WO2022174609A1 - Automated hydraulic block-cutting coal roadway tunneling jumbo - Google Patents
Automated hydraulic block-cutting coal roadway tunneling jumbo Download PDFInfo
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- WO2022174609A1 WO2022174609A1 PCT/CN2021/125478 CN2021125478W WO2022174609A1 WO 2022174609 A1 WO2022174609 A1 WO 2022174609A1 CN 2021125478 W CN2021125478 W CN 2021125478W WO 2022174609 A1 WO2022174609 A1 WO 2022174609A1
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- Prior art keywords
- module
- coal
- fixedly connected
- crawler
- crushing
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- 239000003245 coal Substances 0.000 title claims abstract description 87
- 238000005520 cutting process Methods 0.000 title claims abstract description 35
- 230000005641 tunneling Effects 0.000 title abstract description 7
- 229910052751 metal Inorganic materials 0.000 claims abstract description 17
- 239000002184 metal Substances 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000005553 drilling Methods 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 238000009412 basement excavation Methods 0.000 claims description 24
- 230000009471 action Effects 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 5
- 239000007924 injection Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 1
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 229910000617 Mangalloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
- 239000011651 chromium Substances 0.000 description 1
- 239000002817 coal dust Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/68—Machines for making slits combined with equipment for removing, e.g. by loading, material won by other means
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
- E21C25/60—Slitting by jets of water or other liquid
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
Definitions
- the invention belongs to the technical field of roadway excavation in underground coal mines, and in particular relates to an automatic hydraulic block coal roadway excavation trolley.
- the main method of coal mining in my country is underground operations.
- the output of raw coal from underground accounts for more than 90% of the total coal output.
- To mine raw coal a large number of tunnels need to be dug underground.
- the total length of newly excavated roadways in large and medium-sized state-owned coal mines is as high as about 8000km each year, of which more than 80% are excavated in the coal seam. Whether the section of the roadway is flat or not will directly affect the stability of the surrounding rock, the maintenance difficulty and the maintenance cost of the roadway in the later stage.
- the air pick method has certain threats to safety, and is labor-intensive, slow in construction, and poor in safety
- the drilling and blasting method is the drilling and blasting method, which has many processes, slow speed, and degree of mechanization.
- the fully mechanized excavation method is the method of using fully mechanized excavators for roadway excavation.
- the application of fully mechanized excavators still has major shortcomings.
- the present invention proposes an automatic hydraulic dicing coal roadway excavation trolley, and the present invention can effectively solve many of the appealed problems.
- the purpose of the present invention is to provide an automatic hydraulic dicing coal roadway excavation trolley with few operators, high safety, fast excavation speed, smooth excavation section and controllable degree of excavation. .
- an automatic hydraulic dicing coal roadway excavation trolley comprising a crawler chassis, the top of the crawler chassis is fixedly connected with a crushing module and a reloading module, and the crushing module is An operation module is fixedly installed on the top, a high-pressure water supply module is fixedly installed on the top of the crawler chassis, and a control module is disposed on the top of the crawler chassis.
- the automatic hydraulic dicing coal roadway driving trolley of the present invention realizes the functions of automatic walking, scanning positioning, drilling, cutting, taking, crushing and reloading of the trolley through the control module according to various roadway parameters input in advance. It can significantly improve the driving efficiency of the coal road, improve the working environment of the coal road, reduce the cost of the coal road, and improve the quality of the coal road.
- Fig. 1 is the three-dimensional structure schematic diagram of the main view direction of the present invention
- Figure 2 is a schematic diagram of the three-dimensional structure of the crushing module of the present invention.
- FIG. 3 is a schematic diagram of the three-dimensional structure of the operation module of the present invention.
- FIG. 4 is a schematic diagram of the three-dimensional structure of the action process of the present invention.
- I outer connecting surface
- II inner connecting surface
- an automatic hydraulic dicing coal roadheading trolley comprising a crawler chassis 1, the top of the crawler chassis 1 is fixedly connected with a crushing module 2 and a reloading module 4,
- the operation module 3 is fixedly installed on the top of the crushing module 2
- the high-pressure water supply module 5 is fixedly installed on the top of the crawler chassis 1
- the control module 6 is installed on the top of the crawler chassis 1, and the tail of the scraper conveyor in the transfer module 4 is lifted. And it exceeds a certain length at the tail of the crawler chassis 1, so that the crushed coal can be smoothly transferred to the mine car.
- the crawler chassis 1 is used as a bearing platform for each functional module of the automatic hydraulic dicing coal roadway excavation trolley, and is also a driving mechanism of the automatic hydraulic dicing coal roadway excavation trolley.
- the operation module 3 is used for Scanning, positioning, drilling, cutting and taking the coal in the section of the roadway to be excavated.
- the crushing module 2 is used to quantitatively crush the cut coal blocks, and the transfer module 4 is used to transfer the crushed coal to the mine car.
- the water supply module 5 is used to provide high pressure water flow to the cutting device of the operation module 3
- the control module 6 is used to control the actions of the crawler chassis 1 , the operation module 3 , the crushing module 2 , the transfer module 4 and the high pressure water supply module 5 .
- Embodiment 2 is a diagrammatic representation of Embodiment 1:
- the crushing module 2 includes a base 205, a support frame 207 is fixedly connected to the top of the base 205, and a side wall of the support frame 207 is provided with
- the outer wall of the base 205 is fixedly connected with an L-shaped metal steel plate 203
- the crawler chassis 1 is fixedly connected with a long metal strip 204 by bolts
- the side wall of the long metal strip 204 is fixedly connected with a driving member 206
- a cutter 201 is fixedly connected to one end of the driving member 206 away from the elongated metal strip 204
- a motor 202 is arranged between the elongated metal strip 204 and the L-shaped metal steel plate 203
- the cavity shape of the side wall of the support frame 207 is front and rear.
- the open cube is cast as a whole, and the thickness of the cavity wall is greater than 5cm, which is fixed on the top of the crawler chassis 1 with
- the cutters 201 of the crushing module 2 are distributed on both sides of the cavity to form the crushing of the coal lumps by mutual extrusion.
- the cutters 201 are made by welding conical protrusions on a high-strength square steel plate. The number and height of the conical protrusions can be adjusted to achieve quantitative crushing of coal lumps.
- the steel plate of the driving part 206 and the conical protrusions of the cutter 201 are made of high-strength high-manganese steel, alloy steel and high-chromium cast iron. , can effectively achieve the crushing of coal.
- the operation module 3 includes a robotic arm 306 , and the robotic arm 306 is fixedly installed and installed with a gripper through a set rotating shaft 307 .
- a drilling device 304 a high-pressure hydraulic cutting direct jet nozzle 302 and a high-pressure hydraulic cutting side jet nozzle 305 are fixedly installed inside the rotating shaft 307, and a laser scanning device 301 is fixedly installed on the top of the rotating shaft 307, and the high-pressure hydraulic cutting direct jet nozzle 302 , High-pressure hydraulic cutting side spray nozzle 305 and clamping device 303 are perpendicular to each other, and are fixed on the outer wall of the rotating shaft 307.
- the required device can be rotated toward the coal wall for operation as required.
- the mechanical arm 306 has six degrees of freedom, which can move the drill
- the feeding device 304, the high-pressure hydraulic cutting direct jet nozzle 302, the high-pressure hydraulic cutting side jet nozzle 305 and the clamping device 303 are moved to any position in the section of the roadway to be excavated.
- the laser scanning device 301 of the operation module 3 scans, divides and locates the coal body in the section of the roadway to be dug by laser according to the design section size of the roadway to be dug
- the drilling device 304 is composed of a drill pipe and a drill bit , according to the scanning and positioning results, a circular hole can be drilled at the designated position of the section of the roadway to be excavated to provide an action space for the subsequent lateral hydraulic cutting operation.
- the cutting device consists of a nozzle and a nozzle. There are two types of nozzles 302, which use ultra-high pressure water as the power.
- the high-pressure hydraulic cutting side nozzle 305 is used to cut the inner connecting surface II of the coal block and the coal body, and the high-pressure hydraulic cutting direct nozzle 302 is used to cut the coal block and the coal body.
- the clamping device 303 is made of guide rails and two relatively movable steel plates, which are used to take the cut coal blocks out of the coal body and put them into the crusher.
- the drilling device 304 at the front end of the mechanical arm 306 , the high-pressure hydraulic cutting direct jet nozzle 302, the high-pressure hydraulic cutting side jet nozzle 305 and the clamping device 303 are perpendicular to each other, and are fixed on the rotating shaft 307 at the front end of the robotic arm 306.
- the robotic arm 306 has six degrees of freedom, which can move the drilling device 304.
- the high-pressure hydraulic cutting direct injection nozzle 302, the high-pressure hydraulic cutting side nozzle 305 and the clamping device 303 are moved to any position in the section of the roadway to be excavated, and the required device can be rotated toward the coal wall for operation as required.
- Embodiment 4 is a diagrammatic representation of Embodiment 4:
- the present invention provides a technical solution: the control module 6 can be based on the pre-input roadway cross-sectional shape, size, coal strength, Parameters such as coal block size and tunneling speed control the actions of crawler chassis 1 , operation module 3 , crushing module 2 , reloading module 4 , and high-pressure water supply module 5 .
- control module 6 can control the crawler chassis 1, the operation module 3, the crushing module 2, the reloading module 4,
- the high-pressure water supply module 5 forms a highly automated and precise implementation of the device, which greatly improves the work efficiency.
- the crawler chassis 1 is used as the bearing platform of each functional module of the automatic hydraulic dicing coal roadway excavation trolley, and is also the supporting platform of the automatic hydraulic dicing coal roadway excavation trolley.
- Driving mechanism operation module 3 is used to scan, locate, drill, cut and take coal in the section of the roadway to be excavated, crushing module 2 is used to quantitatively crush the cut coal blocks, and transfer module 4 is used to
- the high-pressure water supply module 5 is used to provide high-pressure water flow to the cutting device of the operation module 3, and the control module 6 is used to control the crawler chassis 1, the operation module 3, the crushing module 2, the transfer module 4 and the high-pressure water supply module.
- the crawler chassis 1 is a driving mechanism of an automatic hydraulic block coal road excavation trolley, which is driven by electric power, and the top of the crawler chassis 1 is flat, which is used to install the functions of the automatic hydraulic block coal road excavation trolley.
- the robotic arm 306 of the operation module 3 has six degrees of freedom, and uses lasers to scan, block and locate the coal in the section of the roadway to be excavated, so as to facilitate the cutting of the coal, and the cut coal is taken out of the coal.
- the cutters 201 of the crushing module 2 are distributed on both sides of the cavity, and the coal lumps are crushed by mutual extrusion.
- the cutters 201 are made by welding conical protrusions on high-strength square steel plates.
- the number and height of conical protrusions can be adjusted, so as to achieve quantitative crushing of coal blocks, that is, the laser scanning device 301 at the front end of the mechanical arm 306 divides and locates the coal in the designed coal road section, and controls the mechanical arm.
- the drilling device 304 of 306 drills a circular hole in the center of the coal body to provide working space for the subsequent hydraulic cutting of the inner connecting surface of the coal block and the coal body.
- the high-pressure water flow jetted laterally is used to cut off the inner connecting surface II of the coal block and the coal body, and the high-pressure hydraulic cutting direct injection nozzle 302 of the robotic arm 306 is controlled to move along the edge of the coal block on the surface of the coal wall.
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
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Abstract
An automated hydraulic block-cutting coal roadway tunneling jumbo, comprising a crawler-type chassis (1), wherein a crushing module (2) and a transfer module (4) are fixedly connected to the top of the crawler-type chassis (1); an operation module (3) is fixedly mounted on the top of the crushing module (2); a high-pressure water supply module (5) is fixedly mounted on the top of the crawler-type chassis (1); a control module (6) is arranged on the top of the crawler-type chassis (1); the crushing module (2) comprises a base (205), a supporting frame (207) being fixedly connected to the top of the base (205), a side wall of the supporting frame (207) being provided with a cavity, and an outer wall of the base (205) being fixedly connected to an L-shaped metal steel sheet (203); the crawler-type chassis (1) is fixedly connected to a strip-shaped metal strip (204) by means of bolts; and a side wall of the strip-shaped metal strip (204) is fixedly connected to a driving member (206). By means of the control module (6), the functions of automated travelling, scanning and positioning, drilling, cutting, collecting, crushing and transferring of the jumbo are achieved, such that the coal roadway tunneling efficiency can be significantly improved, the coal roadway tunneling operation environment can be improved and the coal roadway tunneling costs can be reduced, and the coal roadway tunneling quality is thus improved.
Description
本发明属于井工煤矿巷道掘进技术领域，具体涉及一种自动化水力切块煤巷掘进台车。The invention belongs to the technical field of roadway excavation in underground coal mines, and in particular relates to an automatic hydraulic block coal roadway excavation trolley.
我国煤矿开采的主要方式是井下作业，来自井下的原煤产量达到煤炭总产量的九成以上，而想要开采原煤就需要在井下开掘大量巷道。据不完全统计，国有大中型煤矿每年新掘进的巷道总长度高达8000km左右，其中80％以上开掘在煤层中。而掘进巷道的断面平整与否将直接影响到后期巷道围岩稳定性、维护难度和维护成本。The main method of coal mining in my country is underground operations. The output of raw coal from underground accounts for more than 90% of the total coal output. To mine raw coal, a large number of tunnels need to be dug underground. According to incomplete statistics, the total length of newly excavated roadways in large and medium-sized state-owned coal mines is as high as about 8000km each year, of which more than 80% are excavated in the coal seam. Whether the section of the roadway is flat or not will directly affect the stability of the surrounding rock, the maintenance difficulty and the maintenance cost of the roadway in the later stage.
我国目前煤巷掘进技术有风镐法、钻爆法和综掘法三种。但是三种方法都有各自的弊端：风镐法对于安全有一定威胁，而且劳动强度大，施工速度慢，安全性较差；钻爆法即钻孔***法，工序多、速度慢、机械化程度低、生产效率低，特别是在瓦斯较大的矿井使用安全性差；综掘法即采用综掘机进行巷道掘进的方法，目前应用综掘机仍存有较大的缺点，较为突出的便是综掘机造价巨大，大多数小规模企业因缺乏资金难以承受，且在施工过程中产生的煤尘量大，严重危害施工人员的身体健康，而且会干扰到操作人员的视线降低截割效率和巷道成型质量。综掘机由于受到工作荷载的反复作用和环境条件的影响，自身零部件将逐渐丧失完成规定功能的能力，可靠性较差。另外，掘进机设备自身部件的质量和体积都比较大，它的零件运输、安装对巷道、场地和起吊设备都有较高的要求。因此，对于巷道断面小，或者断面形状不规则的巷道，也不适用。所有这些因素都大大限制了掘进机在煤矿煤巷掘进中的使用。At present, there are three kinds of coal roadway excavation technology in my country: air pick method, drill and blast method and fully mechanized excavation method. However, the three methods have their own drawbacks: the air pick method has certain threats to safety, and is labor-intensive, slow in construction, and poor in safety; the drilling and blasting method is the drilling and blasting method, which has many processes, slow speed, and degree of mechanization. Low production efficiency, especially in mines with large gas, the use of safety is poor; the fully mechanized excavation method is the method of using fully mechanized excavators for roadway excavation. At present, the application of fully mechanized excavators still has major shortcomings. The cost of the fully mechanized excavator is huge, and most small-scale enterprises are unbearable due to lack of funds, and the amount of coal dust generated during the construction process is large, which seriously endangers the health of the construction workers, and will interfere with the operator's line of sight, reducing cutting efficiency and cutting efficiency. Roadway forming quality. Due to the repeated action of the working load and the influence of environmental conditions, the fully mechanized excavator will gradually lose the ability of its own parts to complete the specified functions, and the reliability is poor. In addition, the quality and volume of the parts of the roadheader equipment are relatively large, and its parts transportation and installation have higher requirements on the roadway, site and lifting equipment. Therefore, it is not suitable for the roadway with small section or irregular section shape. All these factors greatly limit the use of roadheaders in coal mine roadheading.
因此，针对上诉问题本发明提出了一种自动化水力切块煤巷掘进台车，本发明可以有效解决上诉诸多问题。Therefore, in view of the appealed problem, the present invention proposes an automatic hydraulic dicing coal roadway excavation trolley, and the present invention can effectively solve many of the appealed problems.
发明内容SUMMARY OF THE INVENTION
针对现有技术存在的不足，本发明目的是提供一种作业人员少、安全程度高、掘进速度快、掘进断面平整和掘进出煤块度可控的一种自动化水 力切块煤巷掘进台车。In view of the deficiencies in the prior art, the purpose of the present invention is to provide an automatic hydraulic dicing coal roadway excavation trolley with few operators, high safety, fast excavation speed, smooth excavation section and controllable degree of excavation. .
为实现上述目的，本发明提供如下技术方案：一种自动化水力切块煤巷掘进台车，包括履带式底盘，所述履带式底盘的顶部固定连接有破碎模块和转载模块，所述破碎模块的顶部固定安装有作业模块，所述履带式底盘的顶部固定安装有高压给水模块，所述履带式底盘的顶部设置有控制模块。In order to achieve the above purpose, the present invention provides the following technical solutions: an automatic hydraulic dicing coal roadway excavation trolley, comprising a crawler chassis, the top of the crawler chassis is fixedly connected with a crushing module and a reloading module, and the crushing module is An operation module is fixedly installed on the top, a high-pressure water supply module is fixedly installed on the top of the crawler chassis, and a control module is disposed on the top of the crawler chassis.
与现有技术相比，本发明的有益效果是：Compared with the prior art, the beneficial effects of the present invention are:
本发明的一种自动化水力切块煤巷掘进台车根据预先输入的各项掘巷参数，通过控制模块实现台车的自动化行走、扫描定位、钻孔、切割、拿取、破碎和转载功能。可显著提高煤巷掘进效率、改善煤巷掘进作业环境、降低煤巷掘进成本，提高煤巷掘进质量。The automatic hydraulic dicing coal roadway driving trolley of the present invention realizes the functions of automatic walking, scanning positioning, drilling, cutting, taking, crushing and reloading of the trolley through the control module according to various roadway parameters input in advance. It can significantly improve the driving efficiency of the coal road, improve the working environment of the coal road, reduce the cost of the coal road, and improve the quality of the coal road.
图1为本发明的主视方向立体结构示意图；Fig. 1 is the three-dimensional structure schematic diagram of the main view direction of the present invention;
图2为本发明的破碎模块立体结构示意图；Figure 2 is a schematic diagram of the three-dimensional structure of the crushing module of the present invention;
图3为本发明的作业模块立体结构示意图；3 is a schematic diagram of the three-dimensional structure of the operation module of the present invention;
图4为本发明的作用过程立体结构示意图。4 is a schematic diagram of the three-dimensional structure of the action process of the present invention.
图中：Ⅰ、外侧连接面；Ⅱ、内侧连接面；1、履带式底盘；2、破碎模块；3、作业模块；4、转载模块；5、高压给水模块；6、控制模块；201、刀具；202、电动机；203、L型金属钢板；204、长条型金属长条；205、底座；206、驱动件；207、支撑架；301、激光扫描装置；302、高压水力切割直喷喷头；303、夹取装置；304、钻进装置；305、高压水力切割侧喷喷头；306、机械臂；307、转轴。In the figure: I, outer connecting surface; II, inner connecting surface; 1, crawler chassis; 2, crushing module; 3, operation module; 4, transfer module; 5, high pressure water supply module; 6, control module; 201, tool ; 202, electric motor; 203, L-shaped metal steel plate; 204, long metal strip; 205, base; 206, driving part; 207, support frame; 301, laser scanning device; 302, high pressure hydraulic cutting nozzle; 303, clamping device; 304, drilling device; 305, high-pressure hydraulic cutting side jet nozzle; 306, mechanical arm; 307, rotating shaft.
实施例一：Example 1:
请参阅图1-4，本发明提供一种技术方案：一种自动化水力切块煤巷掘进台车，包括履带式底盘1，履带式底盘1的顶部固定连接有破碎模块2和转载模块4，破碎模块2的顶部固定安装有作业模块3，履带式底盘1的顶部固定安装有高压给水模块5，履带式底盘1的顶部设置有控制模块6，转载模块4中的刮板输送机尾部抬起且超出履带式底盘1尾部一定长度，以便将碎煤顺利转运至矿车内。Please refer to Figures 1-4, the present invention provides a technical solution: an automatic hydraulic dicing coal roadheading trolley, comprising a crawler chassis 1, the top of the crawler chassis 1 is fixedly connected with a crushing module 2 and a reloading module 4, The operation module 3 is fixedly installed on the top of the crushing module 2, the high-pressure water supply module 5 is fixedly installed on the top of the crawler chassis 1, the control module 6 is installed on the top of the crawler chassis 1, and the tail of the scraper conveyor in the transfer module 4 is lifted. And it exceeds a certain length at the tail of the crawler chassis 1, so that the crushed coal can be smoothly transferred to the mine car.
本实施方案中，履带式底盘1作为一种自动化水力切块煤巷掘进台车各功能模块的承载平台，亦为一种自动化水力切块煤巷掘进台车的行驶机构，作业模块3用于对待掘巷道断面内煤体进行扫描定位、钻进、切割和拿取，破碎模块2用于对切割后的煤块进行定量破碎，转载模块4用于将破碎后的煤炭转运至矿车，高压给水模块5用于给作业模块3的切割装置提供高压水流，控制模块6用于控制履带式底盘1、作业模块3、破碎模块2、转载模块4和高压给水模块5的动作。In this embodiment, the crawler chassis 1 is used as a bearing platform for each functional module of the automatic hydraulic dicing coal roadway excavation trolley, and is also a driving mechanism of the automatic hydraulic dicing coal roadway excavation trolley. The operation module 3 is used for Scanning, positioning, drilling, cutting and taking the coal in the section of the roadway to be excavated. The crushing module 2 is used to quantitatively crush the cut coal blocks, and the transfer module 4 is used to transfer the crushed coal to the mine car. The water supply module 5 is used to provide high pressure water flow to the cutting device of the operation module 3 , and the control module 6 is used to control the actions of the crawler chassis 1 , the operation module 3 , the crushing module 2 , the transfer module 4 and the high pressure water supply module 5 .
实施例二：Embodiment 2:
如图1-4所示，在实施例一的基础上，本发明提供一种技术方案：破碎模块2包括底座205，底座205的顶部固定连接有支撑架207，支撑架207的侧壁开设有腔体，底座205的外壁固定连接有L型金属钢板203，履带式底盘1通过螺栓固定连接有长条型金属长条204，长条型金属长条204的侧壁固定连接有驱动件206，驱动件206远离长条型金属长条204的一端固定连接有刀具201，长条型金属长条204和L型金属钢板203之间设置有电动机202，支撑架207侧壁的腔体外形为前后敞开的正方体，整体浇筑而成，腔体壁厚度大于5cm，用螺母固定在履带式底盘1的顶部，刀具201分布在腔体两侧。As shown in Figures 1-4, on the basis of the first embodiment, the present invention provides a technical solution: the crushing module 2 includes a base 205, a support frame 207 is fixedly connected to the top of the base 205, and a side wall of the support frame 207 is provided with In the cavity, the outer wall of the base 205 is fixedly connected with an L-shaped metal steel plate 203, the crawler chassis 1 is fixedly connected with a long metal strip 204 by bolts, and the side wall of the long metal strip 204 is fixedly connected with a driving member 206, A cutter 201 is fixedly connected to one end of the driving member 206 away from the elongated metal strip 204, a motor 202 is arranged between the elongated metal strip 204 and the L-shaped metal steel plate 203, and the cavity shape of the side wall of the support frame 207 is front and rear. The open cube is cast as a whole, and the thickness of the cavity wall is greater than 5cm, which is fixed on the top of the crawler chassis 1 with nuts, and the cutters 201 are distributed on both sides of the cavity.
本实施例中，通过破碎模块2刀具201分布在腔体两侧，形成以相互挤压的方式实现对煤块的破碎，刀具201通过在高强度方形钢板上焊制锥形凸起制成，锥形凸起的数量和高度可以调整，从而实现对煤块的定量破碎，驱动件206的钢板和刀具201的锥形凸起均选用高强度的高锰钢、合金钢和高铬铸铁等材质，可以高效的实现对煤体的破碎。In this embodiment, the cutters 201 of the crushing module 2 are distributed on both sides of the cavity to form the crushing of the coal lumps by mutual extrusion. The cutters 201 are made by welding conical protrusions on a high-strength square steel plate. The number and height of the conical protrusions can be adjusted to achieve quantitative crushing of coal lumps. The steel plate of the driving part 206 and the conical protrusions of the cutter 201 are made of high-strength high-manganese steel, alloy steel and high-chromium cast iron. , can effectively achieve the crushing of coal.
实施例三：Embodiment three:
如图1-4所示，在实施例一、实施例二的基础上，本发明提供一种技术方案：作业模块3包括机械臂306，机械臂306通过设置的转轴307固定安装安装有夹取装置303，转轴307的内部固定安装有钻进装置304、高压水力切割直喷喷头302和高压水力切割侧喷喷头305，转轴307的顶部固定安装有激光扫描装置301，高压水力切割直喷喷头302、高压水力切割侧喷喷头305和夹取装置303相互垂直，均固定在转轴307的外壁，可根据需要将所需装置旋转朝向煤壁进行作业，机械臂306具有六个自由 度，可将钻进装置304、高压水力切割直喷喷头302、高压水力切割侧喷喷头305和夹取装置303移动至待掘巷道断面内任意位置。As shown in FIGS. 1-4 , on the basis of Embodiment 1 and Embodiment 2, the present invention provides a technical solution: the operation module 3 includes a robotic arm 306 , and the robotic arm 306 is fixedly installed and installed with a gripper through a set rotating shaft 307 . Device 303, a drilling device 304, a high-pressure hydraulic cutting direct jet nozzle 302 and a high-pressure hydraulic cutting side jet nozzle 305 are fixedly installed inside the rotating shaft 307, and a laser scanning device 301 is fixedly installed on the top of the rotating shaft 307, and the high-pressure hydraulic cutting direct jet nozzle 302 , High-pressure hydraulic cutting side spray nozzle 305 and clamping device 303 are perpendicular to each other, and are fixed on the outer wall of the rotating shaft 307. The required device can be rotated toward the coal wall for operation as required. The mechanical arm 306 has six degrees of freedom, which can move the drill The feeding device 304, the high-pressure hydraulic cutting direct jet nozzle 302, the high-pressure hydraulic cutting side jet nozzle 305 and the clamping device 303 are moved to any position in the section of the roadway to be excavated.
本实施例中，作业模块3的激光扫描装置301根据待掘煤巷设计断面尺寸利用激光对待掘巷道断面内的煤体进行扫描、区块划分和定位，钻进装置304由钻杆和钻头组成，可根据扫描定位结果在待掘巷道断面指定位置钻进圆孔，为后续侧向水力切割作业提供作用空间，切割装置由喷管和喷头组成，高压水力切割侧喷喷头305和高压水力切割直喷喷头302两种，使用超高压水为动力，高压水力切割侧喷喷头305用于切割煤块与煤体的内侧连接面Ⅱ，高压水力切割直喷喷头302用于切割煤块与煤体的外侧连接面Ⅰ，夹取装置303由导轨和两片可以相对移动的钢板制成，用于将切割后的煤块从煤体内取出并放入破碎机内，机械臂306前端的钻进装置304、高压水力切割直喷喷头302、高压水力切割侧喷喷头305和夹取装置303相互垂直，均固定在机械臂306前端的转轴307上，机械臂306具有六个自由度，可将钻进装置304、高压水力切割直喷喷头302、高压水力切割侧喷喷头305和夹取装置303移动至待掘巷道断面内任意位置，可根据需要将所需装置旋转朝向煤壁进行作业。In this embodiment, the laser scanning device 301 of the operation module 3 scans, divides and locates the coal body in the section of the roadway to be dug by laser according to the design section size of the roadway to be dug, and the drilling device 304 is composed of a drill pipe and a drill bit , according to the scanning and positioning results, a circular hole can be drilled at the designated position of the section of the roadway to be excavated to provide an action space for the subsequent lateral hydraulic cutting operation. The cutting device consists of a nozzle and a nozzle. There are two types of nozzles 302, which use ultra-high pressure water as the power. The high-pressure hydraulic cutting side nozzle 305 is used to cut the inner connecting surface II of the coal block and the coal body, and the high-pressure hydraulic cutting direct nozzle 302 is used to cut the coal block and the coal body. On the outer connecting surface I, the clamping device 303 is made of guide rails and two relatively movable steel plates, which are used to take the cut coal blocks out of the coal body and put them into the crusher. The drilling device 304 at the front end of the mechanical arm 306 , the high-pressure hydraulic cutting direct jet nozzle 302, the high-pressure hydraulic cutting side jet nozzle 305 and the clamping device 303 are perpendicular to each other, and are fixed on the rotating shaft 307 at the front end of the robotic arm 306. The robotic arm 306 has six degrees of freedom, which can move the drilling device 304. The high-pressure hydraulic cutting direct injection nozzle 302, the high-pressure hydraulic cutting side nozzle 305 and the clamping device 303 are moved to any position in the section of the roadway to be excavated, and the required device can be rotated toward the coal wall for operation as required.
实施例四：Embodiment 4:
如图1-4所示，在实施例一、实施例二、实施例三的基础上，本发明提供一种技术方案：控制模块6可根据预先输入的巷道断面形状、尺寸、煤体强度、煤块尺寸和掘进速度等参数控制履带式底盘1、作业模块3、破碎模块2、转载模块4、高压给水模块5的动作。As shown in Figures 1-4, on the basis of Embodiment 1, Embodiment 2 and Embodiment 3, the present invention provides a technical solution: the control module 6 can be based on the pre-input roadway cross-sectional shape, size, coal strength, Parameters such as coal block size and tunneling speed control the actions of crawler chassis 1 , operation module 3 , crushing module 2 , reloading module 4 , and high-pressure water supply module 5 .
本实施例中，通过控制模块6可根据预先输入的巷道断面形状、尺寸、煤体强度、煤块尺寸和掘进速度等参数控制履带式底盘1、作业模块3、破碎模块2、转载模块4、高压给水模块5，形成本装置高度自动化精确执行，大大的提高了工作效率。In this embodiment, the control module 6 can control the crawler chassis 1, the operation module 3, the crushing module 2, the reloading module 4, The high-pressure water supply module 5 forms a highly automated and precise implementation of the device, which greatly improves the work efficiency.
本发明的工作原理及使用流程：履带式底盘1作为所述一种自动化水力切块煤巷掘进台车各功能模块的承载平台，亦为所述一种自动化水力切块煤巷掘进台车的行驶机构，作业模块3用于对待掘巷道断面内煤体进行扫描定位、钻进、切割和拿取，破碎模块2用于对切割后的煤块进行定量破碎，转载模块4用于将破碎后的煤炭转运至矿车，高压给水模块5用于 给作业模块3的切割装置提供高压水流，控制模块6用于控制履带式底盘1、作业模块3、破碎模块2、转载模块4和高压给水模块5的动作，履带式底盘1是一种自动化水力切块煤巷掘进台车的行驶机构，使用电力驱动，履带式底盘1顶部平整，用于安装自动化水力切块煤巷掘进台车的各功能模块，作业模块3的机械臂306具有六个自由度，利用激光对待掘巷道断面内的煤体进行扫描、区块划分和定位，方便对煤体的切割，切割后的煤块从煤体内取出并放入破碎机内，破碎模块2的刀具201分布在腔体两侧，通过相互挤压的方式实现对煤块的破碎，刀具201通过在高强度方形钢板上焊制锥形凸起制成，锥形凸起的数量和高度可以调整，从而实现对煤块的定量破碎，即通过机械臂306前端激光激光扫描装置301对设计煤巷断面内煤体进行区块划分和定位，控制机械臂306的钻进装置304在煤体中央钻进圆孔，为后续煤块与煤体的内侧连接面的水力切割提供作业空间，控制机械臂306的高压水力切割侧喷喷头305***煤巷中央已经钻好的圆孔内，利用侧向喷出的高压水流切落煤块与煤体的内侧连接面Ⅱ，控制机械臂306的高压水力切割直喷喷头302在煤壁表面顺着煤块边缘移动，利用纵向喷出的高压水流煤块与煤体的外侧连接面Ⅰ，控制机械臂306的夹取装置303，将与周围煤体分离的煤块从煤体内取出，控制机械臂306的夹取装置将煤块放入破碎机中，进行定量破碎，待下个完整煤块进入破碎机时，破碎机内已经碎煤的煤炭被挤出破碎机，进入转载模块4的刮板输送机中，再由刮板输送机转运到矿车内运走，重复这一过程，直至将煤巷断面内所有划分好的煤块切落、破碎和运输完毕。The working principle and use process of the present invention: the crawler chassis 1 is used as the bearing platform of each functional module of the automatic hydraulic dicing coal roadway excavation trolley, and is also the supporting platform of the automatic hydraulic dicing coal roadway excavation trolley. Driving mechanism, operation module 3 is used to scan, locate, drill, cut and take coal in the section of the roadway to be excavated, crushing module 2 is used to quantitatively crush the cut coal blocks, and transfer module 4 is used to The high-pressure water supply module 5 is used to provide high-pressure water flow to the cutting device of the operation module 3, and the control module 6 is used to control the crawler chassis 1, the operation module 3, the crushing module 2, the transfer module 4 and the high-pressure water supply module. 5, the crawler chassis 1 is a driving mechanism of an automatic hydraulic block coal road excavation trolley, which is driven by electric power, and the top of the crawler chassis 1 is flat, which is used to install the functions of the automatic hydraulic block coal road excavation trolley. Module, the robotic arm 306 of the operation module 3 has six degrees of freedom, and uses lasers to scan, block and locate the coal in the section of the roadway to be excavated, so as to facilitate the cutting of the coal, and the cut coal is taken out of the coal. And put it into the crusher, the cutters 201 of the crushing module 2 are distributed on both sides of the cavity, and the coal lumps are crushed by mutual extrusion. The cutters 201 are made by welding conical protrusions on high-strength square steel plates. , the number and height of conical protrusions can be adjusted, so as to achieve quantitative crushing of coal blocks, that is, the laser scanning device 301 at the front end of the mechanical arm 306 divides and locates the coal in the designed coal road section, and controls the mechanical arm. The drilling device 304 of 306 drills a circular hole in the center of the coal body to provide working space for the subsequent hydraulic cutting of the inner connecting surface of the coal block and the coal body. In the drilled circular hole, the high-pressure water flow jetted laterally is used to cut off the inner connecting surface II of the coal block and the coal body, and the high-pressure hydraulic cutting direct injection nozzle 302 of the robotic arm 306 is controlled to move along the edge of the coal block on the surface of the coal wall. , use the longitudinally ejected high-pressure water flow coal block and the outer connecting surface I of the coal body to control the gripping device 303 of the mechanical arm 306, take out the coal block separated from the surrounding coal body from the coal body, and control the gripping of the mechanical arm 306. The device puts the coal blocks into the crusher for quantitative crushing. When the next complete coal block enters the crusher, the coal that has been crushed in the crusher is squeezed out of the crusher and enters the scraper conveyor of the transfer module 4. The scraper conveyor is then transferred to the mine car for transport, and the process is repeated until all the divided coal blocks in the coal road section are cut, broken and transported.
Claims (7)
- 一种自动化水力切块煤巷掘进台车，包括履带式底盘(1)，其特征在于：所述履带式底盘(1)的顶部固定连接有破碎模块(2)和转载模块(4)，所述破碎模块(2)的顶部固定安装有作业模块(3)，所述履带式底盘(1)的顶部固定安装有高压给水模块(5)，所述履带式底盘(1)的顶部设置有控制模块(6)。An automatic hydraulic dicing coal roadheading trolley, comprising a crawler-type chassis (1), characterized in that a crushing module (2) and a reloading module (4) are fixedly connected to the top of the crawler-type chassis (1). A working module (3) is fixedly installed on the top of the crushing module (2), a high-pressure water supply module (5) is fixedly installed on the top of the crawler chassis (1), and a control system is installed on the top of the crawler chassis (1). module (6).
- 根据权利要求1所述的一种自动化水力切块煤巷掘进台车，其特征在于：所述破碎模块(2)包括底座(205)，所述底座(205)的顶部固定连接有支撑架(207)，所述支撑架(207)的侧壁开设有腔体，所述底座(205)的外壁固定连接有L型金属钢板(203)，所述履带式底盘(1)通过螺栓固定连接有长条型金属长条(204)，所述长条型金属长条(204)的侧壁固定连接有驱动件(206)，所述驱动件(206)远离所述长条型金属长条(204)的一端固定连接有刀具(201)，所述长条型金属长条(204)和所述L型金属钢板(203)之间设置有电动机(202)。The automatic hydraulic dicing coal roadheading trolley according to claim 1, characterized in that: the crushing module (2) comprises a base (205), and a support frame (205) is fixedly connected to the top of the base (205). 207), the side wall of the support frame (207) is provided with a cavity, the outer wall of the base (205) is fixedly connected with an L-shaped metal steel plate (203), and the crawler chassis (1) is fixedly connected with a bolt. A long metal strip (204), the side wall of the long metal strip (204) is fixedly connected with a driving member (206), and the driving member (206) is away from the long metal strip ( A cutter (201) is fixedly connected to one end of 204), and a motor (202) is arranged between the long metal strip (204) and the L-shaped metal steel plate (203).
- 根据权利要求1所述的一种自动化水力切块煤巷掘进台车，其特征在于：所述作业模块(3)包括机械臂(306)，所述机械臂(306)通过设置的转轴(307)固定安装有夹取装置(303)，所述转轴(307)的内部固定安装有钻进装置(304)、高压水力切割直喷喷头(302)和高压水力切割侧喷喷头(305)，所述转轴(307)的顶部固定安装有激光扫描装置(301)。The automatic hydraulic dicing coal roadway excavation trolley according to claim 1, characterized in that: the operation module (3) comprises a mechanical arm (306), and the mechanical arm (306) passes through a set rotating shaft (307). ) a clamping device (303) is fixedly installed, and a drilling device (304), a high-pressure hydraulic cutting direct injection nozzle (302) and a high-pressure hydraulic cutting side-jet nozzle (305) are fixedly installed inside the rotating shaft (307). A laser scanning device (301) is fixedly installed on the top of the rotating shaft (307).
- 根据权利要求1所述的一种自动化水力切块煤巷掘进台车，其特征在于：所述转载模块(4)中的刮板输送机尾部抬起且超出履带式底盘(1)尾部一定长度，以便将碎煤顺利转运至矿车内。An automatic hydraulic dicing coal roadway excavation trolley according to claim 1, characterized in that: the tail of the scraper conveyor in the transfer module (4) is lifted up and exceeds the tail of the crawler chassis (1) by a certain length , so that the crushed coal can be smoothly transferred to the mine car.
- 根据权利要求1所述的一种自动化水力切块煤巷掘进台车，其特征在于：所述控制模块(6)能够根据预先输入的巷道断面形状、尺寸、煤体强度、煤块尺寸和掘进速度等参数控制所述履带式底盘(1)、所述作业模块(3)、所述破碎模块(2)、所述转载模块(4)、所述高压给水模块(5)的动作。An automatic hydraulic dicing coal roadway excavation trolley according to claim 1, characterized in that: the control module (6) can be based on pre-input roadway cross-sectional shape, size, coal strength, coal block size and excavation Parameters such as speed control the actions of the crawler chassis (1), the operation module (3), the crushing module (2), the transfer module (4), and the high-pressure water supply module (5).
- 根据权利要求2所述的一种自动化水力切块煤巷掘进台车，其特征在于：所述支撑架(207)侧壁的腔体外形为前后敞开的正方体，整体浇筑而成，腔体壁厚度大于5cm，用螺母固定在所述履带式底盘(1)的顶部，所述刀具(201)分布在腔体两侧。The automatic hydraulic dicing coal roadway excavation trolley according to claim 2, characterized in that: the shape of the cavity of the side wall of the support frame (207) is a cube with front and rear opening, which is integrally cast, and the cavity wall The thickness is greater than 5cm, and is fixed on the top of the crawler chassis (1) with nuts, and the cutters (201) are distributed on both sides of the cavity.
- 根据权利要求3所述的一种自动化水力切块煤巷掘进台车，其特征在于：所述高压水力切割直喷喷头(302)、所述高压水力切割侧喷喷头(305)和所述夹取装置(303)相互垂直，均固定在所述转轴(307)的外壁，能够根据需要将所需装置旋转朝向煤壁进行作业，所述机械臂(306)具有六个自由度，能够将所述钻进装置(304)、所述高压水力切割直喷喷头(302)、所述高压水力切割侧喷喷头(305)和所述夹取装置(303)移动至待掘巷道断面内任意位置。The automatic hydraulic cutting coal roadway excavation trolley according to claim 3, characterized in that: the high pressure hydraulic cutting direct injection nozzle (302), the high pressure hydraulic cutting side injection nozzle (305) and the clip The fetching devices (303) are perpendicular to each other and are fixed on the outer wall of the rotating shaft (307), and the required device can be rotated toward the coal wall to perform operations as required. The mechanical arm (306) has six degrees of freedom, and can The drilling device (304), the high-pressure hydraulic cutting direct jet nozzle (302), the high-pressure hydraulic cutting side jetting nozzle (305) and the gripping device (303) are moved to any position in the section of the roadway to be excavated.
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| ZA2022/06942A ZA202206942B (en) | 2021-02-20 | 2022-06-22 | Automatic hydraulic dicing coal roadway excavation trolley |
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| CN202110193636.2 | 2021-02-20 |
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| PCT/CN2021/125478 WO2022174609A1 (en) | 2021-02-20 | 2021-10-22 | Automated hydraulic block-cutting coal roadway tunneling jumbo |
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| Country | Link |
|---|---|
| CN (1) | CN112943237B (en) |
| WO (1) | WO2022174609A1 (en) |
| ZA (1) | ZA202206942B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112943237B (en) * | 2021-02-20 | 2022-09-23 | 新疆大学 | Automatic change water conservancy slabbing coal road tunnelling platform truck |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4932433A (en) * | 1972-07-21 | 1974-03-25 | ||
| CN103883329A (en) * | 2014-03-31 | 2014-06-25 | 重庆南桐矿业有限责任公司 | Excavation construction method for mine hard rock roadway |
| CN206636560U (en) * | 2017-04-13 | 2017-11-14 | 浙江百辰食品科技有限公司 | A kind of intelligent coal mine machinery arm |
| CN211677902U (en) * | 2020-01-17 | 2020-10-16 | 游理剑 | Coal briquette crushing mechanical device |
| CN111810159A (en) * | 2019-04-11 | 2020-10-23 | 上海创力集团股份有限公司 | Intelligent continuous mining equipment for strip mine |
| CN112943237A (en) * | 2021-02-20 | 2021-06-11 | 新疆大学 | Automatic change water conservancy slabbing coal road tunnelling platform truck |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20120034545A (en) * | 2010-10-01 | 2012-04-12 | 한국과학기술원 | Blasting structure that have blasting pattern that minimize tunnel blasting perforation |
-
2021
- 2021-02-20 CN CN202110193636.2A patent/CN112943237B/en active Active
- 2021-10-22 WO PCT/CN2021/125478 patent/WO2022174609A1/en active Application Filing
-
2022
- 2022-06-22 ZA ZA2022/06942A patent/ZA202206942B/en unknown
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4932433A (en) * | 1972-07-21 | 1974-03-25 | ||
| CN103883329A (en) * | 2014-03-31 | 2014-06-25 | 重庆南桐矿业有限责任公司 | Excavation construction method for mine hard rock roadway |
| CN206636560U (en) * | 2017-04-13 | 2017-11-14 | 浙江百辰食品科技有限公司 | A kind of intelligent coal mine machinery arm |
| CN111810159A (en) * | 2019-04-11 | 2020-10-23 | 上海创力集团股份有限公司 | Intelligent continuous mining equipment for strip mine |
| CN211677902U (en) * | 2020-01-17 | 2020-10-16 | 游理剑 | Coal briquette crushing mechanical device |
| CN112943237A (en) * | 2021-02-20 | 2021-06-11 | 新疆大学 | Automatic change water conservancy slabbing coal road tunnelling platform truck |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112943237A (en) | 2021-06-11 |
| ZA202206942B (en) | 2023-02-22 |
| CN112943237B (en) | 2022-09-23 |
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