CN106979015A - A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus - Google Patents
A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus Download PDFInfo
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- CN106979015A CN106979015A CN201710211826.6A CN201710211826A CN106979015A CN 106979015 A CN106979015 A CN 106979015A CN 201710211826 A CN201710211826 A CN 201710211826A CN 106979015 A CN106979015 A CN 106979015A
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- development machine
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- 238000000034 method Methods 0.000 title claims abstract description 77
- 230000009194 climbing Effects 0.000 title claims abstract description 72
- 230000008569 process Effects 0.000 claims abstract description 57
- 238000005520 cutting process Methods 0.000 claims abstract description 13
- 230000007306 turnover Effects 0.000 claims description 45
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 5
- 238000009412 basement excavation Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 2
- 230000006872 improvement Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 244000061408 Eugenia caryophyllata Species 0.000 description 1
- 235000016639 Syzygium aromaticum Nutrition 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005453 pelletization Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- E21D9/10—Making by using boring or cutting machines
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/02—Propulsion of machines for slitting or completely freeing the mineral from the seam by means on the machine exerting a thrust against fixed supports
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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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)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Handcart (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of climbing control method for the high inclination-angle development machine for having and aiding in climbing apparatus, used high inclination-angle development machine includes frame, upper supporting part, auxiliary climbing apparatus；Control method of climbing includes climbing support, provides the steps such as climbing auxiliary driving force, stepping movement.There is the climbing control method for the high inclination-angle development machine for aiding in climbing apparatus to realize the larger driving force of offer by controlling hydraulic motor travel motor and process auxiliary drive hydraulic motor to export power simultaneously for this, during stepping, upper supporting part coordinates stretching to be supported in back and makes after this high inclination-angle development machine strong fix climbing apparatus will to be aided in lift and invert the step pitch that moves forward of taking a step that process auxiliary drive hydraulic motor realizes weight tray, control simple and fast, drivage efficiency is improved on the premise of effectively preventing development machine from gliding, reduce potential safety hazard, it is particularly suitable for use in the cutting driving in ± 25 ° of high inclination-angle tunnels.
Description
Technical field
It is specifically that one kind is opened suitable for ± 25 ° of high inclination-angle tunnels the present invention relates to a kind of climbing control method of development machine
The climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus of chisel driving, belongs to development machine equipment technology field.
Background technology
Development machine is the machine for digging straight underground passage, is divided into open type development machine and shield formula development machine, is led to
Often include walking mechanism, operating mechanism, shipment activity and transferring mechanism composition, as walking mechanism is pushed ahead, operating mechanism
In the continuous fractured rock of cutting head, and detritus is transported, has the advantages that safe efficient and good into lane quality, particularly hanged
Road headers, it integrates the functions such as cut, shipment, walking, operation, is mainly used in the underground of cut arbitrary shape section
Rock, coal or alternate heading.
During the larger raise advance in inclination angle, the downslide that development machine can be produced by deadweight, downslide is not only resulted in
The cutting efficiency of development machine declines, can not even promoted, and serious meeting causes security incident, therefore the applicable work of development machine
Make inclination angle general within ± 16 °, tunnel inclination angle surpasses generally blows out carry out excavation operation when going beyond the scope using hand-holing
Big gun pick mode, big gun pick operation is not only dangerous very high but also drivage efficiency is relatively low, if getting working face be located under water body,
Forbid big gun to dig when under building with " under three " getting working face under railway, tunnel digging angle can only be changed, not only increased
Plus workload, and reduce exploiting length, in turn resulting in the waste of coal resources for tunnel.
The directly moment of torsion of lifting driving crawler belt hydraulic motor, increase crawler belt are taken high inclination-angle development machine of the prior art more
The mode of adhesive force realizes that development machine high inclination-angle is tunneled to increase the driving force of development machine crawler belt, but due to underground driving face
Condition limitation and development machine need to not stop mobile job specification, the mode of this simple increase driving force reaches at tunnel inclination angle
Effect is unsatisfactory when to a certain degree；Also have to take in the prior art and realize that development machine high inclination-angle is dug by the mode of assist device
Enter, i.e., use, which rearward supports advancing jack, is connected on the wall of tunnel side, or advancing jack support is connected to hydraulic pressure
Support, individual prop etc. are supported on the support apparatus between back and bottom plate, by the stretching for controlling advancing jack
The motive force of increase development machine is realized, but because the stroke of advancing jack is limited, therefore need advancing jack to coordinate substep to stretch
Contracting or in time laying support apparatus are to prevent development machine from gliding, and advancing jack cooperation substep extension and contraction control not only easily causes driving
Machine is inclined to and inclined shore easily causes contact surface skidding in the mode on the wall of tunnel side and there is larger potential safety hazard, and
In time laying support apparatus mode not only virtually extend manufacture cycle and also easily influence Department of Transportation discharge refuse.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of climbing controlling party of the high inclination-angle development machine with auxiliary climbing apparatus
Method, drivage efficiency, reduction potential safety hazard can be improved on the premise of effectively preventing development machine from gliding, ± 25 ° are particularly suitable for use in
The cutting driving in high inclination-angle tunnel.
To achieve the above object, used in the climbing control method of this high inclination-angle development machine with auxiliary climbing apparatus
High inclination-angle development machine includes frame, cutting units, loading part, running part, Department of Transportation, upper supporting part, electrically auxiliary climbing apparatus, system
System, hydraulic system and atomizing dust-removing system；
Described cutting units is arranged on the front upper part of frame, including cantilever and cutterhead by panoramic table；Described loading
Portion is arranged on the front lower portion of frame, including shovel board and the multijaw star-wheel or scraper plate being left and right symmetrically arranged in shovel board；Described row
Walk the bottom that portion is arranged on frame, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain；Before described Department of Transportation includes
Rear to be erected at it is in frame, with the back-connected drag conveyor of loading part；Described electrical system, hydraulic system and spray
Mist dust pelletizing system is installed in frame；
Described upper supporting part is arranged on the top of frame, including telescopic supporting rod, rod end supporting plate and support bar turnover
Hydraulic cylinder；The position of telescopic supporting rod correspondence running part is arranged on the top of frame, the bottom of telescopic supporting rod be articulated and connected in
Support bar telescopic hydraulic cylinder is set in the top of frame, telescopic supporting rod；The baseplane of rod end supporting plate is articulated and connected in flexible
The top of support bar, the top plane of rod end supporting plate is provided with anti-skid structure；The bottom of support bar turnover hydraulic cylinder is articulated and connected
It is articulated and connected in frame, top in telescopic supporting rod；
Described auxiliary climbing apparatus is arranged on the rear lower of frame, including tie-beam, tie-beam turnover hydraulic cylinder, auxiliary
Bogie assembly, guide slip shoe and weight tray；Tie-beam fore-and-aft direction is set, and front end and the frame of tie-beam are articulated and connected；
Tie-beam turnover hydraulic cylinder is arranged on the top of tie-beam, and tie-beam turnover hydraulic cylinder one end is articulated and connected with frame, the other end
It is articulated and connected with tie-beam；Process auxiliary drive frame assembly be arranged on tie-beam rear end, including support body, process auxiliary drive hydraulic motor and
Driving wheel is engaged, the body of process auxiliary drive hydraulic motor is fixedly mounted on the rear end of support body, the output of process auxiliary drive hydraulic motor
End is coaxially connected with engaging driving wheel, and engagement driving wheel rolls setting along the longitudinal direction；It is hingedly connected at the top of guide slip shoe
On the support body of process auxiliary drive frame assembly, bottom have fore-and-aft direction set piston shoes guide groove；Weight tray is that fore-and-aft direction is set
The guiding with the piston shoes guide groove dimensional fits of guide slip shoe is fixed with the string configuration put, the upper surface of weight tray
Rail, weight tray is oriented to sliding by guided way and guide slip shoe and is connected, correspondence engagement driving wheel on the upper surface of weight tray
Position be provided with meshing transmission structure with engage driving wheel cooperation, the baseplane of weight tray is provided with anti-skid structure；
Climbing control method specifically includes following steps：
A. climbing support：It is auxiliary that control tie-beam turnover hydraulic cylinder stretching makes tie-beam be turned over downwards drive along pin joint rotation
Bogie assembly, guide slip shoe and weight tray is helped integrally to be routed up from the rear lower of frame, rationally control tie-beam turnover hydraulic pressure
The output pressure of cylinder makes the baseplane of weight tray is firm to be supported on roadway floor；
B., climbing auxiliary driving force is provided：Hydraulic motor travel motor and process auxiliary drive hydraulic motor output power are controlled simultaneously,
Hydraulic motor travel motor drive sprocket drives caterpillar chain reach action to provide the main driving force that this high inclination-angle development machine advances, and auxiliary is driven
Hydrodynamic pressure motor driving engagement driving wheel rolls reach on weight tray by meshing transmission structure and provides this high inclination-angle driving
The auxiliary driving force that machine advances；
C. stepping is moved：Stop reach, control when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray
Support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder processed, which stretch out, makes telescopic supporting rod turn down stretching from frame top, rationally control
The output pressure of support bar telescopic hydraulic cylinder processed makes the top plane of rod end supporting plate is firm to be supported on back, then controls
Tie-beam turnover hydraulic cylinder retraction make tie-beam along pin joint rotation flip up drive weight tray move up disengaging roadway floor,
Then control process auxiliary drive hydraulic motor output reverse power driving engagement driving wheel makes weight tray by meshing transmission structure
Move forward to stroke rear end relative to process auxiliary drive frame assembly, again control tie-beam turnover hydraulic cylinder stretch out make tie-beam to
Lower turnover drives weight tray is firm to be supported in the reach for completing a step pitch on roadway floor, control support bar turnover hydraulic cylinder
Telescopic supporting rod is accommodated in behind the top of frame with support bar telescopic hydraulic cylinder retraction and carry out excavation operation again.
Scheme as a further improvement on the present invention, the auxiliary climbing apparatus of used high inclination-angle development machine also includes flat
Weigh hydraulic cylinder, and balance hydraulic cylinder is arranged on the top of guide slip shoe, and balance hydraulic cylinder one end is hinged company with process auxiliary drive frame assembly
Connect, the other end and guide slip shoe are articulated and connected；Also including the output pressure of rationally control balance hydraulic cylinder in described step a makes
The baseplane of weight tray consolidates the step of being fitted with roadway floor in the longitudinal direction.
Scheme as a further improvement on the present invention, the weight tray of used high inclination-angle development machine is provided with earth anchor spiral shell
Bolt mounting hole；By earth anchor after being additionally included in that the baseplane of weight tray is firm in described step a and being supported on roadway floor
The step of bolt mounting holes install ground anchor bolt；It is additionally included in described step c before control tie-beam turnover hydraulic cylinder retraction
The step of removing ground anchor bolt.
Scheme as a further improvement on the present invention, the support bar turnover hydraulic cylinder of used high inclination-angle development machine is hinged
The bottom for being connected to frame is articulated and connected in the rear of the bottom of frame positioned at telescopic supporting rod, and telescopic supporting rod is relative to machine
The turnover expanded angle of frame is less than 90 °；Hydraulic motor travel motor and process auxiliary drive hydraulic motor are controlled at the same time in described step b
First controlling support bar to turn down hydraulic cylinder and the stretching of support bar telescopic hydraulic cylinder before output power makes telescopic supporting rod from frame top
Turnover, which is stretched out, makes the top plane of rod end supporting plate is firm to be supported on back, hydraulic motor travel motor is then controlled simultaneously and auxiliary
The stretching of the support bar telescopic hydraulic cylinder of Synchronization Control telescopic supporting rod is provided additionally when helping driving hydraulic motor output power
Motive force.
Compared with prior art, used in the climbing control method of this high inclination-angle development machine with auxiliary climbing apparatus
High inclination-angle development machine is due to being accommodated in the upper supporting part of frame top and pass through provided with turning down hydraulic cylinder by support bar and can turn down
Tie-beam turnover hydraulic cylinder can turn down the auxiliary climbing apparatus for being accommodated in frame rear lower, therefore in non-high inclination-angle tunnelling
The drag conveyor of Department of Transportation is not influenceed to swing up and down amplitude, do not influence the operation of running part during normal headwork；Due to
Process auxiliary drive frame assembly include process auxiliary drive hydraulic motor and engagement driving wheel and process auxiliary drive frame assembly by guide slip shoe and
There is and engage the weight tray connection for the meshing transmission structure that driving wheel coordinates, therefore this high inclination-angle development machine is in climbing process
In hydraulic motor travel motor and process auxiliary drive hydraulic motor can be controlled to export power simultaneously, hydraulic motor travel motor drive sprocket, which drives, to be carried out
Band chain reach action provides the main driving force that this high inclination-angle development machine advances, and process auxiliary drive fluid motor-driven engagement driving wheel leads to
Cross meshing transmission structure and the auxiliary driving force that reach provides the advance of this high inclination-angle development machine is rolled on weight tray, and then realize
Larger driving force is provided, so as to realize that the power for reducing hydraulic motor travel motor is matched somebody with somebody on the premise of identical climbing capacity
Put, realize it is energy-saving；When this high inclination-angle development machine driving moves forward to the stroke front end of weight tray, upper supporting part, which coordinates, to be stretched
Going out to be supported in back makes to lift auxiliary climbing apparatus after this high inclination-angle development machine strong fix and inverts process auxiliary drive
Hydraulic motor realizes the step pitch that moves forward of taking a step of weight tray, controls simple and fast, before effectively preventing development machine from gliding
Raising drivage efficiency, reduction potential safety hazard are put, the cutting driving in ± 25 ° of high inclination-angle tunnels is particularly suitable for use in.
Brief description of the drawings
Fig. 1 is the configuration diagram of high inclination-angle development machine used in the present invention；
Fig. 2 is Fig. 1 top view；
Fig. 3 is the three-dimensional structure diagram of the auxiliary climbing apparatus of high inclination-angle development machine used in the present invention；
Configuration diagram when Fig. 4 is high inclination-angle development machine high inclination-angle driving state used in the present invention.
In figure：1st, frame, 2, cutting units, 3, loading part, 4, running part, 5, Department of Transportation, 6, upper supporting part, 61, flexible branch
Strut, 62, rod end supporting plate, 7, auxiliary climbing apparatus, 71, tie-beam, 72, tie-beam turnover hydraulic cylinder, 73, process auxiliary drive frame
Assembly, 731, process auxiliary drive hydraulic motor, 732, engagement driving wheel, 74, guide slip shoe, 75, balance hydraulic cylinder, 76, carrying bottom
Plate.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings (being described below by front of the tunneling direction of development machine).
As shown in Figure 1 and Figure 2, the climbing control method of this high inclination-angle development machine with auxiliary climbing apparatus includes frame
1st, cutting units 2, loading part 3, running part 4, Department of Transportation 5, upper supporting part 6, auxiliary climbing apparatus 7, electrical system, hydraulic system and
Atomizing dust-removing system.
Described cutting units 2 is arranged on the front upper part of frame 1, including cantilever and cutterhead by panoramic table, and cantilever can band
Dynamic cutterhead carries out transverse direction and longitudinal direction any angle regulation relative to frame 1；Described loading part 3 is arranged on the front lower of frame 1
Portion, including shovel board and the multijaw star-wheel or scraper plate being left and right symmetrically arranged in shovel board；Described running part 4 is arranged on frame 1
Bottom, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain；Described Department of Transportation 5 is erected at frame including fore-and-aft direction
On the 1 and back-connected drag conveyor of loading part 3；Described electrical system, hydraulic system and atomizing dust-removing system is pacified
In frame 1.
Described upper supporting part 6 is arranged on the top of frame 1, including telescopic supporting rod 61, rod end supporting plate 62 and support
Bar turns down hydraulic cylinder；The position of the correspondence running part 4 of telescopic supporting rod 61 is arranged on the top of frame 1, the bottom of telescopic supporting rod 61
End is articulated and connected in setting support bar telescopic hydraulic cylinder in the top of frame 1, telescopic supporting rod 61；Put down at the bottom of rod end supporting plate 62
Face is articulated and connected in the top of telescopic supporting rod 61, and the top plane of rod end supporting plate 62 is provided with anti-skid structure；Support bar is turned down
The bottom of hydraulic cylinder is articulated and connected and is articulated and connected in frame 1, top in telescopic supporting rod 61；By controlling support bar to turn down hydraulic pressure
The flexible of cylinder can control telescopic supporting rod 61 to be stretched out or folding storage from the turnover of the top of frame 1, by controlling support bar to stretch
The stretching of hydraulic cylinder, which can control telescopic supporting rod 61 to stretch out, makes rod end supporting plate 62 act against on back.
Described auxiliary climbing apparatus 7 is arranged on the rear lower of frame 1, as shown in figure 3, including tie-beam 71, tie-beam
Turn down hydraulic cylinder 72, process auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76；The fore-and-aft direction of tie-beam 71 is set, even
The front end and frame 1 for connecing beam 71 are articulated and connected；Tie-beam turnover hydraulic cylinder 72 is arranged on the top of tie-beam 71, tie-beam turnover
The one end of hydraulic cylinder 72 is articulated and connected with frame 1, the other end and tie-beam 71 are articulated and connected, by controlling tie-beam to turn down hydraulic cylinder
The 72 flexible pin joint that can control tie-beam 71 along itself and frame 1, which rotates, to be turned down；Process auxiliary drive frame assembly 73, which is arranged on, to be connected
Connect the rear end of beam 71, including support body, process auxiliary drive hydraulic motor 731 and engagement driving wheel 732, process auxiliary drive hydraulic motor 731
Body be fixedly mounted on the rear end of support body, the output end of process auxiliary drive hydraulic motor 731 is with engaging that driving wheel 732 is coaxial to be connected
Connect, engagement driving wheel 732 rolls setting along the longitudinal direction；The top of guide slip shoe 74 is hingedly connected to process auxiliary drive frame assembly 73
Support body on, bottom have fore-and-aft direction set piston shoes guide groove；Weight tray 76 is the strip knot that fore-and-aft direction is set
The guided way with the piston shoes guide groove dimensional fits of guide slip shoe 74 is fixed with structure, the upper surface of weight tray 76, is carried
Bottom plate 76 is oriented to sliding by guided way and guide slip shoe 74 and is connected, correspondence engagement driving wheel on the upper surface of weight tray 76
732 position is provided with the meshing transmission structure with engaging the cooperation of driving wheel 732, by controlling process auxiliary drive hydraulic motor 731 to drive
Dynamic engagement driving wheel 732 rotation can realize that weight tray 76 is moved along the longitudinal direction, and the baseplane of weight tray 76 is provided with
Anti-skid structure.
This have auxiliary climbing apparatus high inclination-angle development machine climbing control method in non-high inclination-angle tunnelling just
During normal headwork, it can be entirely retracted to state by controlling support bar to turn down hydraulic cylinder and be in and make telescopic supporting rod 61 be accommodated in machine
The top of frame 1, can make tie-beam 71 drive process auxiliary drive by controlling tie-beam turnover hydraulic cylinder 72 to be in the state that is entirely retracted to
Frame assembly 73, guide slip shoe 74 and the overall rear lower for being accommodated in frame 1 of weight tray 76, do not influence the scraper plate of Department of Transportation 5 defeated
Send swinging up and down amplitude, not influenceing the operation of running part 4 for machine.
When carrying out high inclination-angle tunnelling work, as shown in figure 4, control tie-beam turnover hydraulic cylinder 72, which stretches out, makes connection
Beam 71 is turned over downwards along pin joint rotation, drives process auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76 overall from machine
The rear lower of frame 1 is routed up, and rationally the output pressure of control tie-beam turnover hydraulic cylinder 72 consolidates the baseplane of weight tray 76
It is supported on roadway floor, this has during the climbing control method climbing of the high inclination-angle development machine of auxiliary climbing apparatus, together
When control hydraulic motor travel motor and process auxiliary drive hydraulic motor 731 output power, hydraulic motor travel motor drive sprocket drive crawler belt
Chain reach action provides the main driving force that this high inclination-angle development machine advances, the driving engagement driving wheel of process auxiliary drive hydraulic motor 731
732 roll reach by meshing transmission structure on weight tray 76 provides the auxiliary driving force that this high inclination-angle development machine advances,
And then the larger driving force of offer is provided, reduce hydraulic motor travel motor so as to be realized on the premise of identical climbing capacity
Power configuration, realize it is energy-saving；Before stopping when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray 76
Move, control support bar turnover hydraulic cylinder and the stretching of support bar telescopic hydraulic cylinder make telescopic supporting rod 61 be stretched from the turnover of the top of frame 1
Go out, rationally the output pressure of control support bar telescopic hydraulic cylinder makes the top plane of rod end supporting plate 62 is firm to be supported on back
On, then control the tie-beam turnover retraction of hydraulic cylinder 72 tie-beam 71 is flipped up drive weight tray 76 along pin joint rotation
Disengaging roadway floor is moved up, then controls process auxiliary drive hydraulic motor 731 to export reverse power driving engagement driving wheel 732 and passes through
Meshing transmission structure makes weight tray 76 move forward to stroke rear end relative to process auxiliary drive frame assembly 73, again control connection
The beam turnover stretching of hydraulic cylinder 72 is turned over downwards tie-beam 71, and drive weight tray 76 is firm to be supported on roadway floor i.e. completion
The reach of one step pitch, control support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder retraction are accommodated in telescopic supporting rod 61
Excavation operation can be carried out behind the top of frame 1 again.
In order to prevent in the normal headwork of non-high inclination-angle tunnelling weight tray 76 contacted with roadway floor into
And influence excavation operation, fitted when weight tray 76 fits support with roadway floor with roadway floor leakiness, it is used as this hair
Bright further improvement project, described auxiliary climbing apparatus 7 also includes balance hydraulic cylinder 75, and balance hydraulic cylinder 75, which is arranged on, leads
To the top of piston shoes 74, the one end of balance hydraulic cylinder 75 and process auxiliary drive frame assembly 73 are articulated and connected, the other end and guide slip shoe 74
It is articulated and connected；By controlling the flexible of balance hydraulic cylinder 75 to realize that control weight tray 76 is in horizontality or and tunnel
The parallel state of bottom plate.
In order that weight tray 76 is more securely supported in roadway floor, scheme, institute as a further improvement on the present invention
Swivel pin and tie-beam 71 that the support body front end for the process auxiliary drive frame assembly 73 stated is set along the longitudinal direction by axial direction
Rear end is articulated and connected, and the mode being articulated and connected can make process auxiliary drive frame assembly 73 and weight tray 76 follow the ground of roadway floor
Gesture carries out adaptability rotation, and then weight tray 76 can be made more securely to be supported in roadway floor.
Driven to increase auxiliary on the premise of ensureing auxiliary climbing apparatus 7 with the less installing space of the rear lower of frame 1
The installing space of moving frame assembly 73, guide slip shoe 74 and weight tray 76, and then can realize the more thick and heavy weight tray 76 of size,
So as to further realizing more firm skidproof effect, scheme as a further improvement on the present invention, described tie-beam 71 is Z-shaped
Shape structure.
In order to realize more preferable skidproof effect, scheme as a further improvement on the present invention, on described weight tray 76
Provided with ground anchor bolt mounting hole, ground anchor bolt is installed by ground anchor bolt mounting hole and realizes more preferable skidproof effect, stepping reach
Preceding first remove carries out installation ground anchor bolt after ground anchor bolt, stepping reach, and then realizes further reduction potential safety hazard.
As a kind of embodiment of present invention engagement driving wheel 732 and the engaging structure of weight tray 76, described nibbles
It is tooth-shape structure to close driving wheel 732, and the engaging structure of described weight tray 76 is coordinated with engaging the tooth-shape structure of driving wheel 732
Row's latch structure, the engaging structure inserted by tooth-shape structure between row's pin realizes engaged transmission, and row's latch structure is set in a row
Bearing pin is easier to safeguard, directly changed after bearing pin damage.
It is described as the another embodiment of present invention engagement driving wheel 732 and the engaging structure of weight tray 76
It is gear structure to engage driving wheel 732, and the engaging structure of described weight tray 76 is coordinated with engaging the teeth portion of driving wheel 732
Rack structure, engaged transmission is realized by rack and pinion engagement.
In order to prevent further increasing auxiliary traction power while unbalance loading, scheme, institute as a further improvement on the present invention
The overall frame structure in shaped door of tie-beam 71 stated, two front ends of portal structure are articulated and connected with frame 1；Described auxiliary
The support body front end of bogie assembly 73 is arranged on the medium position on the portal structure rear end left and right directions of tie-beam 71；Described
Process auxiliary drive hydraulic motor 731 is arranged on the medium position on the support body rear end left and right directions of process auxiliary drive frame assembly 73, and auxiliary
It is double output shaft hydraulic motor to help driving hydraulic motor 731；Described engagement driving wheel 732 is at least coaxially arranged into being set to
Two, be coaxially fixedly mounted on the output shaft of the double output shaft hydraulic motor left and right sides；It is the tie-beam 71 of portal structure, double
The setting of output shaft hydraulic motor and the symmetrical engagement driving wheel 732 being arranged in pairs makes entirely to aid in climbing apparatus 7 in a left side
Right symmetrical structure, not only support strength increase but also can prevent unbalance loading.
Described telescopic supporting rod 61 can use perpendicular to back supporting way, can also use tilted backwards
Be supported in the mode of back, due in the tilted mode to rear support of inclined shaft except with perpendicular to back
Reverse component outside also have along domatic upward reverse component, therefore the mode of support tilted backwards can be more efficiently prevented from
Development machine is better than the supporting way perpendicular to back, therefore preferably the latter because of deadweight downslide, support effect, i.e. as
The preferred scheme of the present invention, described support bar turnover hydraulic cylinder is articulated and connected is located at telescopic supporting rod 61 in the bottom of frame 1
It is articulated and connected in the rear of the bottom of frame 1, and telescopic supporting rod 61 is less than 90 ° relative to the turnover expanded angle of frame 1.
This has during high inclination-angle development machine climbing of auxiliary climbing apparatus to further increase climbing capacity, can be with
Before climbing first control control telescopic supporting rod 61 expansion stretching be supported on back, then control hydraulic motor travel motor and
The synchronization of the support bar telescopic hydraulic cylinder of control telescopic supporting rod 61 while process auxiliary drive hydraulic motor 731 together exports power
Stretch out and extra motive force is provided, and then further increase climbing capacity can be realized.
The anti-skid structure on anti-skid structure and the baseplane of weight tray 76 in the described top of rod end supporting plate 62 plane can
With using raised horn structure, it would however also be possible to employ the ratchet structure that tilted rearward is set, because former structure is difficult direct machine
Tool is processed, and the latter is more convenient for being machined, and the latter has more preferable skidproof effect, therefore preferably the latter, i.e. be used as this hair
The anti-Slipped Clove Hitch on anti-skid structure and the baseplane of weight tray 76 in bright preferred scheme, the described top of rod end supporting plate 62 plane
Structure is the ratchet structure that tilted rearward is set.
This have auxiliary climbing apparatus high inclination-angle development machine climbing control method used in high inclination-angle development machine by
In being accommodated in the upper supporting part 6 at the top of frame 1 and turn down liquid by tie-beam provided with turning down hydraulic cylinder by support bar and can turn down
Cylinder pressure 72 can turn down the auxiliary climbing apparatus 7 for being accommodated in the rear lower of frame 1, therefore in the normal driving of non-high inclination-angle tunnelling
The drag conveyor of Department of Transportation 5 is not influenceed to swing up and down amplitude, do not influence the operation of running part 4 during work；Because auxiliary is driven
Moving frame assembly 73 includes process auxiliary drive hydraulic motor 731 and engagement driving wheel 732 and process auxiliary drive frame assembly 73 is slided by being oriented to
The weight tray 76 of meshing transmission structure of the boots 74 with having and engaging the cooperation of driving wheel 732 is connected, therefore this high inclination-angle is tunneled
Machine can control hydraulic motor travel motor and process auxiliary drive hydraulic motor 731 to export power simultaneously during climbing, and walk hydraulic pressure horse
Caterpillar chain reach action is driven to provide the main driving force that this high inclination-angle development machine advances, process auxiliary drive hydraulic motor up to drive sprocket
731 driving engagement driving wheels 732 roll reach on weight tray 76 by meshing transmission structure and provide this high inclination-angle development machine
The auxiliary driving force of advance, and then the larger driving force of offer is provided, so as to be realized on the premise of identical climbing capacity
Reduce hydraulic motor travel motor power configuration, realize it is energy-saving；When this high inclination-angle development machine driving moves forward to weight tray 76
Stroke front end when, upper supporting part 6 coordinates stretching to be supported in that back makes after this high inclination-angle development machine strong fix can will be auxiliary
Climbing apparatus 7 is helped to lift and invert the step pitch that moves forward of taking a step that process auxiliary drive hydraulic motor 731 realizes weight tray 76, control
Simple and fast, improves drivage efficiency, reduction potential safety hazard on the premise of effectively preventing development machine from gliding, be particularly suitable for use in ±
The cutting driving in 25 ° of high inclination-angle tunnels.
Claims (4)
1. a kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus, used high inclination-angle development machine bag
Including rack (1), cutting units (2), loading part (3), running part (4), Department of Transportation (5), upper supporting part (6), auxiliary climbing apparatus
(7), electrical system, hydraulic system and atomizing dust-removing system；Cutting units (2) is arranged on the front upper part of frame (1) by panoramic table,
Including cantilever and cutterhead；Loading part (3) is arranged on the front lower portion of frame (1), including shovel board and is left and right symmetrically arranged in shovel board
On multijaw star-wheel or scraper plate；Running part (4) is arranged on the bottom of frame (1), including track frame, hydraulic motor travel motor, sprocket wheel
And caterpillar chain；Department of Transportation (5) is erected at the back-connected scraper plate of in frame (1) and loading part (3) including fore-and-aft direction and conveyed
Machine；Electrical system, hydraulic system and atomizing dust-removing system are installed in frame (1)；
Described upper supporting part (6) is arranged on the top of frame (1), including telescopic supporting rod (61), rod end supporting plate (62) and
Support bar turns down hydraulic cylinder；The position of telescopic supporting rod (61) correspondence running part (4) is arranged on the top of frame (1), branch of stretching
The bottom of strut (61) is articulated and connected in setting support bar telescopic hydraulic cylinder in the top of frame (1), telescopic supporting rod (61)；Bar
The baseplane of end supporting plate (62) is articulated and connected to be set on the top of telescopic supporting rod (61), the top plane of rod end supporting plate (62)
There is anti-skid structure；The bottom of support bar turnover hydraulic cylinder is articulated and connected to be articulated and connected in telescopic supporting rod in frame (1), top
(61)；
Described auxiliary climbing apparatus (7) is arranged on the rear lower of frame (1), including tie-beam (71), tie-beam turnover hydraulic pressure
Cylinder (72), process auxiliary drive frame assembly (73), guide slip shoe (74) and weight tray (76)；Tie-beam (71) fore-and-aft direction is set,
The front end of tie-beam (71) is articulated and connected with frame (1)；Tie-beam turnover hydraulic cylinder (72) is arranged on the top of tie-beam (71),
Hydraulic cylinder (72) one end is articulated and connected with frame (1), the other end and tie-beam (71) are articulated and connected for tie-beam turnover；Process auxiliary drive
Frame assembly (73) is arranged on the rear end of tie-beam (71), including support body, process auxiliary drive hydraulic motor (731) and engagement driving wheel
(732), the body of process auxiliary drive hydraulic motor (731) is fixedly mounted on the rear end of support body, process auxiliary drive hydraulic motor (731)
Output end is coaxially connected with engaging driving wheel (732), and engagement driving wheel (732) rolls set along the longitudinal direction；Guide slip shoe
(74) it is hingedly connected at the top of on the support body of process auxiliary drive frame assembly (73), the piston shoes that there is fore-and-aft direction to set for bottom are oriented to
Groove；Weight tray (76) is fixed with and led on the string configuration that fore-and-aft direction is set, the upper surface of weight tray (76)
To the guided way of the piston shoes guide groove dimensional fits of piston shoes (74), weight tray (76) is led by guided way with guide slip shoe (74)
To sliding connection, the position of correspondence engagement driving wheel (732) is provided with engaging driving wheel on the upper surface of weight tray (76)
(732) meshing transmission structure coordinated, the baseplane of weight tray (76) is provided with anti-skid structure；
Characterized in that, climbing control method specifically includes following steps：
A. climbing support：Control tie-beam turnover hydraulic cylinder (72), which stretches out, makes tie-beam (71) be turned over downwards band along pin joint rotation
Dynamic auxiliary bogie assembly (73), guide slip shoe (74) and weight tray (76) are integrally routed up from the rear lower of frame (1), rationally
The output pressure of control tie-beam turnover hydraulic cylinder (72) makes the baseplane of weight tray (76) is firm to be supported on roadway floor；
B., climbing auxiliary driving force is provided：Hydraulic motor travel motor and process auxiliary drive hydraulic motor (731) output power are controlled simultaneously,
Hydraulic motor travel motor drive sprocket drives caterpillar chain reach action to provide the main driving force that this high inclination-angle development machine advances, and auxiliary is driven
Hydrodynamic pressure motor (731) driving engagement driving wheel (732) rolls reach on weight tray (76) by meshing transmission structure and carried
The auxiliary driving force advanced for this high inclination-angle development machine；
C. stepping is moved：Stop reach, control when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray (76)
Support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder processed, which stretch out, stretches telescopic supporting rod (61) turnover from the top of frame (1)
Go out, rationally the output pressure of control support bar telescopic hydraulic cylinder makes the top plane of rod end supporting plate (62) is firm to be supported on tunnel top
On plate, tie-beam turnover hydraulic cylinder (72) retraction is then controlled tie-beam (71) is flipped up drive carrying along pin joint rotation
Bottom plate (76) moves up disengaging roadway floor, then controls process auxiliary drive hydraulic motor (731) output reverse power driving engagement to drive
Driving wheel (732) makes weight tray (76) move forward to stroke relative to process auxiliary drive frame assembly (73) by meshing transmission structure
Rear end, controls tie-beam turnover hydraulic cylinder (72) stretching tie-beam (71) is turned over downwards drive weight tray (76) and consolidates again
It is supported in the reach that a step pitch is completed on roadway floor, control support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder retraction
Telescopic supporting rod (61) is accommodated in behind the top of frame (1) and carry out excavation operation again.
2. the climbing control method of the high inclination-angle development machine according to claim 1 with auxiliary climbing apparatus, its feature
It is, the auxiliary climbing apparatus (7) of used high inclination-angle development machine also includes balance hydraulic cylinder (75), balance hydraulic cylinder (75)
It is arranged on the top of guide slip shoe (74), balance hydraulic cylinder (75) one end is articulated and connected with process auxiliary drive frame assembly (73), another
End is articulated and connected with guide slip shoe (74)；Also include the output pressure of rationally control balance hydraulic cylinder (75) in described step a
Make the baseplane of weight tray (76) in the longitudinal direction with roadway floor is closely knit fit the step of.
3. the climbing control method of the high inclination-angle development machine according to claim 1 with auxiliary climbing apparatus, its feature
It is, the weight tray (76) of used high inclination-angle development machine is provided with ground anchor bolt mounting hole；Also wrapped in described step a
Ground anchor bolt is installed by ground anchor bolt mounting hole after including that the baseplane in weight tray (76) is firm and being supported on roadway floor
The step of；The step of removing ground anchor bolt before control tie-beam turnover hydraulic cylinder (72) retraction is additionally included in described step c.
4. the climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus according to claim 1 or 2 or 3,
Characterized in that, the support bar turnover hydraulic cylinder of used high inclination-angle development machine is articulated and connected and is located in the bottom of frame (1)
Telescopic supporting rod (61) is articulated and connected in the rear of the bottom of frame (1), and telescopic supporting rod (61) turning over relative to frame (1)
Roll over expanded angle and be less than 90 °；Hydraulic motor travel motor and process auxiliary drive hydraulic motor (731) are controlled in described step b at the same time
First controlling support bar to turn down hydraulic cylinder and the stretching of support bar telescopic hydraulic cylinder before output power makes telescopic supporting rod (61) from frame
(1) turnover stretching in top makes the top plane of rod end supporting plate (62) is firm to be supported on back, and walking is then controlled simultaneously
The support bar flexible liquid of Synchronization Control telescopic supporting rod (61) when hydraulic motor and process auxiliary drive hydraulic motor (731) output power
The stretching of cylinder pressure provides extra motive force.
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| CN201810916962.XA CN109026048B (en) | 2017-04-01 | 2017-04-01 | A kind of climbing control method of high inclination-angle development machine |
| CN201710211826.6A CN106979015B (en) | 2017-04-01 | 2017-04-01 | A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus |
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| CN201710211826.6A CN106979015B (en) | 2017-04-01 | 2017-04-01 | A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus |
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| CN109334681A (en) * | 2018-11-23 | 2019-02-15 | 中建三局集团有限公司 | A kind of hydraulic pushing Wheels group arrangement and its application method |
| CN113153288A (en) * | 2021-04-20 | 2021-07-23 | 中国煤炭科工集团太原研究院有限公司 | Complete equipment for tunneling steep roadway and tunneling method |
| CN113700493A (en) * | 2021-10-28 | 2021-11-26 | 三一重型装备有限公司 | Supporting component behind entry driving machine and entry driving machine |
| CN114179053A (en) * | 2021-12-13 | 2022-03-15 | 贵州誉创机械有限公司 | Remote-control intelligent tunneling robot for coal mine tunnel |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109026048B (en) | 2019-10-18 |
| CN109026048A (en) | 2018-12-18 |
| CN106979015B (en) | 2018-11-16 |
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Application publication date: 20170725 Assignee: Guoke Zhongmai (Xuzhou) Energy Technology Co.,Ltd. Assignor: JIANGSU ZHONGJI MINE EQUIPMENT Co.,Ltd. Contract record no.: X2021980016402 Denomination of invention: Climbing control method of large inclination roadheader with auxiliary climbing device Granted publication date: 20181116 License type: Exclusive License Record date: 20220106 |
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Denomination of invention: A Climbing Control Method for High Angle Tunneling Machine with Auxiliary Climbing Device Granted publication date: 20181116 Pledgee: Bank of Nanjing Co.,Ltd. Xuzhou Branch Pledgor: JIANGSU ZHONGJI MINE EQUIPMENT Co.,Ltd. Registration number: Y2024980001652 |