CN106979015A - A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus - Google Patents

A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus Download PDF

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Publication number
CN106979015A
CN106979015A CN201710211826.6A CN201710211826A CN106979015A CN 106979015 A CN106979015 A CN 106979015A CN 201710211826 A CN201710211826 A CN 201710211826A CN 106979015 A CN106979015 A CN 106979015A
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CN
China
Prior art keywords
frame
hydraulic cylinder
climbing
tie
development machine
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Granted
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CN201710211826.6A
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Chinese (zh)
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CN106979015B (en
Inventor
杜长龙
高春芳
胡正伟
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JIANGSU ZHONGJI MINE EQUIPMENT CO Ltd
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JIANGSU ZHONGJI MINE EQUIPMENT CO Ltd
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Priority to CN201810916962.XA priority Critical patent/CN109026048B/en
Priority to CN201710211826.6A priority patent/CN106979015B/en
Publication of CN106979015A publication Critical patent/CN106979015A/en
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Publication of CN106979015B publication Critical patent/CN106979015B/en
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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10Making by using boring or cutting machines
    • E21D9/1093Devices for supporting, advancing or orientating the machine or the tool-carrier
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C29/00Propulsion of machines for slitting or completely freeing the mineral from the seam
    • E21C29/02Propulsion of machines for slitting or completely freeing the mineral from the seam by means on the machine exerting a thrust against fixed supports
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C29/00Propulsion of machines for slitting or completely freeing the mineral from the seam
    • E21C29/22Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like

Abstract

The invention discloses a kind of climbing control method for the high inclination-angle development machine for having and aiding in climbing apparatus, used high inclination-angle development machine includes frame, upper supporting part, auxiliary climbing apparatus;Control method of climbing includes climbing support, provides the steps such as climbing auxiliary driving force, stepping movement.There is the climbing control method for the high inclination-angle development machine for aiding in climbing apparatus to realize the larger driving force of offer by controlling hydraulic motor travel motor and process auxiliary drive hydraulic motor to export power simultaneously for this, during stepping, upper supporting part coordinates stretching to be supported in back and makes after this high inclination-angle development machine strong fix climbing apparatus will to be aided in lift and invert the step pitch that moves forward of taking a step that process auxiliary drive hydraulic motor realizes weight tray, control simple and fast, drivage efficiency is improved on the premise of effectively preventing development machine from gliding, reduce potential safety hazard, it is particularly suitable for use in the cutting driving in ± 25 ° of high inclination-angle tunnels.

Description

A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus
Technical field
It is specifically that one kind is opened suitable for ± 25 ° of high inclination-angle tunnels the present invention relates to a kind of climbing control method of development machine The climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus of chisel driving, belongs to development machine equipment technology field.
Background technology
Development machine is the machine for digging straight underground passage, is divided into open type development machine and shield formula development machine, is led to Often include walking mechanism, operating mechanism, shipment activity and transferring mechanism composition, as walking mechanism is pushed ahead, operating mechanism In the continuous fractured rock of cutting head, and detritus is transported, has the advantages that safe efficient and good into lane quality, particularly hanged Road headers, it integrates the functions such as cut, shipment, walking, operation, is mainly used in the underground of cut arbitrary shape section Rock, coal or alternate heading.
During the larger raise advance in inclination angle, the downslide that development machine can be produced by deadweight, downslide is not only resulted in The cutting efficiency of development machine declines, can not even promoted, and serious meeting causes security incident, therefore the applicable work of development machine Make inclination angle general within ± 16 °, tunnel inclination angle surpasses generally blows out carry out excavation operation when going beyond the scope using hand-holing Big gun pick mode, big gun pick operation is not only dangerous very high but also drivage efficiency is relatively low, if getting working face be located under water body, Forbid big gun to dig when under building with " under three " getting working face under railway, tunnel digging angle can only be changed, not only increased Plus workload, and reduce exploiting length, in turn resulting in the waste of coal resources for tunnel.
The directly moment of torsion of lifting driving crawler belt hydraulic motor, increase crawler belt are taken high inclination-angle development machine of the prior art more The mode of adhesive force realizes that development machine high inclination-angle is tunneled to increase the driving force of development machine crawler belt, but due to underground driving face Condition limitation and development machine need to not stop mobile job specification, the mode of this simple increase driving force reaches at tunnel inclination angle Effect is unsatisfactory when to a certain degree;Also have to take in the prior art and realize that development machine high inclination-angle is dug by the mode of assist device Enter, i.e., use, which rearward supports advancing jack, is connected on the wall of tunnel side, or advancing jack support is connected to hydraulic pressure Support, individual prop etc. are supported on the support apparatus between back and bottom plate, by the stretching for controlling advancing jack The motive force of increase development machine is realized, but because the stroke of advancing jack is limited, therefore need advancing jack to coordinate substep to stretch Contracting or in time laying support apparatus are to prevent development machine from gliding, and advancing jack cooperation substep extension and contraction control not only easily causes driving Machine is inclined to and inclined shore easily causes contact surface skidding in the mode on the wall of tunnel side and there is larger potential safety hazard, and In time laying support apparatus mode not only virtually extend manufacture cycle and also easily influence Department of Transportation discharge refuse.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of climbing controlling party of the high inclination-angle development machine with auxiliary climbing apparatus Method, drivage efficiency, reduction potential safety hazard can be improved on the premise of effectively preventing development machine from gliding, ± 25 ° are particularly suitable for use in The cutting driving in high inclination-angle tunnel.
To achieve the above object, used in the climbing control method of this high inclination-angle development machine with auxiliary climbing apparatus High inclination-angle development machine includes frame, cutting units, loading part, running part, Department of Transportation, upper supporting part, electrically auxiliary climbing apparatus, system System, hydraulic system and atomizing dust-removing system;
Described cutting units is arranged on the front upper part of frame, including cantilever and cutterhead by panoramic table;Described loading Portion is arranged on the front lower portion of frame, including shovel board and the multijaw star-wheel or scraper plate being left and right symmetrically arranged in shovel board;Described row Walk the bottom that portion is arranged on frame, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain;Before described Department of Transportation includes Rear to be erected at it is in frame, with the back-connected drag conveyor of loading part;Described electrical system, hydraulic system and spray Mist dust pelletizing system is installed in frame;
Described upper supporting part is arranged on the top of frame, including telescopic supporting rod, rod end supporting plate and support bar turnover Hydraulic cylinder;The position of telescopic supporting rod correspondence running part is arranged on the top of frame, the bottom of telescopic supporting rod be articulated and connected in Support bar telescopic hydraulic cylinder is set in the top of frame, telescopic supporting rod;The baseplane of rod end supporting plate is articulated and connected in flexible The top of support bar, the top plane of rod end supporting plate is provided with anti-skid structure;The bottom of support bar turnover hydraulic cylinder is articulated and connected It is articulated and connected in frame, top in telescopic supporting rod;
Described auxiliary climbing apparatus is arranged on the rear lower of frame, including tie-beam, tie-beam turnover hydraulic cylinder, auxiliary Bogie assembly, guide slip shoe and weight tray;Tie-beam fore-and-aft direction is set, and front end and the frame of tie-beam are articulated and connected; Tie-beam turnover hydraulic cylinder is arranged on the top of tie-beam, and tie-beam turnover hydraulic cylinder one end is articulated and connected with frame, the other end It is articulated and connected with tie-beam;Process auxiliary drive frame assembly be arranged on tie-beam rear end, including support body, process auxiliary drive hydraulic motor and Driving wheel is engaged, the body of process auxiliary drive hydraulic motor is fixedly mounted on the rear end of support body, the output of process auxiliary drive hydraulic motor End is coaxially connected with engaging driving wheel, and engagement driving wheel rolls setting along the longitudinal direction;It is hingedly connected at the top of guide slip shoe On the support body of process auxiliary drive frame assembly, bottom have fore-and-aft direction set piston shoes guide groove;Weight tray is that fore-and-aft direction is set The guiding with the piston shoes guide groove dimensional fits of guide slip shoe is fixed with the string configuration put, the upper surface of weight tray Rail, weight tray is oriented to sliding by guided way and guide slip shoe and is connected, correspondence engagement driving wheel on the upper surface of weight tray Position be provided with meshing transmission structure with engage driving wheel cooperation, the baseplane of weight tray is provided with anti-skid structure;
Climbing control method specifically includes following steps:
A. climbing support:It is auxiliary that control tie-beam turnover hydraulic cylinder stretching makes tie-beam be turned over downwards drive along pin joint rotation Bogie assembly, guide slip shoe and weight tray is helped integrally to be routed up from the rear lower of frame, rationally control tie-beam turnover hydraulic pressure The output pressure of cylinder makes the baseplane of weight tray is firm to be supported on roadway floor;
B., climbing auxiliary driving force is provided:Hydraulic motor travel motor and process auxiliary drive hydraulic motor output power are controlled simultaneously, Hydraulic motor travel motor drive sprocket drives caterpillar chain reach action to provide the main driving force that this high inclination-angle development machine advances, and auxiliary is driven Hydrodynamic pressure motor driving engagement driving wheel rolls reach on weight tray by meshing transmission structure and provides this high inclination-angle driving The auxiliary driving force that machine advances;
C. stepping is moved:Stop reach, control when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray Support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder processed, which stretch out, makes telescopic supporting rod turn down stretching from frame top, rationally control The output pressure of support bar telescopic hydraulic cylinder processed makes the top plane of rod end supporting plate is firm to be supported on back, then controls Tie-beam turnover hydraulic cylinder retraction make tie-beam along pin joint rotation flip up drive weight tray move up disengaging roadway floor, Then control process auxiliary drive hydraulic motor output reverse power driving engagement driving wheel makes weight tray by meshing transmission structure Move forward to stroke rear end relative to process auxiliary drive frame assembly, again control tie-beam turnover hydraulic cylinder stretch out make tie-beam to Lower turnover drives weight tray is firm to be supported in the reach for completing a step pitch on roadway floor, control support bar turnover hydraulic cylinder Telescopic supporting rod is accommodated in behind the top of frame with support bar telescopic hydraulic cylinder retraction and carry out excavation operation again.
Scheme as a further improvement on the present invention, the auxiliary climbing apparatus of used high inclination-angle development machine also includes flat Weigh hydraulic cylinder, and balance hydraulic cylinder is arranged on the top of guide slip shoe, and balance hydraulic cylinder one end is hinged company with process auxiliary drive frame assembly Connect, the other end and guide slip shoe are articulated and connected;Also including the output pressure of rationally control balance hydraulic cylinder in described step a makes The baseplane of weight tray consolidates the step of being fitted with roadway floor in the longitudinal direction.
Scheme as a further improvement on the present invention, the weight tray of used high inclination-angle development machine is provided with earth anchor spiral shell Bolt mounting hole;By earth anchor after being additionally included in that the baseplane of weight tray is firm in described step a and being supported on roadway floor The step of bolt mounting holes install ground anchor bolt;It is additionally included in described step c before control tie-beam turnover hydraulic cylinder retraction The step of removing ground anchor bolt.
Scheme as a further improvement on the present invention, the support bar turnover hydraulic cylinder of used high inclination-angle development machine is hinged The bottom for being connected to frame is articulated and connected in the rear of the bottom of frame positioned at telescopic supporting rod, and telescopic supporting rod is relative to machine The turnover expanded angle of frame is less than 90 °;Hydraulic motor travel motor and process auxiliary drive hydraulic motor are controlled at the same time in described step b First controlling support bar to turn down hydraulic cylinder and the stretching of support bar telescopic hydraulic cylinder before output power makes telescopic supporting rod from frame top Turnover, which is stretched out, makes the top plane of rod end supporting plate is firm to be supported on back, hydraulic motor travel motor is then controlled simultaneously and auxiliary The stretching of the support bar telescopic hydraulic cylinder of Synchronization Control telescopic supporting rod is provided additionally when helping driving hydraulic motor output power Motive force.
Compared with prior art, used in the climbing control method of this high inclination-angle development machine with auxiliary climbing apparatus High inclination-angle development machine is due to being accommodated in the upper supporting part of frame top and pass through provided with turning down hydraulic cylinder by support bar and can turn down Tie-beam turnover hydraulic cylinder can turn down the auxiliary climbing apparatus for being accommodated in frame rear lower, therefore in non-high inclination-angle tunnelling The drag conveyor of Department of Transportation is not influenceed to swing up and down amplitude, do not influence the operation of running part during normal headwork;Due to Process auxiliary drive frame assembly include process auxiliary drive hydraulic motor and engagement driving wheel and process auxiliary drive frame assembly by guide slip shoe and There is and engage the weight tray connection for the meshing transmission structure that driving wheel coordinates, therefore this high inclination-angle development machine is in climbing process In hydraulic motor travel motor and process auxiliary drive hydraulic motor can be controlled to export power simultaneously, hydraulic motor travel motor drive sprocket, which drives, to be carried out Band chain reach action provides the main driving force that this high inclination-angle development machine advances, and process auxiliary drive fluid motor-driven engagement driving wheel leads to Cross meshing transmission structure and the auxiliary driving force that reach provides the advance of this high inclination-angle development machine is rolled on weight tray, and then realize Larger driving force is provided, so as to realize that the power for reducing hydraulic motor travel motor is matched somebody with somebody on the premise of identical climbing capacity Put, realize it is energy-saving;When this high inclination-angle development machine driving moves forward to the stroke front end of weight tray, upper supporting part, which coordinates, to be stretched Going out to be supported in back makes to lift auxiliary climbing apparatus after this high inclination-angle development machine strong fix and inverts process auxiliary drive Hydraulic motor realizes the step pitch that moves forward of taking a step of weight tray, controls simple and fast, before effectively preventing development machine from gliding Raising drivage efficiency, reduction potential safety hazard are put, the cutting driving in ± 25 ° of high inclination-angle tunnels is particularly suitable for use in.
Brief description of the drawings
Fig. 1 is the configuration diagram of high inclination-angle development machine used in the present invention;
Fig. 2 is Fig. 1 top view;
Fig. 3 is the three-dimensional structure diagram of the auxiliary climbing apparatus of high inclination-angle development machine used in the present invention;
Configuration diagram when Fig. 4 is high inclination-angle development machine high inclination-angle driving state used in the present invention.
In figure:1st, frame, 2, cutting units, 3, loading part, 4, running part, 5, Department of Transportation, 6, upper supporting part, 61, flexible branch Strut, 62, rod end supporting plate, 7, auxiliary climbing apparatus, 71, tie-beam, 72, tie-beam turnover hydraulic cylinder, 73, process auxiliary drive frame Assembly, 731, process auxiliary drive hydraulic motor, 732, engagement driving wheel, 74, guide slip shoe, 75, balance hydraulic cylinder, 76, carrying bottom Plate.
Embodiment
The present invention will be further described below in conjunction with the accompanying drawings (being described below by front of the tunneling direction of development machine).
As shown in Figure 1 and Figure 2, the climbing control method of this high inclination-angle development machine with auxiliary climbing apparatus includes frame 1st, cutting units 2, loading part 3, running part 4, Department of Transportation 5, upper supporting part 6, auxiliary climbing apparatus 7, electrical system, hydraulic system and Atomizing dust-removing system.
Described cutting units 2 is arranged on the front upper part of frame 1, including cantilever and cutterhead by panoramic table, and cantilever can band Dynamic cutterhead carries out transverse direction and longitudinal direction any angle regulation relative to frame 1;Described loading part 3 is arranged on the front lower of frame 1 Portion, including shovel board and the multijaw star-wheel or scraper plate being left and right symmetrically arranged in shovel board;Described running part 4 is arranged on frame 1 Bottom, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain;Described Department of Transportation 5 is erected at frame including fore-and-aft direction On the 1 and back-connected drag conveyor of loading part 3;Described electrical system, hydraulic system and atomizing dust-removing system is pacified In frame 1.
Described upper supporting part 6 is arranged on the top of frame 1, including telescopic supporting rod 61, rod end supporting plate 62 and support Bar turns down hydraulic cylinder;The position of the correspondence running part 4 of telescopic supporting rod 61 is arranged on the top of frame 1, the bottom of telescopic supporting rod 61 End is articulated and connected in setting support bar telescopic hydraulic cylinder in the top of frame 1, telescopic supporting rod 61;Put down at the bottom of rod end supporting plate 62 Face is articulated and connected in the top of telescopic supporting rod 61, and the top plane of rod end supporting plate 62 is provided with anti-skid structure;Support bar is turned down The bottom of hydraulic cylinder is articulated and connected and is articulated and connected in frame 1, top in telescopic supporting rod 61;By controlling support bar to turn down hydraulic pressure The flexible of cylinder can control telescopic supporting rod 61 to be stretched out or folding storage from the turnover of the top of frame 1, by controlling support bar to stretch The stretching of hydraulic cylinder, which can control telescopic supporting rod 61 to stretch out, makes rod end supporting plate 62 act against on back.
Described auxiliary climbing apparatus 7 is arranged on the rear lower of frame 1, as shown in figure 3, including tie-beam 71, tie-beam Turn down hydraulic cylinder 72, process auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76;The fore-and-aft direction of tie-beam 71 is set, even The front end and frame 1 for connecing beam 71 are articulated and connected;Tie-beam turnover hydraulic cylinder 72 is arranged on the top of tie-beam 71, tie-beam turnover The one end of hydraulic cylinder 72 is articulated and connected with frame 1, the other end and tie-beam 71 are articulated and connected, by controlling tie-beam to turn down hydraulic cylinder The 72 flexible pin joint that can control tie-beam 71 along itself and frame 1, which rotates, to be turned down;Process auxiliary drive frame assembly 73, which is arranged on, to be connected Connect the rear end of beam 71, including support body, process auxiliary drive hydraulic motor 731 and engagement driving wheel 732, process auxiliary drive hydraulic motor 731 Body be fixedly mounted on the rear end of support body, the output end of process auxiliary drive hydraulic motor 731 is with engaging that driving wheel 732 is coaxial to be connected Connect, engagement driving wheel 732 rolls setting along the longitudinal direction;The top of guide slip shoe 74 is hingedly connected to process auxiliary drive frame assembly 73 Support body on, bottom have fore-and-aft direction set piston shoes guide groove;Weight tray 76 is the strip knot that fore-and-aft direction is set The guided way with the piston shoes guide groove dimensional fits of guide slip shoe 74 is fixed with structure, the upper surface of weight tray 76, is carried Bottom plate 76 is oriented to sliding by guided way and guide slip shoe 74 and is connected, correspondence engagement driving wheel on the upper surface of weight tray 76 732 position is provided with the meshing transmission structure with engaging the cooperation of driving wheel 732, by controlling process auxiliary drive hydraulic motor 731 to drive Dynamic engagement driving wheel 732 rotation can realize that weight tray 76 is moved along the longitudinal direction, and the baseplane of weight tray 76 is provided with Anti-skid structure.
This have auxiliary climbing apparatus high inclination-angle development machine climbing control method in non-high inclination-angle tunnelling just During normal headwork, it can be entirely retracted to state by controlling support bar to turn down hydraulic cylinder and be in and make telescopic supporting rod 61 be accommodated in machine The top of frame 1, can make tie-beam 71 drive process auxiliary drive by controlling tie-beam turnover hydraulic cylinder 72 to be in the state that is entirely retracted to Frame assembly 73, guide slip shoe 74 and the overall rear lower for being accommodated in frame 1 of weight tray 76, do not influence the scraper plate of Department of Transportation 5 defeated Send swinging up and down amplitude, not influenceing the operation of running part 4 for machine.
When carrying out high inclination-angle tunnelling work, as shown in figure 4, control tie-beam turnover hydraulic cylinder 72, which stretches out, makes connection Beam 71 is turned over downwards along pin joint rotation, drives process auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76 overall from machine The rear lower of frame 1 is routed up, and rationally the output pressure of control tie-beam turnover hydraulic cylinder 72 consolidates the baseplane of weight tray 76 It is supported on roadway floor, this has during the climbing control method climbing of the high inclination-angle development machine of auxiliary climbing apparatus, together When control hydraulic motor travel motor and process auxiliary drive hydraulic motor 731 output power, hydraulic motor travel motor drive sprocket drive crawler belt Chain reach action provides the main driving force that this high inclination-angle development machine advances, the driving engagement driving wheel of process auxiliary drive hydraulic motor 731 732 roll reach by meshing transmission structure on weight tray 76 provides the auxiliary driving force that this high inclination-angle development machine advances, And then the larger driving force of offer is provided, reduce hydraulic motor travel motor so as to be realized on the premise of identical climbing capacity Power configuration, realize it is energy-saving;Before stopping when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray 76 Move, control support bar turnover hydraulic cylinder and the stretching of support bar telescopic hydraulic cylinder make telescopic supporting rod 61 be stretched from the turnover of the top of frame 1 Go out, rationally the output pressure of control support bar telescopic hydraulic cylinder makes the top plane of rod end supporting plate 62 is firm to be supported on back On, then control the tie-beam turnover retraction of hydraulic cylinder 72 tie-beam 71 is flipped up drive weight tray 76 along pin joint rotation Disengaging roadway floor is moved up, then controls process auxiliary drive hydraulic motor 731 to export reverse power driving engagement driving wheel 732 and passes through Meshing transmission structure makes weight tray 76 move forward to stroke rear end relative to process auxiliary drive frame assembly 73, again control connection The beam turnover stretching of hydraulic cylinder 72 is turned over downwards tie-beam 71, and drive weight tray 76 is firm to be supported on roadway floor i.e. completion The reach of one step pitch, control support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder retraction are accommodated in telescopic supporting rod 61 Excavation operation can be carried out behind the top of frame 1 again.
In order to prevent in the normal headwork of non-high inclination-angle tunnelling weight tray 76 contacted with roadway floor into And influence excavation operation, fitted when weight tray 76 fits support with roadway floor with roadway floor leakiness, it is used as this hair Bright further improvement project, described auxiliary climbing apparatus 7 also includes balance hydraulic cylinder 75, and balance hydraulic cylinder 75, which is arranged on, leads To the top of piston shoes 74, the one end of balance hydraulic cylinder 75 and process auxiliary drive frame assembly 73 are articulated and connected, the other end and guide slip shoe 74 It is articulated and connected;By controlling the flexible of balance hydraulic cylinder 75 to realize that control weight tray 76 is in horizontality or and tunnel The parallel state of bottom plate.
In order that weight tray 76 is more securely supported in roadway floor, scheme, institute as a further improvement on the present invention Swivel pin and tie-beam 71 that the support body front end for the process auxiliary drive frame assembly 73 stated is set along the longitudinal direction by axial direction Rear end is articulated and connected, and the mode being articulated and connected can make process auxiliary drive frame assembly 73 and weight tray 76 follow the ground of roadway floor Gesture carries out adaptability rotation, and then weight tray 76 can be made more securely to be supported in roadway floor.
Driven to increase auxiliary on the premise of ensureing auxiliary climbing apparatus 7 with the less installing space of the rear lower of frame 1 The installing space of moving frame assembly 73, guide slip shoe 74 and weight tray 76, and then can realize the more thick and heavy weight tray 76 of size, So as to further realizing more firm skidproof effect, scheme as a further improvement on the present invention, described tie-beam 71 is Z-shaped Shape structure.
In order to realize more preferable skidproof effect, scheme as a further improvement on the present invention, on described weight tray 76 Provided with ground anchor bolt mounting hole, ground anchor bolt is installed by ground anchor bolt mounting hole and realizes more preferable skidproof effect, stepping reach Preceding first remove carries out installation ground anchor bolt after ground anchor bolt, stepping reach, and then realizes further reduction potential safety hazard.
As a kind of embodiment of present invention engagement driving wheel 732 and the engaging structure of weight tray 76, described nibbles It is tooth-shape structure to close driving wheel 732, and the engaging structure of described weight tray 76 is coordinated with engaging the tooth-shape structure of driving wheel 732 Row's latch structure, the engaging structure inserted by tooth-shape structure between row's pin realizes engaged transmission, and row's latch structure is set in a row Bearing pin is easier to safeguard, directly changed after bearing pin damage.
It is described as the another embodiment of present invention engagement driving wheel 732 and the engaging structure of weight tray 76 It is gear structure to engage driving wheel 732, and the engaging structure of described weight tray 76 is coordinated with engaging the teeth portion of driving wheel 732 Rack structure, engaged transmission is realized by rack and pinion engagement.
In order to prevent further increasing auxiliary traction power while unbalance loading, scheme, institute as a further improvement on the present invention The overall frame structure in shaped door of tie-beam 71 stated, two front ends of portal structure are articulated and connected with frame 1;Described auxiliary The support body front end of bogie assembly 73 is arranged on the medium position on the portal structure rear end left and right directions of tie-beam 71;Described Process auxiliary drive hydraulic motor 731 is arranged on the medium position on the support body rear end left and right directions of process auxiliary drive frame assembly 73, and auxiliary It is double output shaft hydraulic motor to help driving hydraulic motor 731;Described engagement driving wheel 732 is at least coaxially arranged into being set to Two, be coaxially fixedly mounted on the output shaft of the double output shaft hydraulic motor left and right sides;It is the tie-beam 71 of portal structure, double The setting of output shaft hydraulic motor and the symmetrical engagement driving wheel 732 being arranged in pairs makes entirely to aid in climbing apparatus 7 in a left side Right symmetrical structure, not only support strength increase but also can prevent unbalance loading.
Described telescopic supporting rod 61 can use perpendicular to back supporting way, can also use tilted backwards Be supported in the mode of back, due in the tilted mode to rear support of inclined shaft except with perpendicular to back Reverse component outside also have along domatic upward reverse component, therefore the mode of support tilted backwards can be more efficiently prevented from Development machine is better than the supporting way perpendicular to back, therefore preferably the latter because of deadweight downslide, support effect, i.e. as The preferred scheme of the present invention, described support bar turnover hydraulic cylinder is articulated and connected is located at telescopic supporting rod 61 in the bottom of frame 1 It is articulated and connected in the rear of the bottom of frame 1, and telescopic supporting rod 61 is less than 90 ° relative to the turnover expanded angle of frame 1.
This has during high inclination-angle development machine climbing of auxiliary climbing apparatus to further increase climbing capacity, can be with Before climbing first control control telescopic supporting rod 61 expansion stretching be supported on back, then control hydraulic motor travel motor and The synchronization of the support bar telescopic hydraulic cylinder of control telescopic supporting rod 61 while process auxiliary drive hydraulic motor 731 together exports power Stretch out and extra motive force is provided, and then further increase climbing capacity can be realized.
The anti-skid structure on anti-skid structure and the baseplane of weight tray 76 in the described top of rod end supporting plate 62 plane can With using raised horn structure, it would however also be possible to employ the ratchet structure that tilted rearward is set, because former structure is difficult direct machine Tool is processed, and the latter is more convenient for being machined, and the latter has more preferable skidproof effect, therefore preferably the latter, i.e. be used as this hair The anti-Slipped Clove Hitch on anti-skid structure and the baseplane of weight tray 76 in bright preferred scheme, the described top of rod end supporting plate 62 plane Structure is the ratchet structure that tilted rearward is set.
This have auxiliary climbing apparatus high inclination-angle development machine climbing control method used in high inclination-angle development machine by In being accommodated in the upper supporting part 6 at the top of frame 1 and turn down liquid by tie-beam provided with turning down hydraulic cylinder by support bar and can turn down Cylinder pressure 72 can turn down the auxiliary climbing apparatus 7 for being accommodated in the rear lower of frame 1, therefore in the normal driving of non-high inclination-angle tunnelling The drag conveyor of Department of Transportation 5 is not influenceed to swing up and down amplitude, do not influence the operation of running part 4 during work;Because auxiliary is driven Moving frame assembly 73 includes process auxiliary drive hydraulic motor 731 and engagement driving wheel 732 and process auxiliary drive frame assembly 73 is slided by being oriented to The weight tray 76 of meshing transmission structure of the boots 74 with having and engaging the cooperation of driving wheel 732 is connected, therefore this high inclination-angle is tunneled Machine can control hydraulic motor travel motor and process auxiliary drive hydraulic motor 731 to export power simultaneously during climbing, and walk hydraulic pressure horse Caterpillar chain reach action is driven to provide the main driving force that this high inclination-angle development machine advances, process auxiliary drive hydraulic motor up to drive sprocket 731 driving engagement driving wheels 732 roll reach on weight tray 76 by meshing transmission structure and provide this high inclination-angle development machine The auxiliary driving force of advance, and then the larger driving force of offer is provided, so as to be realized on the premise of identical climbing capacity Reduce hydraulic motor travel motor power configuration, realize it is energy-saving;When this high inclination-angle development machine driving moves forward to weight tray 76 Stroke front end when, upper supporting part 6 coordinates stretching to be supported in that back makes after this high inclination-angle development machine strong fix can will be auxiliary Climbing apparatus 7 is helped to lift and invert the step pitch that moves forward of taking a step that process auxiliary drive hydraulic motor 731 realizes weight tray 76, control Simple and fast, improves drivage efficiency, reduction potential safety hazard on the premise of effectively preventing development machine from gliding, be particularly suitable for use in ± The cutting driving in 25 ° of high inclination-angle tunnels.

Claims (4)

1. a kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus, used high inclination-angle development machine bag Including rack (1), cutting units (2), loading part (3), running part (4), Department of Transportation (5), upper supporting part (6), auxiliary climbing apparatus (7), electrical system, hydraulic system and atomizing dust-removing system;Cutting units (2) is arranged on the front upper part of frame (1) by panoramic table, Including cantilever and cutterhead;Loading part (3) is arranged on the front lower portion of frame (1), including shovel board and is left and right symmetrically arranged in shovel board On multijaw star-wheel or scraper plate;Running part (4) is arranged on the bottom of frame (1), including track frame, hydraulic motor travel motor, sprocket wheel And caterpillar chain;Department of Transportation (5) is erected at the back-connected scraper plate of in frame (1) and loading part (3) including fore-and-aft direction and conveyed Machine;Electrical system, hydraulic system and atomizing dust-removing system are installed in frame (1);
Described upper supporting part (6) is arranged on the top of frame (1), including telescopic supporting rod (61), rod end supporting plate (62) and Support bar turns down hydraulic cylinder;The position of telescopic supporting rod (61) correspondence running part (4) is arranged on the top of frame (1), branch of stretching The bottom of strut (61) is articulated and connected in setting support bar telescopic hydraulic cylinder in the top of frame (1), telescopic supporting rod (61);Bar The baseplane of end supporting plate (62) is articulated and connected to be set on the top of telescopic supporting rod (61), the top plane of rod end supporting plate (62) There is anti-skid structure;The bottom of support bar turnover hydraulic cylinder is articulated and connected to be articulated and connected in telescopic supporting rod in frame (1), top (61);
Described auxiliary climbing apparatus (7) is arranged on the rear lower of frame (1), including tie-beam (71), tie-beam turnover hydraulic pressure Cylinder (72), process auxiliary drive frame assembly (73), guide slip shoe (74) and weight tray (76);Tie-beam (71) fore-and-aft direction is set, The front end of tie-beam (71) is articulated and connected with frame (1);Tie-beam turnover hydraulic cylinder (72) is arranged on the top of tie-beam (71), Hydraulic cylinder (72) one end is articulated and connected with frame (1), the other end and tie-beam (71) are articulated and connected for tie-beam turnover;Process auxiliary drive Frame assembly (73) is arranged on the rear end of tie-beam (71), including support body, process auxiliary drive hydraulic motor (731) and engagement driving wheel (732), the body of process auxiliary drive hydraulic motor (731) is fixedly mounted on the rear end of support body, process auxiliary drive hydraulic motor (731) Output end is coaxially connected with engaging driving wheel (732), and engagement driving wheel (732) rolls set along the longitudinal direction;Guide slip shoe (74) it is hingedly connected at the top of on the support body of process auxiliary drive frame assembly (73), the piston shoes that there is fore-and-aft direction to set for bottom are oriented to Groove;Weight tray (76) is fixed with and led on the string configuration that fore-and-aft direction is set, the upper surface of weight tray (76) To the guided way of the piston shoes guide groove dimensional fits of piston shoes (74), weight tray (76) is led by guided way with guide slip shoe (74) To sliding connection, the position of correspondence engagement driving wheel (732) is provided with engaging driving wheel on the upper surface of weight tray (76) (732) meshing transmission structure coordinated, the baseplane of weight tray (76) is provided with anti-skid structure;
Characterized in that, climbing control method specifically includes following steps:
A. climbing support:Control tie-beam turnover hydraulic cylinder (72), which stretches out, makes tie-beam (71) be turned over downwards band along pin joint rotation Dynamic auxiliary bogie assembly (73), guide slip shoe (74) and weight tray (76) are integrally routed up from the rear lower of frame (1), rationally The output pressure of control tie-beam turnover hydraulic cylinder (72) makes the baseplane of weight tray (76) is firm to be supported on roadway floor;
B., climbing auxiliary driving force is provided:Hydraulic motor travel motor and process auxiliary drive hydraulic motor (731) output power are controlled simultaneously, Hydraulic motor travel motor drive sprocket drives caterpillar chain reach action to provide the main driving force that this high inclination-angle development machine advances, and auxiliary is driven Hydrodynamic pressure motor (731) driving engagement driving wheel (732) rolls reach on weight tray (76) by meshing transmission structure and carried The auxiliary driving force advanced for this high inclination-angle development machine;
C. stepping is moved:Stop reach, control when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray (76) Support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder processed, which stretch out, stretches telescopic supporting rod (61) turnover from the top of frame (1) Go out, rationally the output pressure of control support bar telescopic hydraulic cylinder makes the top plane of rod end supporting plate (62) is firm to be supported on tunnel top On plate, tie-beam turnover hydraulic cylinder (72) retraction is then controlled tie-beam (71) is flipped up drive carrying along pin joint rotation Bottom plate (76) moves up disengaging roadway floor, then controls process auxiliary drive hydraulic motor (731) output reverse power driving engagement to drive Driving wheel (732) makes weight tray (76) move forward to stroke relative to process auxiliary drive frame assembly (73) by meshing transmission structure Rear end, controls tie-beam turnover hydraulic cylinder (72) stretching tie-beam (71) is turned over downwards drive weight tray (76) and consolidates again It is supported in the reach that a step pitch is completed on roadway floor, control support bar turnover hydraulic cylinder and support bar telescopic hydraulic cylinder retraction Telescopic supporting rod (61) is accommodated in behind the top of frame (1) and carry out excavation operation again.
2. the climbing control method of the high inclination-angle development machine according to claim 1 with auxiliary climbing apparatus, its feature It is, the auxiliary climbing apparatus (7) of used high inclination-angle development machine also includes balance hydraulic cylinder (75), balance hydraulic cylinder (75) It is arranged on the top of guide slip shoe (74), balance hydraulic cylinder (75) one end is articulated and connected with process auxiliary drive frame assembly (73), another End is articulated and connected with guide slip shoe (74);Also include the output pressure of rationally control balance hydraulic cylinder (75) in described step a Make the baseplane of weight tray (76) in the longitudinal direction with roadway floor is closely knit fit the step of.
3. the climbing control method of the high inclination-angle development machine according to claim 1 with auxiliary climbing apparatus, its feature It is, the weight tray (76) of used high inclination-angle development machine is provided with ground anchor bolt mounting hole;Also wrapped in described step a Ground anchor bolt is installed by ground anchor bolt mounting hole after including that the baseplane in weight tray (76) is firm and being supported on roadway floor The step of;The step of removing ground anchor bolt before control tie-beam turnover hydraulic cylinder (72) retraction is additionally included in described step c.
4. the climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus according to claim 1 or 2 or 3, Characterized in that, the support bar turnover hydraulic cylinder of used high inclination-angle development machine is articulated and connected and is located in the bottom of frame (1) Telescopic supporting rod (61) is articulated and connected in the rear of the bottom of frame (1), and telescopic supporting rod (61) turning over relative to frame (1) Roll over expanded angle and be less than 90 °;Hydraulic motor travel motor and process auxiliary drive hydraulic motor (731) are controlled in described step b at the same time First controlling support bar to turn down hydraulic cylinder and the stretching of support bar telescopic hydraulic cylinder before output power makes telescopic supporting rod (61) from frame (1) turnover stretching in top makes the top plane of rod end supporting plate (62) is firm to be supported on back, and walking is then controlled simultaneously The support bar flexible liquid of Synchronization Control telescopic supporting rod (61) when hydraulic motor and process auxiliary drive hydraulic motor (731) output power The stretching of cylinder pressure provides extra motive force.
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CN114179053B (en) * 2021-12-13 2024-04-09 贵州誉创机械有限公司 Remotely controllable intelligent tunneling robot for coal mine tunnel

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Application publication date: 20170725

Assignee: Guoke Zhongmai (Xuzhou) Energy Technology Co.,Ltd.

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Denomination of invention: Climbing control method of large inclination roadheader with auxiliary climbing device

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Denomination of invention: A Climbing Control Method for High Angle Tunneling Machine with Auxiliary Climbing Device

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