CN105927235B - High accuracy positioning heading equipment used for mine laneway - Google Patents
High accuracy positioning heading equipment used for mine laneway Download PDFInfo
- Publication number
- CN105927235B CN105927235B CN201610500483.0A CN201610500483A CN105927235B CN 105927235 B CN105927235 B CN 105927235B CN 201610500483 A CN201610500483 A CN 201610500483A CN 105927235 B CN105927235 B CN 105927235B
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- car body
- bar
- wheel
- high accuracy
- hydraulically extensible
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- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000005641 tunneling Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
A kind of high accuracy positioning heading equipment used for mine laneway, the front side of car body are provided with vertical guide and cross slide way；Second screw mandrel is connected with motion bar, and the lower end of motion bar is hinged with rotating bar, and the first hydraulically extensible bar is provided between the upper end of motion bar and rotating bar；The top of rotating bar is provided with variable-frequency motor, and the variable-frequency motor is connected with driving wheel by gear drive；First hydraulically extensible bar and the second hydraulically extensible bar are connected with hydraulic control device；The rear side both ends of car body are connected with laser range finder；The car body is provided with control device.High accuracy positioning heading equipment used for mine laneway of the present invention, the accurate control to span length and height is realized by servomotor control；It can help to adjust car body angle by laser range finder, so as to improve the precision of tunnelling, be advantageous to accelerate the progress of mine operation, improve the quality of mine operation.
Description
Technical field
The present invention relates to mining equiment technical field, specifically a kind of high accuracy positioning heading equipment used for mine laneway.
Background technology
Existing mine working heading equipment generally use excavating gear, is tunneled by bucket, passes through oil cylinder in operation
The motion up and down of bucket is controlled, realizes the angular transformation of bucket, but can not be controlled as the case may be in concrete operations
The direction of advance of excavating gear, when the height and width in dug tunnel change, excavating gear can not accurately detect institute
The width and height for digging tunnel change direction of advance, and precision is relatively low, influence the progress and quality of mine operation.
The content of the invention
The technical problems to be solved by the invention are the deficiency for overcoming above-mentioned prior art, there is provided a kind of positioning precision
Height, the high accuracy positioning of convenient use heading equipment used for mine laneway.
The present invention is realized with following technical scheme：A kind of high accuracy positioning heading equipment used for mine laneway, including under
Side is arranged with the car body of wheel, and the wheel of described car body the same side is linked together by crawler belt, is provided with below the car body
For controlling the power set of wheel；The front side of the car body is provided with vertical guide, and the vertical guide inner vertical is provided with
First guide rod and the first leading screw, the vertical guide are provided with the first servomotor being connected with the first leading screw；Described first
Be connected with thick stick can along the up and down cross slide way of the first guide rod, the cross slide way inner horizontal be provided with the second guide rod and
Second leading screw, the cross slide way are provided with the second servomotor being connected with the second leading screw；Second screw mandrel is connected with can
The motion bar moved left and right along the second guide rod, the lower end of the motion bar are hinged with rotating bar, and the upper end of the motion bar is with turning
The first hydraulically extensible bar is provided between lever；The top of the rotating bar is provided with variable-frequency motor, and the variable-frequency motor passes through gear
Transmission device is connected with driving wheel；The car body both sides it is vertical be provided with the second hydraulically extensible bar, the second hydraulically extensible bar
Lower end be fixed with cushion block, the both sides of the car body it is horizontal provided with the connecting rod being connected with the second hydraulically extensible bar, the car
Body, which is provided with, to be used to place the mounting groove of connecting rod, and the connecting rod described in two passes through the axis connection that is vertically arranged in mounting groove；
The first hydraulically extensible bar and the second hydraulically extensible bar are connected with the hydraulic control dress being arranged on car body by flexible tubing
Put；The rear side both ends of the car body are connected with laser range finder by support；The car body is provided with and watched with power set, first
Take the control device that motor, the second servomotor, variable-frequency motor, hydraulic control device connect with laser range finder, the control
Device is connected with display screen.
It is further：The symmetrical equidistant wheel being provided with described at least six in the both sides of the car body, on the wheel
Provided with the deep-slotted chip breaker for placing crawler belt, and the depth of deep-slotted chip breaker is equal with the thickness of crawler belt.
The crawler belt is made up of multiple contiguous blocks, and the head and the tail of the contiguous block pass sequentially through axis connection of having strong market potential, the connection
Block is provided with two square holes side by side, and the wheel is provided with the square block being used cooperatively with square hole.
The gear drive is made up of gear wheel and little gear, and the gear wheel is connected to the output of variable-frequency motor
End, the little gear are connected to the input of driving wheel.
The side of the driving wheel, which is provided with, is no less than 12 teeth, and side circumferentially equidistant arrangement of the tooth along driving wheel.
The hydraulic control device is magnetic valve, and the control device is programmable logic controller (PLC).
The invention has the advantages that：High accuracy positioning heading equipment used for mine laneway of the present invention, passes through servomotor control
System driving takes turns upper and lower and left and right both direction motion, realizes the accurate control to span length and height；Pass through laser ranging
Instrument can carry out ranging to the anchor point in rear end tunnel, by processor adjust the distance with angle carry out calculating can draw car body with
The deviation of budget tunnel angle, so as to help to adjust car body angle, so as to improve the precision of tunnelling, be advantageous to accelerate mine
The progress of operation, improve the quality of mine operation.
Brief description of the drawings
Fig. 1 is the overall structure diagram at the first visual angle of the present invention；
Fig. 2 is the overall structure diagram at the second visual angle of the present invention；
Fig. 3 is the crawler belt of the present invention and the structural representation of wheel；
Fig. 4 is the connecting rod of the present invention and the structural representation of axle；
In figure：1st, car body, 2, power set, 3, connecting rod, 4, wheel, the 5, second hydraulically extensible bar, 6, cushion block, 7, carry out
Band, the 8, second servomotor, the 9, second leading screw, 10, contiguous block, 11, square hole, 12, rotating bar, 13, gear wheel, 14, little gear,
15th, driving wheel, the 16, first hydraulically extensible bar, 17, cross slide way, the 18, first servomotor, 19, vertical guide, 20, hydraulic pressure control
Device processed, 21, motion bar, 22, laser range finder, 23, support, 24, display screen, 25, control device, 26, square block, 27,
Two guide rods, 28, variable-frequency motor, the 29, first leading screw, the 30, first guide rod, 31, axle, 32, mounting groove.
Embodiment
A kind of high accuracy positioning heading equipment used for mine laneway as shown in Figures 1 to 4, including lower section are arranged with wheel
4 car body 1, the wheel 4 of described the same side of car body 1 are linked together by crawler belt 7, and the lower section of car body 1, which is provided with, to be used to control
The power set 2 of wheel 4；The front side of the car body 1 is provided with vertical guide 19, and the inner vertical of vertical guide 19 is provided with the
One guide rod 30 and the first leading screw 29, the vertical guide 19 are provided with the first servomotor 18 being connected with the first leading screw 29；Institute
State that be connected with the first leading screw 29 can be along the up and down cross slide way 17 of the first guide rod 30, the inner horizontal of cross slide way 17
Be provided with the second guide rod 27 and the second leading screw 9, the cross slide way 17 is provided with the second servomotor being connected with the second leading screw 9
8；Second screw mandrel 9 is connected with the motion bar 21 that can be moved left and right along the second guide rod 27, and the lower end of the motion bar 21 is hinged
There is rotating bar 12, the first hydraulically extensible bar 16 is provided between the upper end of the motion bar 21 and rotating bar 12；The rotating bar 12
Top be provided with variable-frequency motor 28, the variable-frequency motor 28 is connected with driving wheel 15 by gear drive；1 liang of the car body
Side it is vertical be provided with the second hydraulically extensible bar 5, the lower end of the second hydraulically extensible bar 5 is fixed with cushion block 6, the car body 1
Both sides level is provided with the peace for being used for placing connecting rod 3 provided with the connecting rod 3 being connected with the second hydraulically extensible bar 5, the car body 1
Groove 32 is put, the connecting rod 3 described in two is connected by the axle 31 being vertically arranged in mounting groove 32；The first hydraulically extensible bar
16 and second hydraulically extensible bar 5 hydraulic control device 20 being arranged on car body 1 is connected with by flexible tubing；The car body 1
Rear side both ends laser range finder 22 is connected with by support 23；The car body 1 is provided with and power set 2, the first servo electricity
The control device 25 that machine 18, the second servomotor 8, variable-frequency motor 28, hydraulic control device 20 and laser range finder 22 connect, institute
State control device 25 and be connected with display screen 24.The wheel of high accuracy positioning heading equipment used for mine laneway of the present invention is connected by crawler belt
It is connected together, crawler belt can increase the frictional force with ground, improve the stability of equipment operation；The front portion of car body is provided with and vertically led
Rail and cross slide way, guide rail interior are equipped with leading screw and guide rod, be provided with by taking vertical guide as an example, in vertical guide the first guide rod and
First leading screw, while vertical guide is additionally provided with the first servomotor being connected with the first leading screw, cross slide way passes through the first leading screw
It is connected with vertical guide, the screw being used cooperatively with the first leading screw is provided with cross slide way, while cross slide way is provided with and first
The through hole that guide rod is used cooperatively, with being used cooperatively of the first guide rod, the first servomotor drive the first leading screw operating make horizontal stroke
Direction guiding rail smoothly moves up and down；Connecting rod similarly is connected with the second screw mandrel and the second guide rod of cross slide way, is led laterally
Under being used cooperatively of rail and vertical guide, connecting rod can realize action up and down, in the first servomotor and the second servo electricity
In the presence of machine, the direction of motion and motion amplitude of connecting rod are controlled, realizes the accurate control to span length and height；Activity
Bar is connected with rotating bar, and lower end and the motion bar lower end of rotating bar are hinged, and middle part passes through on the first hydraulically extensible bar and motion bar
End connection, top are connected with driving wheel, driving can be achieved in the presence of vertical guide, cross slide way and the first hydraulically extensible bar
The activity in three directions of wheel；Car body both sides are provided with the second hydraulically extensible bar, and the bottom of the second hydraulically extensible bar is provided with cushion block, need
When tunneling, the elongation of the second hydraulically extensible bar is made by hydraulic control device until cushion block contact ground, is played on front side of car body
Supporting role, keep the stability in car body tunneling process, the second hydraulically extensible bar of car body both sides connected by connecting rod,
The front end of car body is provided with mounting groove, and connecting rod is arranged in mounting groove by axle, so that connecting rod 3 can rotate along axle,
Second hydraulically extensible bar can when not in use be reduced to most short, and connecting rod is turned to the inside of mounting groove；Rear vehicle pair
What is claimed is provided with two laser range finders, and laser range finder can carry out ranging to the anchor point in rear end tunnel, pass through control device
Adjust the distance and carry out calculating the deviation that can draw car body and budget tunnel angle with angle, so as to help to adjust car body angle, carry
The precision of high tunnelling, be advantageous to accelerate the progress of mine operation, improve the quality of mine operation.
A kind of high accuracy positioning heading equipment used for mine laneway as shown in Figures 1 to 4, the both sides of the car body 1 are symmetrical
The equidistant wheel 4 being provided with described at least six, the wheel 4 are provided with the deep-slotted chip breaker for being used for placing crawler belt 7, and deep-slotted chip breaker
Depth is equal with the thickness of crawler belt 7.The crawler belt 7 is made up of multiple contiguous blocks 10, and the head and the tail of the contiguous block 10 pass sequentially through
Have strong market potential axis connection, the contiguous block 10 is provided with two square holes 11 side by side, and the wheel 4 is provided with and is used cooperatively with square hole 11
Square block 26.The wheel sum of the present invention is placed equidistant no less than six and symmetrically, the car so set in the both sides of car body
Wheel can increase the stability of car body；Wheel is provided with deep-slotted chip breaker, and the depth of deep-slotted chip breaker is equal with the thickness of crawler belt, crawler belt is existed
The contact with ground maximum area is maintained while connecting wheel；Crawler belt includes multiple contiguous blocks, and the head and the tail of contiguous block are successively
By axis connection of having strong market potential, be equipped with two square holes side by side on each contiguous block, square hole corresponds to the square block of wheel, square block with
Square hole clamping, it can prevent crawler belt is relative with wheel to slide.
A kind of high accuracy positioning heading equipment used for mine laneway as shown in Figures 1 to 4, the gear drive is by big
Gear 13 and little gear 14 are formed, and the gear wheel 13 is connected to the output end of variable-frequency motor 28, and the little gear 14 is connected to
The input of driving wheel 15.The driving wheel of the present invention is connected by gear drive with variable-frequency motor, is passed by changing gear
Gear drive coefficient inside dynamic device, the control to tunneling wheel speed can be realized, and turned accordingly to rotate as needed
Dynamic speed.
A kind of high accuracy positioning heading equipment used for mine laneway as shown in Figures 1 to 4, the side of the driving wheel 15 are set
Have and be no less than 12 teeth, and side circumferentially equidistant arrangement of the tooth along driving wheel 15.Requirement of the present invention to driving wheel is many
In 12 teeth, and side circumferentially equidistant arrangement of the tooth along driving wheel, this requirement can carry in the case where ensureing service efficiency
The service life of height driving wheel.
A kind of high accuracy positioning heading equipment used for mine laneway as shown in Figures 1 to 4, the hydraulic control device 20 are
Magnetic valve, the control device 25 are programmable logic controller (PLC).The control device of the present invention is programmable logic controller (PLC), can
The input and laser range finder of programmed logic controller, the output end of programmable logic controller (PLC) are connected with power set,
One servomotor, the second servomotor, variable-frequency motor and magnetic valve, to control the rotation of wheel and driving wheel, driving to take turns
The work with the second hydraulically extensible bar is moved forward and backward up and down.
Claims (6)
1. a kind of high accuracy positioning heading equipment used for mine laneway, including lower section are arranged with wheel（4）Car body（1）, it is special
Sign is：The car body（1）The wheel of the same side（4）Pass through crawler belt（7）Link together, the car body（1）Lower section, which is provided with, to be used
In control wheel（4）Power set（2）；The car body（1）Front side be provided with vertical guide（19）, the vertical guide（19）
Inner vertical is provided with the first guide rod（30）With the first leading screw（29）, the vertical guide（19）It is provided with and the first leading screw（29）
First servomotor of connection（18）；First leading screw（29）On be connected with can be along the first guide rod（30）Up and down transverse direction
Guide rail（17）, the cross slide way（17）Inner horizontal is provided with the second guide rod（27）With the second leading screw（9）, the cross slide way
（17）It is provided with and the second leading screw（9）Second servomotor of connection（8）；Second screw mandrel（9）Being connected with can lead along second
Bar（27）The motion bar moved left and right（21）, the motion bar（21）Lower end be hinged with rotating bar（12）, the motion bar
（21）Upper end and rotating bar（12）Between be provided with the first hydraulically extensible bar（16）；The rotating bar（12）Top be provided with frequency conversion
Motor（28）, the variable-frequency motor（28）Driving wheel is connected with by gear drive（15）；The car body（1）Both sides are vertical
Be provided with the second hydraulically extensible bar（5）, the second hydraulically extensible bar（5）Lower end be fixed with cushion block（6）, the car body（1）
Both sides it is horizontal be provided with and the second hydraulically extensible bar（5）The connecting rod of connection（3）, the car body（1）Provided with for the company of placement
Extension bar（3）Mounting groove（32）, the connecting rod described in two（3）By being vertically arranged in mounting groove（32）Interior axle（31）Even
Connect；The first hydraulically extensible bar（16）With the second hydraulically extensible bar（5）Car body is arranged on by flexible tubing connection（1）On
Hydraulic control device（20）；The car body（1）Rear side both ends pass through support（23）It is connected with laser range finder（22）；The car
Body（1）It is provided with and power set（2）, the first servomotor（18）, the second servomotor（8）, variable-frequency motor（28）, hydraulic pressure control
Device processed（20）And laser range finder（22）The control device of connection（25）, the control device（25）It is connected with display screen
（24）.
2. high accuracy positioning heading equipment used for mine laneway as claimed in claim 1, it is characterised in that：The car body（1）'s
The symmetrical equidistant wheel being provided with described at least six in both sides（4）, the wheel（4）It is provided with and is used to place crawler belt（7）Arc
Shape groove, and the depth and crawler belt of deep-slotted chip breaker（7）Thickness it is equal.
3. high accuracy positioning heading equipment used for mine laneway as claimed in claim 1, it is characterised in that：The crawler belt（7）By
Multiple contiguous blocks（10）Composition, the contiguous block（10）Head and the tail pass sequentially through axis connection of having strong market potential, the contiguous block（10）On set
There are two square holes side by side（11）, the wheel（4）It is provided with and square hole（11）The square block being used cooperatively（26）.
4. high accuracy positioning heading equipment used for mine laneway as claimed in claim 1, it is characterised in that：The loading drive gear
Put by gear wheel（13）And little gear（14）Composition, the gear wheel（13）It is connected to variable-frequency motor（28）Output end, it is described
Little gear（14）It is connected to driving wheel（15）Input.
5. high accuracy positioning heading equipment used for mine laneway as claimed in claim 1, it is characterised in that：The driving wheel（15）
Side be provided with and be no less than 12 teeth, and tooth is along driving wheel（15）The circumferentially equidistant arrangement in side.
6. high accuracy positioning heading equipment used for mine laneway as claimed in claim 1, it is characterised in that：The hydraulic control dress
Put（20）For magnetic valve, the control device（25）For programmable logic controller (PLC).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610500483.0A CN105927235B (en) | 2016-06-30 | 2016-06-30 | High accuracy positioning heading equipment used for mine laneway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610500483.0A CN105927235B (en) | 2016-06-30 | 2016-06-30 | High accuracy positioning heading equipment used for mine laneway |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105927235A CN105927235A (en) | 2016-09-07 |
| CN105927235B true CN105927235B (en) | 2018-02-16 |
Family
ID=56828464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610500483.0A Active CN105927235B (en) | 2016-06-30 | 2016-06-30 | High accuracy positioning heading equipment used for mine laneway |
Country Status (1)
| Country | Link |
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| CN (1) | CN105927235B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110439570B (en) * | 2019-08-14 | 2020-11-24 | 张占军 | Tunneling control method, tunneling control device and tunneling machine |
| CN112065426A (en) * | 2020-10-10 | 2020-12-11 | 中铁华铁工程设计集团有限公司 | Movable type rotary milling cutter head tunneling machine |
| CN113700478B (en) * | 2021-09-23 | 2023-09-01 | 陕西竹园嘉原矿业有限公司 | Tunneling device for mining machinery |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11324560A (en) * | 1998-05-11 | 1999-11-26 | Shimizu Corp | System for measuring cross section of space in tunnel and tunneling method by use of this measuring system |
| JP3418682B2 (en) * | 1999-12-28 | 2003-06-23 | マック株式会社 | Integrated surveying system for tunnels |
| CN2510529Y (en) * | 2001-10-18 | 2002-09-11 | 南阳市陆德筑路机械制造有限公司 | Base-mixed-material paving machine |
| CN101982646B (en) * | 2010-11-01 | 2012-09-05 | 杭州洪裕重工机械有限公司 | Intelligent travelling escape trunk for mine |
| CN204851061U (en) * | 2015-07-27 | 2015-12-09 | 冀凯装备制造股份有限公司 | Drill carriage |
-
2016
- 2016-06-30 CN CN201610500483.0A patent/CN105927235B/en active Active
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| CN105927235A (en) | 2016-09-07 |
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Effective date of registration: 20181219 Address after: 233010 Huayuan Commercial Building No.2, Yuhui District, Bengbu City, Anhui Province Patentee after: Bengbu Xinjue Intelligent Technology Co.,Ltd. Address before: No. 26, Xue Yuan Road, Quanshan District, Xuzhou, Jiangsu Patentee before: JIANGSU VOCATIONAL INSTITUTE OF ARCHITECTURAL TECHNOLOGY |
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Effective date of registration: 20240710 Address after: No. 71, Unit 4, 20th Floor, 10th Street, Jiuxianqiao, Chaoyang District, Beijing, 100020 Patentee after: Li Entao Country or region after: China Address before: 101200 room 205-211526, No. 40, Fuqian West Street, Pinggu town, Pinggu District, Beijing (cluster registration) Patentee before: BEIJING YONGBO TECHNOLOGY CO.,LTD. Country or region before: China |
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