CN102797474A - Three-degree-of-freedom self-walking minitype shield machine - Google Patents
Three-degree-of-freedom self-walking minitype shield machine Download PDFInfo
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- CN102797474A CN102797474A CN2012103168607A CN201210316860A CN102797474A CN 102797474 A CN102797474 A CN 102797474A CN 2012103168607 A CN2012103168607 A CN 2012103168607A CN 201210316860 A CN201210316860 A CN 201210316860A CN 102797474 A CN102797474 A CN 102797474A
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Abstract
The invention relates to a three-degree-of-freedom self-walking minitype shield machine comprising a cutting head, a drive motor, a propelling oil cylinder, a supporting oil cylinder, a spiral conveyer, an inner support frame, an outer support frame, a hydraulic valve bank and a shield. In the invention, the cutting head adopts pick-shaped teeth cutting and realizes three-degree-of-freedom rotary cutting through an adjusting oil cylinder; a rock crush principle is as follows: coal rocks are subjected to crushing treatment through the pick-shaped teeth cutting and a secondary crushing mechanism by adopting a secondary crushing technology; a propelling system adopts two double-acting oil cylinders, a supporting and obstructing system adopts cross type double-acting oil cylinders, and rear support-front propelling and front support-rear contraction type stepping walking is realized through the control of a hydraulic system; a deslagging mode is as follows: slag and muddy water are conveyed into a conveying pipe by adopting the spiral conveyer, and deslagging is carried out by combining with negative pressure suction. According to the invention, the directional control and the large curvature radius curve walking of the three-degree-of-freedom self-walking minitype shield machine disclosed by the invention are realized; the slant stagger of a drill hole is prevented; the autonomous walking of the three-degree-of-freedom self-walking minitype shield machine is realized; long-distance hole drilling is ensured; and the problem of difficult deslagging of a pipe jacking technology is solved, and therefore, the gas is more sufficiently discharged.
Description
Technical field
The present invention relates to Three Degree Of Freedom self-travel type miniature shield machine, be particularly useful for of the boring of coal seam length apart from gas drainage under suction.
Background technology
China's mine gas drainage amount only accounts for 20% of whole outburst amounts that draw out methane at present, and China's mine gas drainage technology mainly contains: (take out) extraction before the digging in advance, Bian Caibian takes out and adopts back extraction (goaf extraction).Equipment commonly used is the gas drainage under suction rig, adopt pipe-jacking technology to set up gas channel and give off gas, but this long drilled holes pore-forming equipment and controlled directional drilling process is " bottleneck " of gas drainage under suction always; Special-purpose lead bit and the effective directed measure of control that the existing technology of drilling is not supporting with it; Show that mainly pumping volume is few, become porosity low, the mine sucrose extraction is low; Boring length is not long, and comprehensive extraction work is poor.Therefore the improvement of gas drainage under suction equipment has become problem demanding prompt solution with raising.See that from development trend both domestic and external what speed of application was fast, cost is low, the borehole engineering utilization rate is high will substitute the major technique means that layer-through drilling becomes coal bed gas drainage gradually along layer boring.
Summary of the invention
Technical problem: the objective of the invention is problem to the prior art existence; Provide a kind of compact conformation, directional drilling easily, realize that speed of application is fast, cost is low, the borehole engineering utilization rate is high, improve the Three Degree Of Freedom self-travel type miniature shield machine of the amount of drawing out methane.
Technical scheme: Three Degree Of Freedom self-travel type miniature shield machine of the present invention; Comprise anterior shield, the middle shield that cooperates with the anterior shield sliding sleeve, be provided with in the anterior shield and be I-shaped inner support, be provided with the support arm that links to each other with inner support in the middle shield; The front end of inner support is provided with hydraulic motor; The front portion of hydraulic motor is provided with the shield machine cutterhead, is provided with second-time breakage mechanism between hydraulic motor and the shield machine cutterhead, and the middle part of inner support is arranged with can stretch out the external preceding supporting oil cylinder of anterior shield; Bilateral symmetry is provided with the propelling oil cylinder about between the rear end of inner support and the support arm, is arranged with on the support arm to stretch out the middle external back supporting oil cylinder of shield; The front side that is positioned at inner support in the anterior shield is provided with water sending device, rear side is provided with conveying worm; The rear portion of middle shield is provided with hydraulic valve bank, and the rear end of middle shield is provided with the tail shield.
Supporting oil cylinder is the right-angled intersection arrangement with the position of back supporting oil cylinder before said; Supporting oil cylinder is equipped with the support boots with the top of back supporting oil cylinder before said; Be connected with three on the described shield machine cutterhead and realize that the shield machine cutterhead becomes the angle adjustment oil cylinder of Three Degree Of Freedom rotation cut; Described second-time breakage mechanism is made up of the multilayer antifriction alloy gauze wire cloth that constitutes paliform that is superimposed.
Beneficial effect: owing to adopted technique scheme, utilize four supporting oil cylinder support resistances, can realize two-stage self-walking shield driving, the push pipe that need not pipeline advances.Each angle adjustment oil cylinder is carried out pressure control separately, can change the oil cylinder collapsing length, realize the orientation control and the curve walking of shield machine, prevent that effectively the deviational survey of holing is staggered, can make the more abundant of drawing-off gas.For the discharging of residue, adopt the mode of conveying worm and negative pressure suction, solved the not problem of deslagging of pipe-jacking technology.The present invention all adopts hydraulic drive mode; The rotation of fluid motor-driven cutterhead; PF cylinder pressure and support cylinder are responsible for stepping and are supported; Carry out synchronous or asynchronous control through hydraulic system, realize the two-segment type stepping walking of " back support-preceding propelling, the preceding support-after-contraction " of shield machine.Conveying worm is responsible for draining slag, has solved the difficult problem of the boring directional drilling that boring length is not long in the gas drainage under suction in the prior art, the extraction rate is not high, has realized that speed of application is fast, cost is low, the borehole engineering utilization rate high, the purpose that the efficient that draws out methane is high.Its simple and compact for structure, working stability can realize that the big length of high pulling torque, high rotating speed, propulsive force is apart from horizontal drilling.
Description of drawings
Fig. 1 is that Three Degree Of Freedom is from walking miniature formula shield machine sectional view;
Fig. 2 is the longitudinal sectional view of Fig. 1;
Fig. 3, Fig. 4 are the partial enlarged view of Fig. 1.
Among the figure: 1-shield machine cutterhead; 2-second-time breakage mechanism; 3-angle adjustment oil cylinder; The 4-hydraulic motor; Supporting oil cylinder before the 5-; The 6-inner support; 7-advances oil cylinder; The 8-support arm; The 9-hydraulic valve bank; The 10-water sending device; The 11-conveying worm; The 12-anterior shield; Supporting oil cylinder behind the 13-; Shield among the 14-; 15-tail shield.
The specific embodiment
Below in conjunction with accompanying drawing one embodiment of the present of invention are done further to describe:
Three Degree Of Freedom self-travel type miniature shield machine of the present invention mainly is made up of shield machine cutterhead 1, second-time breakage mechanism 2, angle adjustment oil cylinder 3, hydraulic motor 4, preceding supporting oil cylinder 5, inner support 6, propelling oil cylinder 7, support arm 8, hydraulic valve bank 9, water sending device 10, conveying worm 11, anterior shield 12, back supporting oil cylinder 13, middle shield 14, tail shield 15.Anterior shield 12 cooperates with middle shield 14 sliding sleeves; Be provided with in the anterior shield 12 and be I-shaped inner support 6; In the middle shield 14 support arms 8 that link to each other with inner support 6 are set; The front end of inner support 6 is provided with hydraulic motor 4, and the front portion of hydraulic motor 4 is provided with shield machine cutterhead 1, connects three angle adjustment oil cylinders 3 on the shield machine cutterhead 1; Described shield machine cutterhead 1 is controlled by hydraulic motor 4, and realizes shield machine cutterheads 1 Three Degree Of Freedom rotation cut through angle adjustment oil cylinder 3.Between hydraulic motor 4 and the shield machine cutterhead 1 second-time breakage mechanism 2 is set, second-time breakage mechanism 2 is made up of the multilayer antifriction alloy gauze wire cloth that constitutes paliform that is superimposed.The middle part of inner support 6 is arranged with can stretch out the external preceding supporting oil cylinder 5 of anterior shield 12; Bilateral symmetry is provided with two double-acting propelling oil cylinders 7 about between the rear end of inner support 6 and the support arm 8; Be symmetrical set on the support arm 8 two can stretch out in the external double-acting back supporting oil cylinder 13 of shield 14; Supporting oil cylinder 5 is the right-angled intersection arrangement with supporting oil cylinder 13 positions, back before described, and preceding supporting oil cylinder 5 is equipped with the support boots with the top of back supporting oil cylinder 13; The front side that is positioned at inner support 6 in the anterior shield 12 is provided with water sending device 10, rear side is provided with conveying worm 11; The rear portion of middle shield 14 is provided with hydraulic valve bank 9, and the rear end of middle shield 14 is provided with tail shield 15.Advancing oil cylinder 7 is the propulsion plant of Three Degree Of Freedom self-travel type miniature shield machine; When the support boots of back supporting oil cylinder 13 stretch out when withstanding petrosal foramen; Advance oil cylinder 7 to push ahead; Promote anterior shield 12 and move forward, when the support boots of supporting oil cylinder 5 stretch out and withstand petrosal foramen before supporting, advance the stepping walking of the retraction realization two-segment type of oil cylinder 7.Described hydraulic valve bank 9 all adopts the cartridge valve group; Because the spatial constraints of shield machine; Cartridge valve is installed in the afterbody of shield machine through interaction work between the valve piece; Hydraulic pump then is installed in the outside, the required pressure oils of hydraulic work system such as the external two oil circuit pipes in back are supplied with hydraulic motor 4, advanced oil cylinder 7, preceding supporting oil cylinder 5 and back supporting oil cylinder 13, through shield machine in tow high-pressure oil pipe carry out work.Described water sending device 10 is the slagging device of Three Degree Of Freedom self-travel type miniature shield machine with conveying worm 11; Utilize the abundant advantage of water resource under the ore deposit; Water filling in crushing chamber; Utilize mud hydraulic pressure to come the ambient pressure in the balance shield machine rock stratum of living in, be transported to the muddy water that has mixed slag the carrier pipe from crushing chamber through conveying worm 11 simultaneously, combine the mode of negative pressure suction that it is discharged again.Described anterior shield 12, middle shield 14, tail shield 15 and inner support 6 and support arm 8 are formed the shield structure body of whole systems.Shield machine cutterhead 1 is the pick tooth cutting means of hydraulic motor 4 controls, and Three Degree Of Freedom is 510mm from the cut diameter of the miniature shield machine of walking, and aperture opening ratio is 38.1%.
The operating principle and the course of work: at first the pick tooth through shield machine cutterhead 1 carries out primary fragmentation to the coal seam rock, carries out second-time breakage by the detritus after the 2 pairs of fragmentations of second-time breakage mechanism that are located at behind the shield machine cutterhead 1 then.Adopt two double actings to advance oil cylinder 7 to constitute propulsion system; Supporting oil cylinder 5 constitutes support resistance system with back supporting oil cylinder 13 before adopting right-angled intersection formula two-way cylinder; Realize the concentrated hydraulic control of shield machine through hydraulic valve bank 9; Adopt conveying worm 11 and be connected in parallel on the negative pressure deslagging water pumper in the drain line, unite deslagging in the discharge pipe exit.Said negative pressure deslagging is a principle of utilizing cross-ventilation, negative pressure ventilation, produces negative pressure thereby suck fresh air by the infield, and the tunnel generation certain negative pressure power to driving makes waste residue by sucking-off.The negative pressure deslagging is the mode of deslagging preferably of drilling at outstanding or weak seam.Said shield machine cutterhead 1 adopts the slow-revving hydraulic motor 4 of high pulling torque, 70r/min of 1800Nm to rotatablely move through the direct driving shield machine of shaft coupling cutterhead 1.Circumferentially three angle adjustment oil cylinders, the 3 control cutterhead directions of advance of symmetric arrangement are adjusted the rotation of shield machine cutterhead 1 in different azimuth according to the difference of angle adjustment oil cylinder 3 collapsing lengths, realize the rotation of Three Degree Of Freedom.Shield machine cutterhead 1 is as a whole with hydraulic motor 4, by the orientation of three angle adjustment oil cylinders, 3 control shield machine cutterheads 1.Because shield machine cutterhead 1 is an one with hydraulic motor 4, compact conformation, hydraulic motor 4 are variations that angle takes place along with shield machine cutterhead 1 together, have realized that shield machine cutterhead 1 constantly stirs while rotating, and helps breaking ores.Said angle adjustment oil cylinder 3 is the angular adjustment apparatus of Three Degree Of Freedom self-travel type miniature shield machine, and three angle adjustment oil cylinders 3 adopt the ball-joint connected mode to link to each other with the shield machine head, can realize that the inclination of certain angle also can be finely tuned the trend of shield machine.Said hydraulic motor 4 is the major impetus source of Three Degree Of Freedom self-travel type miniature shield machine cutterhead 1, rotatablely moves through hydraulic valve bank 9 control driving shield machine cutterheads 1.Before described supporting oil cylinder comprises supporting oil cylinder 5 and back supporting oil cylinder 13 for Three Degree Of Freedom self-travel type miniature shield machine from running gear; Four two-way cylinder support resistances so that right-angled intersection is arranged are located; The support boots head in the ore, advance required counter-force to provide.Through independent control, realize the stepping walking of two-segment type to the front and back supporting oil cylinder.
Claims (5)
1. Three Degree Of Freedom self-travel type miniature shield machine; It is characterized in that: it comprises anterior shield (12), the middle shield (14) that cooperates with anterior shield (12) sliding sleeve; Be provided with in the anterior shield (12) and be I-shaped inner support (6); Be provided with the support arm (8) that links to each other with inner support (6) in the middle shield (14), the front end of inner support (6) is provided with hydraulic motor (4), and the front portion of hydraulic motor (4) is provided with shield machine cutterhead (1); Be provided with second-time breakage mechanism (2) between hydraulic motor (4) and the shield machine cutterhead (1); The middle part of inner support (6) is arranged with can stretch out the external preceding supporting oil cylinder (5) of anterior shield (12), between the rear end of inner support (6) and the support arm (8) up and down bilateral symmetry be provided with and advance oil cylinder (7), be arranged with on the support arm (8) and can stretch out the external back supporting oil cylinder (13) of middle shield (14); The front side that is positioned at inner support (6) in the anterior shield (12) is provided with water sending device (10), rear side is provided with conveying worm (11); The rear portion of middle shield (14) is provided with hydraulic valve bank (9), and the rear end of middle shield (14) is provided with tail shield (15).
2. Three Degree Of Freedom self-travel type miniature shield machine according to claim 1 is characterized in that: supporting oil cylinder (5) is the right-angled intersection arrangement with the position of back supporting oil cylinder (13) before said.
3. Three Degree Of Freedom self-travel type miniature shield machine according to claim 1 and 2 is characterized in that: supporting oil cylinder (5) is equipped with the support boots with the top of back supporting oil cylinder (13) before said.
4. Three Degree Of Freedom self-travel type miniature shield machine according to claim 1 is characterized in that: be connected with three on the described shield machine cutterhead (1) and realize that shield machine cutterhead (1) becomes the angle adjustment oil cylinder (3) of Three Degree Of Freedom rotation cut.
5. Three Degree Of Freedom self-travel type miniature shield machine according to claim 1 is characterized in that: described second-time breakage mechanism (2) is made up of the multilayer antifriction alloy gauze wire cloth that constitutes paliform that is superimposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210316860.7A CN102797474B (en) | 2012-08-31 | 2012-08-31 | Three-degree-of-freedom self-walking minitype shield machine |
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|---|---|---|---|
| CN201210316860.7A CN102797474B (en) | 2012-08-31 | 2012-08-31 | Three-degree-of-freedom self-walking minitype shield machine |
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| CN102797474A true CN102797474A (en) | 2012-11-28 |
| CN102797474B CN102797474B (en) | 2014-04-16 |
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| CN201210316860.7A Expired - Fee Related CN102797474B (en) | 2012-08-31 | 2012-08-31 | Three-degree-of-freedom self-walking minitype shield machine |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103967502A (en) * | 2014-04-11 | 2014-08-06 | 中信重工机械股份有限公司 | Automatic walking device of hard rock tunnel boring machine |
| CN104959183A (en) * | 2015-07-17 | 2015-10-07 | 中国铁建重工集团有限公司 | Muddy water circulation and stone crushing method for shield tunneling machine |
| CN105386760A (en) * | 2015-11-12 | 2016-03-09 | 双鸭山市义君矿山设备制造有限公司 | Hydraulic control stepping type breaking hammer mining machine |
| CN105697023A (en) * | 2016-02-05 | 2016-06-22 | 清华大学 | Tunnel geological exploring method and system and mini-type heading machine |
| CN105909299A (en) * | 2016-04-19 | 2016-08-31 | 陈凤平 | Coal seam potential energy body physics blast control method |
| CN107339110A (en) * | 2017-07-14 | 2017-11-10 | 华东交通大学 | A kind of full-automatic TBM moles of double six sufficient propeller and the three-leg eyelid retractors of band |
| CN109139036A (en) * | 2018-09-11 | 2019-01-04 | 谢建 | A kind of tunnel cutting mechanism |
| CN109184725A (en) * | 2018-09-11 | 2019-01-11 | 谢建 | A kind of tunnel rotation propulsion cutter device |
| CN109915152A (en) * | 2019-04-16 | 2019-06-21 | 燕山大学 | A kind of collection bores the shield type excavator of expansion support integratedization |
| CN109958449A (en) * | 2019-03-23 | 2019-07-02 | 中铁工程装备集团隧道设备制造有限公司 | Step-by-step movement ontology running gear and development machine for tunneler construction |
| CN112459799A (en) * | 2020-11-23 | 2021-03-09 | 张同勇 | Construction method of underground water supply pipeline |
| CN112761634A (en) * | 2020-12-29 | 2021-05-07 | 中国矿业大学 | Automatic coal mining device for deep coal seam |
| CN113217089A (en) * | 2021-06-27 | 2021-08-06 | 中国矿业大学 | Autonomous traveling mechanism of deep coal fluidized mining equipment |
| CN113338934A (en) * | 2021-07-07 | 2021-09-03 | 中国矿业大学 | Deep coal fluidization exploitation in-situ gasification device |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103967502A (en) * | 2014-04-11 | 2014-08-06 | 中信重工机械股份有限公司 | Automatic walking device of hard rock tunnel boring machine |
| CN104959183A (en) * | 2015-07-17 | 2015-10-07 | 中国铁建重工集团有限公司 | Muddy water circulation and stone crushing method for shield tunneling machine |
| CN105386760A (en) * | 2015-11-12 | 2016-03-09 | 双鸭山市义君矿山设备制造有限公司 | Hydraulic control stepping type breaking hammer mining machine |
| CN105386760B (en) * | 2015-11-12 | 2017-11-10 | 双鸭山市义君矿山设备制造有限公司 | Hydraulic control is taken a step quartering hammer digger |
| CN105697023B (en) * | 2016-02-05 | 2018-04-17 | 清华大学 | A kind of tunnel geology exploitation method, system and mini-sized tunnelling machine |
| CN105697023A (en) * | 2016-02-05 | 2016-06-22 | 清华大学 | Tunnel geological exploring method and system and mini-type heading machine |
| CN105909299A (en) * | 2016-04-19 | 2016-08-31 | 陈凤平 | Coal seam potential energy body physics blast control method |
| CN107339110B (en) * | 2017-07-14 | 2019-05-03 | 华东交通大学 | A kind of full-automatic TBM mole of band double six sufficient propeller and three-leg eyelid retractor |
| CN107339110A (en) * | 2017-07-14 | 2017-11-10 | 华东交通大学 | A kind of full-automatic TBM moles of double six sufficient propeller and the three-leg eyelid retractors of band |
| CN109184725B (en) * | 2018-09-11 | 2020-03-17 | 谢建 | Rotary propelling cutting device for tunnel |
| CN109184725A (en) * | 2018-09-11 | 2019-01-11 | 谢建 | A kind of tunnel rotation propulsion cutter device |
| CN109139036A (en) * | 2018-09-11 | 2019-01-04 | 谢建 | A kind of tunnel cutting mechanism |
| CN109958449A (en) * | 2019-03-23 | 2019-07-02 | 中铁工程装备集团隧道设备制造有限公司 | Step-by-step movement ontology running gear and development machine for tunneler construction |
| CN109915152B (en) * | 2019-04-16 | 2020-05-22 | 燕山大学 | Shield type heading machine integrating drilling, expanding and supporting |
| CN109915152A (en) * | 2019-04-16 | 2019-06-21 | 燕山大学 | A kind of collection bores the shield type excavator of expansion support integratedization |
| CN112459799A (en) * | 2020-11-23 | 2021-03-09 | 张同勇 | Construction method of underground water supply pipeline |
| CN112761634A (en) * | 2020-12-29 | 2021-05-07 | 中国矿业大学 | Automatic coal mining device for deep coal seam |
| CN112761634B (en) * | 2020-12-29 | 2021-11-19 | 中国矿业大学 | Automatic coal mining device for deep coal seam |
| CN113217089A (en) * | 2021-06-27 | 2021-08-06 | 中国矿业大学 | Autonomous traveling mechanism of deep coal fluidized mining equipment |
| CN113338934A (en) * | 2021-07-07 | 2021-09-03 | 中国矿业大学 | Deep coal fluidization exploitation in-situ gasification device |
| CN113338934B (en) * | 2021-07-07 | 2023-12-08 | 中国矿业大学 | Deep coal fluidization exploitation in-situ gasification device |
| CN114382496A (en) * | 2022-02-22 | 2022-04-22 | 山西开源益通矿业设备制造有限公司 | Mining tunnel deep hole micro shield equipment |
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