stress advance relief module according to some embodiments of the present disclosure.

The stress advance relief modules 2 are configured to release stress accumulated in a rock mass in front of a working face in advance by drilling holes. In some embodiments, the stress advance relief modules 2 may move upward and downward to adapt uneven terrain. In some embodiments, the stress advance relief modules 2 may perform inclined drilling to adapt stress relief operations at corners of the rock mass.

In some embodiments, two stress advance relief modules 2 are installed in the top stress advance relief module installation slot 171 and three stress advance relief modules 2 are installed in the lower stress advance relief module installation slot 172.

In some embodiments, as shown in FIG. 4-FIG. 6, each of the stress advance relief modules 2 includes a stress advance relief module housing 21, a drill bit moving notch 22, a stress advance relief module base 23, a stress advance relief module telescopic mechanism 24, a stress advance relief module guide rail 25, a stress advance relief module drilling power mechanism 26, a stress advance relief module drill rod 27, a stress advance relief module drill bit 28, and a stress advance relief module sliding mechanism 29. In some embodiments, the stress advance relief module base 23 is connected to the top stress advance relief module installation slot 171 or the lower stress advance relief module installation slot 172 on the robot main body module 1 to ensure that the stress advance relief modules 2 are mounted on the robot main body module 1 and operate properly.

In some embodiments, as shown in FIG. 4-FIG. 6, the stress advance relief module housing 21 is mounted on the stress advance relief module base 23 by the stress advance relief module telescopic mechanism 24, the drill bit moving notch 22 is opened on one side of the stress advance relief module housing 21, the stress advance relief module guide rail 25, the stress advance relief module drilling power mechanism 26, the stress advance relief module drill rod 27, the stress advance relief module drill bit 28, and the stress advance relief module sliding mechanism 29 are all arranged inside the stress advance relief module housing 21.

In some embodiments, the stress advance relief module telescopic mechanism 24 consists of four cylinders, and the four cylinders work synergistically so that not only a stress advance relief module drilling assembly 20 may be lifted and lowered, but also the stress advance relief module drilling assembly 20 may be tilted to drill the holes.

In some embodiments, as shown in FIG. 4-FIG. 6, the stress advance relief module drilling power mechanism 26, the stress advance relief module drill rod 27, and the stress advance relief module drill bit 28 are assembled to form the stress advance relief module drilling assembly 20, the stress advance relief module drilling assembly is arranged on the stress advance relief module guide rail 25, the stress advance relief module guide rail 25 is pushed by the stress advance relief module sliding mechanism 29 to move along a length direction of the drill bit moving notch 22. In this way, the stress advance relief module drilling assembly 20 may move along the length direction of the drill bit moving notch 22.

The rock-breaking modules are configured to drill holes into the rock mass and apply radial forces inside the holes to break the rock mass into pieces. The rock-breaking modules are detachably connected to the robot main body module 1 (e.g., via integrated connection ports). In some embodiments, the rock-breaking module operates in a drilling-hole alignment-splitting mode, and a hole alignment manner of a hole alignment operation includes a translational plan, a rotational plan, and a coaxial plan that requires no hole alignment.

In some embodiments, each of the rock-breaking modules is one or more of a translational rock-breaking module 3, a rotational rock-breaking module 4, or a coaxial rock-breaking module 5. The translational rock-breaking module 3 refers to a rock-breaking module with a straight-line translational hole alignment manner, the rotational rock-breaking module 4 is a rock-breaking module with a rotational hole alignment manner, and the coaxial rock-breaking module 5 is a rock-breaking module that requires no hole alignment. The translational rock-breaking module 3 performs a translational plan, the rotational rock-breaking module 4 performs a rotational plan, and the coaxial rock-breaking module 5 performs a coaxial plan that requires no hole alignment.

More descriptions regarding the translational rock-breaking module 3 may be found in FIG. 7-FIG. 8 and related descriptions thereof, more descriptions regarding the rotational rock-breaking module 4 may be found in FIG. 10-FIG. 13 and related descriptions thereof, and more descriptions regarding the coaxial rock-breaking module 5 may be found in FIG. 14-FIG. 17 and related descriptions thereof.

FIG. 7 is a main view of a translational rock-breaking module according to some embodiments of the present disclosure. FIG. 8 is an internal structural view of a translational rock-breaking module according to some embodiments of the present disclosure. FIG. 9 is a main view of a robot according to some embodiments of the present disclosure.

In some embodiments, as shown in FIG. 9, the translational rock-breaking modules 3 are arranged on both sides of the robot main body module 1, and a preset count (e.g., 4) of the translational rock-breaking modules 3 is arranged on each side of the robot main body module 1.

In some embodiments, as shown in FIG. 7-FIG. 8, the translational rock-breaking module 3 includes a translational rock-breaking module housing 31, a translational rock-breaking module front cover 32, a translational rock-breaking module integrated connection port 33, a translational rock-breaking module drill bit 34, a translational rock-breaking module drill rod 35, a translational rock-breaking module drilling power mechanism 36, a translational rock-breaking module drilling power mechanism driving guide rail 37, a translational rock-breaking module splitting mechanism 38, a translational rock-breaking module splitting mechanism driving guide rail 39, and a translational rock-breaking module sliding mechanism 310. In some embodiments, the translational rock-breaking module front cover 32 and the translational rock-breaking module integrated connection port 33 are both arranged on a side wall of the translational rock-breaking module housing 31, and the translational rock-breaking module housing 31 is assembled with the side rock-breaking module installation slot 173, to ensure that the translational rock-breaking module 3 is mounted on the robot main body module 1 and operates properly.

In some embodiments, the translational rock-breaking module drill bit 34, the translational rock-breaking module drill rod 35, the translational rock-breaking module drilling power mechanism 36, the translational rock-breaking module drilling power mechanism driving guide rail 37, the translational rock-breaking module splitting mechanism 38, the translational rock-breaking module splitting mechanism driving guide rail 39, and the translational rock-breaking module sliding mechanism 310 are all arranged inside the translational rock-breaking module housing 31. In some embodiments, the translational rock-breaking module drill bit 34, the translational rock-breaking module drill rod 35, and the translational rock-breaking module drilling power mechanism 36 are assembled to form a translational rock-breaking module drilling assembly 30-1, the translational rock-breaking module drilling power mechanism 36 is pushed to move by the translational rock-breaking module drilling power mechanism driving guide rail 37. In some embodiments, the translational rock-breaking module splitting mechanism 38 and the translational rock-breaking module splitting mechanism driving guide rail 39 are assembled to form a translational rock-breaking module rock-breaking assembly 30-2; and the translational rock-breaking module drilling assembly 30-1 and the translational rock-breaking module rock-breaking assembly 30-2 are pushed by the translational rock-breaking module sliding mechanism 310 to achieve hole alignment adjustment.

In some embodiments, the translational rock-breaking module sliding mechanism 310 consists of three cylinders and may drive the translational rock-breaking module drilling assembly 30-1 and the translational rock-breaking module rock-breaking assembly 30-2 to move in parallel together. In some embodiments, a maximum outreach distance of the translational rock-breaking module sliding mechanism 310 is equal to a center spacing between the translational rock-breaking module drilling assembly 30-1 and the translational rock-breaking module rock-breaking assembly 30-2. Merely by way of example, during the hole alignment operation, the three cylinders of the translational rock-breaking module sliding mechanism 310 are contracted to a minimum stroke after the translational rock-breaking module drilling assembly 30-1 completes drilling and retracts, and the translational rock-breaking module rock-breaking assembly 30-2 is exactly aligned with the drilled hole at this time. At this time, the translational rock-breaking module splitting mechanism driving guide rail 39 drives the translational rock-breaking module splitting mechanism 38 to move into the hole to complete a splitting and rock-breaking operation.

FIG. 10 is a main view of a rotational rock-breaking module according to some embodiments of the present disclosure; FIG. 11 is an internal structural view of a rotational rock-breaking module according to some embodiments of the present disclosure; FIG. 12 is a main view of a robot according to some embodiments of the present disclosure; FIG. 13 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure.

As shown in FIG. 10-FIG. 13, some embodiments of the present disclosure provide another modularly assembled full-automatic tunneling and rock-breaking robot. The main difference compared to any of the foregoing embodiments is the hole alignment assembly on the rock-breaking module. Different from the translational hole alignment of the foregoing embodiments, the following embodiments provide a hole alignment manner of rotational hole alignment.

In some embodiments, the rotational rock-breaking module 4 includes a rotational rock-breaking module housing 41, a rotational rock-breaking module front cover 42, a rotational rock-breaking module integrated connection port 43, a rotational rock-breaking module drill bit 44, a rotational rock-breaking module drill rod 45, a rotational rock-breaking module drilling power mechanism 46, a rotational rock-breaking module thimble 47, a rotational rock-breaking module splitting mechanism 48, a rotational rock-breaking module splitting mechanism driving guide rail 49, and a rotational rock-breaking module rotating mechanism 410. In some embodiments, the rotational rock-breaking module front cover 42 and the rotational rock-breaking module integrated connection port 43 are both arranged on a side wall of the rotational rock-breaking module housing 41, and the rotational rock-breaking module housing 41 is assembled with the side rock-breaking module installation slot 173, to ensure that the rotational rock-breaking module 4 is mounted on the robot main body module 1 and operates properly.

In some embodiments, the rotational rock-breaking module drill bit 44, the rotational rock-breaking module drill rod 45, the rotational rock-breaking module drilling power mechanism 46, the rotational rock-breaking module thimble 47, the rotational rock-breaking module splitting mechanism 48, the rotational rock-breaking module splitting mechanism driving guide rail 49, and the rotational rock-breaking module rotating mechanism 410 are all arranged inside the rotational rock-breaking module housing 41. In some embodiments, the rotational rock-breaking module drill bit 44, the rotational rock-breaking module drill rod 45, and the rotational rock-breaking module drilling power mechanism 46 are assembled to form a rotational rock-breaking module drilling assembly 40-1. In some embodiments, the rotational rock-breaking module splitting mechanism 48 and the rotational rock-breaking module splitting mechanism driving guide rail 49 are assembled to form a rotational rock-breaking module rock-breaking assembly 40-2; and the rotational rock-breaking module rotating mechanism 410 drives the rotational rock-breaking module drilling assembly 40-1 and the rotational rock-breaking module rock-breaking assembly 40-2 to rotate synchronously.

In some embodiments, the hole alignment assembly of the rotational rock-breaking module 4 is the rotational rock-breaking module thimble 47 and the rotational rock-breaking module rotating mechanism 410. The rotational rock-breaking module thimble 47 is a cylinder mounted on the front of the rotational rock-breaking module splitting mechanism driving guide rail 49, and the rotational rock-breaking module rotating mechanism 410 drives the rotational rock-breaking module drilling assembly 40-1 and the rotational rock-breaking module rock-breaking assembly 40-2 to rotate synchronously.

Merely by way of example, when performing a hole alignment operation, the rotational rock-breaking module thimble 47 is pushed out, and the rotational rock-breaking module rotating mechanism 410 rotates 90 degrees with the rotational rock-breaking module thimble 47 as a center. At this time, the rotational rock-breaking module rock-breaking assembly 40-2 is exactly positioned at a location where the rotational rock-breaking module drilling assembly 40-1 is located before the hole alignment operation.

FIG. 14 is a main view of a coaxial rock-breaking module according to some embodiments of the present disclosure; FIG. 15 is an internal structural view of a coaxial rock-breaking module according to some embodiments of the present disclosure; FIG. 16 is a main view of a robot according to some embodiments of the present disclosure; FIG. 17 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure.

As shown in FIG. 14-FIG. 17, some embodiments of the present disclosure provide another modularly assembled full-automatic tunneling and rock-breaking robot. The main difference compared to any of the foregoing embodiments is the hole alignment assembly on rock-breaking modules. Different from the translational hole alignment and rotational hole alignment of the foregoing embodiments, the following embodiments provide a hole alignment manner of coaxial hole alignment that requires no hole alignment.

In some embodiments, the coaxial rock-breaking module 5 includes a coaxial rock- breaking module housing 51, a coaxial rock-breaking module front cover 52, a coaxial rock-breaking module integrated connection port 53, a coaxial rock-breaking module drill bit 54, a coaxial rock-breaking module drill rod 55, a coaxial rock-breaking module drilling power mechanism 56, a coaxial rock-breaking module splitting mechanism 57, and a coaxial moving guide rail 58. In some embodiments, the coaxial rock-breaking module front cover 52 and the coaxial rock-breaking module integrated connection port 53 are both arranged on a side wall of the coaxial rock-breaking module housing 51, and the coaxial rock-breaking module housing 51 is assembled with the side rock-breaking module installation slot 173, to ensure that the coaxial rock-breaking module 5 is mounted on the robot main body module 1 and operates properly.

In some embodiments, the coaxial rock-breaking module drill bit 54, the coaxial rock-breaking module drill rod 55, the coaxial rock-breaking module drilling power mechanism 56, the coaxial rock-breaking module splitting mechanism 57, and the coaxial moving guide rail 58 are all arranged inside the coaxial rock-breaking module housing 51. In some embodiments, the coaxial rock-breaking module splitting mechanism 57 is hollow inside, and the coaxial rock-breaking module drill rod 55 moves freely within the coaxial rock-breaking module splitting mechanism 57.

Merely by way of example, when performing a hole alignment operation, the coaxial rock-breaking module drilling power mechanism 56 drives the coaxial rock-breaking module drill rod 55 and the coaxial rock-breaking module drill bit 54 to move forward along the coaxial moving guide rail 58 and to complete the drilling. At this time, the coaxial rock-breaking module drill rod 55 and the coaxial rock-breaking module drill bit 54 do not retract from the drilled hole, and the coaxial rock-breaking module splitting mechanism 57 moves forward to enter the hole to complete a splitting and rock-breaking operation.

FIG. 18 is a main view of a robot according to some embodiments of the present disclosure; and FIG. 19 is a three-dimensional structural view of a robot according to some embodiments of the present disclosure.

The robot main body module 1, the stress advance relief modules 2, and the rock-breaking modules of any of the foregoing embodiments are detachably connected (i.e., modularized design), which facilitates replacing and adjusting modules, but connecting points of the modules are prone to being damaged when tunneling a high hardness rock mass. As shown in FIG. 18 to FIG. 19, some embodiments of the present disclosure provide a non-assembled full-automatic tunneling and rock-breaking robot (hereinafter referred to as a non-assembled robot). The main difference compared to any of the foregoing embodiments is that the stress advance relief modules and the rock-breaking modules adopt a non-modularized design to improve the overall stability and reliability of the robot during splitting and rock-breaking operations.

In some embodiments, as shown in FIG. 18 and FIG. 19, stress advance relief modules 61 are arranged on a top of the robot main body module 1 and a bottom of the robot main body module 1, and rock-breaking modules 62 are arranged on both sides of the robot main body module 1. For example, the stress advance relief modules 61 and the rock-breaking modules 62 of a non-assembled robot 6 may be fixedly connected to the robot main body module 1 by welding, etc., to ensure the reliability of the connecting points.

FIG. 20 is an exemplary three-dimensional view of a robot operation according to some embodiments of the present disclosure.

In some embodiments, as shown in FIG. 20, embodiments of the present disclosure further provide a working method of a modularly assembled full-automatic tunneling and rock-breaking robot, which is performed by the modularly assembled full-automatic tunneling and rock-breaking robot of any of the foregoing embodiments. The working method includes the following operations.

S1, a working face roadway 75 is developed, and two transportation roadways perpendicular to the working face roadway 75 at both ends of the working face roadway 75 are developed.

The working face roadway 75 refers to a roadway where a tunneling construction is performed, a transportation roadway refers to a roadway where rock debris or materials are transported, and the working face roadway 75 and the two transportation roadways may be planned and excavated by a technician.

S2, a working face support mechanism 74 is arranged in the working face roadway 75, and a modularly assembled full-automatic tunneling and rock-breaking robot (hereinafter referred to as a robot) is arranged at one end of the working face roadway 75.

The working face support mechanism 74 is configured to provide a temporary support for the working face roadway 75 to prevent collapse accidents. In some embodiments, the working face support mechanism 74 is uniformly disposed within the working face roadway 75 at a preset distance. The preset distance is set based on actual demand. For example, the preset distance may be one working position. In some embodiments, the arranged robot may also be a non-assembled robot.

S3, during tunneling, the stress advance relief operations are performed on both upper and lower sides of a rock mass 73 by the stress advance relief modules 2, and splitting and rock-breaking operations are performed on the rock mass by rock-breaking modules, wherein the stress advance relief operations and the splitting and rock-breaking operations are performed simultaneously or in sequence.

A stress advance relief operation refers to a process of utilizing drilling to reduce or eliminate stress accumulated in the rock mass 73. A splitting and rock-breaking operation refers to a process of breaking the rock mass 73 into pieces.

In some embodiments, the robot performs a robot operation 7, i.e., the main body height adjustment system 16 adjusts a height of the robot main body module 1 and positions holes to be drilled, and the stress advance relief module drilling power mechanisms 26 drive the stress advance relief module drill rods 27 to drill holes on both the upper and lower sides of the rock mass 73 (i.e., a lower stress advance relief operation 71 and an upper stress advance relief operation 72); and the drill rods of the rock-breaking modules are inserted into rock mass 73 to drill holes and then disengaged, and the splitting mechanisms are inserted into the holes after aligning the holes and apply radial forces to the holes to break the rock mass 73 into pieces from the inside.

S4, after the splitting and rock-breaking operation is completed, the robot moves longitudinally along the working face roadway 75, the stress advance relief modules 2 and the rock-breaking modules continue operations, and a muck transport device removes cs.

A longitudinal direction is an extension direction of the working face roadway 75. The muck transport device includes a shovel, a slag truck, a conveyor belt, etc. In some embodiments, the walking system 11 drives the robot to move longitudinally along the working face roadway 75. During the moving process, the stress advance relief modules 2 and the rock-breaking modules continue operations, and the rock debris broken into pieces is transported out of the working face roadway 75 by the muck transport device.

S5, after the working face roadway 75 is fully tunneled transversely by one working position, the robot advances transversely by one working position, and the working face support mechanism 74 also advances transversely by one working position.

A transversely direction refers to a direction perpendicular to the extension direction of the working face roadway 75. In some embodiments, after the walking system 11 drives the robot to advance transversely by one working position, at this time, an empty zone is left behind the working face support mechanism 74, and the disposal manner of the empty zone is selected based on-site working conditions, which includes no filling, waste stone filling, paste filling, cement mortar filling, etc.

S6, the rock mass 73 is tunneled again, and the operations S3 to S5 are repeated until the entire tunneling operation is completed.

The modularly assembled full-automatic tunneling and rock-breaking robot and the working method using the modularly assembled full-automatic tunneling and rock-breaking robot provided by the embodiments of the present disclosure include, but are not limited to, the following beneficial effects:

(1) Good applicability. The robot can be applied to different heights of tunneling working conditions by utilizing the main body height adjustment system of the robot main body module. The robot can be applied to different lithological conditions by installing different counts of the stress advance relief modules and different counts of the rock-breaking modules.

(2) High rock-breaking capacity. The stress advance relief modules break the complete rock mass into isolated rock masses, and the rock-breaking modules utilize the property that rock mass is resistant to compression but not to tension to break up the rock through splitting, which enables the robot to have an extremely high rock-breaking capacity.

(3) High rock-breaking efficiency. A plurality of stress advance relief modules and rock-breaking modules can be installed to exponentially increase the rock-breaking efficiency.

(4) Full-automatic and unmanned operation is realized. The steps of robot operations are simple and repetitive, and the operation program can be preset to realize the full-automatic and unmanned operation.

(5) High security. The stress advance relief modules can release the stress concentration in advance, eliminating hazards such as rock explosion, working face deformation, etc. At the same time, fully automatic and unmanned operation improves tunneling safety in some embodiments.

The basic concepts have been described above, and it is apparent to those skilled in the art that the foregoing detailed disclosure serves only as an example and does not constitute a limitation of this disclosure. While not expressly stated herein, a person skilled in the art may make various modifications, improvements, and amendments to this disclosure. Those types of modifications, improvements, and amendments are suggested in this disclosure, so those types of modifications, improvements, and amendments remain within the spirit and scope of the exemplary embodiments of this disclosure.