CN111140245B - Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel - Google Patents

Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel Download PDF

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Publication number
CN111140245B
CN111140245B CN202010039078.XA CN202010039078A CN111140245B CN 111140245 B CN111140245 B CN 111140245B CN 202010039078 A CN202010039078 A CN 202010039078A CN 111140245 B CN111140245 B CN 111140245B
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support
unit
cutting
intelligent
air duct
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CN111140245A (en
Inventor
刘畅
姜鹏飞
庞义辉
王子越
韦尧中
郭吉昌
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CCTEG Coal Mining Research Institute
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Tiandi Science and Technology Co Ltd
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    • 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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D19/00—Provisional protective covers for working space
    • E21D19/04—Provisional protective covers for working space for use in drifting galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/0086—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor in galleries
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/03—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor having protective means, e.g. shields, for preventing or impeding entry of loose material into the working space or support
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
    • E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
    • 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
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
    • 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
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • 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
    • E21F1/00—Ventilation of mines or tunnels; Distribution of ventilating currents
    • E21F1/006—Ventilation at the working face of galleries or tunnels
    • 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
    • E21F1/00—Ventilation of mines or tunnels; Distribution of ventilating currents
    • E21F1/04—Air ducts
    • 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
    • E21F5/00—Means or methods for preventing, binding, depositing, or removing dust; Preventing explosions or fires
    • E21F5/20—Drawing-off or depositing dust

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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)
  • Structural Engineering (AREA)
  • Architecture (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

The invention relates to the field of roadway excavation, and discloses an intelligent roadway excavating and supporting machine and a method for rapidly forming a roadway, wherein the intelligent roadway excavating and supporting machine comprises: the device comprises a cutting unit, an intelligent control system, a bracket transportation unit and an anchor rod operation unit; the rack transport unit includes: installing a mechanical arm, a bracket conveyor and a disassembling mechanical arm; the support conveyer is provided with a plurality of hydraulic supports; the cutting unit and the mounting manipulator are both arranged on one side of the front end of the support conveyer, and the anchor rod operating unit and the dismounting manipulator are both arranged on one side of the rear end of the support conveyer; the intelligent control system monitors the working states of the cutting unit, the support transportation unit and the anchor rod operation unit and respectively controls the cutting unit, the support transportation unit and the anchor rod operation unit. According to the intelligent tunnel digging and supporting machine provided by the invention, the hydraulic support is intelligently erected on the tunneling working face, and the anchor rod is arranged behind the digging and supporting machine, so that the problems that the tunneling and the supporting are mutually interfered and the parallel operation cannot be carried out are solved.

Description

Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel
Technical Field
The invention relates to the field of roadway excavation, in particular to an intelligent roadway excavating and supporting machine and a method for quickly forming a roadway.
Background
Most of coal mine roadway surrounding rocks in China have the support requirement that a row of anchor rods and anchor cables must be supported after tunneling, the tunneling and the supporting are completed on a tunneling working face, the tunneling can be started again after the supporting is completed, the anchor rod supporting process is complex, the supporting is long in time, the supporting speed cannot follow the tunneling speed, the overall tunneling speed is influenced, and the coal mine recovery and tunneling take over is short.
In order to solve the problem of rapid lane formation of coal mine tunnels, two types of rapid tunneling equipment are researched and developed at home and abroad, one type is a transverse shaft drum type tunneling and anchoring unit, support is rapidly completed by utilizing an onboard hydraulic anchor rod drilling machine, but the equipment usually has a hollow space distance of about 3.5m and is difficult to adapt to most coal mine tunnel surrounding rock conditions in China, and the other type is that the hydraulic anchor rod drilling machine is arranged on a cantilever type tunneling machine to complete anchor rod support, so that manual carrying of drilling machine support is avoided, but the equipment is slow in support speed, can continue tunneling only after anchor rod support operation is completed, and still has long time consumption.
Disclosure of Invention
In view of the technical defects and application requirements, the embodiment of the invention provides an intelligent tunnel digging and supporting machine and a method for rapidly forming a tunnel, which can ensure the parallel operation of tunneling and permanent supporting and solve the problems of long time and large labor consumption for completing anchor bolt supporting on a tunneling working surface.
In order to solve the above problems, the present invention provides an intelligent tunnel digging and supporting machine, comprising:
the device comprises a cutting unit, an intelligent control system, a bracket transportation unit and an anchor rod operation unit;
the rack transport unit includes: installing a mechanical arm, a bracket conveyor and a disassembling mechanical arm;
the support conveyer is provided with a plurality of hydraulic supports; the cutting unit and the mounting manipulator are both arranged on one side of the front end of the support conveyer, and the anchor rod operating unit and the dismounting manipulator are both arranged on one side of the rear end of the support conveyer; the intelligent control system monitors the working states of the cutting unit, the support transportation unit and the anchor rod operation unit and respectively controls the cutting unit, the support transportation unit and the anchor rod operation unit.
Further, the hydraulic mount includes: the support comprises support upright columns, top beams, top guard plates, side guard plates, horizontal oil cylinders, top supporting oil cylinders and side guard oil cylinders; the support stand column is hinged to the two ends of the top beam through the horizontal oil cylinders, the top guard plate is hinged to the top of the support stand column through the top supporting oil cylinders, and the side guard plate is hinged to the outer side of the side guard plate through the side protecting oil cylinders.
Further, the hydraulic support still includes: metal mesh and flexible support material; the flexible supporting material and the metal mesh are sequentially stacked on the outer sides of the side guard plate and the top guard plate.
Further, the tunnel intelligence digger still includes: a coal rock block transportation unit; the coal rock transportation unit includes: shovel plates and scraper conveyors; the shovel plate is arranged on one side of the front end of the support conveyor and is arranged at the bottom of the cutting unit; the scraper conveyer is arranged at the bottom of the bracket conveyer and is communicated with the shovel plate; the shovel plate is provided with a mounting groove used for setting the hydraulic support, and the intelligent control system controls the mounting manipulator to place the hydraulic support in the mounting groove.
Further, the tunnel intelligence digger still includes: a ventilation unit and a dust removal unit;
the ventilation unit includes: the first fixed air duct, the first telescopic air duct and the second fixed air duct; an air outlet of the first fixed air duct is arranged on one side of the front end of the support conveyer, and the first fixed air duct is connected with the second fixed air duct through the first telescopic air duct;
the dust removal unit includes: the dust removal fan, the third fixed air duct, the second telescopic air duct and the fourth fixed air duct; the dust removal fan is arranged on one side of the front end of the support conveyer, and the dust removal fan is connected with the fourth fixed air duct sequentially through the third fixed air duct and the second telescopic air duct.
Further, the cutting unit comprises: the cutting machine comprises a roller, a cutting arm, an oil cylinder, a four-bar linkage structure and a sliding frame; the cutting arm includes: the cutting large arm and the cutting small arm are hinged with each other; the rotary drum is arranged at one end, far away from the small cutting arm, of the large cutting arm, the large cutting arm is connected with the sliding rack through the oil cylinder, and the small cutting arm is connected with the sliding rack through the four-bar linkage structure; the four-bar mechanism is used for adjusting the cutting track of the drum, so that the drum is in a vertical plane when the coal wall is cut, and the empty top distance is controlled to be reduced.
Further, the bolt working unit includes: a plurality of top jumbolters and a plurality of side jumbolters; the top jumbolter and the side jumbolters are arranged on one side of the rear end of the support conveyor, each top jumbolter is separated from the rear end of the support conveyor by a first preset distance, and each side jumbolter is separated from the rear end of the support conveyor by a second preset distance.
Further, the intelligent control system comprises: the system comprises a navigation subunit, an inclination angle sensor, a host and a distance measuring sensor; the navigation subunit and the tilt angle sensor are used for measuring the advancing direction and the posture of the intelligent tunnel digging machine and controlling the direction and the posture of the intelligent tunnel digging machine through the host; inclination sensor and range finding sensor acquire hydraulic support's position and gesture, and pass through host computer control installation manipulator will hydraulic support is fixed to support transport's front end one side, control disassembly manipulator will hydraulic support dismantles and lays support transport's rear end.
In order to solve the above problems, an embodiment of the present invention provides a method for quickly forming a roadway of an intelligent roadway tunneling and support machine, including:
step S1: the intelligent control system controls the cutting unit to slide forwards to cut the coal wall to complete the feeding in a preset direction and posture;
step S2: the hydraulic support is conveyed to the installation manipulator by the support conveying unit, and is unfolded and supported on one side of the front end of the support conveyor to complete the front end support of the roadway;
step S3: the intelligent control system controls the cutting unit to cut the coal wall up and down in a vertical plane;
step S4: the intelligent control system controls the disassembling manipulator to grab the hydraulic support, the hydraulic support retracts and is conveyed to the rear end of the support conveyor, and meanwhile the anchor rod operation unit completes the installation of the anchor rod on one side of the rear end of the support conveyor;
step S5: and (4) the whole intelligent tunnel digging machine continuously advances, and the steps S1 to S4 are repeatedly executed until the tunneling and the supporting of the whole tunnel are completed.
Further, between the step S3 and the step S4, the method further includes: the intelligent control system controls the coal rock blocks in the cutting process to be cleaned through the coal rock block transportation unit, and ventilation and dust removal are carried out through the ventilation unit and the dust removal unit.
The invention provides an intelligent tunnel digging and supporting machine, which is characterized in that a cutting unit for vertical cutting is arranged, a hydraulic support is intelligently erected on a driving face, and a mounting groove for arranging the hydraulic support is arranged behind a shovel plate, so that the empty top distance and the empty side distance of temporary support of the driving face are controlled and reduced, the mounting speed is improved, and the support strength is high; by arranging the anchor rods behind the digging and supporting machine, two sides of the top plate can be actively supported, and the problems that the tunneling and the supporting are mutually interfered and cannot be operated in parallel are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a side view of an intelligent tunnel boring machine according to an embodiment of the invention;
fig. 2 is a top view of an intelligent tunnel boring machine according to an embodiment of the present invention;
FIG. 3 is a schematic view of a rack transport unit provided by an embodiment of the present invention;
FIG. 4 is a general schematic diagram of a hydraulic mount provided in accordance with an embodiment of the present invention;
FIG. 5 is a partial schematic view of a hydraulic mount provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a hydraulic mount A-A provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a cutting unit provided in an embodiment of the present invention;
FIG. 8 is a side view of a blade provided in accordance with an embodiment of the present invention;
description of reference numerals: 1. a cutting unit; 2. a hydraulic support; 3. an intelligent control system; 4. a shovel plate; 5. a rack transport unit; 6. a scraper conveyor; 7. an anchor rod operation unit; 8. a first fixed air duct; 9. a dust removal fan; 10. a coal wall; 11. a drum; 12. an oil cylinder; 13. a cutting arm; 14. a four-bar linkage structure; 15. a sliding frame; 21. a bracket upright post; 22. a top guard plate; 23. supporting an oil cylinder; 24. a top beam; 25. a horizontal oil cylinder; 26. a side protection oil cylinder; 27. a side guard plate; 28. a flexible support material; 29. a metal mesh; 35. a host; 41. mounting grooves; 51. installing a mechanical arm; 52. a rack transporter; 53. disassembling the mechanical arm; 71. a top jumbolter; 72. assisting an anchor rod drilling machine; 321. a first ranging sensor; 322. a second ranging sensor; 323. a third ranging sensor; 331. a first tilt sensor; 332. a second tilt sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
An embodiment of the present invention provides an intelligent tunnel digging and branch machine, as shown in fig. 1, fig. 2 and fig. 3, including: the device comprises a cutting unit 1, an intelligent control system 3, a bracket transportation unit 5 and an anchor rod operation unit 7. The rack transport unit 5 includes: a mounting robot 51, a rack transporter 52, and a dismounting robot 53; the support conveyer 52 is provided with a plurality of hydraulic supports 2. The carrier transport 52 transports the hydraulic carrier 2 behind to the front by means of a chain transmission system. The cutting unit 1 and the mounting robot 51 are both disposed on the front end side (left side in fig. 1) of the rack conveyor 52, and the bolting work unit 7 and the dismounting robot 53 are both disposed on the rear end side (right side in fig. 1) of the rack conveyor 52. The intelligent control system 3 monitors the working states of the cutting unit 1, the support transportation unit 5 and the anchor rod operation unit 7, and respectively controls the cutting unit 1, the support transportation unit 5 and the anchor rod operation unit 7.
In the working process of the intelligent tunnel digging and supporting machine, the intelligent control system 3 controls the cutting unit 1 to slide forwards to cut the coal wall 10 to complete the feeding in the preset direction and posture. Then the hydraulic support 2 is transferred to the installation manipulator 51 by the support transportation unit 5, and the hydraulic support 2 is unfolded and fixed at one side of the front end of the support transportation machine 52, so that the front end support of the roadway is completed. The intelligent control system 3 controls the cutting unit 1 to cut the coal wall 10 up and down in a vertical plane. The intelligent control system 3 controls the dismounting manipulator 53 to grab the hydraulic support 2, the hydraulic support 2 retracts and is transported to the rear end of the support conveyor 52, and meanwhile the anchor rod operation unit 7 completes the installation of the anchor rod on one side of the rear end of the support conveyor 52. After the anchor rod is installed, the whole intelligent tunnel digging and supporting machine continues to move forward, and the steps are repeated until the tunneling and supporting of the whole tunnel are completed.
The embodiment of the invention provides an intelligent tunnel digging and supporting machine, which is characterized in that a hydraulic support is intelligently erected on a tunneling working face, and an anchor rod is arranged behind the digging and supporting machine, so that the condition that the supporting empty top is small, the installation speed is high, the supporting strength is high, two sides of a top plate can be actively supported when the tunneling working face is faced, and the problems that the tunneling and the supporting are mutually interfered and cannot be operated in parallel are solved.
Based on the above-described embodiments, in a preferred embodiment, as shown in fig. 4, 5 and 6, the hydraulic bracket 2 includes: the support comprises support upright posts 21, a top beam 24, a top guard plate 22, a side guard plate 27, a horizontal oil cylinder 25, a top supporting oil cylinder 23 and a side guard oil cylinder 26. The support upright post 21 is hinged at two ends of a top beam 24 through a horizontal oil cylinder 25, the top guard plate 22 is hinged at the top of the support upright post 21 through a support oil cylinder 23, and the side guard plate 27 is hinged at the outer side of the side guard plate 27 through a side guard oil cylinder 26. The hydraulic support 2 realizes the uniform distribution of the top plate through a support upright post 21, a top guard plate 22 and a top supporting oil cylinder 23. The hydraulic support 2 realizes the uniform distribution of two sides through a horizontal oil cylinder 25, a side protection oil cylinder 26 and a side protection plate 27. The horizontal oil cylinder 25, the supporting top oil cylinder 23 and the side protecting oil cylinder 26 are matched with each other to provide active support. The active supporting hydraulic support 2 is controlled by the intelligent control system 3 to shrink, the shrunk hydraulic support 2 is transferred to the support conveyor 52 through the disassembling manipulator 53 and transferred to the front end of the support conveyor 52, the hydraulic support 2 is controlled by the installing manipulator 51 and the intelligent control system 3 to be unfolded and installed, and active supporting of a top plate and two sides is achieved.
Furthermore, the hydraulic support 2 can be additionally provided with a metal mesh 29 and a flexible supporting material 28. The flexible supporting materials 28 and the metal mesh 29 are sequentially stacked on the outer sides of the side guard plates 27 and the top guard plate 22, so that the concave top plate and the concave top plate can be actively supported through the metal mesh 29 and the flexible supporting materials 28.
As shown in fig. 7, the cutting unit 1 includes: a drum 11, a cutting arm 13, a cylinder 12, a four-bar linkage 14 and a sliding frame 15. The cutting arm 13 comprises: a big cutting arm and a small cutting arm which are hinged with each other. The drum 11 is arranged at one end of the big cutting arm far away from the small cutting arm, the big cutting arm is connected with the sliding rack 15 through the oil cylinder 12, and the small cutting arm is connected with the sliding rack 15 through the four-bar linkage structure 14. The drum 11 is a horizontal shaft type drum, and in the process of lifting the coal wall by the lifting oil cylinder 12, the track of the drum 11 cutting the coal wall 10 is a vertical line through the adjustment of the four-bar linkage structure mechanism, so that the drum 11 is in a vertical plane when the coal wall 10 is cut, and the empty top distance is controlled to be reduced. The sliding carriage 15 can push the entire drum 11 and the cutting arm 13 forward and back, enabling the feeding of the cutting unit 1.
In order to facilitate the continuous operation of the intelligent tunnel branch digging machine, as shown in fig. 1, 2 and 3, the intelligent tunnel branch digging machine is also provided with a coal rock block transportation unit. The coal rock transportation unit includes: a blade 4 and a scraper conveyor 6. The tail part of the scraper conveyor 6 is supported by rubber wheels. The shovel plate 4 is arranged on the front end side of the support conveyor 52, and the shovel plate 4 is arranged at the bottom of the cutting unit 1. The scraper conveyor 6 is arranged at the bottom of the support conveyor 52, and the scraper conveyor 6 is communicated with the shovel plate 4 so as to transfer the coal rock block shoveled by the shovel plate 4. Be equipped with the mounting groove 41 that is used for setting up hydraulic support 2 behind shovel board 4, intelligent control system 3 control installation manipulator 51 is laid hydraulic support 2 in mounting groove 41.
Wherein, tunnel intelligence is dug a machine and is still equipped with ventilation unit and dust removal unit. The ventilation unit includes: first fixed dryer 8, first flexible dryer and the fixed dryer of second. The air outlet of the first fixed air duct 8 is arranged on one side of the front end of the support conveyor 52, and the first fixed air duct 8 is connected with the second fixed air duct through a first telescopic air duct. The dust removal unit includes: a dust removing fan 9, a third fixed air duct, a second telescopic air duct and a fourth fixed air duct. The dust removal fan 9 is arranged on one side of the front end of the support conveyer 52, and the dust removal fan 9 is connected with the fourth fixed air duct sequentially through the third fixed air duct and the second telescopic air duct. The ventilation unit and the dust removal unit can meet the requirements of dust removal of a driving face and ventilation of a high gas mine; the flexible volume of first flexible dryer and the flexible dryer of second can satisfy the demand of tunnelling footage of tunnelling 30 m.
Wherein the anchor rod working unit 7 is installed at the rubber wheel portion of the scraper conveyor 6. The bolt operation unit 7 includes: a plurality of roof bolters 71 and a plurality of roof bolters 72. The top jumbolters 71 and the side jumbolters 72 are both disposed on one side of the rear end of the rack conveyor 52, and each top jumbolter 71 is spaced a first predetermined distance from the rear end of the rack conveyor 52. Each side bolter 72 is spaced a second predetermined distance from the rear end of the rack conveyor 52. Through adjusting first preset distance and second preset distance, can adjust the position and the time of installation stock promptly, can accomplish the top stock and help the beating of stock and establish.
For realizing the accurate control to whole tunnel intelligence digger, intelligent control system 3 includes: navigation subunit, tilt sensor, host 35 and ranging sensor. The distance measuring sensor can adopt a laser distance measuring sensor. The navigation subunit and the tilt angle sensor are used for measuring the advancing direction and the posture of the intelligent tunnel digging machine and controlling the direction and the posture of the intelligent tunnel digging machine through the host 35. The inclination angle sensor and the distance measuring sensor acquire the position and the posture of the hydraulic support, the installation manipulator 51 is controlled by the host to fix the hydraulic support 2 to one side of the front end of the support conveyor 52, and the disassembly manipulator 53 is controlled to disassemble and place the hydraulic support 2 at the rear end of the support conveyor 52.
Specifically, referring to fig. 1 and 8, in the present embodiment, the distance measuring sensor includes: a first ranging sensor 321, a second ranging sensor 322, and a third ranging sensor 323. First distance measuring sensor 321 is provided behind blade 4, and second distance measuring sensor 322 is provided on hydraulic bracket 2. The third distance measuring sensor 323 is disposed behind the rack conveyor 52. The tilt sensor includes: a first tilt sensor 331 and a second tilt sensor 332. First tilt sensor 331 is provided behind blade 4, and second tilt sensor 332 is provided on hydraulic mount 2. The intelligent control system 3 measures the advancing direction and the posture of the tunnel intelligent digging machine through the navigation subunit and the first tilt angle sensor 331, and controls the advancing direction and the posture of the tunnel intelligent digging machine through the host 35. The intelligent control system 3 obtains the position and the posture of the hydraulic support 2 through the second tilt angle sensor 332 of the hydraulic support 2 and the first distance measuring sensor 321 behind the shovel plate 4, and controls the installation manipulator 51 to place the hydraulic support 2 in the mounting groove 41 behind the shovel plate 4 by matching the intelligent control system 3 with the host 35. The intelligent control system 3 obtains the position and posture of the cutting unit 1 through the second distance measuring sensor 322 installed on the hydraulic support 2, controls the cutting unit 1 to cut along the vertical line through the host 35, monitors the distance between the hydraulic support 2 and the cutting unit 1, and avoids the collision of the two. The intelligent control system 3 obtains the position of the hydraulic support 2 through the third distance measuring sensor 323 installed at the rear of the support conveyer 52, and controls the disassembling robot 53 through the main machine 35 to place the hydraulic support 2 on the support conveyer 52.
The embodiment of the invention provides an intelligent tunnel digging and supporting machine, wherein a cutting unit for vertical cutting is arranged, a hydraulic support is intelligently erected on a tunneling working face, and a mounting groove for arranging the hydraulic support is arranged behind a shovel plate, so that the empty top distance and the empty side distance of temporary support of the tunneling working face are controlled and reduced, the mounting speed is improved, and the support strength is high; by arranging the anchor rods behind the digging and supporting machine, two sides of the top plate can be actively supported, and the problems that the tunneling and the supporting are mutually interfered and cannot be operated in parallel are solved.
The embodiment of the invention provides a method for quickly forming a roadway by using an intelligent roadway tunneling and support machine, which is shown in fig. 1 to 8 and comprises the following steps: the device comprises a cutting unit 1, an intelligent control system 3, a bracket transportation unit 5 and an anchor rod operation unit 7. The rack transport unit 5 includes: a mounting robot 51, a rack transporter 52, and a dismounting robot 53; the support conveyer 52 is provided with a plurality of hydraulic supports 2. The carrier transport 52 transports the hydraulic carrier 2 behind to the front by means of a chain transmission system. The cutting unit 1 and the mounting robot 51 are both disposed on the front end side of the rack conveyor 52, and the anchor rod working unit 7 and the removing robot 53 are both disposed on the rear end side of the rack conveyor 52. The intelligent control system 3 monitors the working states of the cutting unit 1, the support transportation unit 5 and the anchor rod operation unit 7, and respectively controls the cutting unit 1, the support transportation unit 5 and the anchor rod operation unit 7. For a detailed structure, please refer to the text description related to fig. 1 to 8, which is not repeated herein.
The method comprises the following steps:
step S1: the intelligent control system controls the cutting unit to slide forwards to cut the coal wall to finish the feeding in the preset direction and posture.
Step S2: and the hydraulic support is transported to the installation manipulator by the support transportation unit, is unfolded and fixed at one side of the front end of the support transporter, and is supported at the front end of the roadway.
Step S3: the intelligent control system controls the cutting unit to cut the coal wall up and down in a vertical plane.
Step S4: the intelligent control system controls the dismounting manipulator to grab the hydraulic support, the hydraulic support retracts and is conveyed to the rear end of the support conveyor, and meanwhile the anchor rod operation unit completes the installation of the anchor rod on one side of the rear end of the support conveyor.
Step S5: and (4) the whole intelligent tunnel digging machine continuously advances, and the steps S1 to S4 are repeatedly executed until the tunneling and the supporting of the whole tunnel are completed.
In order to facilitate the continuous operation of the intelligent tunnel branch digging machine, the steps between the step S3 and the step S4 further comprise: the intelligent control system controls the coal rock blocks in the cutting process to be cleaned through the coal rock block transportation unit, and ventilation and dust removal are carried out through the ventilation unit and the dust removal unit.
In a particular embodiment, the method comprises the following steps:
(1) the intelligent control system 3 controls the rotary drum 11 of the cutting unit 1 to rotate at a high speed and slide forwards through the sliding rack 15, the cutting unit 1 cuts the coal wall 10 to complete feeding in a preset direction and posture, and the shovel plate 4 extends out of a row distance along with the sliding rack 15 and cleans fallen coal.
(2) The support conveyor 52 transports the hydraulic support 2 to the installation manipulator 51, the intelligent control system 3 controls the installation manipulator 51 to stretch out the lapped hydraulic support 2, the horizontal oil cylinder 25 and the support upright post 21 unfold the hydraulic support 2 and are embedded into the shovel plate 4 installation groove 41 to realize the positioning of the hydraulic support 2, the supporting oil cylinder 23 and the side protection oil cylinder 26 are controlled to stretch out, the supporting plate 22 and the side protection plate 27 are supported, the flexible supporting material 28 provides uniform distribution and active supporting force for the coal wall 10, and finally the metal mesh 29 is used for laying and lapping.
(3) The intelligent control system 3 controls the lifting oil cylinder 12 of the cutting unit 1 to stretch and retract so as to realize that the roller 11 cuts the coal wall 10 up and down, and the four-bar linkage structure 14 adjusts the cutting track of the roller 11 so that the roller 11 is in a vertical plane when cutting the coal wall 10, thereby effectively controlling the empty-head distance.
(4) When the intelligent tunnel digging and supporting machine feeds, erects the hydraulic supports 2 and cuts, an anchor rod operation unit 7 (an anchor rod jacking drilling machine 71) arranged on the scraper conveyor 6 completes the installation of an anchor rod between the last two hydraulic supports 2 behind the digging and supporting machine.
(5) After the intelligent tunnel digging and supporting machine finishes cutting and a first row of top anchor rods behind the digging and supporting machine are installed, the intelligent tunnel digging and supporting machine moves forward through the crawler belt and controls the sliding frame 15 and the oil cylinders of the shovel plates 4 to retract, so that the position of a cutting part relative to a bottom plate is ensured to be unchanged in the process of the machine body; in the advancing process of the digging and supporting machine, the first telescopic air duct and the second telescopic air duct are extended, the scraper conveyer 6 advances through the rubber wheel, and the ventilation unit and the dust removal unit ventilate and remove dust simultaneously.
(6) After the intelligent tunnel digging machine moves forward in place, the intelligent control system 3 controls the dismounting manipulator 53 to grab the hydraulic support 2, retract the hydraulic support 2 and transfer the hydraulic support 2 to the support conveyer 52. And (3) repairing and digging a first row of anchor rods behind the digging and supporting machine through the anchor rod operation unit 7 (the anchor rod drilling machine 72). In the process, the steps (1) to (3) can be simultaneously carried out in front of the branch cutting machine.
(7) And (3) when the steps (1) to (6) of 30 cycles are completed, the first telescopic air duct and the second telescopic air duct are disassembled from the rear part of the digging and supporting machine, and new telescopic air ducts are lapped again.
(8) And (5) repeating the steps (1) to (7) until the tunneling and the supporting of the whole roadway are completed.
The embodiment of the invention provides a method for quickly forming a roadway of an intelligent tunnel boring machine, which is characterized in that a cutting unit for vertical cutting is arranged, a hydraulic support is intelligently erected on a tunneling working face, an installation groove for arranging the hydraulic support is arranged behind a shovel plate, the empty top distance and the empty side distance of temporary support of the tunneling working face are controlled and reduced, the installation speed is improved, and the support strength is high; by arranging the anchor rods behind the digging and supporting machine, two sides of the top plate can be actively supported, and the problems that the tunneling and the supporting are mutually interfered and cannot be operated in parallel are solved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (6)

1. The utility model provides a machine is dug to tunnel intelligence which characterized in that includes:
the device comprises a cutting unit, an intelligent control system, a bracket transportation unit and an anchor rod operation unit;
the rack transport unit includes: installing a mechanical arm, a bracket conveyor and a disassembling mechanical arm;
the support conveyer is provided with a plurality of hydraulic supports; the cutting unit and the mounting manipulator are both arranged on one side of the front end of the support conveyer, and the anchor rod operating unit and the dismounting manipulator are both arranged on one side of the rear end of the support conveyer; the bracket conveyor is used for conveying the hydraulic bracket from the rear end side to the front end side through chain transmission; the intelligent control system monitors the working states of the cutting unit, the support transportation unit and the anchor rod operation unit and respectively controls the cutting unit, the support transportation unit and the anchor rod operation unit;
the intelligent control system comprises:
the system comprises a navigation subunit, an inclination angle sensor, a host and a distance measuring sensor;
the navigation subunit and the tilt angle sensor are used for measuring the advancing direction and the posture of the intelligent tunnel digging machine and controlling the direction and the posture of the intelligent tunnel digging machine through the host; the inclination angle sensor and the distance measuring sensor acquire the position and the posture of the hydraulic support, the host machine controls the installation manipulator to fix the hydraulic support to one side of the front end of the support conveyor, and the disassembly manipulator is controlled to disassemble and place the hydraulic support at the rear end of the support conveyor;
the hydraulic support includes:
the support comprises support upright columns, top beams, top guard plates, side guard plates, horizontal oil cylinders, top supporting oil cylinders and side guard oil cylinders;
the support upright post is hinged to two ends of the top beam through the horizontal oil cylinder, the top guard plate is hinged to the top of the support upright post through the top supporting oil cylinder, and the side guard plate is hinged to the outer side of the side guard plate through the side guard oil cylinder;
the hydraulic support also comprises a metal net and a flexible supporting material; the flexible supporting material and the metal mesh are sequentially stacked on the outer sides of the side guard plate and the top guard plate;
the cutting unit comprises:
the cutting machine comprises a roller, a cutting arm, an oil cylinder, a four-bar linkage structure and a sliding frame; the cutting arm includes: the cutting large arm and the cutting small arm are hinged with each other; the rotary drum is arranged at one end, far away from the small cutting arm, of the large cutting arm, the large cutting arm is connected with the sliding rack through the oil cylinder, and the small cutting arm is connected with the sliding rack through the four-bar linkage structure; the four-bar mechanism is used for adjusting the cutting track of the drum, so that the drum is in a vertical plane when the coal wall is cut, and the empty top distance is controlled to be reduced.
2. The intelligent tunnel boring machine according to claim 1, further comprising:
a coal rock block transportation unit; the coal rock transportation unit includes: shovel plates and scraper conveyors; the shovel plate is arranged on one side of the front end of the support conveyor and is arranged at the bottom of the cutting unit; the scraper conveyer is arranged at the bottom of the bracket conveyer and is communicated with the shovel plate; the shovel plate is provided with a mounting groove used for setting the hydraulic support, and the intelligent control system controls the mounting manipulator to place the hydraulic support in the mounting groove.
3. The intelligent tunnel boring machine according to claim 1, further comprising:
a ventilation unit and a dust removal unit;
the ventilation unit includes: the first fixed air duct, the first telescopic air duct and the second fixed air duct; an air outlet of the first fixed air duct is arranged on one side of the front end of the support conveyer, and the first fixed air duct is connected with the second fixed air duct through the first telescopic air duct;
the dust removal unit includes: the dust removal fan, the third fixed air duct, the second telescopic air duct and the fourth fixed air duct; the dust removal fan is arranged on one side of the front end of the support conveyer, and the dust removal fan is connected with the fourth fixed air duct sequentially through the third fixed air duct and the second telescopic air duct.
4. The intelligent tunneling and tunneling machine according to claim 1, wherein the anchor rod operating unit comprises:
a plurality of top jumbolters and a plurality of side jumbolters; the top jumbolter and the side jumbolters are arranged on one side of the rear end of the support conveyor, each top jumbolter is separated from the rear end of the support conveyor by a first preset distance, and each side jumbolter is separated from the rear end of the support conveyor by a second preset distance.
5. A method for rapidly forming a roadway by using the intelligent roadway tunneling and support machine according to any one of claims 1-4, wherein the method comprises the following steps:
step S1: the intelligent control system controls the cutting unit to slide forwards to cut the coal wall to complete the feeding in a preset direction and posture;
step S2: the hydraulic support is conveyed to the installation manipulator by the support conveying unit, and is unfolded and supported on one side of the front end of the support conveyor to complete the front end support of the roadway;
step S3: the intelligent control system controls the cutting unit to cut the coal wall up and down in a vertical plane;
step S4: the intelligent control system controls the disassembling manipulator to grab the hydraulic support, the hydraulic support retracts and is conveyed to the rear end of the support conveyor, and meanwhile the anchor rod operation unit completes the installation of the anchor rod on one side of the rear end of the support conveyor;
step S5: and (4) the whole intelligent tunnel digging machine continuously advances, and the steps S1 to S4 are repeatedly executed until the tunneling and the supporting of the whole tunnel are completed.
6. The method of claim 5, further comprising, between the step S3 and the step S4:
the intelligent control system controls the coal rock blocks in the cutting process to be cleaned through the coal rock block transportation unit, and ventilation and dust removal are carried out through the ventilation unit and the dust removal unit.
CN202010039078.XA 2020-01-14 2020-01-14 Intelligent tunnel digging and supporting machine and method for rapidly forming tunnel Active CN111140245B (en)

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CN111677504A (en) * 2020-06-19 2020-09-18 北京中矿创新联盟能源环境科学研究院 Coal mining device and coal mining system
CN112253159A (en) * 2020-10-26 2021-01-22 山西晟特恒采矿工程机械有限公司 Transverse shaft digging and anchoring machine
CN112459781B (en) * 2020-10-29 2021-11-05 煤炭科学研究总院 Full-automatic pillar filling mining control method and control device
CN112593961A (en) * 2020-12-04 2021-04-02 煤炭科学研究总院 Roadway driving method
CN114017078B (en) * 2021-10-13 2023-02-28 煤炭科学研究总院有限公司 Control method and device for unmanned full-automatic self-adaptive installation of roadway support
CN113882889B (en) * 2021-11-01 2024-02-27 安徽理工大学 Head-tail interactive sliding type anchor support integrated equipment and control method
CN114087004B (en) * 2021-11-17 2024-01-30 中国矿业大学 Temporary support carrying device for realizing parallel operation of digging and supporting and working method

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