CN104500086B - Unmanned roadway driving and anchoring all-in-one machine - Google Patents
Unmanned roadway driving and anchoring all-in-one machine Download PDFInfo
- Publication number
- CN104500086B CN104500086B CN201510019827.1A CN201510019827A CN104500086B CN 104500086 B CN104500086 B CN 104500086B CN 201510019827 A CN201510019827 A CN 201510019827A CN 104500086 B CN104500086 B CN 104500086B
- Authority
- CN
- China
- Prior art keywords
- digging
- integrated machine
- anchoring
- anchoring integrated
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000004873 anchoring Methods 0.000 title claims abstract description 81
- 230000008093 supporting effect Effects 0.000 claims abstract description 19
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 23
- 230000006698 induction Effects 0.000 claims description 17
- 238000005086 pumping Methods 0.000 claims description 14
- 238000005183 dynamical system Methods 0.000 claims description 7
- 210000000515 tooth Anatomy 0.000 claims description 5
- 230000033228 biological regulation Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 239000011435 rock Substances 0.000 description 5
- 238000005507 spraying Methods 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—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
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
-
- 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
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Architecture (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses an unmanned roadway driving and anchoring all-in-one machine. The unmanned roadway driving and anchoring all-in-one machine comprises a driving system, a conveying system, a temporary support system, an anchoring system, a driving all-in-one machine water system, a sensing system and an electrical control system. A feed moving roller at the connection portion between a shovel of the driving system and the front end of the conveying system can prevent feed clogging at the shovel and the front end of a scraper conveyor. The temporary support system is uniform in supporting, can move relative to the driving and anchoring all-in-one machine to achieve no-deferring synchronization of driving, supporting and anchoring and can be adapted to the round, uprightly oval, approximately oval or rectangular cross section of a roadway to be applicable to driving and supporting operations of roadways of a variety of ground pressure and directions. The sensing system and the electrical control system of the driving and anchoring all-in-one machine can effectively collect and process information such as, light, distance, humidity and gas and the electrical control system performs automatic or remote manual analysis so as to achieve unattended operations in the working process and greatly improve the safety factor of the operations.
Description
Technical field
The present invention relates to a kind of underground passage digs the comprehensive mechanical equipment of anchor construction, the unmanned pick in particularly a kind of tunnel anchor one
Body machine.
Background technology
At present in the other kinds of tunnelling such as colliery or tunnel, the equipment constructed includes: all kinds
Development machine, roofboltier, continuous milling machine etc..In the multiple programmes of work formulated according to the respective function of these equipment, though
So the feature of various equipment is maximized favourable factors and minimized unfavourable ones, improve work efficiency to a certain extent, but either using driving
Traditional single tunnelling mode of machine and roof-bolter cooperation still adopts double tunnels of continuous milling machine and roofboltier work in combination
Tunneling method, is all not so good as by the way of single tunnelling of digging and anchoring integrated machine in work efficiency and the succinct degree of operation.And
The digging and anchoring integrated machine of main flow all has some problems both at home and abroad at present, and such as it anchors operation at work to digging operation
Follow-up is timely not enough, gib is not advanced, underaction, and the anchoring time is 2～2.5 times of driving time, relatively unmanned
Operation, safety coefficient is not high.Comprehensively apparently, improving driving and the synchronization extent of supporting operation in digging and anchoring integrated machine is to improve to tunnel
The important channel of efficiency, and realizing unmanned operation is the final method improving safety coefficient.
Content of the invention
The present invention seeks to solving the above-mentioned deficiency of prior art, provide a kind of tunnel unmanned digging and anchoring integrated machine.
The technical scheme is that
A kind of unmanned digging and anchoring integrated machine in tunnel, comprising: driving system, induction system, temporary support system, anchor system,
Driving all-in-one water system, sensor-based system and electric control system.Described driving system is located at the unmanned digging and anchoring integrated machine in tunnel
Front end, including the cutting units of digging and anchoring integrated machine, shovel board portion, body, running part and rear support portion, running part is arranged on body
The lower section in portion, rear support portion is arranged on the lower section of body rear end, cutting units and shovel board portion be separately mounted to body before
End, shovel board portion is located at the lower section of cutting units and is connected with induction system leading portion, and this system is supported for digging and anchoring integrated machine and drives
Move its digging forward.The induction system of described digging and anchoring integrated machine is to tilt to run through the scraper plate within whole digging and anchoring integrated machine body
Conveyer.Described temporary support system is located at the top of whole body, its whole digging and anchoring integrated machine of supporting area covering
Vertical view face.Below support system, it is provided with two groups of anchor pole mechanical arms, one group of anchor pole mechanical arm is separately positioned on digging and anchoring integrated machine originally
The rear and front end of body, another group of anchor pole mechanical arm is arranged on left and right two row of digging and anchoring integrated machine body, all anchor pole machineries
Arm can move horizontally and form anchor system.Described digging and anchoring integrated machine water system is located in digging and anchoring integrated machine driving system
Cutting units and the front end of induction system.Described sensor-based system include in front of digging and anchoring integrated machine and surrounding video acquisition
System and the various sensors of surrounding.Described electric control system is located at the inside of digging and anchoring integrated machine driving system body.
Described cutting units, including the working arm after cutterhead and cutterhead, described working arm includes horizontal swing arm
And pumping arm action, horizontal swing arm is arranged on the front of pumping arm action by horizontal rotation platform, connects between pumping arm action and body
Connect and regulation oil cylinder is installed, horizontal swing arm is ordered about by horizontal rotation platform, and pumping arm action is ordered about by adjusting oil cylinder.Described shovel board portion
It is provided with a material toggling roller bearing in the joining place with induction system (drag conveyor) front end, this material toggling roller bearing includes one can be with receipts
The roller bearing that in shovel, three dental star wheels rotate and Rotating with Uniform formula are located at eight material toggling tooths on roller bearing, and in rewinding, this material toggling is rolled
Axle can roll material toggling.
Described induction system is to realize the transport of material in chute by paddled conveyor chain.
Described temporary support system includes two advance support framves and one group of main support bracket, described advance support frame bag
Include the very heavy top and bottom of the foundation being arranged on body and adjust oil cylinder, hinged with foundation jack upper end in the middle part of advanced support beam, surpass
The rear end of front support beam and bottom adjust the upper end of oil cylinder hinged, and the rear end of advanced support beam is simultaneously again hinged with support jack,
Backplate is then contained on the front upper end of advanced support beam and support jack, the height of the distance of advance support and advance support frame by
Foundation jack is adjusted with support jack cooperation, and advance support frame left and right in front of digging and anchoring integrated machine body respectively sets one.
Seat is adjusted at the bottom that described main support bracket all includes being arranged on the pedestal above body, is arranged on bottom and adjusts the foundation on seat very heavy
Top, is arranged on the support beam of foundation jack upper end, and support beam upper end is provided with top to retaining-plate, and support beam lower end is provided with side
To retaining-plate, bottom adjusts seat enterprising with respect to the guide rail that the driving system of digging and anchoring integrated machine, anchor system are arranged on body
Row moves horizontally, to reach while driving, uninterrupted, successional supporting effect.Described temporary support system
Mask can cover whole digging and anchoring integrated machine.Described anchor system includes two groups of anchor pole mechanical arms, and mechanical arm may be rotated
And stretch so that tunnel is carried out with comprehensive anchor pole operation.Described anchor pole mechanical arm is arranged on respective bottom and adjusts on seat, and seat is adjusted at bottom
On the guide rail that can arrange on body, level is slided, and can relatively the driving system of digging and anchoring integrated machine and temporary support system enter
Row level is slided.
Described digging and anchoring integrated machine water system, point inside and outside spraying water route two parts, internal spraying water route is located in cutting units
Portion, two-way is divided in external spraying water route, and a road is located in the horizontal swing arm below of cutting units cutterhead, before another road is located at induction system
End.
Various accordingly sensors needed for unmanned operation for the described sensor-based system are constituted, including video acquisition system,
Distance measuring sensor, gas sensor and humidity sensor etc., are distributed in cutting units working arm two in described video acquisition system
, just to cutterhead working region, the photographic head being distributed in digging and anchoring integrated machine body surrounding is just to supporting and anchoring for the photographic head of side
Operating area, Real-time Collection job information.Described distance measuring sensor, gas sensor and humidity sensor are located at cutting units work
Make arm both sides.
Described electric control system includes dynamical system and control system, dynamical system be running part, illuminator, cut
Cut motor, oil pump motor provides power, control system is associated with sensor-based system and dynamical system, and by control system
Single-chip microcomputer and micro processor carry out to all information from sensor-based system receiving, process, intelligence or remote analysis, then
Make the corresponding command and feed back to dynamical system, and then drive each system to carry out coordinating operation.
Advantages of the present invention and good effect:
The unmanned digging and anchoring integrated machine in tunnel of the present invention carries out operation using the cutting units of new structure, i.e. the level of its working arm
Swing arm is located at the front of pumping arm action, and cut is more flexible, and the adjustability of job area increases, and avoids and exist with advance support frame
Occur on working space conflicting.
Material toggling roller bearing set by the induction system front end for the shovel board portion of this digging and anchoring integrated machine is by can be with rewinding shovel
Roller bearing that three dental star wheels rotate and Rotating with Uniform formula are located at the eight material toggling tooths composition on roller bearing, in rewinding, this material toggling roller bearing
Roll material toggling, can prevent to get stuck in shovel board and drag conveyor front end, solve the corresponding difficult problem restricting drilling depth.
The unmanned digging and anchoring integrated machine in this tunnel uses the temporary support system of new structure, and advance support frame therein is propped up with main
Retaining frame supporting uniformly, and can be moved relative to digging and anchoring integrated machine, so that digging is realized no Lag synchronization, and make pick anchor with supporting, anchoring
The supporting steady and continuous to tunnel for the all-in-one, are not in supporting cycle in time.The structure of wherein advance support frame and main support bracket
Design all make use of the ground pressure of country rock and gusset rock to the full extent, is turned external force supporting using the top pressure and side pressure in tunnel
Turn to the internal force supporting in tunnel, effectively gib carried out to roadway surrounding rock, simultaneously this support bracket structure be suitable for circle,
The various drift section such as right ellipsoid shape, approximate ellipsoidal or rectangle, to be suitable for pressing the tunnel of size and Orientation to enter to various
Row driving supporting operation.
The sensor-based system of this digging and anchoring integrated machine can effectively gather the physics such as the light in tunnel, distance, humidity, gas and chemistry letter
Breath, can carry out automatically for delivery to electric control system or remote handle is analyzed, and then make and execute job command, its work
Process can achieve left unguarded operation, substantially increases job safety coefficient.
Brief description
Fig. 1 is this tunnel unmanned digging and anchoring integrated machine perspective view；
Fig. 2 is cutting units and the shovel board portion perspective view of this tunnel unmanned digging and anchoring integrated machine driving system；
Fig. 3 is this tunnel unmanned digging and anchoring integrated machine side view；
Fig. 4 is this tunnel unmanned digging and anchoring integrated machine support system perspective view；
Fig. 5 is that this tunnel unmanned digging and anchoring integrated machine support system is illustrated with anchor system operating position relation stereochemical structure
Figure；
In figure: 1. driving system；2. induction system；3. temporary support system；4. anchor system；5. tunnel all-in-one water
System；6. sensor-based system；7. electric control system；8. cutting units；9. shovel board portion；10. body；11. running parts；Prop up after 12.
Support part；13. cutterheads；14. cutterheads working arm below；15. horizontal swing arms；16. pumping arm action；17. horizontal rotation platforms；
18. regulation oil cylinders；19. material toggling roller bearings；20. roller bearings；21. material toggling tooths；22. advance support framves；23 main support brackets；24 retaining-plates；
25 support beams, the advanced support beam of 25-1,25-2 main support beam；26 support jacks；27 foundation jack；Oil cylinder is adjusted at 28 bottoms；29
Seat is adjusted at bottom；30. anchor pole mechanical arms.
Specific embodiment
Embodiment 1:
Referring to Fig. 1～Fig. 5, the unmanned digging and anchoring integrated machine in a kind of tunnel of in figure, comprising: driving system 1, induction system 2, interim
Support system 3, anchor system 4, driving all-in-one water system 5, sensor-based system 6, electric control system 7.
Described driving system 1 includes the cutting units 8 of the unmanned digging and anchoring integrated machine in tunnel, shovel board portion 9, body 10, walking
Portion 11, rear support portion 12(are referring to Fig. 1), this system is supported for digging and anchoring integrated machine and drives its digging forward.Described row
Walk the lower section that portion 11 is arranged on body 10, rear support portion 12 is arranged on the lower section of body 10 rear end, cutting units 8 and shovel board portion
9 front ends being arranged on body 10.Wherein cutting units 8(is referring to Fig. 2) it is located at digging and anchoring integrated machine foremost, and 9, shovel board portion
Be connected in the lower section of cutting units 8 and with induction system 2 leading portion.
Described cutting units 8(is referring to Fig. 2), including the working arm 14 after cutterhead 13 and cutterhead, described work
Arm 14 includes horizontal swing arm 15 and pumping arm action 16, and horizontal swing arm is arranged on the front of pumping arm action by horizontal rotation platform 17,
It is connected and installed with regulation oil cylinder 18 between pumping arm action and body.Horizontal swing arm is ordered about by horizontal rotation platform 17, pumping arm action
Ordered about by adjusting oil cylinder 18.
Described shovel board portion 9 is provided with a material toggling roller bearing 19 in the joining place with induction system 2 front end, this material toggling roller bearing 19
Including eight material toggling tooths 21 being located at the roller bearing 20 that the upper three dental star wheels of rewinding shovel rotate and Rotating with Uniform formula on roller bearing,
In rewinding, this material toggling roller bearing 19 can roll material toggling.
Described temporary support system 3 (referring to Fig. 4) is installed on the top of the body 10 of whole digging and anchoring integrated machine, its
The vertical view face of the shield whole digging and anchoring integrated machine of area covering.This temporary support system includes: advance support frame 22；Main support bracket 23；
Retaining-plate 24；Advanced support beam 25-1, main support beam 25-2；Support jack 26；Foundation jack 27；Oil cylinder 28 is adjusted at bottom；Bottom
Adjust seat 29.In described advance support frame 22: foundation jack 27 and bottom adjust oil cylinder 28 to be arranged on body 10, advanced
Hinged with foundation jack 27 upper end in the middle part of support beam 25-1, the upper end hinge of oil cylinder 28 is adjusted at the rear end of advanced support beam 25-1 and bottom
Connect, the rear end of advanced support beam 25-1 is again hinged with support jack 26, before retaining-plate 24 is then contained in advanced support beam 25-1
Upper end on upper end and support jack 26, the height of the distance of advance support and advance support frame 22 by foundation jack 27 with
Support jack 26 cooperation is adjusted, and advance support frame 22 left and right in front of digging and anchoring integrated machine body respectively sets one；Described
In main support bracket 23: bottom adjusts seat 29 to be arranged on body 10, can relatively the driving system of digging and anchoring integrated machine, anchor system exist
Moved horizontally on the guide rail of setting on body, foundation jack 27 is arranged on bottom and adjusts on seat 29, in main support beam 25-2
Portion is arranged on foundation jack, main support beam 25-2 upper end and lower end be separately installed with retaining-plate 24(push up to and lateral).
Described anchor system 4 includes two groups of anchor pole mechanical arms 30 (referring to Fig. 3 and Fig. 5), and this mechanical arm 30 can be carried out
Rotate and stretch so that tunnel is carried out with comprehensive anchor pole operation.One of which anchor pole mechanical arm is arranged on digging and anchoring integrated machine body
Rear and front end (referring to Fig. 3), another group of anchor pole mechanical arm be arranged on left and right two row of digging and anchoring integrated machine body (referring to figure
5), described anchor pole mechanical arm is located at respective bottom and adjusts on seat 29, level can slide on the track of body 10, can be relatively
The driving system 1 of digging and anchoring integrated machine and temporary support system 3 carry out level slip.
Described digging and anchoring integrated machine water system 5 is located at the front end of digging and anchoring integrated machine cutting units 8 and induction system 2.
Described sensor-based system 6 include in front of digging and anchoring integrated machine and the video acquisition system of surrounding and surrounding various
Sensor.
Described electric control system 7 is located at the inside of digging and anchoring integrated machine driving system body 10.
The work process of this equipment:
The cutting units of digging and anchoring integrated machine carries out cut to front coal or rock, and advance support frame is complete in cutterhead cut simultaneously
After finishing and leave limit on tunnel, supporting of following up in time, the coal that cut gets off or rock are collected and by shovel board portion by shovel board portion
Three dental star wheels and material toggling roller bearing are transported to induction system.
Temporary support system is mobile with the driving of driving system to adjust and carries out continuously continual supporting, anchoring system
System meanwhile carries out carrying out suspension roof support to tunnel.Period, sensor-based system, water system are controlled by electric control system,
Realize the unmanned digging and anchoring integrated machine in tunnel solid operation effectiveness of supporting side anchor in driving.
Claims (6)
1. the unmanned digging and anchoring integrated machine in a kind of tunnel, comprising: driving system, induction system, temporary support system, anchor system, pick
Enter all-in-one water system, sensor-based system and electric control system, it is characterized in that: described driving system is located at the unmanned pick in tunnel anchor
The front end of all-in-one, including the cutting units of the unmanned digging and anchoring integrated machine in tunnel, shovel board portion, body, running part and rear support portion, OK
Walk the lower section that portion is arranged on body, rear support portion is arranged on the lower section of body rear end, cutting units and shovel board portion are respectively mounted
In body foremost, shovel board portion is located at the lower section of cutting units and is connected with induction system leading portion；Described gib system
The top of the body that system is located in whole digging and anchoring integrated machine driving system, the vertical view of the whole digging and anchoring integrated machine of supporting area covering
Face；Below support system, be provided with two groups of anchor pole mechanical arms, one group of anchor pole mechanical arm be separately positioned on body before and after two
End, another group of anchor pole mechanical arm is arranged on left and right two row of body, and all anchor pole mechanical arms can move horizontally and form institute
The anchor system stated；Cutting units and delivery system that described digging and anchoring integrated machine water system is located in digging and anchoring integrated machine driving system
The front end of system；Described sensor-based system include in front of digging and anchoring integrated machine and the video acquisition system of surrounding and surrounding various
Sensor；Described electric control system is located at the inside of digging and anchoring integrated machine driving system body；Described gib system
System includes two advance support framves and one group of main support bracket, and described advance support frame includes the foundation thousand being arranged on body
Jin top and bottom adjusts oil cylinder, hinged with foundation jack upper end in the middle part of advanced support beam, and oil cylinder is adjusted the bottom of with the rear end of advanced support beam
Upper end hinged, the rear end of advanced support beam is simultaneously again hinged with support jack, and retaining-plate is then hinged on advanced support beam
On front upper end and support jack, the height of the distance of advance support and advance support frame is by foundation jack and support jack
Cooperation is adjusted, and advance support frame left and right in front of digging and anchoring integrated machine body respectively sets one；Described main support bracket all includes pacifying
Seat is adjusted at the bottom being contained on the pedestal above body, is arranged on the foundation jack on the tune seat of bottom, is arranged on foundation jack
The support beam at end, support beam upper end is provided with top to retaining-plate, and support beam lower end is provided with lateral retaining-plate, and bottom tune seat being capable of phase
Move horizontally on the guide rail that the driving system of digging and anchoring integrated machine, anchor system are arranged on body, described is interim
A mask of support system covers whole digging and anchoring integrated machine.
2. the unmanned digging and anchoring integrated machine in tunnel according to claim 1, is characterized in that: the cutting units of described driving system,
Including the working arm after cutterhead and cutterhead, described working arm includes horizontal swing arm and pumping arm action, and horizontal swing arm is led to
Cross the front that horizontal rotation platform is arranged on pumping arm action, between pumping arm action and body, be connected and installed with regulation oil cylinder, level
Swing arm is ordered about by horizontal rotation platform, and pumping arm action is ordered about by adjusting oil cylinder.
3. the unmanned digging and anchoring integrated machine in tunnel according to claim 2, is characterized in that: described shovel board portion with induction system
The joining place of front end is provided with a material toggling roller bearing, and this material toggling roller bearing includes a roller bearing that can rotate with the upper three dental star wheels of rewinding shovel
It is located at eight material toggling tooths on roller bearing with Rotating with Uniform formula, in rewinding, this material toggling roller bearing can roll material toggling.
4. the unmanned digging and anchoring integrated machine in tunnel according to claim 1, is characterized in that: described anchor pole mechanical arm is arranged on respectively
From bottom adjust on seat, bottom adjusts level on the guide rail that can arrange on body of seat to slide, and is capable of the pick with respect to digging and anchoring integrated machine
Enter system and temporary support system carries out level slip.
5. the unmanned digging and anchoring integrated machine in tunnel according to claim 1, is characterized in that: described sensor-based system is by unmanned operation
Required various accordingly sensors are constituted, including video acquisition system, distance measuring sensor, gas sensor and humidity sensor
Device, is distributed in the photographic head of cutting units working arm both sides just to cutterhead working region in described video acquisition system, point
It is distributed in the photographic head of digging and anchoring integrated machine body surrounding just to supporting and anchoring operating area, described distance measuring sensor, gas
Sensor and humidity sensor are located at cutting units working arm both sides.
6. the unmanned digging and anchoring integrated machine in tunnel according to claim 1, is characterized in that: described electric control system includes moving
Force system and control system, dynamical system is running part, illuminator, cutting motor, oil pump motor provide power, controls
System is associated with sensor-based system and dynamical system, and the single-chip microcomputer by control system with micro processor to from sensing is
All information of system carry out receiving, process, intelligence or remote analysis, then make the corresponding command and feed back to dynamical system, and then
Each system is driven to carry out coordinating operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510019827.1A CN104500086B (en) | 2015-01-15 | 2015-01-15 | Unmanned roadway driving and anchoring all-in-one machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510019827.1A CN104500086B (en) | 2015-01-15 | 2015-01-15 | Unmanned roadway driving and anchoring all-in-one machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104500086A CN104500086A (en) | 2015-04-08 |
| CN104500086B true CN104500086B (en) | 2017-01-18 |
Family
ID=52941525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510019827.1A Expired - Fee Related CN104500086B (en) | 2015-01-15 | 2015-01-15 | Unmanned roadway driving and anchoring all-in-one machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104500086B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941534A (en) * | 2022-07-22 | 2022-08-26 | 山西天地煤机装备有限公司 | Heading machine and heading method |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3115588A1 (en) | 2012-09-14 | 2014-03-20 | Joy Global Underground Mining Llc | Cutter head for mining machine |
| WO2016055087A1 (en) | 2014-10-06 | 2016-04-14 | Sandvik Intellectual Property Ab | Cutting apparatus |
| CA3012831A1 (en) | 2016-01-27 | 2017-08-03 | Joy Global Underground Mining Llc | Mining machine with multiple cutter heads |
| US10815781B2 (en) | 2016-06-10 | 2020-10-27 | Sandvik Intellectual Property Ab | Active temporary roof support apparatus |
| PE20190493A1 (en) | 2016-08-19 | 2019-04-09 | Joy Global Underground Mining Llc | MINING MACHINE WITH ARTICULATION MECHANICAL ARM AND INDEPENDENT MATERIAL HANDLING SYSTEM |
| US11391149B2 (en) | 2016-08-19 | 2022-07-19 | Joy Global Underground Mining Llc | Mining machine with articulating boom and independent material handling system |
| CN109844262B (en) | 2016-08-19 | 2021-07-16 | 久益环球地下采矿有限责任公司 | Cutting device and support thereof |
| EP4293195A3 (en) * | 2016-09-23 | 2024-01-31 | Joy Global Underground Mining LLC | Machine supporting rock cutting device |
| CN107091721A (en) * | 2017-06-22 | 2017-08-25 | 辽宁工程技术大学 | One kind anchor combined unit experimental provision of pick branch and method |
| CN107605517B (en) * | 2017-09-19 | 2019-04-26 | 西南交通大学 | Multipoint movable formula tunnel tunnel face temporary support system |
| CN107575225B (en) * | 2017-10-31 | 2019-04-02 | 贵州理工学院 | Gas height is dashed forward the unattended automatic driving system in tunnel |
| CN108049883A (en) * | 2017-11-29 | 2018-05-18 | 三重型装备有限公司 | For the control system and heading and anchoring integrated machine of heading and anchoring integrated machine |
| CN108222946B (en) * | 2017-12-20 | 2024-05-31 | 佛山科学技术学院 | Tunnel underground excavation construction equipment |
| CN112654765B (en) | 2018-07-25 | 2024-01-30 | 久益环球地下采矿有限责任公司 | Rock cutting assembly |
| CN109162721B (en) * | 2018-10-10 | 2023-06-27 | 中国矿业大学(北京) | Unmanned tunneling system and method for coal mine tunnel |
| CN110671107B (en) * | 2019-10-23 | 2020-11-24 | 中国矿业大学 | Tunneling, supporting and anchoring all-in-one machine system for underground rapid tunneling and using method thereof |
| CN111636888B (en) * | 2020-06-09 | 2022-02-11 | 沈阳天安特种机器人有限公司 | Full-section shield device for roadway excavation |
| CN111927530B (en) * | 2020-06-19 | 2022-03-08 | 中国煤炭科工集团太原研究院有限公司 | Rescue withdrawing device for underground excavation and mining equipment and using method thereof |
| CN112096407A (en) * | 2020-09-22 | 2020-12-18 | 廊坊景隆重工机械有限公司 | Mining equipment |
| CN112228080A (en) * | 2020-10-23 | 2021-01-15 | 张森荣 | Excavating equipment for mining and excavating method thereof |
| CN112576254A (en) * | 2020-12-02 | 2021-03-30 | 中国煤炭科工集团太原研究院有限公司 | Anchoring mechanism of heading machine |
| CN113622939A (en) * | 2021-08-31 | 2021-11-09 | 江苏徐工工程机械研究院有限公司 | Conveyer and tunnel boring machine for tunnel |
| CN114320417B (en) * | 2021-12-21 | 2024-09-13 | 辽宁工程技术大学 | Anchor forward type rapid tunneling and supporting device and working method thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1409022A (en) * | 1973-02-01 | 1975-10-08 | Coal Industry Patents Ltd | Mine roof support equipment |
| CN201344032Y (en) * | 2008-12-30 | 2009-11-11 | 三一重型装备有限公司 | Complete device integrating the tunneling, protection and anchoring |
| CN102606152B (en) * | 2012-04-06 | 2014-01-15 | 中铁隧道装备制造有限公司 | Novel quick digging and anchoring integrated machine for rectangular coal roadway |
| CN102635353B (en) * | 2012-04-06 | 2014-07-16 | 中铁工程装备集团有限公司 | Double-cantilever hard rock coal roadway heading and anchoring device |
| CN102606154B (en) * | 2012-04-06 | 2014-01-15 | 中铁隧道装备制造有限公司 | Coal roadway tunneling machine with double round cutter heads |
-
2015
- 2015-01-15 CN CN201510019827.1A patent/CN104500086B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114941534A (en) * | 2022-07-22 | 2022-08-26 | 山西天地煤机装备有限公司 | Heading machine and heading method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104500086A (en) | 2015-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104500086B (en) | Unmanned roadway driving and anchoring all-in-one machine | |
| CN204436402U (en) | The unmanned pick in tunnel anchor all-in-one | |
| CN201106451Y (en) | Track-mounted liftable top-side construction drilling machine for anchor bar and anchor wire | |
| CN105386771B (en) | Shield type anchor driving machine | |
| CN104747199B (en) | A kind of open type TBM with section of jurisdiction installation function | |
| CN105569701B (en) | Suspension device is tunneled suitable for the step type that hard-rock tunnel is tunneled | |
| CN102704927B (en) | Comprehensive mechanization stone drift heading machine set | |
| CN106640106A (en) | Mining whole-section hard rock tunneling machine and circulative tunneling method | |
| CN201747390U (en) | Suspension type multifunctional tunnel operation machine | |
| CN101832103B (en) | Movable two-arm hanging wall anchor rod and anchor cable construction drill carriage | |
| CN208106466U (en) | Pick shield windlass | |
| CN104033168B (en) | From moving platform-type brill anchor car | |
| CN102808617A (en) | Comprehensive mechanical stone drift digging anchor machine | |
| CN103527228A (en) | Self-propelled type temporary support and anchor support machine for coal mine roadway | |
| CN110359922A (en) | Rocker-arm development machine and tunnelling construction method | |
| CN104213934B (en) | A kind of underground mining ore removal system | |
| CA2561803A1 (en) | Mining apparatus with precision navigation system | |
| CN107191191A (en) | A kind of rock gangway fast digging technique of the breaking rock gangway anchor driving machine of three hammering blows | |
| CN109882239A (en) | A kind of outdoor end side pressure emanant filling mining method of coal | |
| CN204921002U (en) | Transport and stock anchor rope support system | |
| CN203499708U (en) | Self-propelled coal mine tunnel temporary supporting anchor protecting machine | |
| CN104763452A (en) | Transferring and anchor rod anchor cable supporting system | |
| CN207879330U (en) | A kind of continuous miner for the exploitation of open coal mine end side | |
| CN114320417A (en) | Anchoring forward-moving type rapid tunneling and supporting device and working method thereof | |
| CN203978467U (en) | From moving platform-type brill anchor car |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Shi Jianhua Inventor after: Han Bingchen Inventor after: Yan Wenkai Inventor after: Ning Zhangxuan Inventor before: Han Bingchen Inventor before: Shi Jianhua Inventor before: Ning Zhangxuan Inventor before: Yan Wenkai |
|
| COR | Change of bibliographic data | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170118 Termination date: 20190115 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |