CN111520155A - Multifunctional roadway repairing machine and construction method thereof - Google Patents
Multifunctional roadway repairing machine and construction method thereof Download PDFInfo
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- CN111520155A CN111520155A CN202010350950.2A CN202010350950A CN111520155A CN 111520155 A CN111520155 A CN 111520155A CN 202010350950 A CN202010350950 A CN 202010350950A CN 111520155 A CN111520155 A CN 111520155A
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- 238000010276 construction Methods 0.000 title claims abstract description 8
- 238000003801 milling Methods 0.000 claims abstract description 61
- 239000003245 coal Substances 0.000 claims abstract description 19
- 238000005520 cutting process Methods 0.000 claims abstract description 14
- 239000003921 oil Substances 0.000 claims description 35
- 239000010720 hydraulic oil Substances 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 9
- 238000004140 cleaning Methods 0.000 claims description 5
- 230000008439 repair process Effects 0.000 claims description 5
- 238000009412 basement excavation Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005065 mining Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 239000004575 stone Substances 0.000 description 3
- 230000005465 channeling Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000000498 cooling water Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000005641 tunneling Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000010881 fly ash Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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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
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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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
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
- E21D9/126—Loading devices or installations
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- 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
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/002—Crushing devices specifically for conveying in mines
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- 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
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
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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)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
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Abstract
The invention discloses a multifunctional roadway repairing machine and a construction method thereof, wherein the multifunctional roadway repairing machine comprises a milling and digging operation part, a multifunctional working arm, a liftable push plate device, a chassis, a manipulation part and a power assembly, wherein the multifunctional working arm, the manipulation part and the power assembly are sequentially arranged above the chassis from front to back; the chassis controls the mobile platform to drive the whole machine to walk through the walking motor; the multifunctional working arm controls the working arm rotation driving assembly to rotate 90 degrees along the moving platform through the oil cylinders of the working arm, and controls the milling and digging operation part to mill, dig and cut the roadway. The invention has the function of omnibearing linear cutting of the tunnel, is provided with a quick-change function executing device, integrates the functions of milling, digging, crushing and loading, can realize the left-right rotation of a multifunctional working arm by 90 degrees, and realizes the mechanized operation of the rapid closed connection tunnel of the coal mine tunnel.
Description
Technical Field
The invention relates to a repairing machine for coal mining technical equipment, in particular to a multifunctional roadway repairing machine and a construction method thereof.
Background
Coal is one of the main energy sources used by human beings since the eighteenth century, and because of large reserves and easy exploitation, coal occupies a significant position in the disposable energy consumption of China. In the long term, the proportion of coal in the total energy consumption of China will show a descending trend, but the energy structure mainly based on coal in China will not be changed greatly in a long period of time in the future. Therefore, the sustainable and healthy development of the coal industry is still a major problem of energy safety and economic sustainable development in China.
With the continuous progress of coal mining technical equipment in China, the production capacity of modern coal mines is further enhanced, and the tunneling and stoping processes are new; but simultaneously, also bring new problems and pressure to the fire prevention work of the mine, mainly show as: firstly, most of the modernized mine coal face roadways adopt continuous mining machine double-lane tunneling, the connecting lanes between the two lanes are dense (one connecting lane is arranged in every 100m on average), sealing is needed in time in the production process, and the workload of sealing operation is large; secondly, in order to improve the quality of the permanent sealing of the working face and prevent air leakage to the goaf, the permanent sealing thickness of most of the current mine working faces is more than 5m (namely two material stone walls with the thickness of 1m are respectively filled with loess or fly ash with the thickness of 3 m), and in order to ensure that the material stone walls are tightly attached to the side plates, the top plate and the bottom plate of the roadway and bear the pressure of the filling materials, annular sealed grooves need to be dug in the roadway for building the material stone walls, so that the workload of the channeling operation is large, and the labor intensity is high.
At present, the tunnel sealing and the channeling operation are mainly performed by manual operation, the degree of mechanical operation is low, and the manual operation has the defects of high labor intensity and low operation efficiency; the cut adopts the pneumatic pick operation, and the function is single, can't clear up the coal gangue that the cut produced. Some mechanized tunnel repair equipment that exist on the market, although can accomplish partial tunnel repair function, still less to the airtight undermining operation of tunnel its function that possesses, can't satisfy the integrated operation such as undermining, clearance, level tunnel, the equipment work arm that has now, mill dig the operation portion degree of freedom less, can't carry out all-round undermining, repair operation to the tunnel, can't satisfy airtight contact tunnel mechanized operation demand.
Disclosure of Invention
Aiming at solving the defects in the prior art, the invention aims to realize the functions of breaking, shoveling, assembling, milling and the like in a narrow space underground aiming at the tunnel sealing technical operation, provides a tunnel multifunctional repairing machine and a construction method thereof, expands the omnibearing linear cutting function of a tunnel, realizes the mechanized operation of the coal mine tunnel in a quick sealing connection way, can realize the left-right rotation of a multifunctional working arm by +/-90 degrees, integrates the functions of milling, digging, crushing and loading, and is an efficient and quick omnibearing tunnel repairing machine with a quick-change function executing device.
The invention is realized by the following technical scheme.
The invention provides a multifunctional roadway repairing machine which comprises a milling and digging operation part, a multifunctional working arm, a lifting push plate device, a chassis, a control part and a power assembly, wherein the multifunctional working arm, the control part and the power assembly are sequentially arranged above the chassis from front to back; the control part is provided with various executing elements which are controlled by a hydraulic control system and comprise a walking motor and various oil cylinders of a working arm;
the chassis controls the mobile platform to drive the whole machine to walk through the walking motor;
the multifunctional working arm controls the working arm rotation driving assembly to rotate 90 degrees along the moving platform through the oil cylinders of the working arm, and controls the milling and digging operation part to mill, dig and cut the roadway.
According to one embodiment of the invention, the multifunctional working arm comprises a rotary frame connected to a working arm rotary driving assembly, the rotary frame is hinged with a large arm cylinder and a large arm, the large arm is hinged with a small arm cylinder, the large arm and the small arm cylinder are hinged with a telescopic inner arm, the telescopic inner arm is slidably connected with a telescopic outer arm, a sliding block is arranged between the telescopic outer arm and the telescopic inner arm, and the telescopic inner arm is slidably connected with the telescopic outer arm; a feeding cylinder is hinged between the telescopic inner arm and the telescopic outer arm, a milling and excavating bucket cylinder is hinged on the telescopic outer arm, and the front end of the telescopic outer arm is hinged on a milling and excavating operation part connecting frame.
According to one embodiment of the invention, the front end of the milling and excavating operation part is provided with a transverse double milling and excavating head, the transverse double milling and excavating head is connected with the multifunctional working arm through a connecting frame, and a rotary driving module is connected between the transverse double milling and excavating head and the connecting frame.
According to one embodiment of the invention, the lifting push plate device comprises a push plate assembly and a push plate oil cylinder, wherein the push plate oil cylinder is hinged with the chassis, and the front end part of the push plate oil cylinder is hinged with the push plate assembly.
According to one embodiment of the invention, the manipulation part comprises a manipulation stage on which a hydraulic control system is mounted.
According to one embodiment of the invention, the hydraulic control system comprises a load feedback proportional directional valve, a hydraulic pipeline, a series hydraulic switcher and various actuators; the load feedback proportional reversing valve is connected with each actuating element; the load feedback proportional reversing valve is connected with a series hydraulic switcher through a hydraulic pipeline, and the series hydraulic switcher is connected with a push plate oil cylinder or a quick-change oil cylinder.
According to one embodiment of the invention, the milling and digging operation part hinged at the front end of the multifunctional working arm is switched into a breaking hammer group or a bucket group through a quick-change device; the quick-change device is connected with the quick-change oil cylinder.
According to one embodiment of the invention, the power assembly comprises a hydraulic oil tank, an explosion-proof motor, a variable displacement plunger pump and an air-cooled radiator;
the explosion-proof motor is communicated with a hydraulic oil tank to a hydraulic control system through a variable displacement plunger pump, and hydraulic oil of the hydraulic control system is communicated with an air cooling radiator to the hydraulic oil tank through a pipeline.
Correspondingly, the invention provides a roadway construction method of the multifunctional roadway repairing machine, which comprises the following steps:
operating a walking motor control valve to walk the whole machine into the roadway;
operating the working arm to drive the assembly control valve, and swinging the working arm to form a 90-degree pose with the whole machine body;
operating a push plate quick-change cylinder control valve, and supporting the push plate assembly to be close to the roadway bottom plate to stabilize the machine body;
operating a pilot operating handle, and performing linear milling and cutting operation on two sides of the roadway from bottom to top by adopting a milling and cutting working part by controlling the actions of a large arm oil cylinder, a small arm oil cylinder, a milling and cutting bucket cylinder and a telescopic cylinder;
after the side wall undermining operation is completed, the pose of the working arm is adjusted, and the working arm swings left and right and is matched with a walking moving machine to carry out the transverse undermining operation on the top plate of the roadway;
and after the undercutting operation is finished, operating the control valve of the quick-change cylinder of the push plate to lift the push plate assembly, and cleaning and leveling the coal and gangue generated by the undercutting operation by the walking of the whole machine.
According to one embodiment of the invention, when excavation cleaning operation or crushing operation on the bottom plate is required, the hydraulic switching valve is operated to switch the oil path to the quick-change oil cylinder control circuit, and the push plate quick-change cylinder control valve is operated to switch the milling and excavating work part to a bucket group or a crushing hammer group.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the multifunctional working arm can rotate by +/-90 degrees left and right, and the all-dimensional cutting operation in the roadway is realized, so that the working efficiency is improved.
2. The front end of the multifunctional working arm and the function executing devices (a milling and digging operation part, a breaking hammer set and a bucket set) are provided with quick-change devices, and one of the function executing devices can be installed quickly and quickly according to the operation condition so as to meet various working requirements.
3. The hydraulic control system switches the main hydraulic circuit to a plurality of hydraulic branches through the series hydraulic switcher, and the single-connection control valve controls a plurality of execution actions.
4. And the transverse double milling and digging heads of the milling and digging operation part rotate 360 degrees along the axial direction of the milling and digging arm and are longitudinally telescopic and fed relative to the milling and digging arm.
5. The chassis front end articulates there is liftable push pedal device, can clear up the coal gangue that the operation produced is repaiied to the lane on the one hand to level and smooth the bottom plate, on the other hand makes the push pedal prop ground through adjusting lift cylinder, can be used for stabilizing the fuselage when the operation is dug in the milling.
The roadway repairing machine has the advantages of flexibility, good controllability, wide application range, long service life and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a schematic diagram of a multi-function work arm, according to one embodiment of the present invention;
fig. 4 is a schematic structural diagram of a part of a hydraulic control system according to an embodiment of the invention.
Reference numerals: 1. a milling and digging operation part; 2. a multifunctional working arm; 3. a lifting push plate device; 4. a chassis; 5. an operation section; 6. a hydraulic control system; 7. a power assembly; 8. a quick-change device; 9. a breaking hammer set; 10. a bucket group; 111. a connecting frame; 112. a rotation driving module; 113. a transverse double milling and digging head; 21. a revolving frame; 22. a large arm cylinder; 23. a large arm; 24. a forearm cylinder; 25. a telescopic inner arm; 26. a telescopic outer arm; 27. a slider; 28. a feed cylinder; 29. milling a bucket cylinder; 31. a push plate assembly; 32. a push plate oil cylinder; 41. a swing drive assembly; 42. a mobile platform; 51. a protective ceiling; 52. a seat assembly; 53. a console; 531. a pilot operating handle; 61. a load feedback proportional directional valve; 62. a hydraulic line; 63. a series hydraulic switch; 64. an actuator; 71. a hydraulic oil tank; 72. an explosion-proof motor; 73. a plunger pump; 74. an air-cooled radiator; 81. and (5) quickly replacing the oil cylinder.
Detailed Description
The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions of the present invention are provided to explain the present invention without limiting the invention thereto.
Referring to the attached drawings 1 and 2, the invention provides a multifunctional roadway repairing machine, which is an embodiment of the invention and comprises a milling and digging operation part 1, a multifunctional working arm 2, a lifting push plate device 3, a chassis 4, an operation part 5 and a power assembly 7, wherein the lifting push plate device 3 is hinged to the lower part of the front end of the chassis 4 and can be used for leveling a roadway and supporting the whole machine; the chassis 4 is used for connecting other parts of the whole machine on one hand, bears various load impacts when the whole machine works on the other hand, and drives the whole machine to walk through the movable platform 42. The multifunctional working arm 2 is positioned at the front part of the whole machine above the chassis 4, the milling and digging operation part 1 is hinged at the front end of the multifunctional working arm 2, the multifunctional working arm 2 can be rapidly switched to the milling and digging operation part 1 through the quick change device 8, and the crushing hammer group 9 or the bucket group 10 is connected through the quick change device 8 so as to carry out crushing or digging loading operation. The operation part 5 is connected to the middle part of the upper part of the chassis 4 through bolts, comprises an operator protective ceiling 51, a seat assembly 52 and an operation console 53, and a pilot operation handle 531 on the operation console 53 can control all actions of the whole machine to complete all operation functions. The control console 53 is provided with a hydraulic control system 6 which is composed of a load feedback proportional directional valve 61, a hydraulic pipeline 62, a series hydraulic switcher 63 and execution elements 64 (comprising a walking motor and cylinders of a working arm). The power assembly 7 is arranged at the upper rear part of the chassis and comprises a hydraulic oil tank 71, an explosion-proof motor 72, a variable plunger pump 73 and an air-cooled radiator 74. The explosion-proof motor 72 is communicated with a hydraulic oil tank 71 to the hydraulic control system 6 through a variable displacement plunger pump 73, and hydraulic oil of the hydraulic control system 6 is communicated with an air-cooled radiator 74 to the hydraulic oil tank 71 through a pipeline.
As shown in fig. 3, the multifunctional working arm 2 includes a revolving frame 21, one end of the revolving frame 21 is connected to the working arm revolving driving assembly 41 through a bolt, one end is hinged to a large arm cylinder 22 and a large arm 23, the large arm 23 is hinged to a small arm cylinder 24, the large arm 23 and the small arm cylinder 24 are hinged to a telescopic inner arm 25, the telescopic inner arm 25 is connected to a telescopic outer arm 26 in a sliding manner, a sliding block 27 is arranged between the telescopic outer arm 26 and the telescopic inner arm 25, lubricating oil is filled into a lubricating groove in the sliding block 27 through oil filling into an oil filling hole in the sliding block 27, wet sliding friction of the telescopic inner arm 25 relative to the telescopic outer arm 26 can be realized, and sliding resistance is small, stable and smooth. A feeding cylinder 28 is hinged between the telescopic inner arm 25 and the telescopic outer arm 26, a milling bucket cylinder 29 is hinged on the telescopic outer arm 26, and the front end of the telescopic outer arm 26 is hinged on a milling operation part connecting frame 111. When the milling and cutting operation is carried out, the hydraulic control system 6 controls the large arm cylinder 22, the small arm cylinder 24, the milling and cutting bucket cylinder 29 and the feeding cylinder 28 to stretch, so that the multifunctional working arm can perform combined actions of folding, unfolding, swinging and stretching, and linear cutting operation on a roadway is realized.
As shown in fig. 3, a transverse double milling and digging head 113 is mounted at the front end of the milling and digging working part 1, and is connected with the multifunctional working arm 2 through a connecting frame 111, and a rotation driving module 112 is connected between the transverse double milling and digging head 113 and the connecting frame 111. Through the sliding and stretching of the rotary driving module 112, the telescopic outer arm 26 and the telescopic inner arm 25, the combined operation that the transverse double milling and digging heads rotate 360 degrees along the axial direction of the milling and digging arm and stretch and feed longitudinally relative to the milling and digging arm can be realized, so that the linear feeding of the cutting operation is realized.
As shown in fig. 1 and 2, the lifting push plate device 3 of the present invention is hinged to the lower portion of the front end of the chassis, and comprises a push plate assembly 31 and a push plate cylinder 32, wherein one end of the push plate cylinder 32 is hinged to the chassis 4, and the other end is hinged to the push plate assembly 31. Through the control valve, control push pedal hydro-cylinder is flexible, can drive push pedal subassembly oscilaltion swing, can make the push pedal hug closely the tunnel bottom plate on the one hand, clears up and levels the tunnel to the coal gangue that the operation produced is repaiied in the tunnel, and on the other hand props the ground through the push pedal, can be used for stabilizing the fuselage when milling the operation.
As shown in fig. 1 and 2, the chassis 4 of the present invention is mainly composed of a working arm rotation driving assembly 41 and a moving platform 42. One end of the rotary driving assembly 41 is connected with the multifunctional working arm 2, and the other end is connected with the mobile platform 42 and used for driving the working arm to swing at an angle of 90 degrees left and right and bearing the counterforce generated when the working arm swings; the mobile platform 42 adopts crawler-type walking, the hydraulic motor drives the speed reducer and drives the driving chain wheel to walk, the hydraulic motor and the speed reducer are of integrated structures, the whole structure is compact, and the cross-country capacity is strong.
The operation unit 5 of the present invention is an operation mechanism for realizing each operation function of the whole machine, and is composed of an operator protective ceiling 51, a seat unit 52, and an operation console 53. All the working actions of the whole machine are controlled by pilot control, and an operator can control all the actions of the whole machine to complete all the operation functions by operating a pilot control handle 531 on an operating console 53; the hydraulic control pilot control mode is adopted to realize the compound action of each hydraulic cylinder of the working arm, so that the operation flexibility and the comfort are improved, and the cutting operation efficiency is improved.
As shown in fig. 1 and 4, the hydraulic control system of the present invention is a load feedback variable control system, and the hydraulic control system 6 mainly comprises a load feedback proportional directional valve 61, a hydraulic pipeline 62, a series hydraulic switch 63, and an actuator 64 (including a walking motor and cylinders of the whole machine). The load feedback variable control system can output high-pressure oil to the execution elements according to the set flow of the reversing valve 61, the distributed flow of each execution element is not influenced by the load, and stable and flexible actions of the whole machine during working are guaranteed. The load feedback proportional directional valve 61 can realize switching the main hydraulic circuit to a plurality of hydraulic branch circuits by serially connecting the hydraulic switcher 63 in the system circuit, realize that the simply connected control valve controls two execution actions of the push plate oil cylinder 32 and the quick change oil cylinder 81, and improve the working efficiency of the hydraulic system.
As shown in fig. 2, the power assembly 7 of the present invention is mainly composed of a hydraulic oil tank 71, an explosion-proof motor 72, a plunger pump 73, and an air-cooled radiator 74. The whole machine adopts the power of an explosion-proof motor, the explosion-proof motor drives a variable plunger pump to extract hydraulic oil from a hydraulic oil tank and convert the hydraulic oil into high-pressure oil to be supplied to a hydraulic control system 6, so that the whole machine is driven to move, and the hydraulic oil after completing the working cycle is cooled by an air-cooled radiator 74 and then returns to the hydraulic oil tank; the air-cooled heat dissipation type is adopted, so that external cooling water can be avoided, the roadway repairing operation flow is simplified, and roadway water accumulation caused by the outflow of the cooling water can be avoided.
As shown in fig. 1 and 3, the quick-change device 8 of the present invention has one end hinged to the telescopic outer arm 26 and the other end connected to the operation executing device (including the milling and digging operation part 1, the breaking hammer group 9 and the bucket group 10); the quick-change operation is driven by the quick-change oil cylinder 81, so that each operation execution device can be quickly replaced, the replacement time can be saved, the labor intensity of replacement is reduced, and the operation efficiency is improved.
As shown in fig. 2, the breaking hammer set 9 and the bucket set 10 of the present invention are two operation executing devices of the multifunctional roadway repairing machine, wherein the breaking hammer set 9 is hydraulically driven and performs impact operation, and the breaking hammer set can perform impact breaking operation on a rock floor or a concrete floor; the bucket group 10 can be used for excavating and loading operation so as to clean gangue generated by roadway repair.
The working process of the multifunctional roadway repairing machine provided by the invention is as follows: firstly, connecting a milling and digging working part 1 to the front end of a multifunctional working arm 2, operating a traveling motor control valve, and traveling the whole machine to the middle position of a roadway; then operating the working arm driving assembly 41 to control the valve, so that the working arm swings 90 degrees leftwards or rightwards, and the working arm swings to form a 90-degree pose with the machine body; operating the series hydraulic switching valve 63, switching an oil path to a push plate oil cylinder control loop, operating a push plate quick-change cylinder control valve, tightly attaching the push plate to a roadway bottom plate, and supporting the push plate to stabilize the machine body; operating a pilot operating handle 531, and performing linear milling, excavating and undermining operation on two side walls of the roadway from bottom to top by adopting a milling and excavating working part 1 by controlling the actions of a large arm oil cylinder, a small arm oil cylinder, a milling and excavating bucket cylinder and a telescopic cylinder; after the side wall undermining operation is completed, the pose of the working arm is adjusted to enable the milling and excavating working part 1 to be upward, and the working arm swings left and right and is matched with a walking shifter to perform the transverse undermining operation on the top plate of the roadway;
and after the cut operation is finished, operating the control valve of the quick-change cylinder of the push plate to lift the push plate, and cleaning the coal and gangue generated by the cut operation and leveling the roadway by the walking of the whole machine. When excavation cleaning operation or crushing operation on the bottom plate is needed, the series hydraulic switching valve 63 is operated, the oil path is switched to the quick-change oil cylinder control loop, the push plate quick-change cylinder control valve is operated, and the operation execution device is switched from the milling and excavating working part 1 to the bucket group 10 or the crushing hammer group 9.
By adopting the roadway trimming and undermining operation process, manual undermining operation is replaced by a mechanical operation mode, the mechanized operation level of coal mine production is improved, the number of undermining operation people on a working face is reduced, the labor intensity of workers is reduced, and the undermining operation efficiency is improved; particularly, for a coal seam with high hardness, one closed groove is finished through actual use, four workers are required to operate for two shifts (16 hours) during manual operation, only two workers are required to operate for about 1.5 hours when the multifunctional roadway repairing machine is adopted to perform the underholing operation, and the operation efficiency is obviously improved.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (10)
1. The multifunctional roadway repairing machine is characterized by comprising a milling and digging operation part (1), a multifunctional working arm (2), a liftable push plate device (3), a chassis (4), an operation part (5) and a power assembly (7), wherein the multifunctional working arm (2), the operation part (5) and the power assembly (7) are sequentially arranged above the chassis from front to back, the multifunctional working arm (2) is hinged to the chassis (4), the milling and digging operation part (1) is hinged to the front end of the multifunctional working arm (2), and the liftable push plate device (3) is hinged to the lower part of the front end of the chassis (4); the operating part (5) is provided with executing elements (64) which are controlled by a hydraulic control system (6) and comprise a walking motor and oil cylinders of a working arm;
the chassis (4) controls the mobile platform (42) to drive the whole machine to walk through a walking motor;
the multifunctional working arm (2) controls the working arm rotation driving assembly (41) to rotate 90 degrees along the moving platform (42) through each oil cylinder of the working arm, and controls the milling and digging operation part (1) to mill, dig and cut the roadway.
2. The multifunctional roadway repairing machine according to claim 1, wherein the multifunctional working arm (2) comprises a rotary frame (21) connected to a working arm rotary driving assembly (41), the rotary frame (21) is hinged with a large arm cylinder (22) and a large arm (23), the large arm (23) is hinged with a small arm cylinder (24), the large arm (23) and the small arm cylinder (24) are hinged with a telescopic inner arm (25), the telescopic inner arm (25) is slidably connected with a telescopic outer arm (26), a sliding block (27) is arranged between the telescopic outer arm (26) and the telescopic inner arm (25), and the telescopic inner arm (25) is slidably connected with the telescopic outer arm (26); a feeding cylinder (28) is hinged between the telescopic inner arm (25) and the telescopic outer arm (26), a milling and digging bucket cylinder (29) is hinged on the telescopic outer arm (26), and the front end of the telescopic outer arm (26) is hinged on a milling and digging operation part connecting frame (111).
3. The multifunctional roadway repairing machine according to claim 2, characterized in that a transverse double milling and digging head (113) is arranged at the front end of the milling and digging working part (1) and is connected with the multifunctional working arm (2) through a connecting frame (111), and a rotary driving module (112) is connected between the transverse double milling and digging head (113) and the connecting frame (111).
4. The multifunctional roadway repairing machine according to claim 1, wherein the liftable push plate device comprises a push plate assembly (31) and a push plate cylinder (32), the push plate cylinder (32) is hinged with the chassis (4), and the front end part of the push plate cylinder (32) is hinged with the push plate assembly (31).
5. The machine according to claim 1, characterized in that the operating part (5) comprises an operating platform (53), and a hydraulic control system (6) is mounted on the operating platform (53).
6. The multifunctional roadway repair machine according to claim 5, wherein the hydraulic control system (6) comprises a load feedback proportional directional valve (61), a hydraulic line (62), a series hydraulic switch (63) and actuators (64); the load feedback proportional directional valve (61) is connected with each actuating element (64); the load feedback proportional directional valve (61) is connected with a series hydraulic switcher (63) through a hydraulic pipeline (62), and the series hydraulic switcher (63) is connected with the push plate oil cylinder (32) or the quick-change oil cylinder (81).
7. The multifunctional roadway repairing machine according to claim 6, wherein the milling and digging operation part (1) hinged to the front end of the multifunctional working arm (2) is switched into a breaking hammer group (9) or a bucket group (10) through a quick-change device (8); the quick-change device (8) is connected with a quick-change oil cylinder (81).
8. The multifunctional roadway repairing machine according to claim 1, wherein the power assembly (7) comprises a hydraulic oil tank (71), an explosion-proof motor (72), a variable plunger pump (73) and an air-cooled radiator (74);
the explosion-proof motor (72) is communicated with the hydraulic oil tank (71) to the hydraulic control system (6) through the variable displacement plunger pump (73), and hydraulic oil of the hydraulic control system (6) is communicated with the air cooling radiator (74) to the hydraulic oil tank (71) through a pipeline.
9. The roadway construction method based on the multifunctional roadway repairing machine of any one of claims 1 to 8 is characterized by comprising the following steps:
operating a walking motor control valve to walk the whole machine into the roadway;
operating a control valve of a working arm driving assembly (41) to swing the working arm to form a 90-degree pose with the whole machine body;
operating a push plate quick-change cylinder control valve, and supporting a push plate assembly (31) to be close to a roadway bottom plate to stabilize the machine body;
operating a pilot operating handle (531), and performing linear milling and cutting operation on two sides of the roadway from bottom to top by adopting a milling and cutting working part (1) by controlling the actions of a large arm oil cylinder, a small arm oil cylinder, a milling and cutting bucket cylinder and a telescopic cylinder;
after the side wall undermining operation is completed, the pose of the working arm is adjusted, and the working arm swings left and right and is matched with a walking moving machine to carry out the transverse undermining operation on the top plate of the roadway;
after the undercutting operation is finished, the control valve of the quick-change cylinder of the push plate is operated to lift the push plate assembly (31), and the coal and gangue generated by the undercutting operation is cleaned and the roadway is leveled by the walking of the whole machine.
10. The multifunctional roadway construction method according to claim 9, characterized in that when excavation cleaning work is required or crushing work is required for the bottom plate, the series hydraulic switcher (63) is operated to switch the oil path to the quick-change cylinder control circuit, and the push plate quick-change cylinder control valve is operated to switch the milling and excavation work part (1) to the bucket group (10) or the crushing hammer group (9).
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