CN117569401A - Walking type multifunctional underground excavation integrated machine - Google Patents

Abstract

The invention relates to a walking type multifunctional underground excavation integrated machine which comprises a chassis module, wherein a rotary frame module is arranged on the chassis module, a loading module, a power pack module, a drilling arm module and an excavating machine arm module are arranged at the top of the rotary frame module, the power pack module is arranged at one side of the loading module, the drilling arm module and the excavating machine arm module are arranged at the other side of the loading module, a pushing beam module is arranged on the drilling arm module, a tip module is arranged at one end of the pushing beam module, a drill bin module is arranged on the pushing beam module, the excavating machine arm module is positioned at the right side of the drilling arm module, and the pushing beam module swings to the top of the power pack module through driving of the drilling arm module. The integrated boom module and dig the horn module, dig the horn module and be flexible excavator arm, dig cushion cap, flat spot, clear roadblock, supplementary walking, supplementary climbing when can be used to the construction of construction operation, dig engineering materials such as the reinforcing bar cage that can be used to hoist and mount after the horn extension, supplementary boom module's construction.

Description

Walking type multifunctional underground excavation integrated machine

Technical Field

The invention relates to a walking type multifunctional subsurface excavation integrated machine, and relates to the technical field of drilling machine equipment.

Background

In the construction process of the power transmission tower footing in the mountain area, the manual investment is large, construction machinery is single in use and high-efficiency specialized construction equipment is lacked, the mechanical equipment on the market at present mainly comprises large equipment such as rotary drilling rigs, anchor rod drilling rigs and electric construction drilling rigs, the construction requirements of the foundation of the hard rock geological power transmission line in the mountain area are difficult to adapt, the hole depth and the hole diameter of the foundation of the hard rock geological foundation in the mountain area are large, the ground is rugged, the topography is steeper, the construction danger is high, the construction by adopting conventional mechanical facilities is difficult, the simultaneous operation cannot be carried out, the logistics support of matched facilities is difficult, and the conventional wheel type or crawler type drilling rigs are difficult to construct under the conditions.

Disclosure of Invention

In view of the defects of the prior art, the technical problem to be solved by the invention is to provide a walking type multifunctional integrated submersible excavator, wherein a drill boom module and a digging machine boom module are integrated, the digging machine boom module is a telescopic digging machine boom, and can be used for digging a bearing platform, a flat field, clearing roadblocks, assisting walking and assisting climbing in construction operation, and the digging machine boom can be used for hoisting engineering materials such as reinforcement cages and the like after being stretched to assist in construction of the drill boom module.

In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a multi-functional underground excavation all-in-one of walking, includes the chassis module, be provided with rotatory frame module on the chassis module, rotatory frame module top is provided with loading module, power pack module, boom module and digs the horn module, the power pack module sets up loading module one side, boom module and dig the horn module and set up loading module opposite side, be provided with the propulsion roof beam module on the boom module, the one end of propulsion roof beam module is provided with top module, be provided with the borer storehouse module on the propulsion roof beam module, dig the horn module and be located boom module right side, the propulsion roof beam module warp the boom module drive pendulum changes to the power pack module top is placed.

Preferably, the chassis module comprises a first chassis, a plurality of adjusting cylinders, a plurality of adjusting wheels, a second chassis, a plurality of positioning cones, a plurality of auxiliary wheels and a plurality of supporting leg assemblies, wherein the adjusting cylinders are arranged on the side face of the first chassis, the adjusting wheels are arranged on the side face of the first chassis, the adjusting cylinders are in one-to-one correspondence with the positions of the adjusting wheels, the positioning cones are arranged on one end of the second chassis, which is close to the first chassis, the auxiliary wheels are arranged on the side face of one end of the second chassis, which is close to the first chassis, the first chassis and the second chassis are combined through the positioning cones, and the supporting leg assemblies are symmetrically arranged on the first chassis and the second chassis.

Preferably, the leg assembly comprises a support, a rear limb, a front limb, a tire, a front claw, a plurality of leg swinging oil cylinders and a plurality of leg swinging oil cylinders, wherein the support is respectively and movably connected to the first chassis and the second chassis, the support is movably connected with the rear limb, the rear limb is movably connected with the front limb, the outer side of the front limb is provided with the tire, the front claw is movably connected to the tail end of the front limb, the leg swinging oil cylinders are arranged on the outer sides of the inner sides of the first chassis and the second chassis and are connected with the support, and a plurality of leg swinging oil cylinders are connected between the support and the rear limb and used for the tire to move transversely and longitudinally according to the leg swinging oil cylinders and the leg swinging oil cylinders.

Preferably, the loading module comprises a frame group, an operation table, a hydraulic oil tank and an electrical cabinet, wherein the frame group is arranged on a rotating frame of the rotating frame module, the operation table is arranged at the top of the frame group, the hydraulic oil tank is arranged at the top of the frame group, the electrical cabinet is arranged at the position, corresponding to the operation table, of the top of the frame group, and the hydraulic oil tank is arranged between the operation table and the electrical cabinet.

Preferably, the power pack module comprises a power pack frame, an engine, a radiator, a power supply, a diesel tank, a hydraulic pump and post-treatment, wherein the power pack frame is arranged above a rotating frame of the rotating frame module, the engine is arranged in the middle of the inside of the power pack frame, the right side of the engine is provided with the radiator, the left side of the engine is provided with the hydraulic pump, the left side of the hydraulic pump is provided with the diesel tank, the front side of the top of the power pack frame is provided with the post-treatment, and exhaust gas of the engine is discharged after being purified through the post-treatment.

Preferably, the drill arm module comprises a large arm support group, a first large arm side plate, a pitching seat group, a plurality of first lifting arm oil cylinders, a first pitching oil cylinder, a middle bracket, a swinging angle oil cylinder and a compensation oil cylinder, wherein the large arm support group is arranged at one end of the top of the frame group, the large arm support group is movably connected with the first large arm side plate, the plurality of first lifting arm oil cylinders are arranged on the large arm support group and hinged with the first large arm side plate, one end of the first large arm side plate is rotatably provided with the pitching seat group, the pitching seat group is rotatably provided with the middle bracket, the swinging angle oil cylinder is arranged at one end of the middle bracket and connected with the pitching seat group, the first pitching oil cylinder is arranged at the other end of the first large arm side plate and connected with the pitching seat group, and the top of the middle bracket is provided with the compensation oil cylinder.

Preferably, the propelling beam module comprises a main beam, a first hydraulic winch assembly, a rotary head sliding frame and a hydraulic power rotary head, wherein the main beam is movably connected to the middle bracket and is connected with the compensation cylinder, a driving chain and the propelling cylinder are arranged in the main beam, one end of the main beam is provided with the first hydraulic winch assembly, the rotary head sliding frame is movably connected to the main beam and is connected with the driving chain in the main beam, the rotary head sliding frame can slide up and down on the main beam, and the hydraulic power rotary head is installed on the rotary head sliding frame.

Preferably, the tip module comprises a tip support, a dust catching cover support, a guide cover assembly, a sealing cover, a drill rod discharging caliper seat, a positioning block seat, a drill rod discharging oil cylinder, a caliper oil cylinder, a pressing plate, a clamping plate and a drill rod positioning sleeve, wherein the tip support is arranged on the main beam, the dust catching cover support is arranged on the tip support, the guide cover assembly is arranged on the dust catching cover support, the sealing cover is arranged on the guide cover assembly, the drill rod discharging caliper seat is arranged on the outer side of the tip support, the positioning block seat is arranged in the drill rod discharging caliper seat, the drill rod discharging oil cylinder is arranged inside the drill rod discharging caliper seat and is connected with the positioning block seat, one side of the top of the drill rod discharging caliper seat is provided with the caliper oil cylinder, the tail end of the caliper oil cylinder is movably connected with the clamping plate, the pressing plate is positioned on the two sides of the caliper oil cylinder, and the drill rod positioning sleeve is arranged on the drill rod discharging caliper seat and is positioned at the bottom of the clamping plate.

Preferably, the drill rod bin module comprises a plurality of bin seat brackets, a plurality of main bin seat plates, a drill rod bin storage connecting rod, a hook plate, a middle bin seat plate, a plurality of drill rod protection cylinders, a plurality of drill rod protection plates, a plurality of rotating seats, an upper connecting frame, a lower connecting frame, a mechanical gripper assembly and a swing cylinder, wherein the bin seat brackets are installed on the main beam at intervals, the bin seat brackets are connected with the main bin seat plates, the drill rod bin storage connecting rod is connected with the middle of the main bin seat plates in a rotating mode, the drill rod bin storage connecting rod is provided with the hook plates at intervals, the middle bin seat plates penetrate through the drill rod bin storage connecting rod and are arranged on the main beam, the middle bin seat plates are located between the main bin seat plates, the drill rod protection cylinders and the drill rod protection plates are respectively arranged outside the main bin seat plates, the drill rod protection plates are located on the left side of the drill rod protection cylinders and are movably connected with the drill rod protection cylinders, the rotating seats are connected with the main bin seat plates, the upper rotating seat plates are connected with the upper connecting frame and the lower connecting frame, and the lower connecting frame is connected with the mechanical gripper assembly.

Preferably, the excavator arm module comprises a horizontal rotary drive, a quick connector assembly, a second big arm side plate, an outer arm, a multifunctional connector, a bucket, a second pitching oil cylinder, a second lifting arm oil cylinder, a luffing oil cylinder and a lifting plate, wherein one end of the frame set is rotatably connected with the horizontal rotary drive, the quick connector assembly is arranged on the horizontal rotary drive, the second big arm side plate is arranged on the quick connector assembly, the second lifting arm oil cylinder is arranged on the quick connector assembly and connected with the second big arm side plate, the tail end of the second big arm side plate is connected with the outer arm, the tail end of the outer arm is connected with the multifunctional connector, the bucket is arranged on the multifunctional connector and connected with the second pitching oil cylinder arranged on the lower side of the outer arm so as to be driven, the luffing oil cylinder is connected between the second big arm side plate and the outer arm, and the lifting plate is arranged at the position corresponding to the second pitching oil cylinder on the outer side of the top of the outer arm.

Compared with the prior art, the invention has the following beneficial effects: the walking type multifunctional subsurface excavation integrated machine is integrated with a drill arm module and an excavator arm module, wherein the excavator arm module is a telescopic excavator arm, and can be used for excavating a bearing platform, leveling a field, clearing roadblocks, assisting walking and climbing slopes during construction operation, and the excavator arm can be used for hoisting engineering materials such as a reinforcement cage after being stretched to assist construction of the drill arm module.

The invention will be described in further detail with reference to the drawings and the detailed description.

Drawings

Fig. 1 is a schematic view of the construction of an embodiment of the present invention.

Fig. 2 is a schematic view of the construction of the chassis module.

Fig. 3 is a schematic view of the first chassis.

Fig. 4 is a schematic view of the construction of the second chassis.

Fig. 5 is a second schematic view of the first chassis.

Fig. 6 is a second schematic view of the construction of the second chassis.

Fig. 7 is a schematic view of the construction of the boarding module.

Fig. 8 is a schematic view of the construction of the power pack module.

Fig. 9 is a schematic diagram of the structure of the drill boom module, the push beam module, and the center module.

Fig. 10 is a schematic diagram of a drill boom module, a push beam module, and a center module.

Fig. 11 is a schematic view of a partial structure of the boom module, the thrust beam module, and the tip module.

FIG. 12 is a schematic view of a drill rod bin module structure.

Fig. 13 is a schematic view of a guide housing assembly.

FIG. 14 is a schematic view of a drill-off caliper base.

Fig. 15 is a schematic diagram of a card structure.

Fig. 16 is a schematic view showing a partial construction of the embodiment of the present invention.

Fig. 17 is a schematic view of the construction of the excavator arm module.

In the figure: 1. a chassis module; 11. a first chassis; 12. an adjusting oil cylinder; 13. an adjusting wheel; 14. a second chassis; 15. positioning cone; 16. an auxiliary wheel; 17. a leg assembly; 171. a bracket; 172. a hind limb; 173. a front limb; 174. a tire; 175. a front claw; 176. a leg swinging oil cylinder; 177. a landing leg oil cylinder; 2. a rotating frame module; 22. a rotating frame; 3. a boarding module; 31. a frame group; 32. an operation table; 33. a hydraulic oil tank; 34. an electrical cabinet; 301. a power pack module; 3011. a power pack frame; 3012. an engine; 3013. a heat sink; 3014. a power supply; 3015. a diesel tank; 3016. a hydraulic pump; 3017. post-treatment; 4. a drill boom module; 41. a large arm support group; 42. a first boom side panel; 43. a pitching seat group; 44. a first arm lifting cylinder; 45. a first pitch cylinder; 46. a middle bracket; 47. a swing angle oil cylinder; 48. a compensation oil cylinder; 5. a push beam module; 51. a main beam; 52. a first hydraulic winch assembly; 53. a turret sledge; 54. a hydraulic power rotary head; 6. a center module; 60. a center support; 61. a dust-catching cover bracket; 62. a guide housing assembly; 63. a cover; 64. a drill rod unloading caliper seat; 65. a positioning block seat; 66. a drill rod unloading oil cylinder; 67. a caliper cylinder; 68. a pressing plate; 69. a clamping plate; 610. a drill rod positioning sleeve; 7. a drill rod bin module; 71. a bin seat bracket; 72. a main bin seat plate; 73. chu Qiancang connecting rod; 74. a hook plate; 75. a middle bin seat plate; 76. a drill rod protecting oil cylinder; 77. a drill rod guard board; 78. a rotating seat; 79. an upper connecting frame; 710. a lower connecting frame; 711. a mechanical gripper assembly; 712. swinging the oil cylinder; 8. digging a manipulator module; 81. horizontal rotary driving; 82. a quick connector assembly; 83. a second boom side panel; 84. an outer arm; 85. a multi-functional connector; 86. a bucket; 87. a second pitch cylinder; 88. the second lifting arm oil cylinder; 89. a luffing cylinder; 810. a hanging plate; 9. a lifting oil cylinder; 901. a rotating shaft; 902. a drill rod inlet and outlet; 903. dust exhaust holes; 904. a wall blocking ring; 905. a push rod; 906. square notch; 907. front claw oil cylinder.

Detailed Description

The invention will be further described with reference to the accompanying drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

As shown in fig. 1 to 17, this embodiment provides a walking type multifunctional underground excavation integrated machine.

As shown in fig. 1, the walking type multifunctional underground excavation integrated machine comprises a chassis module 1, a rotary frame module 2 is arranged on the chassis module 1, a loading module 3, a power pack module 301, a drill arm module 4 and an excavating machine arm module 8 are arranged at the top of the rotary frame module 2, the power pack module 301 is arranged at the rear side of the loading module 3, the drill arm module 4 and the excavating machine arm module 8 are arranged at the front side of the loading module 3, a pushing beam module 5 is arranged on the drill arm module 4, a center module 6 is arranged at one end of the pushing beam module 5, a drill rod bin module 7 is arranged on the pushing beam module 5, the excavating machine arm module 8 is positioned at the right side of the drill arm module 4, and the pushing beam module 5 is driven to swing to the top of the power pack module 301 through the drill arm module 4 to be placed. The drill arm module 4 and the excavator arm module 8 which are arranged on the same side on the boarding module 3 are convenient for the quick switching module to use, and the equipment balance time for replacing the module at the steep topography is saved.

In the embodiment of the present invention, the chassis module 1 includes a first chassis 11, a plurality of adjusting cylinders 12, a plurality of adjusting wheels 13, a second chassis 14, a plurality of positioning cones 15, a plurality of auxiliary wheels 16, and a plurality of supporting leg assemblies 17, where the plurality of adjusting cylinders 12 are disposed on the side surface of the first chassis 11, the plurality of adjusting wheels 13 are disposed on the side surface of the first chassis 11, the plurality of adjusting cylinders 12 are connected with the plurality of adjusting wheels 13 in a one-to-one correspondence manner, the plurality of positioning cones 15 are installed at one end of the second chassis 14 near the first chassis 11, the plurality of auxiliary wheels 16 are installed at the side surface of the second chassis 14 near the first chassis 11, the plurality of supporting leg assemblies 17 are symmetrically disposed on the first chassis 11 and the second chassis 14.

As shown in fig. 2 to 6, specifically, the chassis module 1 includes a first chassis 11, front and rear sides of a left portion and a right portion of the first chassis 11 are respectively connected with an adjusting cylinder 12 and an adjusting wheel 13, a front end of a cylinder body of the adjusting cylinder 12 is hinged on the first chassis 11, the adjusting wheel 13 is mounted on an adjusting wheel frame, a rear end of the adjusting wheel frame is hinged on the first chassis 11, a rear end of a piston rod of the adjusting cylinder 12 is hinged with a front end of the adjusting wheel frame, and the front end of the adjusting wheel frame is used for controlling up-down swing of the adjusting wheel frame in a telescopic manner. The adjusting cylinder 12 is connected with the boarding module 3 through a hydraulic pipe. After the conical socket on the rear end surface of the first chassis 11 and the positioning cone 15 on the front end surface of the second chassis 14 are mutually inserted and positioned, the first chassis and the second chassis are fixed by bolts, the left side and the right side of the second chassis 14 are respectively provided with a detachable auxiliary wheel 16, the two corners on the front side of the first chassis 11 and the two corners on the rear side of the second chassis 14 are respectively provided with a supporting leg component 17, and when the first chassis 11 and the second chassis 14 are spliced, the auxiliary wheels 16 are reversely arranged to contact the ground, so that the movement of the second chassis 14 is facilitated; the adjusting wheel 13 swings downwards under the action of the adjusting oil cylinder 12 until contacting the ground, so that the first chassis 11 is convenient to move; in the moving process of the first chassis and the second chassis, the supporting leg assembly 17 is connected with the boarding module 3 through a hydraulic pipe to provide power, so that the second chassis 14 is driven to move forwards and the first chassis 11 is driven to move backwards to splice the two.

In the embodiment of the present invention, the leg assembly 17 includes a bracket 171, a rear limb 172, a front limb 173, a tire 174, a front claw 175, a plurality of leg swinging cylinders 176 and a plurality of leg swinging cylinders 177, wherein the bracket 171 is movably connected to the first chassis 11 and the second chassis 14, the rear limb 172 is movably connected to the bracket 171, the front limb 173 is movably connected to the rear limb 172, the tire 174 is disposed at the outer side of the front limb 173, the front claw 175 is movably connected to the end of the front limb 173, the plurality of leg swinging cylinders 176 are disposed at the inner outer side of the first chassis 11 and the second chassis 14 and are connected to the bracket 171, and the plurality of leg swinging cylinders 177 are connected between the bracket 171 and the rear limb 172, so that the tire 174 moves laterally and longitudinally according to the movement of the leg swinging cylinders 176 and the leg swinging cylinders 177.

As shown in fig. 2 to 6, specifically, the leg assembly 17 includes a bracket 171, four brackets 171 are respectively connected to two corners of the front side of the first chassis 11 and two corners of the rear side of the second chassis 14 through vertical shafts, a rear limb 172 is rotatably connected to the bracket 171 through horizontal shafts, a front limb 173 is rotatably connected to the tail end of the rear limb 172 through horizontal shafts, a tire 174 is rotatably mounted on the outer side of the tail end of the front limb 173, a front claw 175 is rotatably connected to the tail end of the front limb 173 through horizontal shafts, a front claw cylinder 907 is movably connected between the front claw 175 and the front limb 173, the front claw cylinder body is hinged to the front limb 173, and the piston rod is hinged to the front claw 175. A leg swinging oil cylinder 176 is arranged in the first chassis 11 and between the second chassis 14 and the bracket 171 respectively, the posture of the leg swinging oil cylinder 176 is horizontal, the cylinder body is hinged to the chassis, the piston rod is hinged to the bracket 171, a leg supporting oil cylinder 177 is movably connected between the top of the bracket 171 and the tail end of the top of the rear limb 172, one end of the leg supporting oil cylinder 177 is hinged to the top of the bracket 171, the other end of the leg supporting oil cylinder 177 is hinged to the tail end of the top of the rear limb 172, when rugged topography is encountered, the leg swinging oil cylinder 176 can be started to drive the rear limb 172 to move outwards so as to drive tires 174 on the front limb 173 connected with the rear limb 172 to move outwards, abnormal topography is avoided, or the leg supporting oil cylinder 177 is started so as to drive front claws 175 on the front limb 173 connected with the rear limb 172 to support, and therefore rugged topography construction is realized.

In the embodiment of the present invention, the structure of the rotating frame module 2 is the same as that of the rotating frame of the excavator, and will not be described in detail herein.

In the embodiment of the present invention, the boarding module 3 includes a frame group 31, an operation table 32, a hydraulic oil tank 33 and an electrical cabinet 34, the frame group 31 is disposed on the rotating frame 22 of the rotating frame module 2, the operation table 32 is disposed at the top of the frame group 31, the hydraulic oil tank 33 is disposed at the top of the frame group 31, the electrical cabinet 34 is disposed at a position corresponding to the operation table 32 at the top of the frame group 31, and the hydraulic oil tank 33 is located between the operation table 32 and the electrical cabinet 34.

As shown in fig. 7, specifically, the boarding module 3 includes a frame group 31, the frame group 31 is installed at the top of the rotating frame 22, an operation table 32 is installed at the left side in the middle of the top of the frame group 31, a hydraulic oil tank 33 is installed on the right side of the operation table 32 at the top of the frame group 31, an electric cabinet 34 is installed on the right side of the hydraulic oil tank 33 at the top of the frame group 31, a wireless controller component is arranged in the electric cabinet 34, when the boarding module 3 is installed, the boarding module can operate and control a machine through the operation table 32, control data are collected through the electric cabinet 34 and fed back to a display of the operation table 32, and when the boarding module cannot be constructed on site, a real-time short-distance remote control scheme (20M) and a real-time system long-distance remote control scheme (3 km) can be realized through a controller.

In the embodiment of the present invention, the power pack module 301 includes a power pack frame 3011, an engine 3012, a radiator 3013, a power supply 3014, a diesel tank 3015, a hydraulic pump 3016, and a post-treatment 3017, the power pack frame 3011 is disposed above a rotating frame 22 of the rotating frame module 2, the engine 3012 is disposed in the middle of the interior of the power pack frame 3011, the radiator 3013 is disposed on the right side of the engine 3012 in the interior of the power pack frame 3011, the hydraulic pump 3016 is disposed on the left side of the engine 3012 in the interior of the power pack frame 3011, the diesel tank 3015 is disposed on the left side of the hydraulic pump 3016 in the interior of the power pack frame 3011, the post-treatment 3017 is disposed on the front side of the top of the power pack frame 3012, and exhaust gas from the engine 3012 is purified by the post-treatment 3017 and then discharged.

As shown in fig. 8, specifically, a power pack module 301 is installed on the rear side of the top of the frame group 31, the power pack module 301 includes a power pack frame 3011, the power pack frame 3011 is installed on the rear side of a hydraulic oil tank 33 on the top of the frame group 31, an engine 3012 is installed in the middle of the inside of the power pack frame 3011, a radiator 3013 is installed on the right side of the engine 3012 inside of the power pack frame 3011, a hydraulic pump 3016 is installed on the left side of the engine 3012 inside of the power pack frame 3011, the hydraulic pump 3016 is connected with the hydraulic oil tank 33 through a pipeline, a diesel oil tank 3015 is installed on the left side of the hydraulic pump 3016 inside of the power pack frame 3011, the diesel oil tank 3015 is connected with the engine 3012 through a pipeline, a power supply 3014 is installed on the right side of the diesel oil tank 3015 inside of the power pack frame 3011, the diesel oil flowing into the engine 3012 after the engine 3012 is started up is combusted to provide power, the hydraulic pump 3016 provides power to convey oil in the hydraulic oil tank 33 through a pipeline into each of the cylinders, the diesel oil tank 3012 is emitted to the outside through the radiator after the engine 3012 is combusted, and the heat is discharged to the outside after the exhaust is purified through the radiator is partially combusted.

In the embodiment of the present invention, the boom module 4 includes a boom support seat group 41, a first boom side plate 42, a pitch seat group 43, a plurality of first boom cylinders 44, a first pitch cylinder 45, a middle bracket 46, a tilt cylinder 47 and a compensation cylinder 48, where the boom support seat group 41 is disposed at one end of the top of the frame group 31, the boom support seat group 41 is movably connected with the first boom side plate 42, the plurality of first boom cylinders 44 are disposed on the boom support seat group 41 and hinged with the first boom side plate 42, one end of the first boom side plate 42 is rotatably disposed with the pitch seat group 43, the pitch seat group 43 is rotatably disposed with the middle bracket 46, the tilt cylinder 47 is disposed at one end of the middle bracket 46 and connected with the pitch seat group 43, the first boom cylinder 45 is disposed at the other end of the first boom side plate 42 and connected with the pitch seat group 43, and the top of the middle bracket 46 is disposed with the compensation cylinder 48.

As shown in fig. 9 to 10, specifically, a drill arm module 4 is mounted at the left end of the front side of the top of the frame set 31, the drill arm module 4 includes a big arm support set 41, the big arm support set 41 is fixedly connected to the left end of the top of the frame set 31, the top of the big arm support set 41 is hinged with a first big arm side plate 42 through a horizontal shaft, the lower end of the front side of the first big arm side plate 42 is hinged with a pitching seat set 43 through the horizontal shaft, a first lifting arm oil cylinder 44 is connected between the big arm support set 41 and the first big arm side plate 42, the cylinder body of the first lifting arm oil cylinder 44 is hinged with the big arm support set 41, and the piston rod is hinged with the first big arm side plate 42; a first pitching oil cylinder 45 is connected between the first large arm side plate 42 and the pitching seat group 43, the cylinder body of the first pitching oil cylinder 45 is hinged with the first large arm side plate 42, and the piston rod is hinged with the pitching seat group 43; the front side of the pitching seat group 43 is rotatably connected with a middle bracket 46, a swinging angle oil cylinder 47 is connected between the bottom side of the middle bracket 46 and the bottom of the pitching seat group 43, the cylinder body of the swinging angle oil cylinder 47 is hinged with the pitching seat group 43, a piston rod is hinged with the middle bracket 46 to drive the middle bracket 46 to swing left and right, and a compensation oil cylinder 48 is arranged at the top of the middle bracket 46. When the device is required to be used, the first boom cylinder 44 is hydraulically driven to vertically adjust the first boom side plate 42 to a specified position, then the first pitching cylinder 45 is started to vertically adjust the pitching seat group 43 to the specified position, and after the pitching seat group 43 is adjusted to the specified position, the swinging angle cylinder 47 is started to horizontally adjust the middle bracket 46 to the specified position.

In the embodiment of the present invention, the propelling beam module 5 includes a main beam 51, a first hydraulic winch assembly 52, a turret sliding frame 53 and a hydraulic power turret 54, where the main beam 51 is movably connected to the middle bracket 46 and connected to the compensation cylinder 48, a driving chain and a propelling cylinder are disposed inside the main beam 51, one end of the main beam 51 is provided with the first hydraulic winch assembly 52, the turret sliding frame 53 is movably connected to the main beam 51 and connected to the driving chain inside the main beam 51, the turret sliding frame 53 can slide up and down on the main beam 51, and the hydraulic power turret 54 is mounted on the turret sliding frame 53.

As shown in fig. 9 to 10, specifically, the propelling beam module 5 includes a main beam 51, the main beam 51 is slidably mounted on a slider fixedly connected to the middle bracket 46, the upper portion of the rear side of the main beam 51 is hinged to the cylinder body of the compensation cylinder 48, the piston rod of the compensation cylinder 48 is hinged to the middle bracket 46, a first hydraulic winch assembly 52 is mounted at the top of the main beam 51, a rotary head sliding frame 53 is slidably mounted on the main beam 51, a hydraulic power rotary head 54 is mounted on the rotary head sliding frame 53, a drill rod is connected to the bottom of the hydraulic power rotary head 54 in a threaded manner, a drill bit is connected to the bottom of the drill rod in a threaded manner, the drill bit can be replaced according to the use requirement, when the drill rod is required to be pushed downwards, after the main beam 51 is adjusted to a proper position through the compensation cylinder 48, a driving chain inside the main beam 51 is pushed downwards by the driving cylinder, the rotary head sliding frame 53 is driven downwards, the hydraulic power rotary head 54 is driven downwards to move, the drill rod is pushed downwards, and the drill rod is driven downwards, and the drill rod is pushed downwards, and the drill rod is driven to be pushed downwards, by the drill rod.

In the embodiment of the invention, the tip module 6 comprises a tip support 60, a dust catching cover support 61, a guide cover assembly 62, a sealing cover 63, a drill-unloading caliper seat 64, a positioning block seat 65, a drill-unloading oil cylinder 66, a caliper oil cylinder 67, a pressing plate 68, a clamping plate 69 and a drill rod positioning sleeve 610, wherein the tip support 60 is arranged on the main beam 51, the dust catching cover support 61 is arranged on the tip support 60, the guide cover assembly 62 is arranged on the dust catching cover support 61, the sealing cover 63 is arranged on the guide cover assembly 62, the drill-unloading caliper seat 64 is arranged on the outer side of the tip support 60, the positioning block seat 65 is arranged in the drill-unloading caliper seat 64, the drill-unloading oil cylinder 66 is arranged in the drill-unloading caliper seat 64 and is connected with the positioning block seat 65, one side of the top of the drill-unloading caliper seat 64 is provided with the caliper oil cylinder 67, the tail end of the clamping plate 69 is movably connected with the clamping plate 69, the pressing plate 68 is positioned on two sides of the top of the drill-unloading caliper seat 64, the positioning sleeve 610 is arranged on the bottom of the drill-unloading caliper seat 64, and the positioning sleeve is positioned on the bottom of the drill-unloading chuck seat 64.

As shown in fig. 11, 13, 14 and 15, specifically, the bottom of the main beam 51 is provided with a tip module 6, the tip module 6 comprises a tip support 60 and a dust-collecting cover bracket 61, the dust-collecting cover bracket 61 is slidably installed on the tip support 60 to perform lifting adjustment, a power source for lifting adjustment adopts a lifting cylinder 9, a cylinder body of the lifting cylinder is hinged with the tip support 60 upwards, a piston rod is hinged with the dust-collecting cover bracket 61 downwards, a guide cover assembly 62 is installed at the bottom of the dust-collecting cover bracket 61 and corresponds to the hydraulic power rotary head 54, the guide cover assembly 62 is a cover body with an upper narrow opening and a lower wide opening, the upper narrow opening is used for a drill rod to pass through, a plurality of dust discharge holes 903 are formed in the circumference of the upper circumference of the guide cover assembly 62, and a wall blocking ring 904 is arranged at the circumference of the plurality of dust discharge holes and used for guiding upward dust to be discharged through the dust discharge holes and then blocked from falling through the wall blocking ring. The dust catching cover support 61 bottom and the corresponding position of the upper narrow mouth of the guide cover assembly 62 are equipped with the closing cap 63, unload the borer calliper seat 64 and install in top of the top support 60, unload the inside two opposite positions symmetry of borer calliper seat 64 and install locating piece seat 65, unload the inside locating piece seat 65 of borer calliper seat 64 and all drive radial translation through unloading borer hydro-cylinder 66, unload borer calliper seat 64 top and install calliper hydro-cylinder 67, unload borer calliper seat 64 top calliper hydro-cylinder 67 both sides and install clamp plate 68, clamp plate 69 is articulated at the end of the piston rod of calliper hydro-cylinder 67, unload and install drilling rod locating sleeve 610 in the middle of the top of borer calliper seat 64, drilling rod locating sleeve 610 can be in unloading the centre rotation in the top of borer calliper seat 64 top, the cylinder body of calliper hydro-cylinder 67 articulates in the top of drilling rod locating sleeve 610 place, clamp plate 69 is guided through the gap between clamp plate 68 and the top of drilling rod locating sleeve 610 place, square notch 906 has been seted up on clamp plate 69, the whole is through unloading the horizontal pendulum rotation of articulated push rod 905 on calliper seat 64, the push rod is hydro-cylinder and the cylinder articulates and unloads borer calliper seat 64, the piston rod is articulated. When the tip module 6 is required to be used, the dust catching cover bracket 61 is arranged on the tip support 60, the guide cover assembly 62 is adjusted and then the sealing cover 63 is fixed, and the guide cover assembly 62 on the dust catching cover bracket 61 is pushed downwards by the lifting oil cylinder to contact with the ground so as to prevent dust from impacting upwards; when the drill rod is required to be unloaded, the drill rod unloading cylinder 66 starts to push the positioning block seat 65 to fix the bottom drill rod, then the caliper cylinder 67 starts to push the clamping plate 69 to clamp the square notch of the clamping plate with the peripheral plane clamping groove on the top drill rod, the push rod in the drill rod unloading caliper seat 64 pushes the clamping plate 69 to rotate anticlockwise to unscrew the threaded part between the upper drill rod and the lower drill rod, finally the hydraulic power rotary head 54 is started to rotate to completely unscrew the threaded part between the upper drill rod and the lower drill rod, the drill rods are fixed through the drill rod bin module 7, and each drill rod is stored in the drill rod bin module 7 after being detached.

In the embodiment of the invention, the drill rod bin module 7 comprises a plurality of bin seat brackets 71, a plurality of main bin seat plates 72, a drill rod bin storage connecting rod 73, a hook plate 74, a middle bin seat plate 75, a plurality of drill rod guard plates 76, a plurality of rotating seats 78, an upper connecting frame 79, a lower connecting frame 710, a mechanical gripper assembly 711 and a swinging cylinder 712, wherein the bin seat brackets 71 are installed on the main beam 51 at intervals, the main bin seat plates 72 are connected to the bin seat brackets 71 at intervals, the middle of the main bin seat plates 72 is rotatably connected with the drill rod bin storage connecting rod 73, the drill rod bin storage connecting rod 73 is provided with the hook plate 74 at intervals, the middle bin seat plate 75 penetrates through the drill rod bin storage connecting rod 73 and is arranged on the main beam 51, the middle bin seat plate 75 is positioned between the two main bin seat plates 72, the drill rod guard plates 76 and the swinging cylinder guard plates 77 are respectively arranged outside the main bin seat plates 72 and the middle bin seat plate 75, the drill rod guard plates 77 are positioned on the left side and are connected with the lower rotating frame 78, and the upper rotating frame 78 is connected to the upper rotating frame 72, and the lower rotating frame 78 is connected to the upper rotating frame 72 at intervals, and the lower rotating frame 76 is connected to the upper rotating frame 72.

As shown in fig. 12, specifically, a drill rod bin module 7 is installed beside the main beam 51, the drill rod bin module 7 comprises two bin seat brackets 71, the two bin seat brackets 71 are respectively and fixedly connected to the upper part and the lower part of the main beam 51, a main bin seat plate 72 is fixedly connected to the bin seat plate 71, a drill rod storage bin connecting rod 73 is rotatably connected to the middle of the main bin seat plate 72, two circular hook plates 74 are fixedly connected to the drill rod storage bin connecting rod 73 at coaxial intervals, and a plurality of hook rod notches are uniformly distributed on the circumference of the hook plates 74 for hooking drill rods; the main bin seat plates 72 are all disc-shaped, the disc openings of the upper main bin seat plates 72 face downwards, the disc openings of the lower main bin seat plates 72 face upwards, and drill rods which are circumferentially distributed and located in hook rod notches are contained between the upper main bin seat plates and the lower main bin seat plates. An annular middle bin seat plate 75 is fixedly connected to the middle upper position of the Chu Qiancang connecting rod 73 corresponding to the main beam 51, a plurality of drill rods pass through the inside of the middle bin seat plate 7, drill rod inlets and outlets are formed in the periphery of the main bin seat plate 72 and the middle bin seat plate 75, a drill rod protection cylinder 76 and an arc drill rod guard plate 77 are arranged at the lower side of the outer wall of the main bin seat plate 72 and the lower side of the outer wall of the middle bin seat plate 75, the tail end of a piston rod of the drill rod protection cylinder 76 is hinged with the drill rod guard plate 77, the cylinder body of the drill rod protection cylinder 76 is hinged on the seat plate, and the drill rod guard plate 77 can block the drill rod inlets and the drill rod inlets or open the drill rod inlets and the drill rod inlets under the telescopic pushing and pulling of the drill rod protection cylinder 76; the rotary seat 78 is connected with the main bin seat board 72, the upper side the rotary seat 78 is connected with the upper side main bin seat board 72 through an upper connecting frame 79, the lower side the rotary seat 78 is connected with the lower side main bin seat board 72 through a lower connecting frame 710, the positions of the upper connecting frame and the lower connecting frame are fixed, a rotating shaft 901 parallel to a Chu Qiancang connecting rod 73 is arranged between the upper connecting frame 79 and the rotary seat 78 of the lower connecting frame 710, a plurality of mechanical gripper assemblies 711 are axially arranged at intervals in the rotating shaft, swing cylinders 712 are hinged to the outer side parts of the upper and lower main bin seat boards 72, and piston rods of the swing cylinders 712 are hinged to eccentric blocks fixedly connected with the rotating shaft. When the drill rod needs to be placed, the drill rod protection cylinder 76 is started to push the drill rod guard plate 77 to rotate so as to open the drill rod inlet and outlet 902, then the drill rod storage bin connecting rod 73 is driven to rotate by a motor so as to drive the hook plate 74 to rotate so as to enable one drill rod to rotate to a designated position (drill rod inlet and outlet), at the moment, the mechanical gripper assembly 711 is started to grip the drill rod, the swing cylinder 712 is started again, the swing cylinder 712 drives the rotating shaft to swing, and the drill rod gripped by the mechanical gripper assembly 711 swings to the lower part of the hydraulic power rotary head 54.

The mechanical gripper assembly 711 is a gripper that is driven by an oil cylinder to open and close radially, and is a prior art, for example, a manipulator (JXS) disclosed in patent CN102704869B may be adopted, and thus will not be described in detail herein.

In the embodiment of the invention, the excavator arm module 8 comprises a horizontal slewing drive 81, a quick connector assembly 82, a second big arm side plate 83, an outer arm 84, a multifunctional connector 85, a bucket 86, a second pitching cylinder 87, a second lifting arm cylinder 88, a luffing cylinder 89 and a lifting plate 810, wherein one end of the frame group 31 is rotatably connected with the horizontal slewing drive 81, the quick connector assembly 82 is arranged on the horizontal slewing drive 81, the second big arm side plate 83 is arranged on the quick connector assembly 82, the second lifting arm cylinder 88 is arranged on the quick connector assembly 82 and is connected with the second big arm side plate 83, the tail end of the second big arm side plate 83 is connected with the outer arm 84, the tail end of the outer arm 84 is connected with the multifunctional connector 85, the bucket 86 is arranged on the multifunctional connector 85 and is connected with the second pitching cylinder 87 arranged on the lower side of the outer arm 84 so as to drive, the cylinder 89 is connected between the second big arm 83 and the outer arm 84, and the luffing cylinder 84 is arranged at the top of the outer side of the outer arm 84 corresponding to the luffing plate 810

As shown in fig. 16 and 17, specifically, the top of the frame group 31 is provided with a boom module 8, the boom module 8 comprises a horizontal swing drive 81, the horizontal swing drive 81 is arranged at the top of the frame group 31, a quick connector assembly 82 is arranged on the horizontal swing drive 81, the top of the quick connector assembly 82 is rotatably connected with a second boom side plate 83, the top tail end of the second boom side plate 83 is rotatably connected with the upper part of the outer boom 84, the bottom of the outer boom 84 is rotatably connected with a multifunctional connector 85, the tail end of the multifunctional connector 85 is connected with a bucket 86, a second pitching cylinder 87 is connected between the lower part of the outer boom 84 and the multifunctional connector 85, the second pitching cylinder 87 can drive the bucket 86 to move, a second lifting cylinder 88 is arranged between the quick connector assembly 82 and the second boom side plate 83, a lifting cylinder 89 is arranged between the bottom of the second boom side plate 83 and the top of the outer boom 84, when the construction process needs to be leveled, a plurality of sundries are required to be lifted and the ground is required to be leveled, the bucket is also required to be lifted at a corresponding position by a lifting cylinder 87, and the lifting function can be positioned on the lifting plate 85 through the lifting cylinder.

In the embodiment of the invention, the working method of the walking type multifunctional subsurface excavation integrated machine comprises the following steps:

when the device is required to be used, each module is transported to a designated position through a cableway, is sequentially assembled and then is moved to a corresponding position, firstly, the position of the supporting leg assembly 17 is adjusted to be leveled rapidly, after the device is balanced, the luffing cylinder 89 and the second lifting arm cylinder 88 are started to be adjusted to the corresponding positions, the second pitching cylinder 87 is started to drive the bucket 86 to start working, and some sundries on the ground are removed and a working platform with a certain area is excavated; then drilling is carried out, the first boom cylinder 44 is driven by hydraulic pressure to adjust the first boom side plate 42 up and down to a specified position, then the first pitching cylinder 45 is started to adjust the pitching seat group 43 up and down to the specified position, and after the pitching seat group 43 is adjusted to the specified position, the swinging angle cylinder 47 is started to adjust the middle bracket 46 left and right to the specified position; the dust catching cover bracket 61 is arranged on the center support 60, the guide cover assembly 62 is adjusted, then the sealing cover 63 is fixed, and the guide cover assembly 62 on the dust catching cover bracket 61 is pushed downwards by the lifting oil cylinder to contact with the ground so as to prevent dust from impacting upwards; when a drill rod needs to be placed, a drill rod protection cylinder 76 is started to push a drill rod guard plate 77 to rotate so as to open a drill rod access, then a drill rod storage bin connecting rod 73 is driven to rotate by a motor so as to drive a hook plate 74 to rotate so as to enable a drill rod to rotate to a designated position (drill rod access), at the moment, a mechanical gripper assembly 711 is started to grasp the drill rod, then a swing cylinder 712 is started, the swing cylinder 712 drives a rotating shaft to swing, the drill rod grasped by the mechanical gripper assembly 711 swings to the position below a hydraulic power rotary head 54, after drill rod replacement is completed, the hydraulic power rotary head 54 continuously rotates, and a driving chain in a main beam 51 drives a rotary head carriage 53 to move downwards so as to continuously drive the drill rod downwards into a hole, so that drilling is realized; when the drill rod is required to be unloaded after drilling is completed, the drill rod unloading oil cylinder 66 starts to push the positioning block seat 65 to fix the bottom drill rod, then the caliper oil cylinder 67 starts to push the clamping plate 69 to clamp the square notch of the clamping plate with the peripheral plane clamping groove on the top drill rod, the push rod in the drill rod unloading caliper seat 64 pushes the clamping plate 69 to rotate anticlockwise to unscrew the threaded part between the upper drill rod and the lower drill rod, finally the hydraulic power rotary head 54 is started to rotate to completely unscrew the threaded part between the upper drill rod and the lower drill rod, the drill rods are fixed through the drill rod bin module 7, and each drill rod is stored in the drill rod bin module 7 after being disassembled; when the on-site construction is impossible, a real-time short-distance remote control scheme (20M) and a real-time system long-distance remote control scheme (3 km) can be realized through the remote controller.

The walking type multifunctional subsurface excavation integrated machine adopts a walking type walking chassis module, and chassis supporting legs can be adjusted in the longitudinal direction, the transverse direction and the vertical direction to adapt to mountain areas, so that the walking type multifunctional subsurface excavation integrated machine can reach terrain operation which cannot be achieved by traditional wheel type or crawler type equipment; the modular design is adopted, the weight of each module is less than two tons, the number is small, the requirements of cableway transportation are met, the system is suitable for mountain construction environments, the modules are flexibly matched according to site conditions, the cost is reduced, the transportation time is shortened, the engineering progress is accelerated, the modules can be transported to the designated positions of mountain areas through the cableway, and the damage of road construction to the ecological environments of the mountain areas is avoided; the excavator arm module has the functions of assisting climbing, removing obstacles, leveling a field, digging a bearing platform and the like. The hydraulic breaking hammer, the hoisting reinforcement cage and other operations can be switched; the drilling machine has two operation modes of down-the-hole drilling and rotary drilling, wherein the down-the-hole drilling mode is suitable for hard rock geological construction, and the rotary drilling mode is suitable for soil layer geological construction. Different drilling modes can be reasonably selected according to specific geological conditions.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims (10)

1. A multifunctional walking type underground excavation integrated machine is characterized in that: including chassis module (1), be provided with rotatory frame module (2) on chassis module (1), rotatory frame module (2) top is provided with on-vehicle module (3), power pack module (301), boom module (4) and dig boom module (8), power pack module (301) set up on-vehicle module (3) one side, boom module (4) and dig boom module (8) set up on-vehicle module (3) opposite side, be provided with on boom module (4) and advance beam module (5), the one end of advancing beam module (5) is provided with top module (6), be provided with borer storehouse module (7) on advancing beam module (5), it is located to dig boom module (8) boom module (4) right side, advance beam module (5) warp boom module (4) drive pendulum changes to power pack module (301) top is placed.

2. The walking type multifunctional subsurface excavation integrated machine according to claim 1, wherein: the chassis module (1) comprises a first chassis (11), a plurality of adjusting cylinders (12), a plurality of adjusting wheels (13), a second chassis (14), a plurality of locating cones (15), a plurality of auxiliary wheels (16) and a plurality of supporting leg assemblies (17), wherein the adjusting cylinders (12) are arranged on the side face of the first chassis (11), the adjusting wheels (13) are arranged on the side face of the first chassis (11), the adjusting cylinders (12) and the adjusting wheels (13) are connected in a one-to-one correspondence mode, the second chassis (14) is close to one end of the first chassis (11), the locating cones (15) are arranged on the side face of one end of the second chassis (14), the auxiliary wheels (16) are arranged on the side face of the second chassis (14), the first chassis (11) and the second chassis (14) are combined through the locating cones (15), and the supporting leg assemblies (17) are symmetrically arranged on the first chassis (11) and the second chassis (14).

3. The walking type multifunctional subsurface excavation integrated machine according to claim 2, wherein: the landing leg assembly (17) comprises a support (171), a rear limb (172), a front limb (173), a tire (174), a front claw (175), a plurality of swing leg cylinders (176) and a plurality of landing leg cylinders (177), wherein the support (171) is respectively movably connected to the first chassis (11) and the second chassis (14), the rear limb (172) is movably connected to the support (171), the front limb (173) is movably connected to the rear limb (172), the tire (174) is arranged on the outer side of the front limb (173), the front claw (175) is movably connected to the tail end of the front limb (173), a plurality of swing leg cylinders (176) are respectively arranged on the outer sides of the interiors of the first chassis (11) and the second chassis (14) and are connected with the support (171), and a plurality of landing leg cylinders (177) are connected between the support (171) and the rear limb (172) so that the tire (174) moves transversely and longitudinally according to the swing leg cylinders (176) and the landing leg cylinders (177).

4. The walking type multifunctional subsurface excavation integrated machine according to claim 1, wherein: the upper car module (3) comprises a car frame group (31), an operation table (32), a hydraulic oil tank (33) and an electrical cabinet (34), wherein the car frame group (31) is arranged on a rotating frame (22) of the rotating car frame module (2), the operation table (32) is arranged at the top of the car frame group (31), the hydraulic oil tank (33) is arranged at the top of the car frame group (31), the electrical cabinet (34) is arranged at the position, corresponding to the operation table (32), of the top of the car frame group (31), and the hydraulic oil tank (33) is arranged between the operation table (32) and the electrical cabinet (34).

5. The walking type multifunctional subsurface excavation integrated machine according to claim 1, wherein: the utility model provides a power pack module (301) is including power pack frame (3011), engine (3012), radiator (3013), power (3014), diesel tank (3015), hydraulic pump (3016) and aftertreatment (3017), power pack frame (3011) set up rotatory frame (22) top of rotatory frame module (2), engine (3012) set up in the middle of power pack frame (3011) is inside engine (3012) right side is provided with radiator (3013), power pack frame (3011) is inside engine (3012) left side is provided with hydraulic pump (3016), power pack frame (3011) is inside hydraulic pump (3016) left side is provided with diesel tank (3015), power pack frame (3011) top front side is provided with aftertreatment (3017), the waste gas of engine (3012) is discharged after purifying through aftertreatment (3017).

6. The walking type multifunctional subsurface excavation integrated machine according to claim 4, wherein: the drilling arm module (4) comprises a large arm support group (41), a first large arm side plate (42), a pitching seat group (43), a plurality of first lifting arm oil cylinders (44), a first pitching oil cylinder (45), a middle bracket (46), a swinging angle oil cylinder (47) and a compensating oil cylinder (48), wherein the large arm support group (41) is arranged at one end of the top of the frame group (31), the first large arm side plate (42) is movably connected to the large arm support group (41), a plurality of first lifting arm oil cylinders (44) are arranged on the large arm support group (41) and hinged to the first large arm side plate (42), one end of the first large arm side plate (42) is rotatably provided with the pitching seat group (43), the middle bracket (46) is rotatably arranged on the pitching seat group (43), the swinging angle oil cylinder (47) is arranged at one end of the middle bracket (46) and is connected with the pitching seat group (43), and the first pitching oil cylinder (45) is arranged at the other end of the first large arm and hinged to the first large arm side plate (42) and is connected with the pitching seat (43).

7. The walking type multifunctional subsurface excavation integrated machine according to claim 6, wherein: the propelling beam module (5) comprises a main beam (51), a first hydraulic winch assembly (52), a rotary head sliding frame (53) and a hydraulic power rotary head (54), wherein the main beam (51) is movably connected to the middle bracket (46) and is connected with the compensation cylinder (48), a driving chain and a propelling cylinder are arranged inside the main beam (51), one end of the main beam (51) is provided with the first hydraulic winch assembly (52), the rotary head sliding frame (53) is movably connected to the main beam (51) and is connected with the driving chain inside the main beam (51), the rotary head sliding frame (53) can slide up and down on the main beam (51), and the hydraulic power rotary head (54) is installed on the rotary head sliding frame (53).

8. The walking type multifunctional subsurface excavation integrated machine according to claim 1, wherein: the tip module (6) comprises a tip support (60), a dust catching cover support (61), a guide cover assembly (62), a sealing cover (63), a drill rod unloading caliper seat (64), a positioning block seat (65), a drill rod unloading oil cylinder (66), a caliper oil cylinder (67), a pressing plate (68), a clamping plate (69) and a drill rod positioning sleeve (610), wherein the tip support (60) is arranged on the main beam (51), the dust catching cover support (61) is arranged on the tip support (60), the guide cover assembly (62) is arranged on the dust catching cover support (61), the guide cover assembly (62) is provided with the sealing cover (63), the drill rod unloading caliper seat (64) is arranged on the outer side of the tip support (60), the drill rod unloading caliper seat (64) is internally provided with the positioning block seat (65), one side of the top of the drill rod unloading seat (64) is provided with the caliper oil cylinder (67), the two sides of the clamping plate (67) are movably connected with the clamping plate (64), the drill rod positioning sleeve (610) is arranged on the drill rod unloading clamp seat (64) and is positioned at the bottom of the clamping plate (69).

9. The walking type multifunctional subsurface excavation integrated machine according to claim 7, wherein: the drill rod bin module (7) comprises a plurality of bin seat brackets (71), a plurality of main bin seat plates (72), a drill rod bin storage connecting rod (73), a hook plate (74), a middle bin seat plate (75), a plurality of drill rod bin protection oil cylinders (76), a plurality of drill rod guard plates (77), a plurality of rotating seats (78), an upper connecting frame (79), a lower connecting frame (710), a mechanical gripper assembly (711) and a swinging oil cylinder (712), wherein the plurality of bin seat brackets (71) are installed on a main beam (51) at intervals, the plurality of bin seat brackets (71) are connected with the main bin seat plates (72), the middle of the main bin seat plates (72) is rotatably connected with the drill rod bin storage connecting rod (73), the drill rod bin storage connecting rod bin (73) is provided with the hook plate (74) at intervals, the middle bin seat plates (75) penetrate through the drill rod bin storage connecting rod (73) to be arranged on the main beam (51), the middle bin seat plates (75) are positioned between the two main bin seat plates (72), the drill rod bin protection oil cylinders (76) and the drill rod bin protection oil cylinders (77) are respectively arranged on the main bin protection oil cylinders (72) and the drill rod bin protection connecting rod bin (72) at intervals, the drill rod bin protection connecting rod bin (72) are respectively provided with the drill rod protection connecting rod bin protection connecting rod (72) and the drill rod bin protection connecting rod (72) at the middle part, a plurality of roating seat (78) all with main storehouse bedplate (72) are connected, and the upside be connected with on roating seat (78) go up link (79), the downside be connected with on roating seat (78) link down (710), go up link (79) with be connected with between link (710) down mechanical tongs subassembly (711), swing hydro-cylinder (712) set up upper and lower side on main storehouse bedplate (72).

10. The walking type multifunctional subsurface excavation integrated machine according to claim 4, wherein: the excavator arm module (8) comprises a horizontal rotary drive (81), a quick connector assembly (82), a second big arm side plate (83), an outer arm (84), a multifunctional connector (85), a bucket (86), a second pitching oil cylinder (87), a second lifting arm oil cylinder (88), an amplitude changing oil cylinder (89) and a lifting plate (810), one end of the frame group (31) is rotatably connected with the horizontal rotary drive (81), the quick connector assembly (82) is arranged on the horizontal rotary drive (81), the second big arm side plate (83) is arranged on the quick connector assembly (82), the second lifting arm oil cylinder (88) is arranged on the quick connector assembly (82) and connected with the second big arm side plate (83), the end of the second big arm side plate (83) is connected with the outer arm (84), the end of the outer arm (84) is connected with the multifunctional connector (85), the bucket (86) is arranged on the multifunctional connector (85) and is connected with the second lifting arm (84) at the amplitude changing oil cylinder (84) and is connected with the second lifting arm (83), the outer side of the top of the outer arm (84) is provided with the hanging plate (810) at a position corresponding to the second pitching oil cylinder (87).