CN104500086A - Unmanned roadway driving and anchoring all-in-one machine - Google Patents

Abstract

The invention discloses an unmanned tunneling and anchoring integrated machine, comprising: a tunneling system, a conveying system, a temporary support system, an anchoring system, a water system of the tunneling integrated machine, a sensing system, and an electrical control system. Among them, the dial roller at the connection between the shovel part in the excavation system and the front end of the conveying system can prevent material jamming at the front end of the shovel and the scraper conveyor. The temporary support system of the new structure supports evenly and can move relative to the integrated machine for digging and bolting, so that the mining, support and anchoring can be synchronized without delay. It is suitable for tunneling and supporting operations for roadways with various sizes and directions of ground pressure. The sensor system and electrical control system of the bolter digging machine can effectively collect and process the light, distance, humidity, gas and other information of the roadway, and the electrical control system can perform automatic or remote manual analysis to make the working process unattended operation, greatly improving the operating safety factor.

Description

Roadway unmanned bolt digging machine

technical field

The invention relates to a comprehensive mechanical equipment for digging and bolting construction in underground roadways, in particular to an unmanned and bolt-digging integrated machine for roadways.

Background technique

At present, in other types of roadway excavation such as coal mines or tunnels, the equipment for construction includes: various types of roadheaders, bolters, continuous miners, etc. In the various work plans formulated according to the respective functions of these equipments, although the characteristics of various equipments have been enhanced to avoid weaknesses, and the work efficiency has been improved to a certain extent, no matter whether it is the traditional way of using roadheaders and bolters The single roadway excavation method is still the double roadway excavation method that uses the combination of continuous miner and bolter, which is not as good as the single roadway excavation method using the integrated bolter digging machine in terms of work efficiency and simplicity of operation. At present, there are some problems in the mainstream all-in-one machine for digging and bolting at home and abroad. For example, the follow-up of the mining operation during the anchoring operation is not timely enough, the temporary support is not advanced enough, and the anchoring time is 2-2 times that of the excavation time. 2.5 times, compared with unmanned operation, the safety factor is not high. On the whole, improving the synchronization degree of tunneling and supporting operations in the integrated machine is an important way to improve the efficiency of tunneling, and realizing unmanned operation is the ultimate way to improve the safety factor.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned deficiencies of the prior art, and to provide an unmanned bolter digging machine for tunnels.

Technical scheme of the present invention is:

An unmanned roadway digging and anchoring integrated machine, comprising: a tunneling system, a conveying system, a temporary support system, an anchoring system, a water system of the tunneling integrated machine, a sensing system and an electrical control system. The excavation system is located at the front end of the unmanned bolter digging integrated machine in the roadway, and includes the cutting part, the shovel plate part, the main body part, the walking part and the rear support part of the roadway integrated bolter digging machine. The walking part is installed under the main body part, and the rear The support part is installed under the rear end of the body part, the cutting part and the shovel part are respectively installed at the front end of the body part, and the shovel part is located under the cutting part and connected with the front section of the conveying system. Support and drive it to dig forward. The conveying system of the integrated bolter digging machine is a scraper conveyor that runs obliquely through the body of the integrated bolter miner. The temporary support system is located above the entire body, and its support area covers the top view of the entire bolter mining machine. Below the support system, there are two sets of anchor mechanical arms. One set of anchor mechanical arms is respectively set at the front and rear ends of the body of the bolter digging machine, and the other set of bolt mechanical arms is set at the body of the bolter digging machine. In the left and right rows, all anchor mechanical arms can move horizontally and form an anchoring system. The water system of the integrated bolter mining machine is located at the front end of the cutting part and the conveying system in the tunneling system of the integrated bolter miner. The sensing system includes a video acquisition system located in front of and around the integrated bolter and various sensors around. The electrical control system is located inside the body of the tunneling system of the integrated bolter mining machine.

The cutting part includes a cutting head and a working arm behind the cutting head. The working arm includes a horizontal swing arm and an upper and lower swing arm. An adjustment oil cylinder is installed between the lower swing arm and the main body, the horizontal swing arm is driven by the horizontal turntable, and the upper and lower swing arms are driven by the adjustment oil cylinder. The said shovel part is provided with a material shifting roller at the junction with the front end of the conveying system (scraper conveyor). The eight gear teeth are arranged on the roller with uniform rotation, and the material roller can roll and pull the material when receiving the material.

The conveying system realizes the transportation of materials in the chute through the scraper conveying chain.

The temporary support system includes two advanced support frames and a set of main support frames. The advanced support frame includes a bottom column jack and a bottom adjustment oil cylinder installed on the body part, and the middle part of the advanced support beam and the bottom The upper end of the column jack is hinged, the rear end of the leading support beam is hinged with the upper end of the bottom adjustment cylinder, the rear end of the leading supporting beam is also hinged with the supporting jack, and the support plate is installed on the front upper end of the leading supporting beam and the supporting jack. The distance of the support and the height of the advance support frame are adjusted by the cooperation of the bottom column jack and the support jack, and one advance support frame is respectively arranged on the left and right in front of the body of the bolter digging machine. The main supporting frames all include a bottom adjustment seat installed on the base above the body part, a bottom column jack installed on the bottom adjustment seat, a support beam installed on the top of the bottom column jack, and a top is installed on the top of the support beam. To the support plate, the lower end of the support beam is installed with a lateral support plate, and the bottom adjustment seat can move horizontally on the guide rails set on the body part relative to the tunneling system and anchoring system of the integrated machine for digging and anchoring, so as to achieve that while tunneling, Uninterrupted and continuous support effect. The support surface of the temporary support system can cover the entire integrated bolter mining machine. The anchoring system includes two sets of anchoring mechanical arms, and the mechanical arms can be rotated and stretched to carry out comprehensive anchoring operations on the roadway. The bolt mechanical arms are installed on respective bottom adjustment seats, and the bottom adjustment seats can slide horizontally on the guide rails provided on the main body, and can slide horizontally relative to the tunneling system and temporary support system of the bolter digging integrated machine.

The water system of the integrated anchor digging machine is divided into two parts, the inner spray waterway and the outer spray waterway. The inner spray waterway is located inside the cutting part, and the outer spray waterway is divided into two parts, one of which is located on the horizontal swing arm behind the cutting head of the cutting part. The other way is at the front end of the conveying system.

The sensing system is composed of corresponding various sensors required for unmanned operation, including video acquisition system, ranging sensor, gas sensor and humidity sensor, etc. The cameras on both sides are facing the working area of the cutting head, and the cameras distributed around the body of the bolter digging machine are facing the support and anchoring operation area to collect operation information in real time. The distance measuring sensor, the gas sensor and the humidity sensor are located on both sides of the working arm of the cutting section.

The electrical control system includes a power system and a control system. The power system provides power for the traveling part, the lighting system, the cutting motor, and the oil pump motor. The microcomputer processor receives, processes, and intelligently or remotely analyzes all the information from the sensor system, and then makes corresponding commands to feed back to the power system, and then drives each system to cooperate with each other.

Advantage and positive effect of the present invention:

The roadway unmanned and bolt-digging all-in-one machine of the present invention uses a cutting part with a new structure to operate, that is, the horizontal swing arm of the working arm is located in front of the upper and lower swing arms, the cutting is more flexible, the adjustability of the working range is increased, and the Conflict with the leading support frame in the working space.

The shovel part of the bolter digging integrated machine is set near the front end of the conveying system. The pulley roller is composed of a roller that can rotate with the three-tooth star wheel on the receiving shovel and eight pulleys that are evenly rotated on the roller. Composed of teeth, when receiving materials, the material pulling roller rolls and pulls materials, which can prevent material jams at the front end of the shovel and scraper conveyor, and solve the corresponding problem of restricting footage.

The roadway unmanned bolt digging integrated machine uses a new type of temporary support system, in which the leading support frame and the main support frame are evenly supported, and can move relative to the integrated bolt digging machine, so that mining, support, and anchoring can be realized seamlessly. Delay synchronization, and make the support of the roadway by the integrated bolter digging machine stable and continuous, and there will be no supporting vacuum period. Among them, the structural design of the advanced support frame and the main support frame utilizes the ground pressure of the upper and side surrounding rocks to the greatest extent, that is, the top pressure and side pressure of the roadway are used to convert the external force support into the internal force support of the roadway , effectively provide temporary support to the surrounding rock of the roadway. At the same time, the support frame structure can be adapted to various roadway sections such as circular, upright oval, approximately elliptical or rectangular, so as to be suitable for various ground pressure sizes and directions. Roadway excavation support work.

The sensor system of the bolt digging integrated machine can effectively collect physical and chemical information such as light, distance, humidity, gas, etc. of the roadway, which can be transmitted to the electrical control system for automatic or remote manual analysis, and then make and execute operation commands. The working process Unattended operation can be realized, greatly improving the operating safety factor.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of the roadway unmanned bolt digging all-in-one machine;

Fig. 2 is a schematic diagram of the three-dimensional structure of the cutting part and the shoveling part of the tunneling system of the unmanned and bolt-mining integrated machine for the roadway;

Fig. 3 is a side view of the roadway unmanned bolter digging machine;

Fig. 4 is a three-dimensional structural schematic diagram of the roadway unmanned bolter digging integrated machine support system;

Fig. 5 is a three-dimensional structural diagram of the working position relationship between the support system of the roadway unmanned and bolt-mining integrated machine and the anchoring system;

In the figure: 1. Tunneling system; 2. Conveyor system; 3. Temporary support system; 4. Anchor system; 5. Water system of tunneling machine; 6. Sensing system; 7. Electrical control system; ;9. Shovel board part; 10. Body part; 11. Walking part; 12. Rear support part; 13. Cutting head; 14. Working arm behind the cutting head; 15. Horizontal swing arm; ;17. Horizontal turntable; 18. Adjusting oil cylinder; 19. Dial roller; 20. Roller; 21. Dial tooth; 22. Advance support frame; 23 Main support frame; Beam, 25-1 leading support beam, 25-2 main support beam; 26 support jack; 27 bottom column jack; 28 bottom adjustment oil cylinder; 29 bottom adjustment seat; 30. Bolt mechanical arm.

Detailed ways

Example 1:

Referring to Figures 1 to 5, there is an unmanned tunneling and bolting integrated machine in the figure, including: excavation system 1, conveying system 2, temporary support system 3, anchoring system 4, integrated excavation machine water system 5, and sensor system 6 , Electrical control system 7.

The excavation system 1 includes a cutting part 8, a shovel part 9, a body part 10, a walking part 11, and a rear support part 12 (see Fig. 1 ) of an unmanned roadway bolter digging integrated machine. This system is an integrated bolter digging machine Support and drive it forward to dig. The walking part 11 is installed under the body part 10 , the rear support part 12 is installed under the rear end of the body part 10 , and the cutting part 8 and the shovel part 9 are installed at the front end of the body part 10 . The cutting part 8 (see FIG. 2 ) is located at the front end of the integrated bolter digging machine, and the shoveling part 9 is located below the cutting part 8 and connected with the front section of the conveying system 2 .

The cutting section 8 (see Fig. 2) includes a cutting head 13 and a working arm 14 behind the cutting head. The working arm 14 includes a horizontal swing arm 15 and an upper and lower swing arm 16, and the horizontal swing arm passes through the horizontal The turntable 17 is installed in front of the upper and lower swing arms, and an adjustment oil cylinder 18 is installed between the upper and lower swing arms and the main body. The horizontal swing arm is driven by the horizontal turntable 17, and the upper and lower swing arms are driven by the adjustment oil cylinder 18.

The said shovel part 9 is provided with a material shifting roller 19 at the junction with the front end of the conveying system 2, and the material shifting roller 19 includes a roller 20 that can rotate with the three-toothed star wheel on the receiving shovel and a uniform Rotary type is located at eight root dialing teeth 21 on the roller, when receiving material, this dialing roller 19 can roll dialing material.

The temporary support system 3 (see FIG. 4 ) is installed above the body part 10 of the entire integrated bolter mining machine, and its support area covers the top view of the entire integrated bolter miner. The temporary support system includes: advance support frame 22; main support frame 23; support plate 24; advance support beam 25-1, main support beam 25-2; support jack 26; bottom column jack 27; 28; base adjustment seat 29. In the advanced supporting frame 22: the bottom column jack 27 and the bottom adjustment cylinder 28 are installed on the body part 10, the middle part of the leading support beam 25-1 is hinged with the upper end of the bottom column jack 27, and the rear of the leading support beam 25-1 The end is hinged with the upper end of the bottom adjustment oil cylinder 28, the rear end of the leading support beam 25-1 is hinged with the support jack 26, and the support plate 24 is mounted on the front upper end of the lead support beam 25-1 and the upper end of the support jack 26, The distance of the advance support and the height of the advance support frame 22 are regulated by the cooperation of the bottom column jack 27 and the support jack 26. The advance support frame 22 is respectively provided with one on the left and right in front of the bolter digging machine body; In the protective frame 23: the bottom adjustment seat 29 is installed on the body part 10, and can move horizontally on the guide rail provided on the body part relative to the tunneling system and the anchoring system of the integrated machine for digging and anchoring, and the bottom column jack 27 is installed on the bottom adjustment seat 29 Above, the middle part of the main support beam 25-2 is installed on the bottom column jack, and the upper and lower ends of the main support beam 25-2 are respectively equipped with support plates 24 (top and side).

The anchoring system 4 includes two sets of bolting mechanical arms 30 (see Fig. 3 and Fig. 5), and the mechanical arms 30 can be rotated and stretched to carry out comprehensive bolting operations on the roadway. One set of bolt mechanical arms is set at the front and rear ends of the body of the bolter digging machine (see Figure 3), and the other set of bolt mechanical arms is set at the left and right rows of the body of the bolter digging machine (see Figure 5). The bolt mechanical arms are located on their respective bottom adjustment seats 29, and can slide horizontally on the track of the main body 10, and can slide horizontally relative to the tunneling system 1 and the temporary support system 3 of the integrated machine for drilling and bolting.

The water system 5 of the integrated anchor mining machine is located at the front end of the cutting part 8 and the conveying system 2 of the integrated anchor mining machine.

The sensing system 6 includes a video acquisition system located in front of and around the integrated bolter and various sensors around it.

The electrical control system 7 is located inside the body part 10 of the boring system of the integrated bolter mining machine.

The working process of the device:

The cutting part of the bolter digging machine cuts the coal or rock ahead, and at the same time, the advanced support frame follows up the support in time after the cutting head completes the cutting and leaves the upper edge of the roadway, and the cut coal or rock is The shovel part collects and transfers to the conveying system by the three-tooth star wheel and the pick roller of the shovel part.

The temporary support system moves and adjusts with the excavation of the excavation system and provides continuous and uninterrupted support, while the anchoring system performs bolt support for the roadway at the same time. During this period, the sensing system and water system are controlled by the electrical control system, realizing the operation effect of the roadway unmanned bolt-digging integrated machine driving while supporting and anchoring.

Claims (7)

1. A roadway unmanned digging and bolting integrated machine, comprising: a tunneling system, a conveying system, a temporary support system, an anchor system, a tunneling integrated machine water system, a sensor system and an electrical control system, characterized in that: the tunneling The system is located at the front end of the roadway unmanned bolter digging machine, including the cutting part, shovel part, body part, walking part and rear support part of the roadway unmanned bolter digging machine. The walking part is installed under the body part, and the rear support The cutting part and the shoveling part are respectively installed at the front end of the main body part, and the shoveling part is located under the cutting part and connected with the front section of the conveying system; the temporary support system is located in the whole Above the body part of the tunneling system of the integrated bolter digging machine, the support area covers the entire top view of the integrated bolter miner; below the support system, there are two groups of bolt mechanical arms, and a set of bolt mechanical arms are respectively set on the At the front and rear ends of the main body, another group of anchor mechanical arms is arranged in the left and right rows of the main body, and all the anchor mechanical arms can move horizontally to form the anchoring system; The cutting part and the front end of the conveying system in the tunneling system of the integrated anchor mining machine; the sensing system includes a video acquisition system located in front of and around the integrated anchor mining machine and various sensors around; the electrical control system is located in the excavation The anchor integrated machine excavates the interior of the main body of the system. 2. The roadway unmanned bolt-mining integrated machine according to claim 1, characterized in that: the cutting part of the tunneling system includes a cutting head and a working arm behind the cutting head, and the working arm includes The horizontal swing arm and the upper and lower swing arms, the horizontal swing arm is installed in front of the upper and lower swing arms through the horizontal turntable, and an adjustment cylinder is installed between the upper and lower swing arms and the main body, the horizontal swing arm is driven by the horizontal turntable, and the upper and lower swing arms are controlled by Adjust cylinder actuation. 3. The roadway unmanned bolt digging integrated machine according to claim 2, characterized in that: the shovel part is provided with a material shifting roller at the junction with the front end of the conveying system, and the material shifting roller includes a The roller shaft that can rotate with the three-tooth star wheel on the receiving shovel and the eight feeding teeth that are evenly rotated on the roller shaft can roll and transfer materials when receiving materials. 4. The roadway unmanned bolter digging integrated machine according to claim 1, characterized in that: the temporary support system includes two advanced support frames and a set of main support frames, and the advanced support frame Including the bottom column jack and the bottom adjustment oil cylinder installed on the body part, the middle part of the advance support beam is hinged with the upper end of the bottom column jack, the rear end of the advance support beam is hinged with the upper end of the bottom adjustment oil cylinder, and the rear end of the advance support beam is also connected with the support The jack is hinged, and the support plate is hinged on the front upper end of the advance support beam and the support jack. The distance of the advance support and the height of the advance support frame are adjusted by the bottom column jack and the support jack. There is one on the left and right in front of the machine body; the main support frame includes a bottom adjustment seat installed on the base above the body, and a bottom column jack installed on the bottom column jack is installed on the top of the bottom column jack. The upper end of the support beam is equipped with a top-facing support plate, and the lower end of the support beam is equipped with a lateral support plate. The bottom adjustment seat can be carried out on the guide rails set on the main body of the integrated machine for digging and anchoring. Moving horizontally, the support surface of the temporary support system covers the entire bolter digging machine. 5. The roadway unmanned bolt digging integrated machine according to claim 1, characterized in that: the bolt mechanical arms are installed on their respective bottom adjustment seats, and the bottom adjustment seats can be horizontal on the guide rails set on the main body Sliding, it can slide horizontally relative to the tunneling system and temporary support system of the bolter mining machine. 6. The roadway unmanned bolt digging integrated machine according to claim 1, characterized in that: the sensing system is composed of various sensors required for unmanned operation, including a video acquisition system, a distance measuring sensor, Gas sensor and humidity sensor, in the video acquisition system, the cameras distributed on both sides of the working arm of the cutting part are facing the working area of the cutting head, and the cameras distributed around the body of the integrated bolter are facing the support and anchoring In the working area, the distance measuring sensor, gas sensor and humidity sensor are located on both sides of the working arm of the cutting section. 7. The roadway unmanned bolt digging integrated machine according to claim 1, characterized in that: the electrical control system includes a power system and a control system, and the power system is provided for the running part, the lighting system, the cutting motor, and the oil pump motor. Power, the control system is associated with the sensor system and the power system, and the single-chip microcomputer and the microcomputer processor of the control system receive, process, intelligently or remotely analyze all the information from the sensor system, and then make corresponding commands to feed back to the power system , and then drive each system to cooperate with each other.