CN102797474B - Three-degree-of-freedom self-walking minitype shield machine - Google Patents
Three-degree-of-freedom self-walking minitype shield machine Download PDFInfo
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- CN102797474B CN102797474B CN201210316860.7A CN201210316860A CN102797474B CN 102797474 B CN102797474 B CN 102797474B CN 201210316860 A CN201210316860 A CN 201210316860A CN 102797474 B CN102797474 B CN 102797474B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 10
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- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 239000002365 multiple layer Substances 0.000 claims description 3
- 238000005553 drilling Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 7
- 239000003245 coal Substances 0.000 abstract description 4
- 239000011435 rock Substances 0.000 abstract description 4
- 239000002893 slag Substances 0.000 abstract description 3
- 230000008602 contraction Effects 0.000 abstract 1
- 239000003921 oil Substances 0.000 description 41
- 238000000605 extraction Methods 0.000 description 6
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 6
- 235000010585 Ammi visnaga Nutrition 0.000 description 2
- 244000153158 Ammi visnaga Species 0.000 description 2
- 238000013467 fragmentation Methods 0.000 description 2
- 238000006062 fragmentation reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- CZMRCDWAGMRECN-UGDNZRGBSA-N Sucrose Chemical compound O[C@H]1[C@H](O)[C@@H](CO)O[C@@]1(CO)O[C@@H]1[C@H](O)[C@@H](O)[C@H](O)[C@@H](CO)O1 CZMRCDWAGMRECN-UGDNZRGBSA-N 0.000 description 1
- 229930006000 Sucrose Natural products 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000005720 sucrose Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The invention relates to a three-degree-of-freedom self-walking minitype shield machine comprising a cutting head, a drive motor, a propelling oil cylinder, a supporting oil cylinder, a spiral conveyer, an inner support frame, an outer support frame, a hydraulic valve bank and a shield. In the invention, the cutting head adopts pick-shaped teeth cutting and realizes three-degree-of-freedom rotary cutting through an adjusting oil cylinder; a rock crush principle is as follows: coal rocks are subjected to crushing treatment through the pick-shaped teeth cutting and a secondary crushing mechanism by adopting a secondary crushing technology; a propelling system adopts two double-acting oil cylinders, a supporting and obstructing system adopts cross type double-acting oil cylinders, and rear support-front propelling and front support-rear contraction type stepping walking is realized through the control of a hydraulic system; a deslagging mode is as follows: slag and muddy water are conveyed into a conveying pipe by adopting the spiral conveyer, and deslagging is carried out by combining with negative pressure suction. According to the invention, the directional control and the large curvature radius curve walking of the three-degree-of-freedom self-walking minitype shield machine disclosed by the invention are realized; the slant stagger of a drill hole is prevented; the autonomous walking of the three-degree-of-freedom self-walking minitype shield machine is realized; long-distance hole drilling is ensured; and the problem of difficult deslagging of a pipe jacking technology is solved, and therefore, the gas is more sufficiently discharged.
Description
Technical field
The present invention relates to Three Degree Of Freedom self-traveling mini shield machine, be particularly useful for the boring of coal seam length apart from gas drainage under suction.
Background technology
China's mine gas drainage amount only accounts for 20% of whole outburst amounts that draw out methane at present, and China's mine gas drainage technology mainly contains: before digging, (take out in advance) extraction, Bian Caibian takes out and adopt rear extraction (goaf extraction).Conventional equipment is gas drainage drilling rig, adopt pipe-jacking technology to set up gas channel and give off gas, but this long drilled holes pore-forming equipment and controlled directional drilling process are " bottlenecks " of gas drainage under suction always, the existing technology of drilling does not have supporting with it special lead bit and controls effective directed measure, be mainly manifested in pumping volume few, become porosity low, mine sucrose extraction is low, boring length is not long, and comprehensive extraction work is poor.Therefore the improvement of gas drainage under suction equipment has become problem demanding prompt solution with raising.From development trend both domestic and external, the concordant boring that speed of application is fast, cost is low, borehole engineering utilization rate is high becomes the technical way of coal bed gas drainage by substituting layer-through drilling gradually.
Summary of the invention
Technical problem: the object of the invention is the problem for prior art existence, provide a kind of compact conformation, directional drilling easily, realize that speed of application is fast, cost is low, borehole engineering utilization rate is high, improve the Three Degree Of Freedom self-traveling mini shield machine of the amount of drawing out methane.
Technical scheme: Three Degree Of Freedom self-traveling mini shield machine of the present invention, comprise anterior shield, the middle shield coordinating with anterior shield sliding sleeve, in anterior shield, be provided with and be I-shaped inner support, in middle shield, be provided with the support arm being connected with inner support, the front end of inner support is provided with hydraulic motor, the front portion of hydraulic motor is provided with shield machine cutterhead, between hydraulic motor and shield machine cutterhead, be provided with second-time breakage mechanism, the middle part of inner support is arranged with the external front support oil cylinder of extended anterior shield, between the rear end of inner support and support arm, upper and lower bilateral symmetry is provided with propelling cylinder, on support arm, be arranged with the external rear support oil cylinder of extended middle shield, the front side that is positioned at inner support in anterior shield is provided with water sending device, rear side is provided with conveying worm, the rear portion of middle shield is provided with hydraulic valve bank, and the rear end of middle shield is provided with tail shield.
The position of described front support oil cylinder and rear support oil cylinder is right-angled intersection and arranges; The top of described front support oil cylinder and rear support oil cylinder is equipped with support boots; On described shield machine cutterhead, be connected with three angle adjustment oil cylinders of realizing shield machine cutterhead and becoming Three Degree Of Freedom rotation cut; The antifriction alloy gauze wire cloth that described second-time breakage mechanism forms paliform by multiple-layer stacked together forms.
Beneficial effect: owing to having adopted technique scheme, utilize four supporting oil cylinder support resistances, can realize two-stage self-walking shield driving, without the jacking of pipeline.Each angle adjustment oil cylinder is carried out to pressure control separately, can change oil cylinder collapsing length, realize orientation control and the curve walking of shield machine, effectively prevent that the deviational survey of boring is staggered, can make the more abundant of drawing-off gas.For the discharge of residue, adopt the mode of conveying worm and negative pressure suction, solved the not problem of deslagging of pipe-jacking technology.The present invention all adopts hydraulically powered mode, the rotation of fluid motor-driven cutterhead, propelling hydraulic cylinder and support cylinder are responsible for stepping and are supported, by hydraulic system, carry out synchronous or asynchronous control, realize the two-segment type stepping walking of " rear support-front propelling, the front support-after-contraction " of shield machine.Conveying worm is responsible for draining slag, has solved a difficult problem for the boring directional drilling that length is long, extraction rate is not high of holing in gas drainage under suction in prior art, has realized that speed of application is fast, cost is low, borehole engineering utilization rate is high, the object that the efficiency that draws out methane is high.Its simple and compact for structure, working stability, can realize length that high pulling torque, high rotating speed, propulsive force are large apart from horizontal drilling.
Accompanying drawing explanation
Fig. 1 is that Three Degree Of Freedom is from walking micro type shield machine sectional view;
Fig. 2 is the longitudinal sectional view of Fig. 1;
Fig. 3, Fig. 4 are the partial enlarged view of Fig. 1.
In figure: 1-shield machine cutterhead; 2-second-time breakage mechanism; 3-angle adjustment oil cylinder; 4-hydraulic motor; 5-front support oil cylinder; 6-inner support; 7-propelling cylinder; 8-support arm; 9-hydraulic valve bank; 10-water sending device; 11-conveying worm; 12-anterior shield; 13-rear support oil cylinder; Shield in 14-; 15-tail shield.
The specific embodiment
Below in conjunction with accompanying drawing, one embodiment of the present of invention are further described:
Three Degree Of Freedom self-traveling mini shield machine of the present invention, mainly consists of shield machine cutterhead 1, second-time breakage mechanism 2, angle adjustment oil cylinder 3, hydraulic motor 4, front support oil cylinder 5, inner support 6, propelling cylinder 7, support arm 8, hydraulic valve bank 9, water sending device 10, conveying worm 11, anterior shield 12, rear support oil cylinder 13, middle shield 14, tail shield 15.Anterior shield 12 coordinates with middle shield 14 sliding sleeves, the interior setting of anterior shield 12 is I-shaped inner support 6, the support arm 8 that the interior setting of middle shield 14 is connected with inner support 6, the front end of inner support 6 arranges hydraulic motor 4, the front portion of hydraulic motor 4 arranges shield machine cutterhead 1, connects three angle adjustment oil cylinders 3 on shield machine cutterhead 1; Described shield machine cutterhead 1 is controlled by hydraulic motor 4, and realizes shield machine cutterhead 1 Three Degree Of Freedom rotation cut by angle adjustment oil cylinder 3.Between hydraulic motor 4 and shield machine cutterhead 1, second-time breakage mechanism 2 is set, the antifriction alloy gauze wire cloth that second-time breakage mechanism 2 forms paliform by multiple-layer stacked together forms.The middle part of inner support 6 is arranged with the external front support oil cylinder 5 of extended anterior shield 12, between the rear end of inner support 6 and support arm 8, upper and lower bilateral symmetry is provided with two double-acting propelling cylinders 7, on support arm 8, be symmetrical arranged two double-acting rear support oil cylinders 13 that extended middle shield 14 is external, described front support oil cylinder 5 is right-angled intersection with rear support oil cylinder 13 positions to be arranged, and front support oil cylinder 5 is equipped with support boots with the top of rear support oil cylinder 13; The front side that is positioned at inner support 6 in anterior shield 12 is provided with water sending device 10, rear side is provided with conveying worm 11; The rear portion of middle shield 14 is provided with hydraulic valve bank 9, and the rear end of middle shield 14 is provided with tail shield 15.Propelling cylinder 7 is the propulsion plant of Three Degree Of Freedom self-traveling mini shield machine, when the support boots of rear support oil cylinder 13 stretch out while withstanding petrosal foramen, propelling cylinder 7 is pushed ahead, promoting anterior shield 12 moves forward, when supporting the support boots of front support oil cylinder 5, stretch out while withstanding petrosal foramen, the retraction of propelling cylinder 7 is realized the stepping walking of two-segment type.Described hydraulic valve bank 9 all adopts cartridge valve group, due to the spatial limitation of shield machine, cartridge valve is arranged on the afterbody of shield machine by interaction work between valve piece, hydraulic pump is mounted externally, external two oil-way pipes are supplied with the required pressure oils of hydraulic work system such as hydraulic motor 4, propelling cylinder 7, front support oil cylinder 5 and rear support oil cylinder 13 below, by shield machine in tow high-pressure oil pipe carry out work.Described water sending device 10 and conveying worm 11 are the slagging device of Three Degree Of Freedom self-traveling mini shield machine, utilize the abundant advantage of water resource under ore deposit, to water filling in crushing chamber, utilize mud hydraulic pressure to carry out the ambient pressure in balance shield machine rock stratum of living in, by conveying worm 11, the muddy water that has mixed slag is transported to carrier pipe from crushing chamber simultaneously, then in conjunction with the mode of negative pressure suction, it is discharged.Described anterior shield 12, middle shield 14, tail shield 15 and inner support 6 and support arm 8 form the shield structure body of whole system.The pick tooth cutting means that shield machine cutterhead 1 is controlled for hydraulic motor 4, Three Degree Of Freedom is 510mm from the cut diameter of walking miniature shield machine, aperture opening ratio is 38.1%.
Operating principle and the course of work: first by the pick tooth of shield machine cutterhead 1, coal seam rock is carried out to primary fragmentation, then by the second-time breakage mechanism 2 being located at after shield machine cutterhead 1, the detritus after fragmentation is carried out to second-time breakage.Adopt two double acting propelling cylinders 7 to form propulsion system, adopt right-angled intersection formula two-way cylinder front support oil cylinder 5 and rear support oil cylinder 13 to form support resistance system, by hydraulic valve bank 9, realize the concentrated hydraulic control of shield machine, adopt conveying worm 11 and be connected in parallel on the negative pressure deslagging water pumper in drain line, in discharge pipe exit, combining deslagging.Described negative pressure deslagging is the principle of utilizing cross-ventilation, negative pressure ventilation, thereby produces negative pressure by infield inhale fresh air, and the tunnel of driving is produced to certain negative pressure, and waste residue is sucked out.Negative pressure deslagging is the good deslagging mode of drilling at outstanding or weak seam.Described shield machine cutterhead 1 adopts the slow-revving hydraulic motor 4 of high pulling torque, the 70r/min of 1800Nm to rotatablely move by the direct driving shield machine of shaft coupling cutterhead 1.Three angle adjustment oil cylinders 3 that are circumferentially arranged symmetrically with are controlled cutterhead direction of advance, according to the difference of angle adjustment oil cylinder 3 collapsing lengths, adjust the rotation of shield machine cutterhead 1 in different azimuth, realize the rotation of Three Degree Of Freedom.Shield machine cutterhead 1 and hydraulic motor 4 are as a whole, are controlled the orientation of shield machine cutterhead 1 by three angle adjustment oil cylinders 3.Because shield machine cutterhead 1 and hydraulic motor 4 are integrated, compact conformation, hydraulic motor 4 is variations that angle occurs together along with shield machine cutterhead 1, has realized shield machine cutterhead 1 rotation limit, limit and has constantly stirred, and contributes to breaking ores.Described angle adjustment oil cylinder 3 is the angular adjustment apparatus of Three Degree Of Freedom self-traveling mini shield machine, and three angle adjustment oil cylinders 3 adopt ball-joint connected mode to be connected with shield machine head, can realize the inclination of certain angle and can finely tune the trend of shield machine.Described hydraulic motor 4 is the main power source of Three Degree Of Freedom self-traveling mini shield machine cutterhead 1, controls driving shield machine cutterhead 1 rotatablely move by hydraulic valve bank 9.Described supporting oil cylinder comprises the self-propelling device that front support oil cylinder 5 and rear support oil cylinder 13 are Three Degree Of Freedom self-traveling mini shield machine, four two-way cylinder support resistance location arranging with right-angled intersection, support boots head in ore, to provide, advance required counter-force.By the independent control to front and back supporting oil cylinder, realize the stepping walking of two-segment type.
Claims (5)
1. a Three Degree Of Freedom self-traveling mini shield machine, it is characterized in that: it comprises anterior shield (12), the middle shield (14) coordinating with anterior shield (12) sliding sleeve, in anterior shield (12), be provided with and be I-shaped inner support (6), in middle shield (14), be provided with the support arm (8) being connected with inner support (6), the front end of inner support (6) is provided with hydraulic motor (4), the front portion of hydraulic motor (4) is provided with shield machine cutterhead (1), between hydraulic motor (4) and shield machine cutterhead (1), be provided with second-time breakage mechanism (2), the middle part of inner support (6) is arranged with the external front support oil cylinder (5) of extended anterior shield (12), between the rear end of inner support (6) and support arm (8), upper and lower bilateral symmetry is provided with propelling cylinder (7), on support arm (8), be arranged with the external rear support oil cylinder (13) of extended middle shield (14), the front side that is positioned at inner support (6) in anterior shield (12) is provided with water sending device (10), rear side is provided with conveying worm (11), the rear portion of middle shield (14) is provided with hydraulic valve bank (9), and the rear end of middle shield (14) is provided with tail shield (15).
2. Three Degree Of Freedom self-traveling mini shield machine according to claim 1, is characterized in that: described front support oil cylinder (5) is right-angled intersection with the position of rear support oil cylinder (13) and arranges.
3. Three Degree Of Freedom self-traveling mini shield machine according to claim 1 and 2, is characterized in that: described front support oil cylinder (5) is equipped with support boots with the top of rear support oil cylinder (13).
4. Three Degree Of Freedom self-traveling mini shield machine according to claim 1, is characterized in that: on described shield machine cutterhead (1), be connected with three angle adjustment oil cylinders (3) of realizing shield machine cutterhead (1) one-tenth Three Degree Of Freedom rotation cut.
5. Three Degree Of Freedom self-traveling mini shield machine according to claim 1, is characterized in that: the antifriction alloy gauze wire cloth that described second-time breakage mechanism (2) forms paliform by multiple-layer stacked together forms.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210316860.7A CN102797474B (en) | 2012-08-31 | 2012-08-31 | Three-degree-of-freedom self-walking minitype shield machine |
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| CN201210316860.7A CN102797474B (en) | 2012-08-31 | 2012-08-31 | Three-degree-of-freedom self-walking minitype shield machine |
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| CN102797474A CN102797474A (en) | 2012-11-28 |
| CN102797474B true CN102797474B (en) | 2014-04-16 |
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| CN103967502A (en) * | 2014-04-11 | 2014-08-06 | 中信重工机械股份有限公司 | Automatic walking device of hard rock tunnel boring machine |
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| JP3676023B2 (en) * | 1997-03-14 | 2005-07-27 | 三菱重工業株式会社 | Excavation equipment |
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| CN102287201A (en) * | 2011-08-04 | 2011-12-21 | 王茂 | Shield machine with center drill system |
| CN102383805A (en) * | 2011-10-19 | 2012-03-21 | 中铁隧道装备制造有限公司 | Mixed TBM (Tunnel Boring Machine) with multiple-boring mode and tunnel supporting mode |
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