CN103256058B - Numerical control full-automatic full-section rock shield machine - Google Patents
Numerical control full-automatic full-section rock shield machine Download PDFInfo
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- CN103256058B CN103256058B CN201310181434.1A CN201310181434A CN103256058B CN 103256058 B CN103256058 B CN 103256058B CN 201310181434 A CN201310181434 A CN 201310181434A CN 103256058 B CN103256058 B CN 103256058B
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Abstract
The invention belongs to constructional engineering machinery field, particularly disclose a kind of numerical control full-automatic full-section rock shield machine.This numerical control full-automatic full-section rock shield machine, comprise cabin shell, it is characterized in that: before and after in described cabin shell, be disposed with forward engine room, middle cabin and after engine room, front deck manipulator, middle deck manipulator and rear deck manipulator is respectively arranged with in forward engine room, middle cabin and after engine room, forward engine room front end is provided with the cutterhead connecting scraper bowl general name, cutterhead is provided with center cutter, outside cabin shell, is surrounded with chain rail shield.The present invention adopts the cutterhead of spoke shape, look ahead fault of having living space between the disc of cutterhead, adopts digital control system manipulator automatic tool changer and extensive autopilot, greatly improves drivage efficiency more than 40%.
Description
(1) technical field
The invention belongs to constructional engineering machinery field, particularly a kind of numerical control full-automatic full-section rock shield machine.
(2) background technology
At present, in rock tunnel engineering, tunneling boring rock tunnel development machine is higher than traditional drilling and blasting method penetration rate, safety good, quality good, expense is low, so form of construction work first-selected tunneling boring rock tunnel development machine, but the rock tunnel development machine of prior art also has many defects, and formation, geological condition are very responsive.The tunneling boring rock tunnel development machine of prior art is cut the garment according to the figure according to the geologic parameter of face, tunnel rock and is designed, and face, many tunnels rock is complicated rock mass, be exactly on single rock mass, when the zone of fracture that do not plan a successor, rock discreteness is large, or have solution cavity, during the bottoms such as water burst, the tunneling boring rock tunnel development machine handling capacity of prior art is restricted greatly, and even being clamped advance and retreat by rock stratum must not, even buried by landslide, the generation of peril must take corresponding ancillary method, and the cutterhead of prior art tunneling boring rock tunnel development machine forms diameter by two semicircles, the entity identical with Suo Wa road hole dia, cut off the advanced space before cutterhead, the dangerous situation process of advanced space is very difficult.Prior art knowledge Mechanization Technique equipment, driving is still by driver control, and tool changing and changing step is still workman and operates, ventilation in subterranean tunnel hole, high temperature, dust, quick-fried rock.Landslide, water burst and toxic gas etc. all can threaten the life and health of people, the rock tunnel that especially buried regions is dark and length is large.
The tunneling boring rock tunnel development machine of prior art must be changed step, cutterhead keeps in repair and process affects the over half of full time that account for the unproductive times such as the fault passed through, and the actual driving time is less than half, fails to play proper efficiency.
Prior art tunneling boring rock tunnel development machine center cutter mostly is hobboing cutter, because center rolling speed is extremely low and even be 0, near cutter head center, reality is not rolled, and that is at extruding, the pressure consuming a large amount of power and cutterhead, efficiency is very low, and cannot advance development detection.
Prior art tunneling boring rock tunnel development machine can not adopt the supporting of shield shell as earth shield structure, and because rock hole wall has float stone, shield shell can be made to block, can only be open type or part supporting, so do not become shield machine.
Prior art tunneling boring rock tunnel development machine, cutterhead is combined into by two semicircular, and diameter is greater than into hole dia, change step to realize with jack because complete machine moves again, after excavation work completes, be difficult to return from the cavitation completed, after can only breaking, component recalled.
(3) summary of the invention
The present invention, in order to make up the deficiencies in the prior art, provides the numerical control full-automatic full-section rock shield machine that a kind of dark for buried regions, that length is large rock tunnel is constructed.
The present invention is achieved through the following technical solutions:
A kind of numerical control full-automatic full-section rock shield machine, comprise cabin shell, it is characterized in that: before and after in described cabin shell, be disposed with forward engine room, middle cabin and after engine room, front deck manipulator, middle deck manipulator and rear deck manipulator is respectively arranged with in forward engine room, middle cabin and after engine room, forward engine room front end is provided with the cutterhead connecting scraper bowl general name, cutterhead is provided with center cutter, and scraper bowl general name connects and is positioned at cabin shell and slags tap belt, and strap end of inside slagging tap connects slag crust band of going out; Be surrounded with chain rail shield outside cabin shell, chain rail shield comprises the directive wheel, support wheel and the driving wheel that are connected by track (shoe).
More excellent scheme of the present invention is:
Be designed with tool storage district and tool changing district in described forward engine room, in middle cabin, be provided with automatic control system, and middle cabin is provided with sealable hatch door, auxiliary section of jurisdiction manipulator is installed outside after engine room end.
Described cutterhead is radial cutterhead, the center cutter arranged in the middle of it is three rotary drills, what cutterhead is installed hobboing cutter is cylinder shape knife rod, center cutter is outwards disposed with wheel hub cutter, wheel spokeshave and wheel rim cutter along cutterhead symmetry, above-mentioned cutter is provided with pressure sensor and pressure sends signal device, the edge of cutterhead is provided with equally distributed four scraper bowls.
Described chain rail shield comprises the support cylinder being connected cabin shell by support piston bar, support cylinder is provided through the supporting bridge of support wheel, and support wheel is positioned at below support wheel, and two adjacent supporting bridge ends are provided with inner casing corresponding to position and outer casing.
The driving wheel of described connection track (shoe) is provided with gear wheel, gear wheel is connected with the worm gear cooperatively interacted, worm screw by pinion, worm screw connecting fluid pressure motor and quick pinion, worm gear connects quick gear wheel by clutch, and quick gear wheel connects quick pinion.
Described automatic control system comprises transformer, Hydraulic Station, water pump, air compression station, power set, automatic pilot and control cabinet.
Operating point sports concentrically circle in Tunnel that described cutterhead is fixed a cutting tool, adjacent two concentrically ringed spacing are cutter spacing of cutterhead design.
In order to overcome the defect that prior art exists, the present invention have employed corresponding technical measures on single unit system:
(1) the full shield of track-mounted is adopted, the full shield of this chain rail is as the shield shell of earth shield machine, main frame is enclosed formation place of safety entirely, and the full shield of chain rail is provided with support wheel and support cylinder, be equivalent to the support cylinder of prior art, and chain rail is equivalent to the supporting boot of prior art, the full shield of chain rail is provided with driving wheel and directive wheel simultaneously, and driving wheel produces the strong impetus that main frame advances or retreats.And the direction that directive wheel deflects around own axes with correction fuselage.
Due to the full shield of chain rail runs into tomography, high rock burst, swelling and even landslide can protected host; overcome obstacles and passed through; because chain rail has directive wheel to lead; track (shoe) is laid on country rock wall by directive wheel; do not affect by country rock surface appearance; shield shell unlike prior art shield machine is adjacent to back crag and moves and can be blocked by stone riprap; so the full shield of chain rail can pass through the solution cavity of tomography rubble band and the little the machine height 1/3 of width smoothly, there is the performance by all unfavorable geology layers run in rock tunnel.
Upper tire tread rubber is pasted outside track (shoe), to strengthen the adhesive power with country rock wall, the tunnel wall that unlikely damage has been completed when the machine is return from the tunnel completed simultaneously.Because chain rail moves continuously, need not change step, thus improve drivage efficiency more than 20 percent.
(2) cutter head of radial is adopted, overcome prior art cutterhead and cut off advanced spatial defects, the wheel hub of cutterhead, the space towards advanced district is left between spoke and wheel rim, geology fault can be located in advance in cabin, the change of excavation surface geological condition can be inspected anticipate, when there is unfavorable geology or when tomography occurs the obstacles such as loose stone, carry out making bar to cutterhead proparea by the space between cutterhead disc, grouting, rockfill and the process such as rubble, these processing operations, generally manipulator can be commanded to complete by control system, in unavoidable situation, the personnel's dive process taken by equipment dive.
(3) adopt cylinder shape knife rod for tool rest, be convenient to tool changing after cutterhead, the condition realizing automatic tool changer is provided.
(4) adopt Numeric Control Technology can the cutter that worn and torn of instantaneously changing or scraper bowl; main frame can be shut down in a moment; simple and the rapid cutter worn and torn or scraper bowl being changed loads onto new cutter or scraper bowl, and this saves the time of shutdown maintenance cutter on the one hand, improves drivage efficiency more than 20 percent.
(5) cutter centered by three rotary drills is adopted, three rotary drills are petroleum industry drilling tools of technology maturation, any all cutters on the cutterhead that its penetration rate and durability and life-span are all far longer than rock tunnel development machine, thus improve drivage efficiency, and advanced hole can be excavated in advance, can the change of forward probe geology.
(6) each cutter is all provided with feed pressure sensor and pressure sends signal device, sends pressure increase, show the signal that will change, provide the information of automatic tool changer when tool wear or after damaging.
(7) hobboing cutter operating point adopts polar coordinates in the position of cutterhead, adopt pole axis and cutter axis, polar angle and cutterhead angle of circumference and radius vector, i.e. cutter radius, for three-dimensional coordinate parameter, each hobboing cutter operating point has three-dimensional coordinate, each hobboing cutter operating point is sports concentrically circle in Tunnel, and adjacent two concentrically ringed spacing are cutter spacing of cutterhead design.Cutterhead is the individual dynamic coordinate system around own axis, and each cutter and these easily worn parts of scraper bowl all fill on cutterhead all has corresponding coordinate number, changes instrument provide condition to numerical control.
(8) tool changing district is established in the side in mmi machine cabin, in cabin, this side leaves the space of replacing instrument, is convenient to the replacing of instrument, and establishes tool storage storehouse at opposite side, the corresponding each instrument of tool storage room is provided with two positions to be installed and to be repaired, is provided with corresponding independent code partially simultaneously.When normal condition position to be repaired is empty, and treat that holding position must have cutfit, this provides condition to automatic tool exchange.
(9) band acousto-optic feedback is adopted, before and after, up and down, the left and right three axle manipulator of six controlled motions that moves and rotate around this three axle, controlled by digital control system during the running of this manipulator, abrasion tool is taken off from cutterhead, leave on this tool of tool storage room position to be repaired, by the cutfit of this coding, from treating that holding position is taken away, be contained on cutterhead relevant position.Then position to be repaired taken away instrument to be repaired from tool storage room to deliver to subsequent delivery device and deliver to ground maintenance, acceptance shipped new cutfit by ground simultaneously, and leave tool storage room in treat on holding position, be accomplished by numerical control automatic tool exchange program.
(10) overlength ultra-deep tunnel adverse circumstances are overcome; to the infringement of the health of people; automatic pilot is adopted to replace shield structure driver; by cutterhead pressure; sound vibration temperature, the information that center elicites in advance, feedback such as navigation message and video etc.; cutterhead rotating speed and the amount of feeding of shield machine is regulated, tuning and deflection or shutdown or the post processing fault that falls back by pilot process.In modern message and automatic technology, this kind of pilot has been mature technology.
(11) cabin formula is adopted to replace the main Longeron fuselage of prior art, thus raising security reliability, and cabin is divided into front deck, middle deck and rear deck, so large parts diminish and easily transport, and each cabin rational division of labor, front deck is as driving cabin, be responsible for replacing instrument, look ahead fault, rear deck is responsible for process section of jurisdiction and is laid, by after unfavorable geology thus Zhang process, middle deck is provided with nucleus equipment part, dive personnel rest part, when height gush fault occur, for ensureing the safety of nucleus equipment and dive personnel, middle cabin adopts sealable front door and rear door, when front and back, sealed compartment door is closed, save oneself or fallback, the machine will be underground submarine, ensure the safety of dive personnel and equipment.
The present invention adopts track-mounted shield the same with the shield shell of prior art shield structure, full supporting fuselage, need not support and change step, also without propelling cylinder, not by tomography fall apart stone hinder, also can not by high dispersion stone cave in bury because chain rail is roll can not give birth to and blocked by discrete prominent stone relative to hole wall, handling capacity is extremely strong.
The present invention adopts the cutterhead of spoke shape, to have living space between the disc of cutterhead look ahead fault, adopt digital control system manipulator automatic tool changer and extensive autopilot, greatly improve drivage efficiency more than 40%, and realize underground unmanned operation under normal circumstances, improve safety, be particularly suitable for the excavation of the underground structrue engineering of ultra-deep overlength seepage tunnel and military engineering silo ultra-deep.
(4) accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further illustrated.
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation of chain rail shield of the present invention,
Fig. 3 is the face of A-A shown in Fig. 1 generalized section;
Fig. 4 is driving wheel of the present invention and support wheel schematic diagram,
Fig. 5 is chain rail drive system transmission schematic diagram of the present invention;
Fig. 6 is cutter head structure schematic diagram of the present invention;
Fig. 7 is that cutterhead of the present invention is fixed a cutting tool coordinate schematic diagram;
Fig. 8 is center cutter structural representation of the present invention;
Fig. 9 is single-blade hob structural representation of the present invention;
Figure 10 is the present invention three sword hob-cutter structure schematic diagram;
Figure 11 is the face of E-E shown in Fig. 9 and Figure 10 generalized section;
Figure 12 is the face of H-H shown in Fig. 9 and Figure 10 generalized section;
Figure 13 is the position view of scraper bowl of the present invention on cutterhead;
Figure 14 is scraper bowl scheme of installation of the present invention.
In figure, 1 center cutter, 2 cutterheads, C scraper bowl general name, 4 apron plates, 5 directive wheels, 6 support wheels, 7 support wheels, 8 driving wheels, 9 track (shoe)s, to slag tap in 10 belt, backplate after 11, 12 go out slag crust band, 13 forward engine rooms, 14 front deck manipulators, 15 hatch doors, cabin in 16, 17 middle deck manipulators, 18 rear deck manipulators, 19 after engine rooms, 20 pipe laying sheet manipulators, 21 guide bridge, 22 chain rail assemblies, 23 inner casings, 24 outer casings, backplate in 25, 26 tool storage districts, 27 cabin shells, 28 supporting bridges, 29 support cylinders, 30 tool changing districts, 31 support piston bars, 32 counterclockwise guiding oil cylinders, 33 guide support oil cylinders, 34 guide support piston rods, 35 guide rings, 36 clockwise guiding oil cylinders, 37 little enveloping worm wheels, 38 hydraulic motor enveloping worms, 39 worm screws, 40 large worm gears, 41 pinions, 42 gear wheels, 43 hydraulic motors, 44 quick pinions, 45 quick gear wheels, 46 clutches, 47 drive axles, 48 ball cage shaft couplings, 49 cutter heads, 50 center knife bars, 51 tricone bits, 52 pressure sensors, 53 manipulator clamping portions, 54 center cutter hydraulic motors, 55 clamps, 56 clamping pull bars, 57 single-blade knife bars, 58 axle double bonds, 59 backing pins, 60 single-blade hobs, 61 3 sword hobboing cutters, 62 3 cutter hob rods, 63 clamping cylinders, 64 hole double bond grooves, 65 scraper bowls tighten up T-slot, 66 scraper bowls tighten up oil cylinder, 67 rock ballast chute D00 center cutters, D01, D02, D03, D04 wheel hub cutter, D05, D06, D07, D08, D09, D20, D21, D22, D23, D24, D25, D26, D28, D29, D30, D31, D32, D33, D34, D35, D36, D37, D38, D39, D40, D41, D42, D43, D44, D45, D46, D47, D48, D49, D50, D51.D52 takes turns spokeshave, D53, D54, D56, D57, D58, D59, D60, D61, D62, D63, D64, D65, D65, D67, D68, D69, D70, D71, D72, D73, D74, D75, D76 wheel rim cutter, C1, C2, C3, C4 scraper bowl.
driving hole radius,
cavitation radius,
cutter head radius,
cutterhead plan radius,
center cutter radius,
cutterhead collar radius surface.
(5) detailed description of the invention
Accompanying drawing is a kind of specific embodiment of the present invention.This embodiment comprises cabin shell 27, forward engine room 13, middle cabin 16 and after engine room 19 is disposed with before and after in described cabin shell 27, front deck manipulator 14, middle deck manipulator 17 and rear deck manipulator 18 is respectively arranged with in forward engine room 13, middle cabin 16 and after engine room 19, forward engine room 13 front end is provided with the cutterhead 2 connecting scraper bowl general name C, cutterhead 2 is provided with center cutter 1, scraper bowl general name C connects and is positioned at cabin shell 27 and slags tap belt 10, and belt 10 end of inside slagging tap connects slag crust band 12 of going out; Be surrounded with chain rail shield outside cabin shell 27, chain rail shield comprises the directive wheel 5, support wheel 7 and the driving wheel 8 that are connected by track (shoe) 9.
Accompanying drawing 1 is the schematic diagram of numerical control full-automatic full-section rock shield machine specific embodiment of the present invention, and complete machine is made up of front deck 13, middle cabin 16 and after engine room 19, is divided into three cabins, object have three: one be maximum part size diminish be convenient to transport.Two is that length shortens and is convenient to tuning.Three is increase driving wheel walking power.In three cabins, forward engine room 13 function is driving, and numerical control is changed cutter and changed scraper bowl and look ahead fault.Mmi machine cabin 13 is provided with tool storage district 26 and tool changing district 30, deposit look ahead faulty equipment and instrument and material, be provided with front deck manipulator 14, be used for realizing replacing instrument and the equipment operating look ahead fault, the function in middle cabin 16 installs the nucleus equipment such as transformer, Hydraulic Station, water pump, air compression station, power, pilot, control system of the machine and staff has a rest, middle cabin 16 is also provided with middle cabin manipulator 17, the equipment in handling with monitoring in order to cabin, front and back transmission material in cabin.Middle cabin 16, is provided with two hatch doors 15, and hatch door is sealing, when dangerous situation occurs, closes hatch door 15 and forms a underground submarine, to protect the safety of nucleus equipment and personnel.The function of after engine room 19 be lay cable, deposit section of jurisdiction, spouting plant and material, process by after fault and transmit material.After engine room 19 is also provided with after engine room manipulator 18, be used for realizing material transmission, deposit move, the work such as operational processes faulty equipment, forward engine room manipulator 14, middle cabin manipulator 17 and after engine room manipulator 18 all have X, Y, Z,
,
,
the technical performance of six degrees of freedom of motion and video, audio frequency and vibration signal feedback, complete digital control system or manual command, complete each operation respectively.
Chain rail shield 22 safety that can completely protect fuselage the same as the shield shell of prior art shield machine, not by the impact that hole wall caves in, but the shield shell of prior art shield machine is rigidity, movement, it is shield machine advance resistance that hole wall and shield shell joint touch friction, hole wall is coarse or have the outstanding stone be scattered, shield machine shell will be stuck and can not advance, pending fault will be there is, and the chain rail shield of numerical control full-automatic full-section rock shield machine of the present invention is that relative flexibility is treated, roll, the friction of hole wall and shield plate is the support force advanced, coarse or the outstanding stone that is scattered of hole wall does not affect the machine and advances, can smoothly by not breaking down.Support piston bar 31 and cabin shell 27 are fastenedly connected, when support cylinder 29 large chamber charged pressure oil, supporting bridge 28 can make track (shoe) 9 be adjacent to hole wall, thus the moment of torsion of thrust needed for generation the machine and anti-cutter disc torque, track (shoe) 9 is close to hole wall, most of hole wall is close to supporting, remaining small part space is by the inner casing 23 installed on supporting bridge, outer casing 24, middle backplate 25 and apron plate 4 supporting, these backplates are not be close to hole wall, only block falling rocks slag, and this just reaches the comprehensive supporting of complete machine.
Track (shoe) 9 is driven by drive axle 47, by hydraulic motor 43, via worm screw 38 to worm gear 37, worm screw 39, worm gear 40, pinion 41, gear wheel 42, driving wheel 8 is to track (shoe) 9. because the speed of driving is very little when working, the speed of driving wheel 8 is very low, so adopt two-stage worm gear reducer, hydraulic motor 43 power can be very little, and driving wheel can produce large thrust, reach the thrust of cutterhead 2, but movement during inoperative, this speed is just too little, lose time very much, thus pinion 44 is designed with, gear wheel 45 and clutch 46, when clutch 46 to gear wheel 45 side in conjunction with time just realize more than 2,000 times quick, the machine realizes when off working state is movably walking the machine fast.
Cutterhead 2 works and produces moment, be close to hole wall by track (shoe) 9 and produce opposing torque balance, now track (shoe) 9 is stressed again after being first adjacent to, obvious displacement can not be produced, but the time has been grown and can produce drift, although this drift is very little, cabin can be made with the passage of time to turn to cutterhead and to change into the end in the opposite direction towards sky.Thus deflection guide frame is devised, the guide ring 35 that an axle around cabin 27 rotates, guide ring 35 is equipped with guide support piston rod 34, with guiding oil cylinder 33 and guide bridge 21, track (shoe) 9 is made only not to be close to hole wall close to hole wall after the large chamber of guide support oil cylinder 33 is oil-filled, therefore when cutter works clockwise, and it is oil-filled to deflect oil cylinder 36 clockwise, guide bridge 21 is dialled directive wheel 5 and is partial to clockwise laying with the track (shoe) 9 not being adjacent to hole wall, thus cabin is deflected partially clockwise, to keep balance, when cutter works and counterclockwise partially oil cylinder 32 is oil-filled counterclockwise, cabin is made to turn counterclockwise to keep balance with comprehending.This process automatically controls.
Accompanying drawing 6 is cutterhead 2 schematic diagrames of numerical control full-automatic full-section rock shield machine of the present invention, cutterhead 2 adopts and spoke structure, be made up of wheel hub, spoke and wheel rim, the radius of spoke and wheel rim accounts for 1/10 of cutter radius, leaves the space of the space between spoke as look ahead cutterhead prior fault.
The contact strength of rock is more weak, according to the contact maximum stress of theory of elastic mechanics spheroid and plane
be:
-----------------------------------1
In formula: P is pressure, E is modulus of elasticity,
be contact radius, reach same crushing stress as seen from formula and work as contact radius
namely the less required pressure P of hobboing cutter radius is also less, and the power that is hobboing cutter radius is little consumes is also little, and the stone material cut is more, but the durability of hobboing cutter is more lower, and consumptive material increases, and number of changing knife increases, and increases, for a concrete engineering during work consuming
there is individual limiting figure, to the present invention because be numerical control automatic tool changer, therefore tool change time relatively seldom can adopt small diameter hobboing cutter, the limit cutter of numerical control full-automatic full-section rock shield machine of the present invention and face cutter D05 to D76 are all adopted to the single-blade hob of prior art normal diameter, in order to improve drivage efficiency, center cutter D00 adopts three rotary drills, the contact radius of this cutter is very little, efficiency is very high, in work oil industry successful Application for many years, its drilling depth and durability all exceed many times than the cutter of current rock ripper, because the rotating speed of cutterhead 2 is too low, separately must add high speed motive force, so adopt hydraulic motor 55 and planetary reduction gear to be transferred to tricone bit 51.
Wheel hub cutter D01 to D04 adopts minor diameter three sword hobboing cutter, in order to the pressure making three sword hob rods bear
be equivalent to standard single-blade hob phase axial pressure P, that is: a failure stress for three each hilted broadswords of three sword hobboing cutters
identical with single cutting tool, but the pressure born only has 1/3 of single cutting tool, namely
-----------------------------------2
Solve above equation to obtain:
------------------------------------------------2
In formula
the radius of face cutter,
the hobboing cutter radius of wheel hub cutter and 3-edge surgical knife, if get
be 17 inch then
be 10 inch.
The quantity of cutter and cutter interval S and to tunnel hole dia relevant, because cutter interval S is each hobboing cutter operating point, leave the neighbor distance size of concentric circular tracks in development end, hatching such as its line length of Fig. 7 L of development end is:
With
,
=0.1
substitute into above formula then to obtain
Number of cutters N is that cutter interval S removes L, gets positive integer
-----------------------------------3
Substitute into by specific embodiment data, because cutter interval S is that in driving hole dia, concentrically ringed neighbor distance is marked in front face operating point of fixing a cutting tool.The present embodiment is driving hole radius
=6 meters, selected 80 millimeters of cutter spacing, the radius of center cutter D00
=254, substituting into formula 3N=77, from center cutter D00 to last wheel rim cutter D76, number of cutters N totally 77 cutter, often independently encoding having.In order to energy mounting cutter in energy mmi machine cabin, tool rest is designed to knife bar 50, 57, 62, and be circular are shaft hole matchings with cutter head 49, for bearing the powerful thrust of hobboing cutter, the rear end design double bond transposition thrust structure of knife bar, knife bar is axle double bond 58, and cutter head 49 is hole double bond groove 64, hole double bond groove 64 is the undercut slightly grown than axle double bond again to depths, when cutter pushes from cutter head 49, axle double bond 58 enters undercut, knife bar turn 90 ° by end boss after knife bar and alignment pin 59 locate knife bar again after slightly move back, then axle double bond 58 rear end face of knife bar sticks mutually with the hole double bond inner face of cutter head, powerful thrust can be born, when hobboing cutter wearing and tearing occurs or destroys, this thrust will produce change, pressure sensor 52 is loaded onto in the middle of veneer, measure center cutter respectively, the working condition of wheel hub cutter and each cutter of single-blade hob, once pressure ratio normally raises, this cutter is described, and this has been changed.Automatically completed by digital control system, in order to make cutter reliably working, be provided with the Hydraulic Clamping Mechanism of Figure 11, this mechanism is by clamp 56 pull bar 57 and clamping cylinder 63, clamp when when clamping cylinder 63 works, oil cylinder loculus is oil-filled, when cutter tool changing, for unclamping when large chamber is oil-filled, this action is completed automatically by digital control system, so the afterbody of cutter and cutter bar is all provided with manipulator clamping portion 53 for manipulator clamping.
Slag-tapping system; Being made up of scraper bowl C1, C2, C3, C4 chute 67 and interior belt 10 of slagging tap, the rock ballast that cutterhead scales off falls at the bottom of hole from cutterhead face, by scraper bowl C shovel, enter chute 67, along with cutterhead turns to top, rock ballast falls into inner belt 10 to the greatest extent from chute 67, then delivers to slag crust band 12 of going out.Each scraper bowl is by absolute coding C1, C2, C3 and C4, and afterbody is provided with manipulator clamping position 53, so that scraper bowl C is changed in numerical control, clamped by two the scraper bowl clamping cylinders 66 and the T-slot 65 be provided with on scraper bowl C that are contained in cutter head 49, when the oil-filled scraper bowl clamping of oil cylinder loculus, large chamber is oil-filled unclamps, one end shutoff of T-shaped, by shutoff end location, scraper bowl duty is difficult to wear and tear to measure, and can only decide scraper bowl change by drilling depth amount.
(1) automatic control system
The automatic control system of numerical control full-automatic full-section rock shield machine of the present invention, by numerical control reblading system, automated driving system and Artificial Control handling failure system composition, in order to realize, the operation of above system, in cabin, be provided with band video, audible feedback and have X, Y, Z,
,
,
the bridge type mechanical hand 14,17,18 of six axis coordinate motion degree of freedom, so select bridge-type to be so that X, Y track is maked somebody a mere figurehead and abdicates ground, three manipulators are by control system instruction operation.
(1) numerical control reblading system
Cutterhead system is number axis with u, take R as radius vector, with
for polar angle, around the dynamic polar coordinates that cabin axle y rotates, corresponding Tool Coding has corresponding cutter radius R, the angle of cutterhead from u
, the angle of knife bar axis and cutterhead rotating shaft y
, also have relevant tool storage room position, position G to be installed and position Q to be repaired, be six coordinate free strip videos of tool changing service, the manipulator of audible feedback, when a certain coding tool wear, (such as D74) pressure exceeds standard, and is reacted to control system, the parameter of D74 simultaneously
, R and
, system command hard stop, the u axle of cutterhead is crossing with cabin X-axis
stop in angle, instruction manipulator press the parallel R of X and
, the fastener of D74 is unclamped, D74 cutter is taken off and is put on tool storage room position Q74 to be repaired, new D74 cutter existing on position to be installed for tool storage room is taken off, by R,
, new D74 is loaded cutterhead body opening on earth, and manipulator rotates knife bar 57, after encountering alignment pin 59, pulls back into location.Open clamping device tightening tool, manipulator leaves gets back to standby position, and control system instruction start work, tool changing completes whole process mechanical action, is monitored by video feed, as gone wrong, carries out correction at that time.Whole process time is within one minute, efficiency increases substantially, when the tool changing first step completes, the machine is resumed work, but tool changing program does not complete, system command manipulator 14 takes off tool changing tool from Q74, by manipulator 17 and 18, cutter is delivered to ground, and obtain new reserve tools D74 from ground, and being put into tool storage room position G74 to be installed, the tool changing program causing this cutter completes.
(2) automated driving system
A. direction is driven
Automatic Pilot accepts ground and sends navigation signal, drives course, and left side chain rail speed slows down driving inclined left, and the chain rail speed driving that slows down in right side is to the right, and upper side chain rail speed slows down in driving deflection, and lower side chain rail speed slows down under driving deflection.
B. driving speed is driven
The gross pressure that driving speed is born by cutterhead determined, pressure is high should turn down driving speed, and pressure is low can heighten speed, gets pressure signal, react to pilot speed governing from driving hydraulic motor.
C. driving is deflected
Long-term work is by cutterhead moment loading, and cabin can produce drift deflection, and cabin is provided with deflection sensor, when trace deflection occurs in cabin, sends signal to pilot, to be deflected correction by riding manipulation guidance system.
D. start or shut down
When pilot accepts start or shut down signal, undertaken starting or shutting down by respective program.
(3) Artificial Control handling failure system
Numerical control full-automatic full-section rock shield machine of the present invention, handling capacity is very strong, but unexpected situation still can occur, in order to ensure safety, the present invention adopts that a system relies on mechanical video, audible feedback manual manipulator uses and to speedily carry out rescue work equipment, utilizes emergency device to complete handling failure.
(2) returning of main frame is recalled
Numerical control full-automatic full-section rock tunnel shield machine of the present invention, in the blind hole of excavation, or break down and can not advance, or after with two main frames enemies, an excavation tunnel has dug jointly, main frame all can exit from the tunnel Yuan Lu completed and recall, main frame need not be broken, cutter head 49 radius of numerical control full-automatic full-section rock shield machine of the present invention
than cavitation radius
little 50 millimeters, when main frame is recalled, the loculus of support cylinder 19 is oil-filled, and chain rail parts 22 can produce radial shrinkage, and below the vertical axis of designing requirement cabin, the chain rail parts 22 of 45 °, both sides, are retracted to radius and cavitation radius
identical, the radial shrinkage of other all chain rail parts 22 is to than radius
little more than 100 millimeters, then the scraper bowl on cutter head 49 and cutter top radius R are more than or equal to
wheel rim cutter take off, then clutch in drive system 46 with gear wheel 45 by logical, main frame just can along the cavitation fast advance and retreat completed freely.And because post tire tread rubber below track (shoe) there is elasticity, the tunnel wall completed can not be damaged.
Claims (5)
1. a numerical control full-automatic full-section rock shield machine, comprise cabin shell (27), it is characterized in that: before and after in described cabin shell (27), be disposed with forward engine room (13), middle cabin (16) and after engine room (19), forward engine room (13), front deck manipulator (14) is respectively arranged with in middle cabin (16) and after engine room (19), middle deck manipulator (17) and rear deck manipulator (18), forward engine room (13) front end is provided with the cutterhead (2) connecting scraper bowl assembly (C), cutterhead (2) is provided with center cutter (1), scraper bowl assembly (C) connects and is positioned at cabin shell (27) and slags tap belt (10), belt (10) end of inside slagging tap connects slag crust band (12) of going out, be surrounded with chain rail shield outside cabin shell (27), chain rail shield comprises the directive wheel (5), support wheel (7) and the driving wheel (8) that are connected by track (shoe) (7), described chain rail shield comprises the support cylinder (29) being connected cabin shell (27) by support piston bar (31), support cylinder (29) is provided through the supporting bridge (28) of support wheel (6), support wheel (6) is positioned at support wheel (7) below, and two adjacent supporting bridge (28) ends are provided with inner casing corresponding to position (23) and outer casing (24), tool storage district (26) and tool changing district (30) are designed with in described forward engine room (13), middle cabin is provided with automatic control system in (16), and middle cabin (16) are provided with sealable front and back hatch door (15), pipe laying sheet manipulator (20) is installed outside after engine room (19) end.
2. numerical control full-automatic full-section rock shield machine according to claim 1, it is characterized in that: described cutterhead (2) is radial cutterhead, the center cutter (1) arranged in the middle of it is three rotary drills, what hobboing cutter above installed by cutterhead (2) is cylinder shape knife rod, center cutter (1) is outwards disposed with along symmetrical wheel hub cutter, wheel spokeshave and the wheel rim cutter of cutterhead (2), center cutter (1), hobboing cutter, wheel hub cutter, wheel spokeshave and wheel rim cutter are provided with pressure sensor and pressure sends signal device, and the edge of cutterhead (1) is provided with equally distributed four scraper bowls.
3. numerical control full-automatic full-section rock shield machine according to claim 1, it is characterized in that: the driving wheel (8) of described connection track (shoe) (9) is provided with gear wheel (42), gear wheel (42) is connected with the worm gear cooperatively interacted (37,40), worm screw (38,39) by pinion (41), worm screw (38) connecting fluid pressure motor (43) and quick pinion (44), worm gear (40) connects quick gear wheel (45) by clutch (46), and quick gear wheel (45) connects quick pinion (44).
4. numerical control full-automatic full-section rock shield machine according to claim 1, is characterized in that: described automatic control system comprises transformer, Hydraulic Station, water pump, air compression station, power set, automatic pilot and control cabinet.
5. numerical control full-automatic full-section rock shield machine according to claim 3, is characterized in that: operating point sports concentrically circle in Tunnel that described cutterhead (2) is fixed a cutting tool, and adjacent two concentrically ringed spacing are cutter spacing that cutterhead (2) designs.
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| CN201310181434.1A CN103256058B (en) | 2013-05-16 | 2013-05-16 | Numerical control full-automatic full-section rock shield machine |
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|---|---|---|---|
| CN201310181434.1A CN103256058B (en) | 2013-05-16 | 2013-05-16 | Numerical control full-automatic full-section rock shield machine |
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| CN103256058B true CN103256058B (en) | 2015-07-29 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103899327B (en) * | 2013-12-25 | 2016-06-29 | 中国神华能源股份有限公司 | The shield construction system of a kind of profound coal mine inclined shaft and collecting method thereof |
| CN105781563B (en) * | 2016-03-22 | 2017-12-01 | 东北大学 | A kind of slurry balance shield machine auxiliary tool changing device and its application method |
| CN105888678B (en) * | 2016-06-17 | 2018-02-06 | 韶关市铁友建设机械有限公司 | A kind of intelligent excavation push-bench |
| CN106089229B (en) * | 2016-08-02 | 2018-07-06 | 黄河勘测规划设计有限公司 | Suitable for the open type hard rock mole cutter head of short tunnel excavation |
| CN107143344B (en) * | 2017-05-12 | 2023-08-11 | 上海矩顶工程科技有限公司 | Intelligent push bench cutterhead |
| CN107120123B (en) * | 2017-06-16 | 2023-07-07 | 宿州悟道智能制造有限公司 | Cutter head of jacking machine |
| CN108194093B (en) * | 2018-02-11 | 2020-04-24 | 湖北鸣利来冶金机械股份有限公司 | Cutter head of multi-cutter-head tricone bit push bench |
| CN109405871B (en) * | 2018-09-25 | 2020-05-12 | 清华大学 | Surrounding rock observation system based on double-shield TBM construction tunnel |
| CN109209419A (en) * | 2018-10-26 | 2019-01-15 | 张世远 | A kind of solid rock stratum hole brill method |
| CN109339812A (en) * | 2018-10-26 | 2019-02-15 | 张世远 | A kind of solid rock stratum hole brill method |
| CN109356605A (en) * | 2018-10-26 | 2019-02-19 | 张世远 | A kind of solid rock stratum hole brill method |
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| CN203452797U (en) * | 2013-05-16 | 2014-02-26 | 岑益南 | Numerically controlled automatic shield tunneling machine for full section rock |
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| EP1526249A1 (en) * | 2003-10-24 | 2005-04-27 | Herrenknecht AG | Shield tunneling machine |
| CN101608549A (en) * | 2009-07-27 | 2009-12-23 | 沈绍成 | Full-automatic multistage planet primary-secondary drill tunnel shield machine system |
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|---|---|
| CN103256058A (en) | 2013-08-21 |
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Effective date of registration: 20191012 Address after: 215400 No.2, floor 4, building a, No.88, Beijing East Road, Taicang Development Zone, Suzhou City, Jiangsu Province Patentee after: Suzhou Yunshou Software Technology Co., Ltd. Address before: 250000 Shandong Province, Lixia District of Ji'nan City Mountain Road No. 57 SG garden 3 Building 1 unit 202 Patentee before: Cen Yi Nan |