WO2023221368A1 - 一种巷隧道掘进机器人及自动截割控制方法 - Google Patents
一种巷隧道掘进机器人及自动截割控制方法 Download PDFInfo
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- WO2023221368A1 WO2023221368A1 PCT/CN2022/123152 CN2022123152W WO2023221368A1 WO 2023221368 A1 WO2023221368 A1 WO 2023221368A1 CN 2022123152 W CN2022123152 W CN 2022123152W WO 2023221368 A1 WO2023221368 A1 WO 2023221368A1
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- milling
- rock
- shaft
- pressure
- disc
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000003801 milling Methods 0.000 claims abstract description 241
- 239000011435 rock Substances 0.000 claims abstract description 86
- 239000003245 coal Substances 0.000 claims abstract description 25
- 230000010355 oscillation Effects 0.000 claims abstract description 7
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 40
- 238000009412 basement excavation Methods 0.000 claims description 31
- 239000000498 cooling water Substances 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 238000001816 cooling Methods 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 6
- 230000006641 stabilisation Effects 0.000 claims description 6
- 238000011105 stabilization Methods 0.000 claims description 6
- 150000001875 compounds Chemical class 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 6
- 239000002893 slag Substances 0.000 description 6
- 238000005065 mining Methods 0.000 description 5
- 125000004122 cyclic group Chemical group 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 230000003116 impacting effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 241000139306 Platt Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
Images
Classifications
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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
- E21D9/1006—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
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
- E21D9/1013—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom
- E21D9/102—Making by using boring or cutting machines with rotary cutting tools on a tool-carrier supported by a movable boom by a longitudinally extending boom being pivotable about a vertical and a transverse axis
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- 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
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
- E21C31/04—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices imparting both a rotary and reciprocating motion
-
- 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
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
-
- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
-
- 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
Definitions
- the invention relates to the field of tunnel excavation of coal and rock tunnels with high Platts hardness coefficient, and specifically relates to a tunnel excavation robot and an automatic cutting control method.
- the present invention provides a tunnel excavation robot and an automatic cutting control method.
- the milling mechanism drives the drilling and milling hob to rotate.
- the rock is broken by oscillating motion, and the robot is controlled by the controller to realize automatic cutting by the disc-shaped hob driven by the milling mechanism.
- a tunnel boring robot including:
- the frame; the mobile platform is set at the bottom of the frame and is used for the movement of the frame; the support and stabilizing mechanism is set on the frame and is used to support the top and sides of the rock mass; the milling mechanism is used for milling the coal and rock mass;
- the telescopic mechanism is arranged between the milling mechanism and the frame to extend and retract the milling mechanism; the horizontal swing mechanism is arranged between the telescopic mechanism and the frame to swing the milling mechanism left and right; the oblique feed adjustment mechanism is arranged between Between the telescopic mechanism and the milling mechanism, the milling mechanism changes the direction of bevel cutting; the lifting mechanism is set between the horizontal swing mechanism and the frame to make the milling mechanism swing up and down; the controller controls the terminal mechanism of the robot;
- the milling mechanism includes: a driving unit, the driving end is drivingly connected to the eccentric rotary sleeve, and is fixedly connected to the shell of the milling mechanism; a milling shaft, the milling end of which is provided with a milling
- the eccentric rotating sleeve is provided with an inner hole, and the inner hole is cooperatively connected with the milling shaft.
- the inner hole is cooperatively connected with the milling shaft.
- the high-pressure jet nozzle unit is arranged on the On the milling end, a high-pressure jet is formed to assist the milling cutter head in rock breaking;
- the tension sensor is set on the shell of the milling mechanism and is connected to the controller signal to detect the force load of the connecting fasteners in the milling mechanism;
- the direction sensor is set On the shell of the milling mechanism, it is connected to the controller signal and used to detect the movement direction of the milling head.
- the eccentric rotary sleeve includes: a sleeve with an inner hole at one end and a closed end of the sleeve at the other end.
- the outer wall of the sleeve is cooperatively connected to the shell of the milling mechanism, and the closed end of the sleeve is connected to the drive
- the units are matched and connected;
- the eccentric disk is arranged on the outer wall of the middle part of the sleeve, and there is an eccentricity between the axis of the eccentric disk and the axis of the eccentric sleeve;
- the inner hole is provided with a reinforced surface.
- the milling shaft is divided into a milling end, a spherical section, and a connecting section in sequence.
- the milling end on the milling shaft is connected to the milling head, and the limiter is connected to the The spherical section at the rear end of the milling end, the contact surface between the spherical section and the milling shaft support seat is provided with a high-pressure sealing ring; the connecting section is installed in conjunction with the inner hole of the eccentric rotary sleeve.
- the milling shaft is also provided with: a cooling water inlet connected to the low-pressure water inlet on the milling shaft support seat; a cooling branch water channel arranged between the inner hole of the eccentric rotary sleeve and the milling shaft On the contact surface of the right section; the cooling water outlet channel is set inside the milling shaft, connected to the cooling branch water channel, and connected to the milling head.
- the high-pressure jet nozzle unit includes: a high-pressure water pipe with a high-pressure water opening and closing device installed in series and connected to the high-pressure water inlet on the milling axis support seat; a high-pressure water opening and closing device, Used to control and close the high-pressure water pipe; the high-pressure jet nozzle is connected to the high-pressure water inlet of the milling axis support seat.
- a high-pressure water pipe with a high-pressure water opening and closing device installed in series and connected to the high-pressure water inlet on the milling axis support seat
- a high-pressure water opening and closing device Used to control and close the high-pressure water pipe
- the high-pressure jet nozzle is connected to the high-pressure water inlet of the milling axis support seat.
- the driving unit is an electric motor
- the electric motor is fixed on the housing of the milling mechanism through screws II
- the milling head is a butterfly hob inlaid with carbide.
- the angle between center line I and center line II is less than 3°.
- the milling mechanism is connected to the oblique feed adjustment mechanism through the hinge hole in the adjustment support. Connected to the inclined feed adjustment mechanism.
- the telescopic mechanism includes: a square housing, a square extending beam, and a telescopic oil cylinder.
- the cylinder barrel of the telescopic oil cylinder is fixedly connected to the square housing, and the cylinder rod of the telescopic oil cylinder is fixedly connected to the square extending beam.
- a displacement sensor is provided on the telescopic cylinder, and the displacement sensor is used to detect the displacement of the telescopic cylinder;
- the lifting mechanism includes a lifting cylinder, one end is connected to the lower hinge hole of the horizontal swing mechanism, and the other end is connected to the middle hinge hole of the square housing , and a lifting angle sensor is provided at the connection, so that the milling head in the milling mechanism can move up and down in the tunnel;
- the oblique feed adjustment mechanism has one end connected to the symmetrical hinge hole at the rear end of the milling mechanism, and the other end to the square extension
- the front end of the outgoing beam is connected with symmetrical hinge holes, and a milling mechanism angle sensor is provided in the oblique feed adjustment mechanism to adjust the milling head to achieve the oblique cutting state.
- the automatic cutting control method of tunnel boring robot includes the following steps:
- Step 1 The controller controls the walking platform to make the excavation robot's milling mechanism fit the coal and rock mass excavation surface, controls the support and stabilization mechanism to be supported on the top floor or side of the tunnel, and the anti-slip mechanism is opened and supported on the tunnel floor;
- Step 2 Start the drive unit, which drives the eccentric rotary sleeve to rotate.
- the inner hole of the eccentric rotary sleeve rotates to drive the milling shaft and the milling head to rotate and swing together.
- the drive unit starts, open the low-pressure cooling water pipe and let the cooling water flow through.
- the contact surface between the milling shaft connecting section and the inner hole of the eccentric rotary sleeve is cooled;
- the drive unit is started, the high-pressure water pipe jet unit is started, and the high-pressure jet passes through the impact of the gyrating and oscillating cutter head to form an oscillating jet-assisted milling cutter.
- the head breaks through the rock;
- Step 3 The controller controls the inclined feed adjustment mechanism to make the disc-shaped hob reach the bevel cutting state.
- the controller controls the lifting cylinder to make the disc-shaped hob move downward.
- the controller controls the telescopic cylinder to make the square extending beam extend out of the square shell.
- the force load of the connecting fastener between the milling shaft support seat and the milling mechanism shell is indirectly detected by pulling the pressure sensor, and the detected load reaches the preset
- the high-pressure water system is turned on; the direction sensor installed on the shell of the milling mechanism detects the movement direction of the disc-shaped hob, and the high-pressure water opening and closing device is opened and installed on the milling axis support seat according to the detected movement direction of the disc-shaped hob.
- a high-pressure jet nozzle forms an oscillating jet in the direction of movement of the disc-shaped hob to assist rock breaking;
- a displacement sensor is installed on the telescopic cylinder to detect its displacement, control the telescopic cylinder to make the disc-shaped hob reach the predetermined milling thickness, and control the oblique feed adjustment mechanism to The disc-shaped hob closely fits the rock mass excavation surface to reach the milling state;
- Step 4 According to the lifting angle sensor installed at the hinge position at the end of the square shell and the rotation angle sensor signal at the outer circumferential position of the horizontal swing mechanism, the controller calculates the position of the disc hob on the rock mass excavation surface and controls the lifting cylinder and horizontal swing mechanism. Make the disc-shaped hob installed on the milling mechanism mill the coal and rock mass according to the preset milling path; after completing the milling of the coal and rock mass excavation face with a predetermined thickness, the milling mechanism returns to the initial position in step 1;
- Step 5 Repeat steps 3 and 4 until the telescopic cylinder reaches the maximum stroke, retract the support stabilizing mechanism and anti-slip mechanism to complete the milling of coal and rock after the excavation robot is fixed once;
- Step 6 Repeat steps 1 to 5 to realize automatic cutting of the coal and rock mass excavation surface.
- the present invention has the following beneficial effects:
- the center line of the inner hole of the eccentric rotary sleeve is deflected, so that the milling mechanism drives the milling head to rotate and oscillate.
- the discontinuous contact between the milling head and the rock mass makes the contact path of the milling head short, with small wear and low temperature. Avoid excessive wear of the milling head and achieve efficient milling of rock mass.
- the high-pressure jet forms an oscillating jet by impacting the cyclically oscillating cutter head.
- the oscillating jet assists the milling cutter head in breaking the rock, which can reduce the difficulty of milling.
- the oscillating jet cuts the rock in advance and facilitates cyclic oscillation milling.
- the cutter head mills and breaks the rock, making full use of the rock's compression and non-tension properties, which greatly reduces the difficulty of rock breaking and improves the crushing efficiency of hard rock mass.
- the controller can realize the milling mechanism by adjusting the oblique feed adjustment mechanism, square extending beam, lifting cylinder, and horizontal swing mechanism based on the displacement sensor, milling mechanism angle sensor, lifting angle sensor, rotation angle sensor, direction sensor, and tension pressure sensor.
- the driven disc-shaped hob automatically cuts, with high work efficiency and good cutting and forming quality.
- Figure 1 is an overall view of the tunnel boring robot of the present invention
- Figure 2 is a cross-sectional view of the milling mechanism in the present invention.
- Figure 3 is a cross-sectional view of the milling shaft in the present invention.
- Figure 4 is a cross-sectional view of the eccentric rotary sleeve in the present invention.
- Figure 5 is a cross-sectional view of a square extending beam in the present invention.
- Figure 6 is a schematic diagram of the bevel cutting method and milling path of the dish-shaped hob in the present invention.
- 1 is the milling mechanism
- 2 is the oblique feed adjustment mechanism
- 3 is the square extending beam
- 4 is the square shell
- 5 is the lifting cylinder
- 6 is the horizontal swing mechanism
- 7 is the hydraulic power source
- 8 is the electrical system.
- this embodiment is a tunnel excavation robot.
- the milling mechanism is used to complete automatic bevel cutting and milling of coal and rock mass.
- the center line of the inner hole of the eccentric rotary sleeve is provided therein. Deflection causes the milling mechanism to drive the milling cutter head to rotate and oscillate.
- the discontinuous contact between the milling cutter head and the rock mass results in a short contact path of the milling cutter head, low wear and low temperature, avoiding excessive wear of the milling cutter head and achieving efficient milling of rock mass.
- the high-pressure jet forms an oscillating jet by impacting the oscillating oscillating cutter head, forming an oscillating jet to assist the milling cutter head in breaking the rock, which can reduce the difficulty of milling.
- the jet cuts the rock in advance and then facilitates the oscillating oscillating milling cutter head to break the rock, which greatly It reduces the difficulty of rock breaking and improves the crushing efficiency of hard rock mass.
- the tunnel excavation robot includes a controller 23, and a milling mechanism 1, an oblique feed adjustment mechanism 2, a square extending beam 3, a square shell 4, a lifting cylinder 5, a horizontal swing mechanism 6, Hydraulic power source 7, electrical system 8, slag conveying mechanism 9, anti-slip mechanism 10, walking platform 11, slag collection mechanism 12, support and stabilization mechanism 13, telescopic cylinder 14, displacement sensor 15, milling mechanism angle sensor 16, lifting angle Sensor 17, rotation angle sensor 18, direction sensor 19, tension pressure sensor 20, high pressure water system 21, high pressure jet nozzle 22, among which, hydraulic power source 7, electrical system 8, rock slag conveying mechanism 9, anti-skid mechanism 10, rock slag
- the collection mechanism 12, the support and stabilization mechanism 13, the high-pressure water system 21, etc. are all installed on the mobile platform 10 to form the frame of the entire tunnel boring robot.
- the milling mechanism includes: drive unit, milling shaft 1-3, eccentric rotary sleeve 1-12, support bearing 1-10, adjustment support 1-16, and high-pressure jet nozzle unit, where,
- the driving end of the driving unit is drivingly connected to the eccentric rotary sleeve.
- the driving unit is an electric motor 1-14, which is fixed on the milling mechanism housing 1-9 through screws II1-13.
- the milling axis 1-3 includes: the milling end 1-3-1, which is the end where the milling axis 1-3 is connected to the milling head; the milling axis support seat 1-4, through bolts I1-5 and The shell 1-9 of the milling mechanism is connected; the spherical segment 1-3-2 is a limiter in the milling shaft and is arranged between the milling shaft supports 1-4.
- the contact surface with the milling shaft support 1-4 is provided with The high-pressure sealing ring 1-19 prevents the leakage of cooling water through the setting of the high-pressure sealing ring 1-19;
- the connecting section 1-3-3 is the end installed in conjunction with the inner hole 1-12-1 of the eccentric rotary sleeve.
- the milling axis is also provided with: cooling water inlet 1-3-4, which is connected to the low-pressure water inlet 1-4-1 on the milling axis support seat 1-4; cooling branch water channel 1-3-5, which is arranged on the eccentric rotation The contact surface between the inner hole 1-12-1 of the sleeve 1-12 and the right section 1-3-3 of the milling shaft 1-3; the cooling water outlet channel 1-3-6 is set inside the milling shaft and connected with the cooling branch water channel Communicated and connected to the milling head, a disc-shaped hob 1-1 inlaid with carbide 1-2-1 is fixed on the left end surface 1-3-1 of the milling shaft 1-3 through a screw I1-2.
- the eccentric rotary sleeve 1-12 includes: a sleeve with an inner hole 1-12-1 at one end, and a closed end of the sleeve at the other end.
- the outer wall of the sleeve is connected to the shell of the milling mechanism 1-9.
- the closed end 1-12-3 of the sleeve is connected with the motor; the eccentric disk is arranged on the outer wall of the middle part of the sleeve, and there is an eccentricity between the axis of the eccentric disk and the axis of the eccentric sleeve; the inner hole is provided with a reinforced On the treated surface, there is an included angle between the center line I1-12-5 of the inner hole 1-12-1 and the center line II1-12-6 of the outer surface 1-12-2, which is generally less than 3°.
- the right end 1-12-3 of the eccentric rotary sleeve 1-12 is connected with the electric motor 1-14 through a key.
- Support bearing 1-10 the inner and outer rings of which are matched with the outer surface 1-12-2 of the eccentric rotary sleeve 1-12 and the inner hole of the milling mechanism shell 1-9 respectively.
- the adjusting support 1-16 is provided with a main hinge hole 1-17 at the rear end and a symmetrical hinge hole 1-18 at the rear end, which are connected to the milling mechanism shell 1-9 through screws III1-15.
- the high-pressure jet nozzle unit is connected 21 to the high-pressure water system and includes: high-pressure water pipes 1-7, with a high-pressure water opening and closing device 1-8 arranged in series, and connected to the high-pressure water inlet 1-4 on the milling axis support seat 1-4. 2-phase connection; high-pressure water opening and closing device 1-8, used to control and close the high-pressure water pipe; high-pressure jet nozzle, connected with the high-pressure water inlet 1-4-2 of the milling axis support 1-4, and the high-pressure water jet oscillates through impact rotation The knife forms an oscillating jet.
- the mobile platform 11 is provided at the bottom of the frame and is used for moving the frame; the support and stabilizing mechanism 13 is provided on the frame and is used to support the top and sides of the rock mass.
- the tensile pressure sensor 20 is installed between the milling shaft support seat 1-4 and the milling mechanism housing 1-9, and the direction sensor 19 is installed on the surface of the milling mechanism housing 1-9.
- the telescopic mechanism includes: a square housing 4, a square extending beam 3, and a telescopic cylinder 14.
- the telescopic cylinder 14 is respectively connected to the tail support seat 4-3 of the square housing 4 and the middle support seat 3-1 of the square extending beam 3.
- the cylinder barrel of the telescopic oil cylinder 14 is fixedly connected to the square housing 4, and the cylinder rod of the telescopic oil cylinder 14 is fixedly connected to the square extending beam 3.
- the controller controls the square extending beam through the displacement control of the telescopic oil cylinder 14 detected by the displacement sensor 15. Move relative to the square shell.
- the middle support seat 3-1 of the square extended beam is connected to the piston rod of the telescopic cylinder 14, the main hinge hole 3-2 at the front end is hinged to the main hinge hole 1-17 at the rear end of the milling mechanism 1, and the front end is symmetrical.
- 3-3 is connected to the symmetrical hinge hole 1-18 at the rear end of the milling mechanism 1 through the oblique feed adjustment mechanism 2, and the four surfaces 3-4 of the square extending beam 3 are strengthened.
- the horizontal swing mechanism 6 is arranged between the frame and the square shell through the upper hinge hole 6-2.
- the rotary end 6-1 is vertically rotatably installed on the front side of the mobile platform 10, and is provided between the frame and the horizontal swing mechanism.
- the lifting mechanism including the lifting cylinder, is connected to the lower hinge hole 6-3 of the horizontal swing mechanism 6 and the middle hinge hole 4-2 of the square housing 4 respectively.
- the lifting angle sensor 17 is arranged at the right hinge hole 4-2 of the square housing 4. 1 and the hinge hole 6-2 on the horizontal swing mechanism 6, so that the milling head in the milling mechanism can move up and down in the tunnel.
- the two ends of the oblique feed adjustment mechanism are respectively connected to the symmetrical hinge holes 1-18 at the rear end of the milling mechanism 1 and the symmetrical hinge holes 3-3 at the front end of the square extending beam 3, and are connected to the main hinge hole 1-1 at the rear end of the milling mechanism 1.
- 17 is hinged with the main hinge hole 3-2 at the front end of the square extending beam 3 and is provided with a milling mechanism angle sensor 16.
- the oblique feed adjustment mechanism is used to adjust the milling head to the oblique cutting state.
- the controller controls the oblique feed adjustment mechanism 2, the lifting cylinder 14, the horizontal swing mechanism 6, and the telescopic
- the oil cylinder 5, the opening and closing device of the oscillating jet nozzle 22, etc. realize the automatic bevel cutting and milling of coal and rock mass by the milling mechanism 1 assisted by the directional water jet.
- An automatic cutting control method for a tunnel boring robot includes the following steps:
- Step 1 The controller controls the walking platform 11 to make the excavation robot milling mechanism 1 fit the coal and rock mass excavation surface 24, controls the support and stabilization mechanism 13 to be supported on the top floor or side of the tunnel, and the anti-slip mechanism 10 is opened and supported on the tunnel floor;
- Step 2 Start the drive unit, which drives the eccentric rotary sleeve to rotate.
- the inner hole of the eccentric rotary sleeve rotates to drive the milling shaft and the milling head to rotate and swing together.
- the drive unit starts, open the low-pressure cooling water pipe and let the cooling water flow through.
- the contact surface between the milling shaft connecting section and the inner hole of the eccentric rotary sleeve is cooled;
- the drive unit is started, the high-pressure water pipe jet unit is started, and the high-pressure jet forms an oscillating jet by impacting the gyrating and oscillating cutter head.
- Auxiliary milling cutter head breaks rock;
- Step 3 The controller controls the inclined feed adjustment mechanism 2 to make the disc-shaped hob 1-1 reach the bevel cutting state 25, controls the lifting cylinder 5 to make the disc-shaped hob 1-1 move downward, and controls the telescopic cylinder 14 to make the square extend.
- the beam 3 extends out of the square housing 4, causing the disc-shaped hob 1-1 to perform a downward and forward compound movement to obliquely cut into the rock mass; it is installed on the tensile pressure sensor 20 to indirectly detect the milling axis support seat 1-4 and the milling mechanism housing 1
- the connecting fasteners between -9 are subjected to force loads.
- the high-pressure water system 21 installed on the mobile platform 10 is turned on; the direction sensor 19 installed on the shell of the milling mechanism 1-9 detects the dish shape.
- the high-pressure water opening and closing device 1-8 opens the corresponding high-pressure jet nozzle 22 installed on the milling axis support seat 1-4 according to the detected movement direction of the disc-shaped hob 1-1.
- the movement direction of the hob 1-1 forms an oscillating jet to assist rock breaking;
- the displacement sensor 15 is installed on the telescopic cylinder 14 to detect its displacement, controls the telescopic cylinder 14 to make the disc-shaped hob 1-1 reach the predetermined milling thickness, and controls the oblique feed adjustment mechanism 2.
- Step 4 According to the signals of the lifting angle sensor 17 installed at the hinge position of the end of the square housing 4 and the rotation angle sensor 18 at the outer circumferential position of the horizontal swing mechanism 6, the controller 23 calculates the position of the disc hob 1-1 on the rock mass excavation surface 24 position, control the lifting cylinder 5 and the horizontal swing mechanism 6 to make the disc-shaped hob 1-1 installed on the milling mechanism 1 mill the coal and rock mass according to the preset milling path 27; after completing the milling of the coal and rock mass excavation surface 24 of a predetermined thickness, Milling mechanism 1 returns to the initial position in step 1;
- Step 5 Repeat steps 3 and 4 until the telescopic cylinder 14 reaches the maximum stroke, retract the support stabilizing mechanism 13 and the anti-slip mechanism 10 to complete the milling of coal and rock after the excavation robot has been fixed once;
- Step 6 Repeat steps 1 to 5 to realize automatic cutting of coal and rock mass excavation face 24.
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- 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)
- Earth Drilling (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
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Claims (10)
- 一种巷隧道掘进机器人,包括:机架;移动平台(11),设置在机架的底部,用于机架的移动;支撑稳定机构(13),设置在机架上,用于支撑岩体顶部和侧部;铣削机构,用于铣削煤岩体;伸缩机构,设置于铣削机构与机架之间,使铣削机构伸出和缩回;水平摆动机构,设置于伸缩机构与机架之间,使铣削机构左右摆动;斜进刀调节机构,设置于伸缩机构与铣削机构之间,使铣削机构改变斜切方向;升降机构,设置于水平摆动机构与机架之间,使铣削机构上下摆动;控制器,对机器人的终端机构进行控制操作;其特征在于,所述铣削机构包括:驱动单元,驱动端与偏心回转套驱动连接,固定连接在铣削机构外壳(1-9)上;铣削轴,其铣削端(1-3-1)设置有铣削刀头,所述铣削轴的中段设置有限位件,所述限位件用于抵消作用于旋回体的轴向力;偏心回转套,设置在铣削轴与驱动单元之间,所述偏心回转套内部设置有内孔,所述内孔与铣削轴配合连接,所述内孔的轴线即中心线I(1-12-5)与偏心回转套的轴线即中心线II(1-12-6)之间存在夹角,使铣削轴上的铣削刀头进行旋回振荡铣削破岩;高压射流喷嘴单元,设置在所述铣削端上,形成高压射流辅助铣削刀头破岩;拉压力传感器(20),设置在铣削机构外壳(1-9)上,与控制器信号连接,用于检测铣削机构中连接紧固件的受力载荷;方向传感器(19),设置在铣削机构外壳(1-9)上,与控制器信号连接,用于检测铣削刀头的运动方向。
- 根据权利要求1所述的巷隧道掘进机器人,其特征在于,所述偏心回转套(1-12)包括:筒套,一端开有内孔,另一端为筒套封闭端,筒套外壁与铣削机构外壳(1-9)配合连接,筒套封闭端(1-12-3)与驱动单元配合连接;偏心圆盘,设置在筒套中部外壁,该偏心圆盘的轴线与偏心套筒的轴线之间存在偏心距;所述内孔设置有强化处理表面。
- 根据权利要求2所述的巷隧道掘进机器人,其特征在于:所述铣削轴依次分为铣削端、球形段、连接段,所述铣削轴上的铣削端与铣削刀头连接,所述限位件为连接在所述铣削端后端的球形段,所述球形段与铣削轴支撑座(1-4)的接触面设有高压密封圈(1-19);所述 连接段与偏心回转套的内孔(1-12-1)配合安装。
- 根据权利要求3所述的巷隧道掘进机器人,其特征在于:所述铣削轴上还设置有:冷却进水道(1-3-4),与铣削轴支撑座(1-4)上的低压水入口(1-4-1)相连接;冷却分支水道(1-3-5),设置在偏心回转套(1-12)内孔(1-12-1)与铣削轴(1-3)右侧段(1-3-3)的接触面上;冷却水出水道(1-3-6),设置在铣削轴内部,与冷却分支水道连通,并连接到铣削刀头处。
- 根据权利要求3所述的巷隧道掘进机器人,其特征在于:高压射流喷嘴单元中,包括:高压水管(1-7),串联设置有高压水开闭装置(1-8),并与铣削轴支撑座(1-4)上的高压水入口(1-4-2)相连接;高压水开闭装置(1-8),用于控制闭合高压水管;高压射流喷嘴,与铣削轴支撑座(1-4)的高压水入口(1-4-2)连通。
- 根据权利要求4所述的巷隧道掘进机器人,其特征在于:所述驱动单元为电机马达(1-14),所述电机马达通过螺钉II(1-13)固定在铣削机构外壳(1-9)上,所述铣削刀头为镶嵌硬质合金(1-2-1)的蝶形滚刀(1-1)。
- 根据权利要求1所述的巷隧道掘进机器人,其特征在于,中心线I(1-12-5)与中心线II(1-12-6)之间夹角小于3°。
- 根据权利要求1所述的巷隧道掘进机器人,其特征在于,所述铣削机构(1)通过调节支撑件中的铰接孔与斜进刀调节机构连接。
- 根据权利要求8所述的巷隧道掘进机器人,其特征在于,伸缩机构包括:方形壳体、方形伸出梁、伸缩油缸(14),伸缩油缸的缸筒与方形壳体固定连接、伸缩油缸的缸杆与方形伸出梁固定连接,伸缩油缸上设置有位移传感器(15),所述位移传感器(15)用于检测伸缩油缸的位移;升降机构,包括升降油缸,一端与水平摆动机构(6)的下铰接孔(6-3)连接,另一端与方形壳体(4)的中部铰接孔(4-2)连接,并在连接处设有升降角度传感器(17),使得铣削机构中的铣削刀头能在巷道内进行上下运动;斜进刀调节机构,一端与铣削机构(1)的后端对称铰接孔(1-18)连接、另一端与方形伸出梁(3)的前端对称铰接孔(3-3)连接,并在斜进刀调节机构中设置有铣削机构角度传感器(16),调整铣削刀头达到斜切状态。
- 根据权利要求9中所述的巷隧道掘进机器人的自动截割控制方法,其特征在于,包括以下步骤:步骤1:控制器控制行走平台使掘进机器人铣削机构贴合煤岩体掘进面,控制支撑稳定机构支撑在巷道顶底板或侧帮,防滑机构打开并支撑在巷道底板上;步骤2:启动驱动单元,由驱动单元带动偏心回转套进行旋转,通过偏心回转套的内孔旋转带动铣削轴和铣削刀头一同旋回摆动;在驱动单元启动时,打开低压冷却水管,通过冷却水流经铣削轴连接段外壁,对铣削轴连接段与偏心回转套内孔接触面进行冷却;在驱动单元启动时,启动高压水管射流单元,高压射流通过冲击旋回振荡的刀头形成振荡射流辅助铣削刀头破岩;步骤3:控制器控制斜进刀调节机构使碟形滚刀达到斜切状态,控制器控制升降油缸使碟形滚刀向下运动,控制器控制伸缩油缸使方形伸出梁伸出方形壳体,使碟形滚刀作向下、向前复合运动斜切入岩体;通过拉压力传感器间接检测铣削轴支撑座、铣削机构外壳之间的连接紧固件受力载荷,检测的载荷达到预设值时,开启高压水***;安装在铣削机构外壳上的方向传感器检测获得碟形滚刀的运动方向,高压水开闭装置根据检测的碟形滚刀运动方向开启安装在铣削轴支撑座上对应的高压射流喷嘴,在碟形滚刀运动方向形成振荡射流辅助破岩;位移传感器安装在伸缩油缸上检测其位移,控制伸缩油缸使碟形滚刀达到预定铣削厚度,控制斜进刀调节机构使碟形滚刀与岩体掘进面近似贴合达到铣削状态;步骤4:根据安装在方形壳体末端铰接位置的升降角度传感器、水平摆动机构外圆周位置的回转角度传感器信号,控制器计算碟形滚刀在岩体掘进面位置,控制升降油缸、水平摆动机构使安装在铣削机构上的碟形滚刀按照预设铣削路径铣削煤岩体;完成一次预定厚度煤岩体掘进面铣削后,铣削机构回到步骤1初始位置;步骤5:不断重复步骤3、步骤4,直至伸缩油缸达到最大行程,收回支撑稳定机构和防滑机构完成掘进机器人一次固定后的铣削煤岩;步骤6:重复执行步骤1~步骤5,实现煤岩体掘进面自动化截割。
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