CN113931634A - Comprehensive tunneling robot system for roadway - Google Patents

Abstract

The invention discloses a comprehensive tunnel tunneling robot system, which comprises a front air duct arranged on a tunneling robot, a bifurcated air duct arranged on an anchoring and protecting robot and a rear air duct arranged on a belt conveyor, wherein the rear air duct is provided with a plurality of air ducts; the front air duct comprises a first front air duct and a second front air duct, the bifurcated air duct is provided with a first air dividing duct, a second air dividing duct and a third air dividing duct which are mutually communicated, the rear end of a first flexible pipe section is connected with the first air dividing duct, the front end of the first flexible pipe section is connected with the first front air duct and is suspended by a first suspension assembly with adjustable length, the rear end of a second flexible pipe section is connected with the second air dividing duct, the front end of the second flexible pipe section is connected with the second front air duct and is suspended by a second suspension assembly with adjustable length, and the rear end of the third flexible pipe section is connected with the rear air duct. The comprehensive tunnel tunneling robot system has the advantages of safe and reliable connection of the air cylinders, good working environment guarantee, convenience in anchor rod support and the like.

Description

Comprehensive tunneling robot system for roadway

Technical Field

The invention relates to the technical field of roadway excavation and support, in particular to a comprehensive roadway excavation system.

Background

In order to ensure that the tunneling working face has a good working environment, an exhaust cylinder is arranged in the comprehensive tunneling system of the tunnel and extends into the position of the tunneling machine. In the related art, the operation of bolting the roof or the side wall of the tunnel is affected by fixing the exhaust tube on the top of the tunnel. However, when the air exhaust barrel is arranged on the comprehensive tunneling system of the roadway, because the tunneling machine and the straddle type anchor rod drill carriage in the comprehensive tunneling system of the roadway do not move synchronously, one part of the air exhaust barrel is connected with the tunneling machine, and the other part of the air exhaust barrel is connected with the anchor rod drill carriage, the technical problem that the air exhaust barrel cannot stretch and retract along with the forward and backward movement of the anchor rod drill carriage exists.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the embodiment of the invention provides a comprehensive tunneling robot system for a roadway, which comprises a tunneling robot, a belt conveyor, an anchoring and protecting robot and an air duct; the belt conveyor is connected to the rear part of the tunneling robot; the anchoring and protecting robot straddles above the belt conveyor; the air duct comprises a front air duct, a bifurcated air duct, a rear air duct, a first flexible pipe section, a second flexible pipe section and a third flexible pipe section; the front air duct is arranged on the tunneling robot and comprises a first front air duct and a second front air duct, the bifurcated air duct is arranged on the anchoring robot and comprises a first bifurcated air duct, a second bifurcated air duct and a third bifurcated air duct which are communicated with each other, the rear air duct is arranged on the belt conveyor, the rear end of the first flexible pipe section is connected with the first bifurcated air duct, the front end of the first flexible pipe section is connected with the first front air duct, a first suspension component with adjustable length and used for suspending the first flexible pipe section is arranged between the anchoring robot and the tunneling robot, the rear end of the second flexible pipe section is connected with the second bifurcated air duct, the front end of the second flexible pipe section is connected with the second front air duct, and a second suspension component with adjustable length and used for suspending the second flexible pipe section is arranged between the anchoring robot and the tunneling robot, the rear end of the third flexible pipe section is connected with the rear air duct, the front end of the third flexible pipe section is connected with the third air duct, and a third suspension assembly with adjustable length for suspending the third flexible pipe section is arranged between the anchoring and protecting robot and the belt conveyor.

The comprehensive tunnel tunneling robot system has the advantages of being convenient and reliable in air duct connection, reducing workload of dragging the air duct, reducing damage to the air duct, ensuring good working environment when tunneling a working face, facilitating anchor rod supporting and the like.

In some embodiments, the first suspension assembly includes a first winch, a first support frame, a first rope, and a plurality of first suspensions, one end of the first rope is connected to the first winch, the other end of the first rope is connected to the first support frame, the first winch is connected to one of the anchoring robot and the tunneling robot, the first support frame is connected to the other of the anchoring robot and the tunneling robot, upper ends of the plurality of first suspensions are connected to the first rope at intervals, and lower ends of the plurality of first suspensions are connected to the first flexible pipe section at intervals;

the second suspension assembly comprises a second winch, a second support frame, a second pull rope and a plurality of second suspension pieces, one end of the second pull rope is connected with the second winch, the other end of the second pull rope is connected with the second support frame, the second winch is connected to one of the anchoring robot and the tunneling robot, the second support frame is connected to the other of the anchoring robot and the tunneling robot, the upper ends of the second suspension pieces are connected to the second pull rope at intervals, and the lower ends of the second suspension pieces are connected to the second flexible pipe section at intervals;

the third suspension assembly comprises a third winch, a third support frame, a third pull rope and a plurality of third suspension pieces, one end of the third pull rope is connected with the third winch, the other end of the third pull rope is connected with the third support frame, the third winch is connected to one of the anchoring robot and the belt conveyor, the third support frame is connected to the other of the anchoring robot and the belt conveyor, the upper ends of the third suspension pieces are connected to the third pull rope at intervals, and the lower ends of the third suspension pieces are connected to the third flexible pipe section at intervals.

In some embodiments, the first suspension member is slidably connected to the first pull cord; the second suspension member is slidably connected to the second pull rope; the third suspension member is slidably connected to the third cord.

In some embodiments, each of the first, second, and third winches are connected to the anchor robot.

In some embodiments, each of the first, second, and third flexible tube segments is a flexible bellows segment.

In some embodiments, the belt conveyor is a mining mobile flexible belt conveyor, and the rear part of the mining mobile flexible belt conveyor is overlapped on the upper part of the roadway conveyor.

In some embodiments, the comprehensive tunneling robot system for roadways according to the embodiments of the present invention further includes a plurality of gantry roof support devices, the tunneling robot is located inside the gantry roof support devices, and the tunneling robot is provided with a carrying device for carrying the gantry roof support devices to an empty roof area for supporting.

In some embodiments, the anchor robot further comprises a frame and a boom mechanism;

the drill boom mechanism comprises a front drill boom mechanism and a rear drill boom mechanism, the rear drill boom mechanism comprises a first rear drill boom and a second rear drill boom, the first rear drill boom is arranged at the left rear part of the rack, the second rear drill boom is arranged at the right rear part of the rack, and the front drill boom mechanism comprises a fixed seat, a first edge drill boom, a second edge drill boom and a middle drill boom;

preceding drill boom mechanism is connected the front portion of frame, first limit drill boom is connected on first movable slide rail, first movable slide rail along left right direction sliding connection be in on the first slide rail of fixing base, first limit drill boom is located the left side of fixing base, second limit drill boom is connected on second movable slide rail, second movable slide rail along left right direction sliding connection be in on the second slide rail of fixing base, second limit drill boom is located the right side of fixing base, middle drill boom along left right direction sliding connection be in on the third slide rail of fixing base.

In some embodiments, the anchoring robot further comprises a first pushing frame, a first front and back pushing cylinder, a second pushing frame and a second front and back pushing cylinder;

the first front and rear pushing oil cylinder is arranged on the rack and connected with the first pushing frame so as to drive the first pushing frame to move back and forth; the second rear drilling arm is connected to the second pushing frame, the second pushing frame is connected to the rack in a sliding mode in the front-back direction, the second front-back pushing oil cylinder is arranged on the rack, and the second front-back pushing oil cylinder is connected with the second pushing frame so as to drive the second pushing frame to move back and forth.

In some embodiments, a first left-right pushing cylinder is arranged on the fixed seat, and the first left-right pushing cylinder is connected with the first movable slide rail so as to drive the first movable slide rail to move on the first slide rail;

a second left-right pushing oil cylinder is arranged on the fixed seat and connected with the second movable slide rail so as to drive the second movable slide rail to move on the second slide rail;

the fixed seat is provided with a rack, the rack extends along the left-right direction, the middle drill boom is provided with a motor, the motor is in transmission connection with a gear, and the gear is meshed with the rack so as to drive the middle drill boom to move on the third slide rail.

Drawings

Fig. 1 is one of schematic front views of a tunneling robot system according to an embodiment of the present invention.

Fig. 2 is an enlarged, fragmentary schematic view of a first flexible tube segment (a second flexible tube segment) connected to a first suspension assembly (a second suspension assembly) in accordance with an embodiment of the invention.

FIG. 3 is an enlarged, fragmentary schematic view of a third flexible tube segment connected to a third suspension assembly in accordance with an embodiment of the invention.

Fig. 4 is a schematic view of the anchoring and guarding robot cooperating with the belt conveyor according to the embodiment of the invention.

Fig. 5 is a schematic plan view of the tunnel integrated tunneling robot system according to the embodiment of the present invention.

Fig. 6 is a second schematic front view of the tunneling robot system according to the embodiment of the present invention.

Fig. 7 is a schematic view of the portal roof bracing apparatus according to the embodiment of the invention, when it is spread out in a roadway.

Fig. 8 is a schematic view of an anchor and maintenance robot according to an embodiment of the present invention.

Fig. 9 is one of the schematic views of a front boom mechanism according to an embodiment of the present invention.

FIG. 10 is a schematic view of each of the first rear drill boom, the second rear drill boom, the first edge drill boom, and the second edge drill boom according to an embodiment of the present invention.

Fig. 11 is a second schematic view of a front boom mechanism according to an embodiment of the present invention.

Fig. 12 is a schematic view of the retracted state of the first and second thrust frames of the anchor robot according to the embodiment of the present invention.

Fig. 13 is a schematic view of the extended state of the first and second thrust frames of the anchor robot according to the embodiment of the present invention.

Reference numerals: 1000. a roadway comprehensive tunneling robot system; 100. anchoring and protecting the robot; 1. a frame; 11. an operation table; 12. a ceiling; 21. a rear drill boom mechanism; 211. a first rear drill boom; 212. a second rear drill boom; 22. a front drill boom mechanism; 221. a fixed seat; 2213. a first slide rail; 2215. a third slide rail; 2216. grooving; 2217. a rack; 222. a first lateral drill boom; 223. a second edge drill boom; 201. fixing a bracket; 202. a sliding support; 203. lifting the oil cylinder; 204. rotating the oil cylinder; 205. a first swing bracket; 206. an edge drill stand; 207. a first swing cylinder; 224. a middle drill boom; 2241. a second swing bracket; 2242. a middle drill frame; 2243. a second swing cylinder; 2244. a gear; 2245. a motor; 226. a first movable slide rail; 227. a first left and right pushing cylinder; 228. a second movable slide rail; 229. a second left and right pushing cylinder; 3. a connecting frame; 4. a first pushing frame; 5. a second pushing frame; 6. a bifurcated duct; 61. a first air dividing barrel; 62. a second air dividing barrel; 63. a third air distributing cylinder; 7. a traveling section; 71. a first travel mechanism; 72. a second traveling mechanism; 8. an electronic control system; 9. a hydraulic system; 200. a tunnel conveyor; 300. a belt conveyor; 301. a rear air duct; 400. a tunneling robot; 401. a front air duct; 4011. a first front air duct; 4012. a second front air duct; 402. a carrying device; 501. a first flexible tube segment; 502. a second flexible tube segment; 503. a third flexible tube segment; 601. a first suspension assembly; 6011. a first winch; 6012. a first pull cord; 6013. a first suspension member; 602. a second suspension assembly; 6021. a second winch; 6022. a second pull cord; 6023. a second suspension; 603. a third suspension assembly; 6031. a third winch; 6032. a third pull cord; 6033. a third suspension; 6034. a third support frame; 700. a door frame type roof support device; 2000. and (5) laneways.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A tunnel integrated tunneling robot system 1000 according to an embodiment of the present invention will be described with reference to fig. 1 to 13. The comprehensive tunneling robot system 1000 for a roadway according to the embodiment of the present invention includes a tunneling robot 400, a belt conveyor 300, an anchor and guard robot 100, and an air duct. The belt conveyor 300 is connected to the rear of the tunneling robot 400. The anchor robot 100 straddles above the belt conveyor 300.

The duct comprises a front duct 401, a bifurcated duct 6, a rear duct 301, a first flexible duct section 501, a second flexible duct section 502 and a third flexible duct section 503. The front air duct 401 is provided on the tunneling robot 400. The front air duct 401 includes a first front air duct 4011 and a second front air duct 4012. The bifurcated air duct 6 is arranged on the anchoring and protecting robot 100. The bifurcated duct 6 has a first diverging duct 61, a second diverging duct 62 and a third diverging duct 63 which communicate with each other. The rear air duct 301 is arranged on the belt conveyor 300.

The rear end of the first flexible pipe section 501 is connected with the first air splitter duct 61. The front end of the first flexible tube section 501 is connected to a first front air duct 4011. A first suspension assembly 601 of adjustable length suspending a first flexible pipe segment 501 is provided between the anchoring robot 100 and the tunneling robot 400. The rear end of the second flexible tube section 502 is connected to the second air splitter duct 62. The forward end of the second flexible tube section 502 is connected to a second forward air duct 4012. A second suspension assembly 602 for suspending the second flexible pipe segment 502 with an adjustable length is provided between the anchor robot 100 and the tunneling robot 400. The rear end of third flexible duct section 503 is connected to rear air duct 301. The front end of the third flexible pipe section 503 is connected with the third air splitter 63. A third suspension assembly 603 for suspending a third flexible tube segment 503 with an adjustable length is provided between the anchor robot 100 and the belt conveyor 300.

In the related art, the operation of bolting the roof or the side wall of the tunnel is affected by fixing the exhaust tube on the top of the tunnel. However, when the air exhaust duct is arranged on the comprehensive tunneling robot system for the roadway, because the tunneling robot and the straddle type anchoring and protecting robot in the comprehensive tunneling robot system for the roadway do not move synchronously, one part of the air exhaust duct is connected with the tunneling robot, and the other part of the air exhaust duct is connected with the anchoring and protecting robot, the technical problem that the air exhaust duct cannot stretch and retract along with the forward and backward movement of the anchoring and protecting robot exists.

When the comprehensive tunneling robot system 1000 according to the embodiment of the present invention is operated, when the anchor and guard robot 100 moves forward relative to the tunneling robot 400, the distance between the anchor and guard robot 100 and the tunneling robot 400 is shortened, and the distance between the anchor and guard robot 100 and the rear end of the belt conveyor 300 is lengthened. Due to the arrangement of the first flexible pipe section 501, the second flexible pipe section 502 and the third flexible pipe section 503, the wind cylinder can stretch and contract along with the forward movement of the anchoring and protection robot. Also at this point by shortening first suspension assembly 601, first flexible pipe segment 501 can be shortened without sagging. By shortening the second suspension assembly 602, the second flexible tube segment 502 can be shortened without sagging. By lengthening third suspension assembly 603, the third flexible tube segment can be lengthened without being pulled apart by third suspension assembly 603.

Similarly, when the anchor and protection robot 100 moves backward relative to the tunneling robot 400, the distance between the anchor and protection robot 100 and the tunneling robot 400 becomes longer, and the distance between the anchor and protection robot 100 and the rear end of the belt conveyor 300 becomes shorter. Due to the arrangement of the first flexible pipe section 501, the second flexible pipe section 502 and the third flexible pipe section 503, the wind cylinder can stretch and retract along with the backward movement of the anchoring and protection robot. Also at this point by lengthening first suspension assembly 601, first flexible pipe segment 501 can be lengthened without being pulled apart by first suspension assembly 601. By extending the second suspension assembly 602, the second flexible tube segment 502 can be extended without being pulled apart by the second suspension assembly 602. By shortening the third suspension assembly 603, the third flexible pipe section can be shortened without sagging.

Therefore, according to the robot system 1000 for comprehensive tunneling in roadway of the embodiment of the present invention, by providing the first flexible pipe segment 501, the first suspension assembly 601 suspending the first flexible pipe segment 501, the second flexible pipe segment 502, the second suspension assembly 602 suspending the second flexible pipe segment 502, the third flexible pipe segment 503, and the third suspension assembly 603 suspending the third flexible pipe segment 503, it is possible to not only make the air duct synchronously extend and retract with the forward and backward movement of the anchor robot 100, but also make the air duct not sag or break due to the forward and backward extension, so that the air duct can be conveniently and reliably installed on the robot system 1000 for comprehensive tunneling in roadway. The wind cylinders are arranged on the tunneling robot 400, the belt conveyor 300 and the anchoring and protecting robot 100, so that anchoring and protecting operations can be conveniently carried out on the tunnel, and the workload and the damage to the wind cylinders when the wind cylinders are dragged manually are reduced. Therefore, the comprehensive tunneling robot system 1000 for the roadway according to the embodiment of the invention not only can ensure that the tunneling working face has a good working environment, but also is convenient for the comprehensive tunneling robot system 1000 for bolting.

Therefore, the comprehensive tunnel excavation robot system 1000 according to the embodiment of the invention has the advantages of convenient and reliable air duct connection, reduction of workload of dragging the air duct, reduction of damage to the air duct, guarantee of good working environment when in excavation working, convenience in anchor rod support and the like.

The tunnel integrated tunneling robot system 1000 according to the embodiment of the present invention will be described in detail with reference to fig. 1 to 13.

The comprehensive tunneling robot system 1000 for a roadway according to the embodiment of the present invention includes a tunneling robot 400, a belt conveyor 300, an anchor and guard robot 100, and an air duct. The belt conveyor 300 is connected to the rear of the tunneling robot 400. The anchor robot 100 straddles above the belt conveyor 300. Here, the left-right direction is indicated by an arrow a in fig. 8, 9, and 11, the up-down direction is indicated by an arrow B in fig. 8, 9, and 11, and the front-back direction is indicated by an arrow C in fig. 1, 6, 7, 8, 9, and 11.

The duct comprises a front duct 401, a bifurcated duct 6, a rear duct 301, a first flexible duct section 501, a second flexible duct section 502 and a third flexible duct section 503. The front air duct 401 is provided on the tunneling robot 400. The front air duct 401 includes a first front air duct 4011 and a second front air duct 4012. The bifurcated air duct 6 is arranged on the anchoring and protecting robot 100. The bifurcated duct 6 has a first diverging duct 61, a second diverging duct 62 and a third diverging duct 63 which communicate with each other. The rear air duct 301 is arranged on the belt conveyor 300.

The rear end of the first flexible pipe section 501 is connected with the first air splitter duct 61. The front end of the first flexible tube section 501 is connected to a first front air duct 4011. A first suspension assembly 601 of adjustable length suspending a first flexible pipe segment 501 is provided between the anchoring robot 100 and the tunneling robot 400. The rear end of the second flexible tube section 502 is connected to the second air splitter duct 62. The forward end of the second flexible tube section 502 is connected to a second forward air duct 4012. A second suspension assembly 602 for suspending the second flexible pipe segment 502 with an adjustable length is provided between the anchor robot 100 and the tunneling robot 400. The rear end of third flexible duct section 503 is connected to rear air duct 301. The front end of the third flexible pipe section 503 is connected with the third air splitter 63. A third suspension assembly 603 for suspending a third flexible tube segment 503 with an adjustable length is provided between the anchor robot 100 and the belt conveyor 300.

As shown in fig. 1 to 3, the first suspension assembly 601 includes a first winching car 6011, a first support frame (not shown in the drawings), a first pulling rope 6012, and a plurality of first suspension members 6013. One end of the first rope 6012 is connected to a first winch 6011. The other end of the first pulling rope 6012 is connected to the first support frame. The first winch 6011 is connected to one of the anchor robot 100 and the tunneling robot 400. The first support bracket is attached to the other of the anchor robot 100 and the tunneling robot 400. Upper ends of the plurality of first suspension members 6013 are connected to the first pulling rope 6012 at intervals, and lower ends of the plurality of first suspension members 6013 are connected to the first flexible tube segment 501 at intervals.

The second suspension assembly 602 includes a second winch 6021, a second support bracket (not shown), a second pull cord 6022, and a plurality of second suspensions 6023. One end of the second pull rope 6022 is connected to the second winch 6021. The other end of the second pull rope 6022 is connected to the second support bracket. The second winch is connected to one of the anchor robot 100 and the tunneling robot 400, and the second support frame is connected to the other of the anchor robot 100 and the tunneling robot 400. The upper ends of the second suspender members 6023 are connected to the second pull cord 6022 at intervals, and the lower ends of the second suspender members 6023 are connected to the second flexible tube section 502 at intervals.

The third suspension assembly 603 includes a third winch 6031, a third support bracket 6034, a third pull rope 6032, and a plurality of third suspensions 6033. One end of a third rope 6032 is connected to a third winch 6031. The other end of the third pull rope 6032 is connected to a third support 6034. A third winch 6031 is connected to one of the anchor robot 100 and the belt conveyor 300, and a third support 6034 is connected to the other of the anchor robot 100 and the belt conveyor 300. The upper ends of the third plurality of hangers 6033 are coupled to the third pull lines 6032 at intervals, and the lower ends of the third plurality of hangers 6033 are coupled to the third flexible tube segment 503 at intervals.

Thus, the first rope 6012 can be conveniently controlled to extend and contract by controlling the steering of the first winch 6011 through the operating handle, the second rope 6022 can be conveniently controlled to extend and contract by controlling the steering of the second winch 6021 through the operating handle, and the third rope 6032 can be conveniently controlled to extend and contract by controlling the steering of the third winch 6031 through the operating handle, so that the tension of each of the first suspension assembly 601, the second suspension assembly 602, and the third suspension assembly 603 can be conveniently adjusted.

Since the length of each of the first pull rope 6012, the second pull rope 6022, and the third pull rope 6032 cannot be automatically extended and contracted, the length adjustment of the first pull rope 6012 between the first winch 6011 and the first support frame depends on the first winch 6011, the length adjustment of the second pull rope 6022 between the second winch 6021 and the second support frame depends on the second winch 6021, and the length adjustment of the third pull rope 6032 between the third winch 6031 and the third support frame depends on the third winch 6031. While each of first flexible tube segment 501, second flexible tube segment 502, and third flexible tube segment 503 is capable of telescoping itself.

The first suspension member 6013 is slidably attached to the first rope 6012 to prevent the first suspension member 6013 from obstructing the first rope 6012 from being stretched. The second suspender 6023 is slidably coupled to the second pull cord 6022 to prevent the second suspender 6023 from obstructing the extension and contraction of the second pull cord 6022. The third pendant 6033 is slidably coupled to the third pull cord 6032 to prevent the third pendant 6033 from obstructing the extension and retraction of the third pull cord 6032. Thereby, the expansion and contraction of each of the first pulling rope 6012, the second pulling rope 6022, and the third pulling rope 6032 can be more conveniently achieved, and each of the first flexible tube segment 501, the second flexible tube segment 502, and the third flexible tube segment 503 can be more freely expanded and contracted.

Alternatively, the upper end of the first suspension member 6013 connected to the first rope 6012 is provided as a bail, and the upper end of the second suspension member 6023 connected to the second rope 6022 is provided as a bail. The upper end of the third suspending piece 6033 connected to the third pull rope 6032 is provided as a hanging ring. The bail facilitates sliding on each of the first draw line 6012, the second draw line 6022, and the third draw line 6032.

As shown in fig. 1 to 3, each of a first winch 6011, a second winch 6021, and a third winch 6031 is connected to the anchor robot 100. Since the anchor protection robot 100 needs to move back and forth in the process of bolting or anchoring an anchor rope, the extension and compression of each of the first flexible pipe section 501, the second flexible pipe section 502 and the third flexible pipe section 503 are caused by the movement of the anchor protection robot 100 relative to the tunneling robot 400 and the belt conveyor 300, each of the first winch 6011, the second winch 6021 and the third winch 6031 is arranged on the anchor protection robot 100, the handles for controlling the first winch 6011, the second winch 6021 and the third winch 6031 are also arranged on the anchor protection robot 100, and the first winch 6011, the second winch 6021 and the third winch 6031 can be controlled in a linkage manner while the back and forth movement of the anchor protection robot 100 is controlled, so that the first winch 6011, the second winch 6021 and the third winch 6031 are controlled more conveniently.

As shown in fig. 1-3, optionally, each of first flexible tube segment 501, second flexible tube segment 502, and third flexible tube segment 503 is a flexible bellows segment. The flexible corrugated pipe section has large extension and compression amplitude, and is not easy to damage after extension and compression.

As shown in fig. 1, 4 and 6, the belt conveyor 300 is a mining mobile flexible belt conveyor. The rear part of the mining movable flexible belt conveyor is lapped on the upper part of the roadway conveyor 200. The mining mobile flexible belt conveyor is a floor-type belt conveyor 300 with wheels at the bottom, so even if the mining mobile flexible belt conveyor has an overlapping section part on the roadway conveyor 200, the middle part of the mining mobile flexible belt conveyor cannot be suspended and arched. Therefore, the height of the mining movable flexible rubber belt conveyor is low, the anchoring and protecting robot 100 can conveniently straddle above the mining movable flexible rubber belt conveyor, and a too high travelling channel does not need to be formed at the bottom of the anchoring and protecting robot 100. In addition, the rear part of the mining movable flexible rubber belt conveyor is lapped on the upper part of the tunnel conveyor 200, so that an overlapping section exists between the mining movable flexible rubber belt conveyor and the tunnel conveyor 200, the mining movable flexible rubber belt conveyor can be connected with the tunneling robot 400 through a chain, the overlapping section between the mining movable flexible rubber belt conveyor and the tunnel conveyor 200 is gradually shortened in the process that the mining movable flexible rubber belt conveyor moves forwards along with the tunneling robot 400, and the tunnel conveyor 200 does not need to be lengthened in the process. When no overlapped section exists between the mining movable flexible rubber belt conveyor and the tunnel conveyor 200, the tunnel conveyor 200 is extended, so that the frequency of extending the tunnel conveyor 200 can be reduced in the forward tunneling process of the tunneling robot 400, and the tunneling efficiency is improved.

As shown in fig. 6 and 7, the integrated tunneling robot system 1000 according to the embodiment of the present invention further includes a plurality of gate-type roof supporting apparatuses 700. The tunneling robot 400 is located inside the gantry type roof support device 700. The tunneling robot 400 is provided with a conveyance device 402 for conveying the gantry roof support device 700 to an empty roof area for support.

The gate-frame-type roof support device 700 is located above the tunneling robot 400 so as to support the roof of the empty roof region, forming a temporary support region for safe operation of the tunneling robot 400. While the tunneling robot 400 tunnels, the anchor handling robot 100 anchors the rear of the tunneling robot 400. By arranging the carrying device 402 on the tunneling robot 400, the portal roof support device 700 positioned at the rearmost end among the plurality of portal roof support devices 700 can be sequentially recovered and conveyed to the foremost empty roof area for secondary support, so that the phenomenon that the roof is broken due to repeated support of the roof at the same position can be avoided, and the safety and the efficiency of tunneling the roadway 2000 are ensured.

The anchor protection robot 100 can enter the portal roof support devices 700 to anchor the bolts, the bolts are anchored between the last two portal roof support devices 700, the carrying device 402 on the tunneling robot 400 recovers the last portal roof support device 700 and conveys the last portal roof support device 700 to the foremost end for supporting, so that large empty roof cannot occur at any time at the rearmost end of the portal roof support devices 700, and the tunneling safety of the roadway 2000 can be guaranteed even if the roof is broken.

In some embodiments, the tunneling robot system 1000 according to an embodiment of the present invention further includes a dust removal fan disposed on a moving device on the tunnel conveyor 200, and the moving device is movable together with the belt conveyor 300.

As shown in fig. 8-11, the anchor robot 100 further includes a frame 1 and a boom mechanism. The boom mechanism comprises a front boom mechanism 22 and a rear boom mechanism 21. The rear boom mechanism 21 comprises a first rear boom 211 and a second rear boom 212. The first rear boom 211 is arranged at the rear left of the frame 1. A second rear boom 212 is arranged at the rear right of the frame 1.

The front boom mechanism 22 includes a holder 221, a first edge boom 222, a second edge boom 223, and an intermediate boom 224. A front boom mechanism 22 is attached to the front part of the frame 1. The first lateral drill boom 222 is connected to a first movable slide 226. The first movable slide rail 226 is slidably connected to the first slide rail 2213 of the fixing base 221 along the left-right direction. The first lateral drilling arm 222 is located at the left side of the fixing base 221. The second edge drill arm 223 is connected to a second movable slide 228. The second movable slide rail 228 is slidably connected to the second slide rail of the fixed base 221 along the left-right direction. The second edge drill arm 223 is located at the right side of the fixing seat 221. The middle drill boom 224 is slidably connected to the third slide rail 2215 of the fixing base 221 in the left-right direction.

In the related art, the movement range of each boom in the front boom mechanism of the anchor robot is limited. When the anchor protection robot is matched with the portal roof support device to support the roof of the roadway, because the tunneling robot is positioned at the inner side of the portal roof support device, the left-right swinging range of the tunneling robot and the anchor protection robot positioned at the rear part of the tunneling robot is small, and all drill booms of the front drill boom mechanism cannot freely move along the left-right direction of the anchor protection robot, so that the support range of the front drill boom mechanism is limited, and the roadway adaptability and the support efficiency of the anchor protection robot are seriously reduced.

The anchor robot 100 is provided with the third slide rail 2215 in the front boom mechanism 22 and the middle boom 224 is directly connected to the third slide rail 2215 in the left-right direction in a sliding manner, so that the middle boom 224 can conveniently slide freely in the left-right direction of the anchor robot 100, the front boom mechanism 22 can support in the center of the roadway 2000 and in a certain range on two sides of the center of the roadway, and the roadway adaptability and the supporting efficiency of the anchor robot 100 can be improved to a great extent.

In addition, the middle drill boom 224 moves in the left-right direction on the third slide rail 2215 on the fixing base 221. The first side drill boom 222 can move in the left-right direction with the first movable slide rail 226 at the left end outside of the fixed base 221. The second side drill arm 223 is movable in the left and right direction along with the second movable slide rail 228 at the outside of the right end of the fixed base 221. The middle boom 224, the first edge boom 222 and the second edge boom 223 move without interfering with each other. This enables the front boom mechanism 22 to have a wider bolting/bolting range in the left-right direction, and thus the roadway adaptability and the bolting efficiency of the anchor robot 100 can be further improved.

It will be appreciated that the upper part of the frame 1 is also provided with a ceiling 12 and a console 11, the console 11 being located below the ceiling 12. The anchoring robot 100 further comprises an electric control system 8 and a hydraulic system 9 arranged on the frame 1.

As shown in fig. 12 and 13, preferably, the anchor robot 100 further includes a connecting frame 3. The front boom mechanism 22 is attached to the attachment frame 3. A plurality of groups of connecting hole sites (not shown in the figure) connected with the frame 1 are arranged on the connecting frame 3 at intervals along the up-down direction. The connecting frame 3 is connected to the front part of the frame 1 through fasteners and one of the connecting hole positions. Therefore, the upper position and the lower position of the connecting frame 3 on the frame 1 can be changed by changing the connecting hole position connected with the frame 1 on the connecting frame 3, so that the upper position and the lower position of the front drill boom mechanism 22 on the connecting frame 3 can be changed to adapt to the tunnels 2000 with different heights, and the tunnel adaptability of the anchoring and protecting robot 100 can be further improved.

As shown in fig. 8, the first air separation duct 61 is disposed at the left front portion of the anchoring and protecting robot 100, the second air separation duct 62 is disposed at the right front portion of the anchoring and protecting robot 100, the third air separation duct 63 is disposed at the middle rear portion of the anchoring and protecting robot 100, and the front end of the third air separation duct 63 communicates with the rear end of each of the first air separation duct 61 and the second air separation duct 62. The first air distributing cylinder 61 and the second air distributing cylinder 62 are respectively positioned at the left side part and the right side part of the rack 1, so that the interference with the connecting frame 3 connected to the middle part of the rack 1 can be avoided, and the anchoring and protecting robot 100 can be more compact and reasonable in structure. In addition, the first air distributing cylinders 61 and the second air distributing cylinders 62 which are positioned at the left side and the right side of the frame 1 are convenient to be in butt joint with the two air distributing cylinders at the two sides of the tunneling robot body, and the two air distributing cylinders are positioned at the two sides, so that the effect of discharging the tunneling robot to a conveyor receiving hopper which penetrates below the anchor protection robot 100 can be avoided.

In the related art, the rear drill boom of the rear drill boom mechanism of the anchor and support robot cannot move back and forth, and the roadway adaptability and the support efficiency of the anchor and support robot are reduced to a certain extent.

As shown in fig. 8, the anchoring robot 100 further includes a first pushing frame 4, a first front and rear pushing cylinder, a second pushing frame 5, and a second front and rear pushing cylinder. The first rear boom 211 is connected to the first transfer frame 4, and the first transfer frame 4 is slidably connected to the frame 1 in the front-rear direction. The first front and rear pushing oil cylinder is connected to the frame 1 and connected to the first pushing frame 4 so as to drive the first pushing frame 4 to move back and forth on the frame 1. The second rear boom 212 is connected to the second transfer frame 5. The second pushing frame 5 is connected to the frame 1 in a sliding manner in the front-rear direction. The second front and rear pushing oil cylinder is connected to the frame 1 and connected with the second pushing frame 5 so as to drive the second pushing frame 5 to move back and forth on the frame 1.

Because each of the first pushing frame 4 and the second pushing frame 5 can slide back and forth on the frame 1, each of the first rear drill boom 211 and the second rear drill boom 212 can move back and forth on the frame 1, so that the front and rear positions of the rear drill boom mechanism 21 in a roadway can be conveniently adjusted, holes can be conveniently drilled by the rear drill boom mechanism 21 when bolts are drilled by the rear drill boom mechanism 21 (for example, a side wall bolt can be conveniently drilled on the same cross section of a top anchor rod which has been drilled by a tunneling robot, and the side wall bolt and the top anchor rod can be conveniently drilled by the holes), and simultaneously the rear drill boom mechanism 21 can drill bolts within a certain distance relative to the front drill boom mechanism 22 so as to adapt to different supporting distances, so that the roadway adaptability of the anchoring robot 100 can be further improved. For example, the rear drill boom mechanism 21 is moved to make the distance between the rear drill boom mechanism 21 and the front drill boom mechanism 22 be an integral multiple of the row spacing of the roadway anchor rods, or the rear drill boom mechanism 21 is moved to make the distance between the rear drill boom mechanism 21 and the front drill boom mechanism 22 be an integral multiple of the row spacing of the roadway anchor rods plus a half of the row spacing of the anchor rods (because the anchor cables are usually arranged between two rows of anchor rods), so that the anchor protection robot 100 can simultaneously perform anchor rod and anchor cable support operation on the top and the side of the roadway when stopping at one position, thereby reducing the moving times of the whole vehicle and further improving the support efficiency.

As shown in fig. 9, the fixed base 221 is provided with a first left and right push cylinder 227. The first left and right pushing cylinders 227 are connected to the first movable rail 226 to drive the first movable rail 226 to move on the first rail 2213. The fixing base 221 is provided with a second left and right pushing cylinder 229. The second left and right pushing cylinders 229 are connected to the second movable rail 228 to drive the second movable rail 228 to move on the second movable rail. The fixed seat 221 is provided with a rack 2217, and the rack 2217 extends in the left-right direction. A motor 2245 is provided on the middle boom 224. Motor 2245 is drivingly connected to toothed wheel 2244. The toothed wheel 2244 engages with the toothed rack 2217 to drive the intermediate drilling boom 224 to move on the third slide rail 2215. Accordingly, the first movable slide rail 226 can be moved by controlling the first left and right thrust cylinder 227, the second movable slide rail 228 can be moved by controlling the second left and right thrust cylinder 229, and the middle boom 224 can be moved by controlling the motor 2245, so that the support position of each of the middle boom 224, the first side boom 222, and the second side boom 223 can be easily and individually adjusted, and the roadway adaptability and the support efficiency of the anchor robot 100 can be further improved.

In addition, the gear 2244 can freely move in the full length range of the rack 2217, so that the middle drill boom 224 can freely move in the full length range of the third slide rail 2215, and the anchoring robot 100 can be reliably guaranteed to be supported in the middle position of the roadway, and the roadway adaptability and the supporting efficiency are improved.

As shown in fig. 9 and 11, the first slide rail 2213 is disposed at an upper portion of the fixing base 221. The second slide rail is disposed at the lower portion of the fixing base 221. The middle of the fixing base 221 is provided with a slot 2216 extending in the left-right direction. The third slide rail 2215 is disposed within the slot 2216.

Thus, the third slide rail 2215 can be provided in the left-right direction over nearly the entire length of the fixing base 221. The extension range of the first left and right pushing cylinder 227 and the first slide rail 2213 can be set in the left-right direction in the range of approximately the entire length of the fixed base 221. The extension range of the second left and right push cylinder 229 and the second slide rail can be set in the left and right direction in the range of approximately the entire length of the fixing base 221. The third slide rail 2215, the first left-right pushing cylinder 227, the first slide rail 2213, the second left-right pushing cylinder 229 and the second slide rail do not interfere with each other in the left-right direction of the fixing seat 221, so that the left-right direction space of the fixing seat 221 can be fully utilized, the left-right movement range of the first side drill boom 222, the middle drill boom 224 and the second side drill boom 223 is wider, and the roadway adaptability and the supporting efficiency of the anchor robot 100 can be further improved.

In addition, the third slide rail 2215 is arranged in the slot 2216 in the middle of the fixing seat 221, so that a part of the middle drill boom 224 can be conveniently inserted into the slot 2216 to be matched with the third slide rail 2215, and the matching strength of the middle drill boom 224 and the third slide rail 2215 can be improved.

As shown in fig. 11, the number of the middle drill boom 224 may be plural according to the roadway support needs. For example, the number of middle booms 224 is two. Each of the middle drill booms 224 has the motor 2245 and the gear 2244 engaged therewith so that each of the middle drill booms 224 can be driven individually, thereby making any one of the plurality of middle drill booms 224 movable left and right without being affected by each other, thereby further improving roadway adaptability and supporting efficiency of the anchor and protection robot 100.

As shown in fig. 9-11, each of the first rear boom 211, the second rear boom 212, the first edge boom 222, and the second edge boom 223 includes a fixed bracket 201, a sliding bracket 202, a lift cylinder 203, a rotation cylinder 204, a first swing bracket 205, an edge boom 206, and a first swing cylinder 207.

The fixed bracket 201 of the first rear boom 211 is connected to the left rear portion of the frame 1 through the first push frame 4. The fixed bracket 201 of the second rear boom 212 is connected to the right rear portion of the frame 1 by the second transfer frame 5. The fixed bracket 201 of the first lateral drilling arm 222 is connected to a first movable slide 226. The fixed bracket 201 of the second edge drill arm 223 is connected to the second movable slide 228.

The sliding bracket 202 is slidably coupled to the first fixing bracket 201. One of the body and the piston rod of the lift cylinder 203 is connected to the first fixing bracket 201. The other of the body and the piston rod of the lift cylinder 203 is connected to the sliding bracket 202 so as to push the sliding bracket 202 to move up and down on the first fixing bracket 201. The body of the swivel cylinder 204 is attached to the sliding bracket 202. The swivel bracket 205 is connected to a drive shaft of the swivel cylinder 204 so that the swivel cylinder 204 can drive the swivel bracket 205 to rotate. The axis of the drive shaft extends in the front-rear direction. The edge drilling rig 206 is hingedly connected to the swivel bracket 205. One of the body and the piston rod of the first swing cylinder 207 is hingedly connected to the edge drilling rig 206, and the other of the body and the piston rod of the first swing cylinder 207 is hingedly connected to the swivel bracket 205 so as to drive the edge drilling rig 206 to swing. The swing axis of the edge drilling rig 206 is perpendicular to the axis of the drive shaft of the swivel cylinder 204.

Thereby, the edge drilling jig 206 of each of the first and second rear drill booms 211 and 212 may move forward and backward, the edge drilling jig 206 of the first edge drilling boom 222 may move left and right on the left side of the fixing base 221, and the edge drilling jig 206 of the second edge drilling boom 223 may move left and right on the right side of the fixing base 221. The edge boom 206 of each of the first rear boom 211, the second rear boom 212, the first edge boom 222, and the second edge boom 223 may also be lifted up and down, may also be rotated about the axis of the driving shaft extending in the front-rear direction, and may also be swung back and forth by a certain angle, thereby enabling the anchor robot 100 to have higher roadway adaptability.

As shown in fig. 9 and 11, the middle drill boom 224 includes a second fixing bracket 2241, a middle drill frame 2242, and a second swing cylinder 2243. The second fixed support 2241 is slidably connected to the third slide rail 2215. The middle drill frame 2242 is hinged with the second fixing support 2241. One of the body and the piston rod of the second swing cylinder 2243 is hinge-connected with the middle drill frame 2242, and the other of the body and the piston rod of the second swing cylinder 2243 is hinge-connected with the second fixing support 2241 so as to drive the middle drill frame 2242 to swing. The swing axis of the middle boom 2242 extends in the left-right direction.

Therefore, the middle drill frame 2242 of the middle drill boom 224 can move in the left-right direction and can swing back and forth by a certain angle, so that the anchoring and protecting robot 100 has higher roadway adaptability.

As shown in fig. 8, a traveling unit 7 is connected to a lower portion of the frame 1. The traveling unit 7 includes a first traveling mechanism 71 and a second traveling mechanism 72. The first traveling mechanism 71, the second traveling mechanism 72 and the frame 1 form a traveling passage through which the belt conveyor 300 passes. Therefore, the anchoring and protection robot 100 can conveniently straddle the belt conveyor 300, and parallel operation of tunneling, supporting and transporting can be conveniently realized in a roadway.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. The utility model provides a tunnelling robot system is synthesized which characterized in that includes:

a tunneling robot;

the belt conveyor is connected to the rear part of the tunneling robot;

an anchoring and protecting robot straddling over the belt conveyor; and

an air duct, the air duct comprising:

a front air duct arranged on the tunneling robot, the front air duct comprising a first front air duct and a second front air duct,

the bifurcated air duct is arranged on the anchoring and protecting robot and is provided with a first bifurcated air duct, a second bifurcated air duct and a third bifurcated air duct which are communicated with each other,

a rear air duct arranged on the belt conveyor,

the rear end of the first flexible pipe section is connected with the first air distributing cylinder, the front end of the first flexible pipe section is connected with the first front air cylinder, a first suspension component with adjustable length for suspending the first flexible pipe section is arranged between the anchoring robot and the tunneling robot,

the rear end of the second flexible pipe section is connected with the second air distributing cylinder, the front end of the second flexible pipe section is connected with the second front air cylinder, a second suspension component with adjustable length and used for suspending the second flexible pipe section is arranged between the anchoring robot and the tunneling robot, and

the rear end of the third flexible pipe section is connected with the rear air duct, the front end of the third flexible pipe section is connected with the third air duct, and a third suspension assembly with adjustable length for suspending the third flexible pipe section is arranged between the anchoring and protecting robot and the belt conveyor.

2. The tunneling comprehensive robot system according to claim 1, wherein the first suspension assembly includes a first winch, a first support frame, a first rope, and a plurality of first suspensions, one end of the first rope is connected to the first winch, the other end of the first rope is connected to the first support frame, the first winch is connected to one of the anchoring robot and the tunneling robot, the first support frame is connected to the other of the anchoring robot and the tunneling robot, upper ends of the plurality of first suspensions are connected to the first rope at intervals, and lower ends of the plurality of first suspensions are connected to the first flexible pipe section at intervals;

the second suspension assembly comprises a second winch, a second support frame, a second pull rope and a plurality of second suspension pieces, one end of the second pull rope is connected with the second winch, the other end of the second pull rope is connected with the second support frame, the second winch is connected to one of the anchoring robot and the tunneling robot, the second support frame is connected to the other of the anchoring robot and the tunneling robot, the upper ends of the second suspension pieces are connected to the second pull rope at intervals, and the lower ends of the second suspension pieces are connected to the second flexible pipe section at intervals;

the third suspension assembly comprises a third winch, a third support frame, a third pull rope and a plurality of third suspension pieces, one end of the third pull rope is connected with the third winch, the other end of the third pull rope is connected with the third support frame, the third winch is connected to one of the anchoring robot and the belt conveyor, the third support frame is connected to the other of the anchoring robot and the belt conveyor, the upper ends of the third suspension pieces are connected to the third pull rope at intervals, and the lower ends of the third suspension pieces are connected to the third flexible pipe section at intervals.

3. The tunneling robot system according to claim 2, wherein the first suspender is slidably attached to the first rope; the second suspension member is slidably connected to the second pull rope; the third suspension member is slidably connected to the third cord.

4. The tunneling robot system according to claim 2, wherein each of the first winch, the second winch, and the third winch is connected to the anchor robot.

5. The tunneling robot system according to claim 1, wherein each of the first, second and third flexible pipe sections is a flexible bellows section.

6. The comprehensive tunneling robot system according to claim 1, wherein the belt conveyor is a mining mobile flexible belt conveyor, and the rear portion of the mining mobile flexible belt conveyor is overlapped on the upper portion of the tunnel conveyor.

7. The comprehensive tunneling robot system according to claim 1, further comprising a plurality of gantry roof support devices, wherein the tunneling robot is located inside the gantry roof support devices, and a carrying device for carrying the gantry roof support devices to an empty area for supporting is provided on the tunneling robot.

8. The tunneling robot system according to claim 1, wherein the anchor robot further comprises:

a frame; and

the drill boom mechanism, the drill boom mechanism includes preceding drill boom mechanism and back drill boom mechanism, back drill boom mechanism includes drill boom and second back drill boom behind first back drill boom setting is in the left rear portion of frame, the drill boom setting is in the right rear portion of frame behind the second, preceding drill boom mechanism includes:

a fixed seat, the front drill arm mechanism is connected with the front part of the frame,

the first edge drill boom is connected to a first movable slide rail which is connected to the first slide rail of the fixed seat in a left-right direction in a sliding manner, the first edge drill boom is positioned on the left side of the fixed seat,

a second edge drill boom connected to a second movable slide rail, the second movable slide rail being slidably connected to the second slide rail of the holder in a left-right direction, the second edge drill boom being located on the right side of the holder, an

And the middle drill arm is connected to the third sliding rail of the fixed seat in a sliding manner along the left-right direction.

9. The tunneling robot system according to claim 8, wherein the anchor robot further comprises:

the first drill boom is connected to the first pushing frame, the first pushing frame is connected to the rack in a sliding mode along the front-back direction, the first front-back pushing oil cylinder is arranged on the rack, and the first front-back pushing oil cylinder is connected with the first pushing frame so as to drive the first pushing frame to move back and forth; and

the second front and rear pushing oil cylinder is arranged on the rack and connected with the second pushing frame so as to drive the second pushing frame to move back and forth.

10. The comprehensive tunneling robot system for roadways according to claim 8, wherein a first left-right pushing cylinder is arranged on the fixed seat and connected with the first movable slide rail so as to drive the first movable slide rail to move on the first slide rail;

a second left-right pushing oil cylinder is arranged on the fixed seat and connected with the second movable slide rail so as to drive the second movable slide rail to move on the second slide rail;

the fixed seat is provided with a rack, the rack extends along the left-right direction, the middle drill boom is provided with a motor, the motor is in transmission connection with a gear, and the gear is meshed with the rack so as to drive the middle drill boom to move on the third slide rail.

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