CN113833485A - Multi-mode tunnel tunneling robot suitable for complex geology - Google Patents
Multi-mode tunnel tunneling robot suitable for complex geology Download PDFInfo
- Publication number
- CN113833485A CN113833485A CN202111143069.6A CN202111143069A CN113833485A CN 113833485 A CN113833485 A CN 113833485A CN 202111143069 A CN202111143069 A CN 202111143069A CN 113833485 A CN113833485 A CN 113833485A
- Authority
- CN
- China
- Prior art keywords
- hob
- shell
- jet
- jet flow
- axial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005641 tunneling Effects 0.000 title abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 34
- 238000003801 milling Methods 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 238000013461 design Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 abstract description 4
- 239000003245 coal Substances 0.000 description 10
- 239000011435 rock Substances 0.000 description 9
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000009412 basement excavation Methods 0.000 description 4
- 238000005065 mining Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005422 blasting Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
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
- E21D9/1066—Making by using boring or cutting machines with fluid jets
-
- 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
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
-
- 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
- E21D9/1086—Drives or transmissions specially adapted therefor
-
- 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
- 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
- E21D9/11—Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Shovels (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a multi-mode tunnel tunneling robot suitable for complex geology, which comprises a hob part, a fluidic device, a rotating mechanism, a connecting mechanism, a milling part, a machine body, a cantilever, a shovel plate and a traveling mechanism, wherein the hob part and the milling part are oppositely arranged at the front end and the rear end of the rotating mechanism, the rotating mechanism comprises a connecting mechanism in the middle and rotary driving devices at two sides, the rotating mechanism is fixedly connected at two sides in the cantilever, the shovel plate is arranged at the bottom of one end of the cantilever of the machine body, the fluidic device is arranged on the hob part and comprises a water inlet arranged on the hob part, a fluidic channel arranged in the hob part and a spray head arranged at the front part of the hob part, and the water inlet, the fluidic channel and the spray head are communicated. The multi-mode tunnel tunneling robot suitable for complex geology combines the milling head, the disc-shaped hob and the high-pressure water jet together, and can select the milling head and the disc-shaped hob to work by utilizing the rotating mechanism, so that the tunnel tunneling of the complex geology is efficiently tunneled.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to a multi-mode tunnel tunneling robot suitable for complex geology.
Background
The energy industry is the fundamental industry of national economy and is also a technology-intensive industry. In the resource consumption of China, the consumption of coal resources always accounts for the main part of the total consumption, and the energy of China is characterized by more coal and less oil, so the coal is irreplaceable as the main energy of China for a long period of time in the future. In recent years, the rapid development of economy in China has increased the demand for coal energy. Nowadays, coal mining in China gradually develops to deep and complex strata, and the problem of mining proportion imbalance caused by difficulty in rock roadway tunneling is a main reason for restricting coal mining in China.
In the prior art, a drilling and blasting method and a mechanical cutting tooth rock breaking method are mostly adopted for coal mine tunnel tunneling, wherein the drilling and blasting method is high in efficiency and strong in applicability to stratum, but major accidents such as gas explosion are easily caused, so that the safe, efficient and green mining of ore body resources is not facilitated, the cutting tooth commonly used by a coal mine tunneling machine is high in difficulty and load in breaking hard rock, the cutting tooth is easy to damage and needs to be frequently replaced, the rock tunnel tunneling efficiency is low, the cost is high, and the economic tunneling of the hard rock tunnel is difficult to realize by a cutting tooth milling rock breaking mode verified by an underground experiment.
Disclosure of Invention
The invention aims to provide a multi-mode tunnel excavation robot suitable for complex geology so as to solve the problems of low excavation efficiency and high cost of the current coal mine tunnel excavation and excavation in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a multi-mode tunnel tunnelling robot that is fit for complicated geology, includes hobbing cutter portion, fluidic device, rotary mechanism, coupling mechanism, mills plane portion, organism, cantilever, shovel board and running gear, hobbing cutter portion with mill plane portion subtend setting at rotary mechanism's front and back end, rotary mechanism includes the rotary drive device of middle coupling mechanism and both sides, coupling mechanism adopts the design of cross axle, rotary drive device rotates through rotation axis and coupling mechanism and is connected, hobbing cutter portion makes 0-360 rotation with the rotation axis through connection structure with milling plane portion whole and is connected, and one end fixedly connected with cantilever of organism, rotary mechanism fixed connection are in the inside both sides of cantilever, and the shovel board is installed to the bottom that the organism is located cantilever one end, and the bottom of organism is provided with running gear, is provided with fluidic device on the hobbing cutter portion, and fluidic device includes the water inlet that sets up in hobbing cutter portion, the water inlet, the rotary drive device of both sides, The jet channel arranged inside the hob part and the spray head arranged at the front part of the hob part are communicated with each other.
Preferably, the hob part comprises a hob, a reciprocating rotary shell, a driven gear, a driving motor base, a first driving motor, a vibrating motor, a hob arm and a fluidic device, one end of the hob arm is fixedly connected with a connecting mechanism, the middle of the hob arm is hollow and internally provided with 2 axially symmetric vibrating motors, the vibrating motor drives the hob arm to transversely swing, the other end of the hob arm is connected with the hob, the outer part of the hob is sleeved with the horn-shaped reciprocating rotary shell, the outer part of the hob arm is fixedly provided with the driving motor base, the two sides of the driving motor base are both provided with the first driving motor, the hob arm is rotatably sleeved with the driven gear, the shape of the inner wall of the reciprocating rotary shell is consistent with that of the side surface of the hob, the distance from the inner wall of the reciprocating rotary shell to the side surface of the hob is 3-4 mm, the rear end of the reciprocating rotary shell is fixedly arranged on the driven gear, the first driving motor is meshed with the driven gear through the driving gear, the reciprocating rotary shell is driven to rotate, and the hobbing cutter and the reciprocating rotary shell are both provided with jet devices.
Further preferred, the fluidic device includes axial fluidic device and side fluidic device, the axial fluidic device includes the axial efflux water inlet, the axial efflux runner, the axial jet nozzle, the side fluidic device includes the side efflux water inlet, the side efflux runner, the side jet nozzle, axial efflux water inlet and side efflux water inlet all are located hobbing cutter portion, the axial efflux runner is located inside the hobbing cutter, the side jet runner is located inside the reciprocating rotary shell, the delivery port of axial efflux runner and side jet runner is located the knife face of hobbing cutter and the rim of reciprocating rotary shell outside respectively, install axial jet nozzle and side jet nozzle on the delivery port of axial efflux runner and side jet runner respectively, the axial efflux runner, axial jet nozzle and side jet runner, the side jet nozzle all is equipped with the multiunit.
Preferably, mill plane portion including milling the plane head, the transmission axis of ordinates, flexible arm I, hydraulic motor, flexible arm II and pneumatic cylinder, the one end fixed connection of flexible arm II is on coupling mechanism, the other end activity of flexible arm II is cup jointed on flexible arm I, flexible arm II constitutes extending structure through its inside hydraulic cylinder of installation and flexible arm I, be provided with hydraulic motor and transmission axis of ordinates in the middle of the flexible arm I, the splined connection hydraulic motor is passed through to the one end of transmission axis of ordinates, the other end of transmission axis of ordinates passes through the spline and mills plane head fixed connection.
Further preferably, the hydraulic motor is fixed in the telescopic arm I through a flange plate, one end of the hydraulic motor is connected with the transmission longitudinal shaft, the other end of the hydraulic motor is connected with the integrated valve block through an oil pipe, and the hydraulic motor is a low-speed large-torque hydraulic motor.
Preferably, the rotating mechanism comprises a rotating driving device, a connecting mechanism and a rotating shaft, the rotating driving device comprises a second driving motor, a primary gear reducer, a double-row cylindrical roller, a worm gear, a worm, a shell and an end cover, the shell is a box body with a hollow inner part, one surface of the shell is open, an end cover is arranged on the surface and fixedly connected with the cantilever, a second driving motor, a primary gear reducer, double-row cylindrical rollers, a worm wheel and a worm are arranged in the shell, the rotating shaft is sequentially connected with the worm wheel and double-row cylindrical roller bearings along the axial direction, one end of the double-row cylindrical roller is positioned through a shaft shoulder of the worm wheel, one end of the double-row cylindrical roller is fixed on the inner side of the end cover of the shell, an output shaft of the second driving motor is connected with the first-stage gear reducer, the low-speed gear is fixed on the worm shaft, and the low-speed gear transmits power to the rotating shaft through the worm and the worm wheel to drive the rotating shaft to rotate.
Further preferably, an eccentrically arranged shaft sleeve is installed on the inner side of the shell end cover, and one end of the double-row cylindrical roller is fixed through the shaft sleeve on the shell end cover.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the hob and the milling head are combined together to form the cutting part of the heading machine, so that the heading machine can perform heading work in a tunnel with complex geology, the efficiency is high, and the heading speed of a coal mine tunnel is improved. The hobbing cutter is provided with side jet flow and axial jet flow, when the hobbing cutter is used for rock breaking, the high-pressure water jet flow can be used for pre-slotting, the side jet flow is convenient for the hobbing cutter to break rock, and the axial jet flow is convenient for milling a planing head to cut a groove and reducing the milling difficulty of the hobbing cutter; the side jet can expand the slotting range through the reciprocating rotation of the reciprocating rotating shell, and the axial jet can cause the hob part to swing through the vibration of the vibration motor to expand the slotting range of the axial jet. The rotating mechanism is driven by the driving motor, and the driving motor transmits power through the primary gear reducer, the worm wheel and the worm, so that the whole rotating mechanism is more compact, and the integral machine width of the tunneling machine cannot be influenced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the overall structure of the hobbing, rotating and milling sections of the present invention;
FIG. 3 is a schematic perspective view of a hob portion of the present invention;
FIG. 4 is a schematic view of a partial cross-sectional structure of the hob position of the hob section of the present invention;
FIG. 5 is a schematic perspective view of a rotary mechanism according to the present invention;
fig. 6 is a schematic view of the internal structure of the milling part of the present invention;
FIG. 7 is a schematic view of the inner side structure of the hob arm according to the present invention;
FIG. 8 is a schematic view of the longitudinal axis of the transmission of the present invention;
FIG. 9 is a schematic view of the end cap construction of the present invention;
fig. 10 is a schematic structural view of the connecting mechanism of the present invention.
In the figure: 1. a hobbing cutter part; 1-1, hobbing cutter; 1-2, reciprocating the rotating shell; 1-3, a driven gear; 1-4, a driving gear; 1-5, a first driving motor; 1-6, driving a motor base; 1-7, a vibration motor; 1-8, a hob arm; 1-9, side jet water inlet; 1-10, side jet flow channel; 1-11, side jet nozzles; 1-12, axial jet water inlet; 1-13, axial jet flow channel; 1-14, axial jet nozzles; 2. a rotation mechanism; 2-1, a second driving motor; 2-2, a primary gear reducer; 2-3, double-row cylindrical rollers; 2-4, a worm gear; 2-5, a worm; 2-6, a connecting mechanism; 2-7, a rotating shaft; 2-8, a shell; 2-9, end cover; 3. a milling part; 3-1, milling and planing the head; 3-2, a transmission longitudinal shaft; 3-3, a telescopic arm I; 3-4, a hydraulic motor; 3-5, a telescopic arm II; 3-6 parts of hydraulic cylinder 3-6 parts of; 4. a body; 5. a cantilever; 6. a shovel plate; 7. and a traveling mechanism 7.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-10, the present invention provides a technical solution: a multi-mode tunnel tunneling robot suitable for complex geology comprises a hobbing cutter part 1, a jet device, a rotating mechanism 2, connecting mechanisms 2-6, a milling part 3, a machine body 4, a cantilever 5, shovel plates 6 and a traveling mechanism 7, wherein the hobbing cutter part 1 and the milling part 3 are oppositely arranged at the front end and the rear end of the rotating mechanism 2, the rotating mechanism 2 comprises a middle connecting mechanism 2-6 and rotary driving devices at two sides, the connecting mechanism 2-6 adopts a cross shaft design, the rotary driving devices are rotatably connected with the connecting mechanisms 2-6 through rotating shafts 2-7, the hobbing cutter part 1 and the milling part 3 are integrally and rotatably connected with the rotating shafts 2-7 through the connecting mechanisms 2-6 at 0-360 degrees, one end of the machine body 4 is fixedly connected with the cantilever 5, the rotating mechanism 2 is fixedly connected with two sides in the cantilever 5, the shovel plates 6 are arranged at the bottom of one end of the machine body 4, which is positioned at one end of the cantilever 5, the bottom of organism 4 is provided with running gear 7, be provided with fluidic device on hobbing cutter portion 1, fluidic device is including setting up the water inlet on hobbing cutter portion 1, place the inside jet flow channel of hobbing cutter portion 1 in and install the shower nozzle in hobbing cutter portion 1 front portion, water inlet, jet flow channel and shower nozzle intercommunication, above-mentioned embodiment can let this robot realize hobbing cutter portion 1 and mill the conversion between the milling portion 3, earlier with milling portion 3 undercutting, use hobbing cutter portion 1 extrusion cutting again, provide tunnelling efficiency.
As shown in fig. 2, 3, 4 and 7, the hob part 1 includes a hob 1-1, a reciprocating rotary shell 1-2, a driven gear 1-3, a driving gear 1-4, a driving motor base 1-6, a first driving motor 1-5, a vibration motor 1-7, a hob arm 1-8 and a fluidic device, one end of the hob arm 1-8 is fixedly connected with a connecting mechanism 2-6, the middle of the hob arm 1-8 is hollow and internally provided with 2 vibration motors 1-7 which are axially symmetrical, the vibration motors 1-7 drive the hob arm 1-8 to transversely swing, the other end of the hob arm 1-8 is connected with the hob 1-1, the exterior of the hob 1-1 is sleeved with a horn-shaped reciprocating rotary shell 1-2, the exterior of the hob arm 1-8 is fixedly provided with the driving motor base 1-6, the two sides of a base 1-6 of a driving motor are respectively provided with a first driving motor 1-5, a hob arm 1-8 is rotatably sleeved with a driven gear 1-3, the shape of the inner wall of a reciprocating rotary shell 1-2 is consistent with the shape of the side face of a hob 1-1, the distance from the inner wall of the reciprocating rotary shell 1-2 to the side face of the hob 1-1 is 3-4 mm, the rear end of the reciprocating rotary shell 1-2 is fixedly arranged on the driven gear 1-3, the first driving motor 1-5 is meshed with the driven gear 1-3 through a driving gear 1-4 to drive the reciprocating rotary shell 1-2 to rotate, jet devices are respectively arranged on the hob 1-1 and the reciprocating rotary shell 1-2, on the basis of the embodiment, a vibrating motor 1-7 is additionally arranged on a hob part 1 to enable the hob 1-1 to transversely swing, the working range is improved, the spraying range of the high-pressure spray head can be increased, the jet device is arranged on the reciprocating rotary shell 1-2, the cutting difficulty of the side face of the hob 1-1 can be further reduced, meanwhile, the reciprocating rotary shell 1-2 can rotate in a reciprocating mode during working, the spraying efficiency is improved, and the rotating range of the reciprocating rotary shell 1-2 is-100 degrees.
It should be noted that, the drawings do not suggest a driving mechanism of the hob part 1, and the driving mode of the hob part 1 is the prior art, a common operation means is to install a hydraulic rod on the machine body to drive the hob 1-1 to repeatedly extrude, and the driving mode of the hob part 1 is not the beneficial effect of the present application, so the driving mode of the hob part 1 should not be taken as a necessary condition for judging whether the function of the present application is complete.
As shown in figure 4, the jet device comprises an axial jet device and a side jet device, the axial jet device comprises an axial jet water inlet 1-12, an axial jet flow channel 1-13 and an axial jet nozzle 1-14, the side jet device comprises a side jet water inlet 1-9, a side jet flow channel 1-10 and a side jet nozzle 1-11, the axial jet water inlet 1-12 and the side jet water inlet 1-9 are both positioned on the hob part 1, the axial jet flow channel 1-13 is positioned inside the hob 1-1, the side jet flow channel 1-10 is positioned inside the reciprocating rotary shell 1-2, the water outlets of the axial jet flow channel 1-13 and the side jet flow channel 1-10 are respectively positioned on the cutter face of the hob 1-1 and the outermost ring edge of the reciprocating rotary shell 1-2, the water outlets of the axial jet flow channels 1-13 and the lateral jet flow channels 1-10 are respectively provided with an axial jet nozzle 1-14 and a lateral jet flow nozzle 1-11, and the axial jet flow channels 1-13, the axial jet flow nozzles 1-14, the lateral jet flow channels 1-10 and the lateral jet flow nozzles 1-11 are respectively provided with a plurality of groups.
As shown in fig. 1, 6 and 8, the milling part 3 comprises a milling head 3-1, a longitudinal drive shaft 3-2, the milling machine comprises a telescopic arm I3-3, a hydraulic motor 3-4, a telescopic arm II 3-5 and a hydraulic cylinder 3-6, wherein one end of the telescopic arm II 3-5 is fixedly connected to a connecting mechanism 2-6, the other end of the telescopic arm II 3-5 is movably sleeved on the telescopic arm I3-3, the telescopic arm II 3-5 and the telescopic arm I3-3 form a telescopic structure through the hydraulic cylinder 3-6 arranged in the telescopic arm II 3-5, the hydraulic motor 3-4 and a transmission longitudinal shaft 3-2 are arranged in the middle of the telescopic arm I3-3, one end of the transmission longitudinal shaft 3-2 is connected with the hydraulic motor 3-4 through a spline, and the other end of the transmission longitudinal shaft 3-2 is fixedly connected with a milling head 3-1 through a spline.
The hydraulic motor 3-4 is fixed in the telescopic arm I3-3 through a flange plate, one end of the hydraulic motor 3-4 is connected with the transmission longitudinal shaft 3-2, the other end of the hydraulic motor is connected with the integrated valve block through an oil pipe, and the hydraulic motor 3-4 adopts a low-speed high-torque hydraulic motor.
As shown in fig. 2, 5, 9 and 10, the rotating mechanism 2 comprises a rotation driving device, a connecting mechanism 2-6 and a rotating shaft 2-7, the rotation driving device comprises a second driving motor 2-1, a primary gear reducer 2-2, a double-row cylindrical roller 2-3, a worm wheel 2-4, a worm 2-5, a shell 2-8 and an end cover 2-9, the shell 2-8 is a box body with a hollow inner part, one surface of the shell 2-8 is open and provided with the end cover 2-9, the end cover 2-9 is fixedly connected with a cantilever 5, the second driving motor 2-1, the primary gear reducer 2-2, the double-row cylindrical roller 2-3, the worm wheel 2-4 and the worm 2-5 are arranged in the shell 2-8, the rotating shaft 2-7 is sequentially connected with the worm wheel 2-4, the worm wheel 2-4 and the rotating shaft 2-7 along the axial direction, The double-row cylindrical roller bearing 2-3 is characterized in that one end of the double-row cylindrical roller 2-3 is positioned through a shaft shoulder of a worm wheel 2-4, the other end of the double-row cylindrical roller is fixed on the inner side of a shell end cover 2-9, an output shaft of a second driving motor 2-1 is connected with a first-stage gear reducer 2-2, a low-speed gear is fixed on a worm shaft, power is transmitted to a rotating shaft 2-7 through a worm 2-5 and the worm wheel 2-4 to drive the rotating shaft 2-7 to rotate, a connecting mechanism 2-6 is further made to rotate, and position change of a hob part 1 and a milling part 3 is achieved.
Preferably, an eccentrically arranged shaft sleeve is arranged on the inner side of the shell end cover 2-9, and one end of the double-row cylindrical roller 2-3 is fixed through the shaft sleeve on the shell end cover 2-9.
The tunneling robot has the working mode as follows:
the first step is as follows: when a complex geological tunnel is tunneled, firstly, the position of a tunneling robot is adjusted, a rotating mechanism 2 is controlled to rotate, a milling part 3 is located at the front working face of the tunneling robot, the relative positions of a telescopic arm I3-3 and a telescopic arm II 3-5 are adjusted through a hydraulic cylinder 3-6, and a milling head 3-1 is driven by a hydraulic motor 3-4 to cut a slot.
The second step is that: rotary station for hob cutting
After the working face is cut, the rotating mechanism 2 is controlled to rotate, the hob 1-1 enters a groove of the working face in front of the tunneling robot, and high-pressure water enters the axial jet nozzles 1-14 through the axial jet water inlets 1-12 and the axial jet flow channels 1-13 on the hob arms 1-8 to be sprayed with axial high-pressure water while the hob 1-1 extrudes and crushes rocks; high-pressure water is sprayed to the side face through a water inlet 1-9, a side face jet flow channel 1-10 and a side face jet nozzle 1-11 on a reciprocating rotary shell 1-2, the axial high-pressure water spraying range can be changed through a vibration motor 1-7, and the reciprocating rotary shell 1-2 is driven to rotate through the meshing of a driving gear 1-4 and a driven gear 1-3 of a first driving motor 1-5, so that the side face cutting efficiency of the hob 1-1 is improved.
The third step: and (5) rotating the working position, milling and planing the head, and performing circular operation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a multi-mode tunnel tunnelling robot that is fit for complicated geology which characterized in that: comprises a hobbing cutter part (1), a jet device, a rotating mechanism (2), connecting mechanisms (2-6), a milling part (3), a machine body (4), a cantilever (5), a shovel plate (6) and a traveling mechanism (7), wherein the hobbing cutter part (1) and the milling part (3) are oppositely arranged at the front end and the rear end of the rotating mechanism (2), the rotating mechanism (2) comprises a middle connecting mechanism (2-6) and rotary driving devices at two sides, the connecting mechanism (2-6) adopts a cross shaft design, the rotary driving devices are rotatably connected with the connecting mechanisms (2-6) through rotating shafts (2-7), the hobbing cutter part (1) and the milling part (3) are integrally rotatably connected with the rotating shafts (2-7) through the connecting structures (2-6) at an angle of 0-360 degrees, one end of the machine body (4) is fixedly connected with the cantilever (5), rotary mechanism (2) fixed connection is in the inside both sides of cantilever (5), shovel board (6) are installed to the bottom that organism (4) are located cantilever (5) one end, the bottom of organism (4) is provided with running gear (7), be provided with fluidic device on hobbing cutter portion (1), fluidic device is including setting up the water inlet on hobbing cutter portion (1), place the inside jet flow passageway of hobbing cutter portion (1) in and install the shower nozzle in hobbing cutter portion (1) front portion, the water inlet, jet flow passageway and shower nozzle intercommunication.
2. The multi-mode tunnel boring robot suitable for complex geology according to claim 1, characterized in that: the hob part (1) comprises a hob (1-1), a reciprocating rotary shell (1-2), a driven gear (1-3), a driving gear (1-4), a driving motor base (1-6), a first driving motor (1-5), a vibration motor (1-7), a hob arm (1-8) and a jet device, wherein one end of the hob arm (1-8) is fixedly connected with the connecting mechanism (2-6), the middle of the hob arm (1-8) is hollow, 2 vibration motors (1-7) which are axially symmetrical are arranged in the middle of the hob arm (1-8), the vibration motors (1-7) drive the hob arm (1-8) to transversely swing, the other end of the hob arm (1-8) is connected with the hob (1-1), and the horn-shaped reciprocating rotary shell (1-2) is sleeved outside the hob (1-1), the outer portion of the hob arm (1-8) is fixedly provided with a driving motor base (1-6), first driving motors (1-5) are installed on two sides of the driving motor base (1-6), driven gears (1-3) are rotatably sleeved on the hob arm (1-8), the shape of the inner wall of the reciprocating rotary shell (1-2) is consistent with the shape of the side face of the hob (1-1), the distance from the inner wall of the reciprocating rotary shell (1-2) to the side face of the hob (1-1) is 3-4 mm, the rear end of the reciprocating rotary shell (1-2) is fixedly installed on the driven gears (1-3), the first driving motors (1-5) are meshed with the driven gears (1-3) through driving gears (1-4) to drive the reciprocating rotary shell (1-2) to rotate, and jet devices are arranged on the hob (1-1) and the reciprocating rotary shell (1-2).
3. The multi-mode tunnel boring robot suitable for complex geology according to claim 2, characterized in that: the jet device comprises an axial jet device and a side jet device, the axial jet device comprises an axial jet water inlet (1-12), an axial jet flow channel (1-13) and an axial jet nozzle (1-14), the side jet device comprises a side jet water inlet (1-9), a side jet flow channel (1-10) and a side jet nozzle (1-11), the axial jet water inlet (1-12) and the side jet water inlet (1-9) are both positioned on the hob part (1), the axial jet flow channel (1-13) is positioned inside the hob (1-1), the side jet flow channel (1-10) is positioned inside the reciprocating rotary shell (1-2), water outlets of the axial jet flow channel (1-13) and the side jet flow channel (1-10) are respectively positioned on the cutter face of the hob (1-1) and the ring edge at the outermost side of the reciprocating rotary shell (1-2), the water outlets of the axial jet flow channels (1-13) and the lateral jet flow channels (1-10) are respectively provided with an axial jet nozzle (1-14) and a lateral jet flow nozzle (1-11), and the axial jet flow channels (1-13), the axial jet flow nozzles (1-14), the lateral jet flow channels (1-10) and the lateral jet flow nozzles (1-11) are all provided with a plurality of groups.
4. The multi-mode tunnel boring robot suitable for complex geology according to claim 1, characterized in that: the milling part (3) comprises a milling head (3-1), a transmission longitudinal shaft (3-2), a telescopic arm I (3-3), a hydraulic motor (3-4), a telescopic arm II (3-5) and a hydraulic cylinder (3-6), one end of the telescopic arm II (3-5) is fixedly connected to the connecting mechanism (2-6), the other end of the telescopic arm II (3-5) is movably sleeved on the telescopic arm I (3-3), the telescopic arm II (3-5) and the telescopic arm I (3-3) form a telescopic structure through the hydraulic cylinder (3-6) arranged in the telescopic arm II, the hydraulic motor (3-4) and the transmission longitudinal shaft (3-2) are arranged in the middle of the telescopic arm I (3-3), one end of the transmission longitudinal shaft (3-2) is connected with the hydraulic motor (3-4) through a spline, the other end of the transmission longitudinal shaft (3-2) is fixedly connected with the milling head (3-1) through a spline.
5. The multi-mode tunnel boring robot suitable for complex geology according to claim 4, wherein: the hydraulic motor (3-4) is fixed in the telescopic arm I (3-3) through a flange plate, one end of the hydraulic motor (3-4) is connected with the transmission longitudinal shaft (3-2), the other end of the hydraulic motor is connected with the integrated valve block through an oil pipe, and the hydraulic motor (3-4) adopts a low-speed large-torque hydraulic motor.
6. The multi-mode tunnel boring robot suitable for complex geology according to claim 1, characterized in that: the rotary mechanism (2) comprises a rotary driving device, a connecting mechanism (2-6) and a rotary shaft (2-7), the rotary driving device comprises a second driving motor (2-1), a primary gear reducer (2-2), double-row cylindrical rollers (2-3), a worm wheel (2-4), a worm (2-5), a shell (2-8) and an end cover (2-9), the shell (2-8) is a hollow box body, one surface of the shell (2-8) is open and provided with the end cover (2-9), the end cover (2-9) is fixedly connected with the cantilever (5), the second driving motor (2-1), the primary gear reducer (2-2), the double-row cylindrical rollers (2-3) are arranged in the shell (2-8), The worm wheel (2-4) and the worm (2-5) are sequentially connected with the rotating shaft (2-7) along the axial direction, the worm wheel (2-4) and the double-row cylindrical roller bearing (2-3) are sequentially connected with one end of the double-row cylindrical roller (2-3) through the shaft shoulder of the worm wheel (2-4), one end of the double-row cylindrical roller is fixed on the inner side of a shell end cover (2-9), an output shaft of the second driving motor (2-1) is connected with the first-level gear reducer (2-2), the low-speed gear is fixed on the worm shaft, power is transmitted to the rotating shaft (2-7) through the worm (2-5) and the worm wheel (2-4), and the rotating shaft (2-7) is driven to rotate.
7. The multi-mode tunnel boring robot suitable for complex geology according to claim 6, characterized in that: the inner side of the shell end cover (2-9) is provided with an eccentrically arranged shaft sleeve, and one end of the double-row cylindrical roller (2-3) is fixed through the shaft sleeve on the shell end cover (2-9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111143069.6A CN113833485B (en) | 2021-09-28 | 2021-09-28 | Multi-mode tunnel tunneling robot suitable for complex geology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111143069.6A CN113833485B (en) | 2021-09-28 | 2021-09-28 | Multi-mode tunnel tunneling robot suitable for complex geology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113833485A true CN113833485A (en) | 2021-12-24 |
| CN113833485B CN113833485B (en) | 2024-05-17 |
Family
ID=78966996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111143069.6A Active CN113833485B (en) | 2021-09-28 | 2021-09-28 | Multi-mode tunnel tunneling robot suitable for complex geology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113833485B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114233319A (en) * | 2022-01-27 | 2022-03-25 | 常州工业职业技术学院 | Tunneling robot based on soil fluidization mechanism |
| CN114876486A (en) * | 2022-05-20 | 2022-08-09 | 中国矿业大学 | Roadway tunneling robot and automatic cutting control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108952744A (en) * | 2018-08-16 | 2018-12-07 | 中铁工程装备集团有限公司 | A kind of cantilever excavator and its construction method for carrying hobboing cutter broken rock |
| CN110023585A (en) * | 2016-09-23 | 2019-07-16 | 久益环球地下采矿有限责任公司 | Support the machinery of rock cutting device |
| CN110056363A (en) * | 2019-04-19 | 2019-07-26 | 中国矿业大学 | A kind of solid rock lane rock tunnel(ling) machine of hobboing cutter active rotation |
| CN110905544A (en) * | 2019-11-26 | 2020-03-24 | 中国矿业大学 | Pulse jet flow auxiliary type heading machine |
| CN113027480A (en) * | 2021-04-27 | 2021-06-25 | 中铁工程装备集团有限公司 | Cantilever tunneling machine for assisting rock breaking by utilizing liquid nitrogen jet |
| CN216642114U (en) * | 2021-09-28 | 2022-05-31 | 中国矿业大学 | Multi-mode tunnel tunneling robot suitable for complex geology |
-
2021
- 2021-09-28 CN CN202111143069.6A patent/CN113833485B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110023585A (en) * | 2016-09-23 | 2019-07-16 | 久益环球地下采矿有限责任公司 | Support the machinery of rock cutting device |
| CN108952744A (en) * | 2018-08-16 | 2018-12-07 | 中铁工程装备集团有限公司 | A kind of cantilever excavator and its construction method for carrying hobboing cutter broken rock |
| CN110056363A (en) * | 2019-04-19 | 2019-07-26 | 中国矿业大学 | A kind of solid rock lane rock tunnel(ling) machine of hobboing cutter active rotation |
| CN110905544A (en) * | 2019-11-26 | 2020-03-24 | 中国矿业大学 | Pulse jet flow auxiliary type heading machine |
| CN113027480A (en) * | 2021-04-27 | 2021-06-25 | 中铁工程装备集团有限公司 | Cantilever tunneling machine for assisting rock breaking by utilizing liquid nitrogen jet |
| CN216642114U (en) * | 2021-09-28 | 2022-05-31 | 中国矿业大学 | Multi-mode tunnel tunneling robot suitable for complex geology |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114233319A (en) * | 2022-01-27 | 2022-03-25 | 常州工业职业技术学院 | Tunneling robot based on soil fluidization mechanism |
| CN114233319B (en) * | 2022-01-27 | 2024-05-10 | 常州工业职业技术学院 | Tunneling robot based on soil fluidization mechanism |
| CN114876486A (en) * | 2022-05-20 | 2022-08-09 | 中国矿业大学 | Roadway tunneling robot and automatic cutting control method |
| CN114876486B (en) * | 2022-05-20 | 2023-03-10 | 中国矿业大学 | Roadway tunneling robot and automatic cutting control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113833485B (en) | 2024-05-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113833485A (en) | Multi-mode tunnel tunneling robot suitable for complex geology | |
| AU2019374159B2 (en) | Hard rock roadway and tunnel boring machine with actively rotating hobs | |
| CN202500560U (en) | Rotary-drilling-type cutting unit of coal mining machine and heading machine | |
| CN216642114U (en) | Multi-mode tunnel tunneling robot suitable for complex geology | |
| CN114033312B (en) | Hydraulic combined mechanical reaming and permeability-increasing device and method | |
| CN106351570B (en) | A kind of mining hand held hydraulic drill based on multiple-action inner curved radial motor | |
| CN1297098A (en) | High-pressure water jet controllable spin drill bit | |
| CN205370442U (en) | Drill jumbo | |
| CN109779678B (en) | A slot machine for taking out of this coal seam gas | |
| CN102251744B (en) | Annular patio drilling machine | |
| CN203476882U (en) | Swing oil cylinder | |
| CN201037373Y (en) | Rotating mechanism for pneumatic drilling machine | |
| CN207813621U (en) | Hard rock tunnel development machine | |
| CN113338975B (en) | Impact type tunneling machine capable of turning | |
| CN201738805U (en) | Rotary motive power head of cutting drilling machine | |
| CN210003276U (en) | swing type variable diameter envelope forming full-section drilling tool | |
| CN210977490U (en) | TBM cutter head with large expanding and digging capacity | |
| CN208252265U (en) | A kind of hydraulic gate that rotary power output is built-in | |
| CN202767873U (en) | Guide rail type emulsified liquid hydraulic drilling rig for coal mine | |
| CN113931651A (en) | Cutting device of special-shaped double-cutter-disc type full-section cutting square pipe jacking machine | |
| CN107939299B (en) | Drilling tool protection frame with grouting function | |
| CN202117561U (en) | Annular raise boring machine | |
| CN220227798U (en) | Tunneling cutting speed reducer and tunneling machine | |
| CN215860189U (en) | Hollow rotary rock tunnel cutting and tunneling device | |
| CN220705604U (en) | Circular seam impact drill |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |