CN109026048B - A kind of climbing control method of high inclination-angle development machine - Google Patents
A kind of climbing control method of high inclination-angle development machine Download PDFInfo
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- CN109026048B CN109026048B CN201810916962.XA CN201810916962A CN109026048B CN 109026048 B CN109026048 B CN 109026048B CN 201810916962 A CN201810916962 A CN 201810916962A CN 109026048 B CN109026048 B CN 109026048B
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- development machine
- weight tray
- attachment beam
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- 230000009194 climbing Effects 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005520 cutting process Methods 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000009412 basement excavation Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 description 7
- 230000006872 improvement Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005453 pelletization Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 244000061408 Eugenia caryophyllata Species 0.000 description 1
- 235000016639 Syzygium aromaticum Nutrition 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/02—Propulsion of machines for slitting or completely freeing the mineral from the seam by means on the machine exerting a thrust against fixed supports
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Handcart (AREA)
- Earth Drilling (AREA)
Abstract
The invention discloses a kind of climbing control method of high inclination-angle development machine, used high inclination-angle development machine includes rack, upper support portion, auxiliary climbing apparatus；Climbing control method includes climbing support, provides climbing auxiliary driving force, stepping and move.The climbing control method of this high inclination-angle development machine passes through while controlling hydraulic motor travel motor and auxiliary drive hydraulic motor output power is realized and provides biggish driving force, when stepping, the cooperation of upper support portion is stretched out be supported in back and make this high inclination-angle development machine strong fix after climbing apparatus will be assisted to lift and invert one step pitch of Forward of taking a step that auxiliary drive hydraulic motor realizes weight tray, it controls simple and fast, drivage efficiency is improved under the premise of effectivelying prevent development machine to glide, reduces security risk, the cutting driving especially suitable for ± 25 ° of high inclination-angle tunnels.
Description
Technical field
It is specifically a kind of to be 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 for digging the high inclination-angle development machine of driving, belongs to development machine equipment technology field.
Background technique
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
It 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, have many advantages, such as it is safe and efficient and high-quality at lane, it is especially outstanding
Road headers, it integrates the functions such as cutting, shipment, walking, operation, is mainly used for the underground of cutting arbitrary shape section
Rock, coal or alternate heading.
At inclination angle during biggish raise advance, the downslide that development machine can be generated by self weight, downslide is not only resulted in
The cutting efficiency decline of development machine can not even promote, and it is serious will cause safety accident, therefore the work that development machine is applicable
Make inclination angle generally within ± 16 °, tunnel inclination angle is super to be generallyd use hand-holing when going beyond the scope and blow out carry out excavation operation
Be big gun pick mode, big gun dig operation not only risk is very high but also drivage efficiency is lower, if getting working face be located at water body under,
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
Add workload, and reduces the waste exploited length, in turn result in coal resources in tunnel.
High inclination-angle development machine in the prior art takes the torque for directly promoting driving crawler belt hydraulic motor more, increases crawler belt
The mode of adhesive force realizes development machine high inclination-angle driving to increase the driving force of development machine crawler belt, but due to underground driving face
Condition limitation and the job specification that needs to keep moving of development machine, this simple mode for increasing driving force reaches at tunnel inclination angle
The effect is unsatisfactory when to a certain degree；It also takes in the prior art and realizes that development machine high inclination-angle is dug by the mode of assist device
Into, i.e., is connected on the side wall of tunnel using rearward support advancing jack, or advancing jack supported be connected to it is hydraulic
Bracket, individual prop etc. are supported on the support apparatus between back and bottom plate, by the stretching for controlling advancing jack
It realizes the motive force for increasing development machine, but since the stroke of advancing jack is limited, advancing jack cooperation substep is needed to stretch
Contracting is laid with support apparatus in time to prevent development machine from gliding, and advancing jack cooperation substep extension and contraction control not only easily causes driving
Machine is biased to and inclined shore easily causes contact surface skidding in the mode on the side wall of tunnel and there are biggish security risks, and
The mode for being laid with support apparatus in time not only virtually extends manufacture cycle but also easily influences the discharge refuse of Department of Transportation.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of climbing control method of high inclination-angle development machine, can effectively prevent
Development machine improves drivage efficiency, reduces security risk under the premise of gliding, the cutting pick especially suitable for ± 25 ° of high inclination-angle tunnels
Into.
To achieve the above object, high inclination-angle development machine used in the climbing control method of this high inclination-angle development machine includes machine
Frame, loading part, running part, Department of Transportation, upper support portion, assists climbing apparatus, electrical system, hydraulic system and is sprayed cutting units
Dust pelletizing system；
The cutting units is mounted on the front upper part of rack, including cantilever and cutterhead by revolving platform；The loading
Portion is mounted on the front lower portion of rack, including shovel board and the multijaw star-wheel or scraper plate that are left and right symmetrically arranged in shovel board；The row
Walk the lower part that portion is mounted on rack, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain；Before the Department of Transportation includes
Rear direction set up on the rack, with the back-connected drag conveyor of loading part；Electrical system, hydraulic system and the spray
Mist dust pelletizing system is respectively mounted on the rack；
The top of rack, including telescopic supporting rod, rod end support plate and support rod fold is arranged in the upper support portion
Hydraulic cylinder；The position that telescopic supporting rod corresponds to running part is arranged in the top of rack, the bottom end articulated connection of telescopic supporting rod in
The top of rack, telescopic supporting rod is interior to be arranged support rod telescopic hydraulic cylinder；The baseplane articulated connection of rod end support plate is in flexible
The top plane on the top of support rod, rod end support plate is equipped with anti-skid structure；Support rod turns down the bottom end articulated connection of hydraulic cylinder
In rack, top articulated connection in telescopic supporting rod；
The rear lower of rack, including attachment beam, attachment beam fold hydraulic cylinder, auxiliary is arranged in the auxiliary climbing apparatus
Bogie assembly, guide slip shoe, balance hydraulic cylinder and weight tray；The setting of attachment beam front-rear direction, the front end of attachment beam and machine
Frame articulated connection；The top of attachment beam is arranged in attachment beam fold hydraulic cylinder, and attachment beam turns down hydraulic cylinder one end and rack is hinged
Connection, the other end and attachment beam are articulated and connected；Auxiliary drive frame assembly is mounted on the rear end of attachment beam, including frame body, auxiliary are driven
Hydrodynamic pressure motor and engagement driving wheel, the body of auxiliary drive hydraulic motor are fixedly mounted on the rear end of frame body, auxiliary drive liquid
The output end of pressure motor with to engage driving wheel coaxially connected, engagement driving wheel rolls setting along the longitudinal direction；The top of guide slip shoe
Portion is hingedly connected on the frame body of auxiliary drive frame assembly, bottom has the piston shoes guide groove of front-rear direction setting；Balanced hydraulic
The top of guide slip shoe is arranged in cylinder, and balance hydraulic cylinder one end and the articulated connection of auxiliary drive frame assembly, the other end and guiding are slided
Boots articulated connection；Weight tray is the string configuration of front-rear direction setting, is fixed with and leads on the upper surface of weight tray
To the guided way of the piston shoes guide groove dimensional fits of piston shoes, weight tray is connected by guided way and guide slip shoe guiding sliding,
Be engaged on the upper surface of weight tray driving wheel position be equipped with engage driving wheel cooperation meshing transmission structure, carry
The baseplane of bottom plate is equipped with anti-skid structure, and weight tray is equipped with ground anchor bolt mounting hole；
Climb control method specifically includes the following steps:
A. climbing support: control attachment beam fold hydraulic cylinder stretching make attachment beam along hinge joint rotation be turned over downwards drive it is auxiliary
It helps bogie assembly, guide slip shoe and weight tray integrally to rout up from the rear lower of rack, it is hydraulic rationally to control attachment beam fold
The output pressure of cylinder makes the baseplane of weight tray is firm to be supported on roadway floor, rationally controls the output pressure of balance hydraulic cylinder
Power makes the baseplane of weight tray is firm to be in the longitudinal direction bonded with roadway floor, in the firm support in the baseplane of weight tray
Ground anchor bolt is installed by ground anchor bolt mounting hole after on roadway floor；
B., climbing auxiliary driving force is provided: while hydraulic motor travel motor and auxiliary drive hydraulic motor output power are controlled,
Hydraulic motor travel motor drive sprocket drives caterpillar chain Forward movement 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 Forward by meshing transmission structure on weight tray and provides this high inclination-angle driving
The auxiliary driving force that machine advances；
C. stepping is mobile: stopping Forward, control when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray
Support rod fold hydraulic cylinder processed and the stretching of support rod telescopic hydraulic cylinder make telescopic supporting rod turn down stretching from frame top, rationally control
The output pressure of support rod telescopic hydraulic cylinder processed makes the top plane of rod end support plate is firm to be supported on back, removes earth anchor
After bolt control attachment beam fold hydraulic cylinder retraction make attachment beam along hinge joint rotation flip up drive weight tray move up it is de-
From roadway floor, then controls auxiliary drive hydraulic motor output reverse power driving engagement driving wheel and pass through meshing transmission structure
So that weight tray is moved forward to stroke rear end relative to auxiliary drive frame assembly, controls attachment beam fold hydraulic cylinder again and stretch out
Being turned over downwards attachment beam drives weight tray is firm to be supported in the Forward for completing a step pitch on roadway floor, controls support rod
Fold hydraulic cylinder and support rod telescopic hydraulic cylinder retraction carry out driving work after so that telescopic supporting rod is accommodated in the top of rack again
Industry.
As a further improvement of the present invention, the support rod fold hydraulic cylinder of used high inclination-angle development machine is hinged
The bottom end for being connected to rack is located at telescopic supporting rod and is articulated and connected in the rear of the bottom end of rack, and telescopic supporting rod is relative to machine
The fold expanded angle of frame is less than 90 °；Hydraulic motor travel motor and auxiliary drive hydraulic motor are controlled at the same time in the step b
Support rod fold hydraulic cylinder and the stretching of support rod telescopic hydraulic cylinder are first controlled before output power makes telescopic supporting rod from frame top
Fold, which is stretched out, makes the top plane of rod end support plate is firm to be supported on back, then controls hydraulic motor travel motor and auxiliary simultaneously
The stretching of the support rod telescopic hydraulic cylinder of synchronously control telescopic supporting rod provides additionally when helping driving hydraulic motor output power
Motive force.
Compared with prior art, high inclination-angle development machine used in the climbing control method of this high inclination-angle development machine is due to setting
Have by support rod turn down hydraulic cylinder can turn down be accommodated in frame top upper support portion and by attachment beam fold hydraulic cylinder can
Fold is accommodated in the auxiliary climbing apparatus of rack rear lower, therefore in the normal headwork Shi Buying of non-high inclination-angle tunnelling
Ring the operation for swinging up and down amplitude, not influencing running part of the drag conveyor of Department of Transportation；Since auxiliary drive frame assembly includes
Auxiliary drive hydraulic motor and engagement driving wheel and auxiliary drive frame assembly is matched by guide slip shoe with having and engage driving wheel
The weight tray of the meshing transmission structure of conjunction connects, therefore can to control walking simultaneously during climbing hydraulic for high inclination-angle development machine
Motor and auxiliary drive hydraulic motor output power, hydraulic motor travel motor drive sprocket drive caterpillar chain Forward movement offer to incline greatly
The main driving force that angle development machine advances, auxiliary drive hydraulic motor driving engagement driving wheel is by meshing transmission structure at carrying bottom
Forward is rolled on plate, the auxiliary driving force that high inclination-angle development machine advances is provided, and then realize and biggish driving force is provided, so as to
To realize that the power configuration for reducing hydraulic motor travel motor, realization are energy-saving under the premise of identical climbing capacity；Work as high inclination-angle
When development machine driving moves forward to the stroke front end of weight tray, upper support portion cooperation stretching, which is supported in back, makes this high inclination-angle
Climbing apparatus can will be assisted to lift after development machine strong fix and invert taking a step for auxiliary drive hydraulic motor realization weight tray
Move forward a step pitch, and control is simple and fast, and it is hidden that drivage efficiency, reduction safety are improved under the premise of effectivelying prevent development machine to glide
Suffer from, the cutting driving especially suitable for ± 25 ° of high inclination-angle tunnels.
Detailed description of the invention
Fig. 1 is the configuration diagram of high inclination-angle development machine used in the present invention；
Fig. 2 is the top view of Fig. 1；
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: 1, rack, 2, cutting units, 3, loading part, 4, running part, 5, Department of Transportation, 6, upper support portion, 61, flexible branch
Strut, 62, rod end support plate, 7, auxiliary climbing apparatus, 71, attachment beam, 72, attachment beam fold hydraulic cylinder, 73, auxiliary drive frame
Assembly, 731, auxiliary drive hydraulic motor, 732, engagement driving wheel, 74, guide slip shoe, 75, balance hydraulic cylinder, 76, carrying bottom
Plate.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing (describing below by front of the tunneling direction of development machine).
As shown in Figure 1 and Figure 2, high inclination-angle development machine include rack 1, cutting units 2, loading part 3, running part 4, Department of Transportation 5,
Upper support portion 6, auxiliary climbing apparatus 7, electrical system, hydraulic system and atomizing dust-removing system.
The cutting units 2 is mounted on the front upper part of rack 1, including cantilever and cutterhead by revolving platform, and cantilever can band
Dynamic cutterhead carries out the adjusting of transverse direction and longitudinal direction any angle relative to rack 1；The loading part 3 is mounted on the front lower of rack 1
Portion, including shovel board and the multijaw star-wheel or scraper plate that are left and right symmetrically arranged in shovel board；The running part 4 is mounted on rack 1
Lower part, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain；The Department of Transportation 5 includes that front-rear direction is erected at rack
On the 1 and back-connected drag conveyor of loading part 3；Electrical system, hydraulic system and the atomizing dust-removing system is pacified
In rack 1.
The top of rack 1, including telescopic supporting rod 61, rod end support plate 62 and support is arranged in the upper support portion 6
Bar turns down hydraulic cylinder；The top of rack 1, the bottom of telescopic supporting rod 61 is arranged in the position of the corresponding running part 4 of telescopic supporting rod 61
End articulated connection is in setting support rod telescopic hydraulic cylinder in the top of rack 1, telescopic supporting rod 61；The bottom of rod end support plate 62 is flat
Face articulated connection is equipped with anti-skid structure in the top of telescopic supporting rod 61, the top plane of rod end support plate 62；Support rod fold
The bottom end articulated connection of hydraulic cylinder is articulated and connected in rack 1, top in telescopic supporting rod 61；It is turned down by control support rod hydraulic
The flexible telescopic supporting rod 61 that can control of cylinder turns down stretching or folding storage from the top of rack 1, flexible by control support rod
The stretching of hydraulic cylinder, which can control the stretching of telescopic supporting rod 61, acts against rod end support plate 62 on back.
The rear lower of rack 1 is arranged in the auxiliary climbing apparatus 7, as shown in figure 3, including attachment beam 71, attachment beam
Turn down hydraulic cylinder 72, auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76；The setting of 71 front-rear direction of attachment beam, even
The front end and rack 1 for connecing beam 71 are articulated and connected；The top of attachment beam 71, attachment beam fold is arranged in attachment beam fold hydraulic cylinder 72
72 one end of hydraulic cylinder and the articulated connection of rack 1, the other end and attachment beam 71 are articulated and connected, and turn down hydraulic cylinder by control attachment beam
The 72 flexible attachment beam 71 that can control is turned down along the hinge joint rotation of itself and rack 1；73 company of being mounted on of auxiliary drive frame assembly
Connect the rear end of beam 71, including frame body, auxiliary drive hydraulic motor 731 and engagement driving wheel 732, auxiliary drive hydraulic motor 731
Body be fixedly mounted on the rear end of frame body, the output end of auxiliary drive hydraulic motor 731 coaxially connects with driving wheel 732 is engaged
It connects, engagement driving wheel 732 rolls setting along the longitudinal direction；The top of guide slip shoe 74 is hingedly connected to auxiliary drive frame assembly 73
Frame body on, bottom have front-rear direction setting piston shoes guide groove；Weight tray 76 is the strip knot of front-rear direction setting
Structure is fixed with the guided way with the piston shoes guide groove dimensional fits of guide slip shoe 74, carrying on the upper surface of weight tray 76
Bottom plate 76 is connected by guided way and the guiding sliding of guide slip shoe 74, is engaged driving wheel on the upper surface of weight tray 76
732 position be equipped with engage driving wheel 732 cooperation meshing transmission structure, pass through control auxiliary drive hydraulic motor 731 drive
Dynamic engagement driving wheel 732 rotation may be implemented weight tray 76 and move along the longitudinal direction, and the baseplane of weight tray 76 is equipped with
Anti-skid structure.
High inclination-angle development machine can turn down liquid by control support rod in the normal headwork of non-high inclination-angle tunnelling
Cylinder pressure is in and is entirely retracted to the top that state makes telescopic supporting rod 61 be accommodated in rack 1, can be turned down by control attachment beam hydraulic
Cylinder 72, which is in the state that is entirely retracted to, makes attachment beam 71 drive auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76 whole
It is accommodated in the rear lower of rack 1, does not influence the fortune for swinging up and down amplitude, not influencing running part 4 of the drag conveyor of Department of Transportation 5
Row.
When carrying out high inclination-angle tunnelling work, as shown in figure 4, the control attachment beam fold stretching of hydraulic cylinder 72 makes to connect
Beam 71 is turned over downwards along hinge joint rotation, drives auxiliary drive frame assembly 73, guide slip shoe 74 and weight tray 76 whole from machine
The rear lower of frame 1 is routed up, and the output pressure for rationally controlling attachment beam fold hydraulic cylinder 72 keeps the baseplane of weight tray 76 firm
It is supported on roadway floor, during the climbing control method climbing of this high inclination-angle development machine, while controlling hydraulic motor travel motor
With 731 output power of auxiliary drive hydraulic motor, it is big that hydraulic motor travel motor drive sprocket drives caterpillar chain Forward movement to provide this
The main driving force that inclination angle development machine advances, the driving engagement driving wheel 732 of auxiliary drive hydraulic motor 731 pass through meshing transmission structure
Forward is rolled on weight tray 76, the auxiliary driving force that this high inclination-angle development machine advances is provided, and then realize and biggish drive is provided
Power, so as to realize the power configuration for reducing hydraulic motor travel motor, realization energy conservation drop under the premise of identical climbing capacity
Consumption；Stop Forward when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray 76, control support rod turns down liquid
Cylinder pressure and the stretching of support rod telescopic hydraulic cylinder make telescopic supporting rod 61 turn down stretching from the top of rack 1, rationally control support rod and stretch
The output pressure of contracting hydraulic cylinder makes the top plane of rod end support plate 62 is firm to be supported on back, then controls attachment beam and turns over
Folding 72 retraction of hydraulic cylinder make attachment beam 71 along hinge joint rotation flip up drive weight tray 76 move up disengaging roadway floor, so
Control auxiliary drive hydraulic motor 731 exports reverse power driving engagement driving wheel 732 and makes to carry by meshing transmission structure afterwards
Bottom plate 76 moves forward to stroke rear end relative to auxiliary drive frame assembly 73, controls attachment beam fold hydraulic cylinder 72 again and stretches out
Being turned over downwards attachment beam 71 drives weight tray 76 is firm to be supported in the Forward for completing a step pitch on roadway floor, control
It can be again behind the top that support rod turns down hydraulic cylinder and support rod telescopic hydraulic cylinder retraction makes telescopic supporting rod 61 be accommodated in rack 1
Secondary carry out excavation operation.
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, be bonded leakiness with roadway floor when weight tray 76 is bonded support with roadway floor, as this hair
Bright further improvement scheme, the auxiliary climbing apparatus 7 further include balance hydraulic cylinder 75, and the setting of balance hydraulic cylinder 75 is being led
To the top of piston shoes 74,75 one end of balance hydraulic cylinder and the articulated connection of auxiliary drive frame assembly 73, the other end and guide slip shoe 74
Articulated connection；Horizontality or and tunnel are in by the flexible control weight tray 76 that may be implemented of control balance hydraulic cylinder 75
The parallel state of bottom plate.
In order to make weight tray 76 more securely be supported in roadway floor, as a further improvement of the present invention, institute
The swivel pin and attachment beam 71 that the frame body front end for the auxiliary drive frame assembly 73 stated is arranged along the longitudinal direction by axial direction
Rear end articulated connection, the mode of articulated connection can make 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.
In order to increase auxiliary drive under the premise of guarantee auxiliary climbing apparatus 7 installation space lesser with 1 rear lower of rack
The installation 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,
To further realize more firm antiskid effect, as a further improvement of the present invention, the attachment beam 71 is Z-shaped
Shape structure.
In order to realize better antiskid effect, as a further improvement of the present invention, on the weight tray 76
Equipped with ground anchor bolt mounting hole, ground anchor bolt is installed by ground anchor bolt mounting hole and realizes better antiskid effect, stepping Forward
Installation ground anchor bolt is carried out after preceding first dismounting ground anchor bolt, stepping Forward, and then realizes and further decreases security risk.
As a kind of embodiment of present invention engagement driving wheel 732 and the engaging structure of weight tray 76, described is nibbled
Closing driving wheel 732 is tooth-shape structure, and the engaging structure of the weight tray 76 is and engages the cooperation of 732 tooth-shape structure of driving wheel
Row latch structure, engaged transmission is realized by the engaging structure that tooth-shape structure is inserted between row's pin, row's latch structure is set in a row
Pin shaft is easier to safeguard, directly replace after pin shaft damage.
It is described as the another embodiment of present invention engagement driving wheel 732 and the engaging structure of weight tray 76
Engaging driving wheel 732 is gear structure, and the engaging structure of the weight tray 76 is and engages 732 teeth portion of driving wheel and cooperate
Rack structure realizes engaged transmission by rack and pinion engagement.
Auxiliary traction power is further increased while unbalance loading in order to prevent, as a further improvement of the present invention, institute
The whole frame structure in shaped door of the attachment beam 71 stated, two front ends of portal frame structure are articulated and connected with rack 1；The auxiliary
The frame body front end of bogie assembly 73 is mounted on the medium position on 71 portal frame structure rear end left and right directions of attachment beam；Described
Auxiliary drive hydraulic motor 731 is mounted on the medium position on the frame body rear end left and right directions of auxiliary drive frame assembly 73, and auxiliary
Helping driving hydraulic motor 731 is double output shaft hydraulic motor；The engagement driving wheel 732 is at least coaxially arranged into being set as
Two, be coaxially fixedly mounted on the output shaft at left and right sides of double output shaft hydraulic motor；It is the attachment beam 71 of portal frame structure, double
The setting for the engagement driving wheel 732 that output shaft hydraulic motor and bilateral symmetry are arranged in pairs makes entirely to assist climbing apparatus 7 in a left side
Right symmetrical structure, not only support strength increases but also can prevent unbalance loading.
The telescopic supporting rod 61 can be using the supporting way perpendicular to back or using tilted backwards
Be supported in the mode of back, due to the tilted mode to rear support of inclined shaft in addition to have perpendicular to back
Reversed component outside also there is the reversed component upward along slope surface, therefore the mode of support tilted backwards can more efficiently prevent from
Development machine is better than the supporting way perpendicular to back, therefore preferred the latter because of self weight downslide, support effect, that is, as
Preferred embodiment of the invention, the support rod fold hydraulic cylinder, which is articulated and connected, is located at telescopic supporting rod 61 in the bottom end of rack 1
Be articulated and connected in the rear of the bottom end of rack 1, and telescopic supporting rod 61 relative to rack 1 fold expanded angle less than 90 °.
Climbing capacity in order to further increase during the climbing of high inclination-angle development machine can stretch in first control control before climbing
The expansion of contracting support rod 61, which is stretched out, to be supported on back, and hydraulic motor travel motor and auxiliary drive hydraulic motor 731 are then controlled
Synchronous stretch out for controlling the support rod telescopic hydraulic cylinder of telescopic supporting rod 61 while output power together provides additional promotion
Power, and then may be implemented to further increase climbing capacity.
The anti-skid structure that the rod end support plate 62 is pushed up on 76 baseplane of anti-skid structure and weight tray in plane can
Using raised horn structure, the ratchet structure that can also be arranged using tilted rearward, since former structure is not easy direct machine
Tool processing, and the latter is more convenient for being machined, and the latter has better antiskid effect, therefore preferred the latter, that is, as this hair
Bright preferred embodiment, the rod end support plate 62 push up the anti-Slipped Clove Hitch on 76 baseplane of anti-skid structure and weight tray in plane
Structure is the ratchet structure of tilted rearward setting.
High inclination-angle development machine used in the climbing control method of this high inclination-angle development machine is turned over due to being equipped with by support rod
Folding hydraulic cylinder can turn down the upper support portion 6 for being accommodated in 1 top of rack and can be turned down by attachment beam fold hydraulic cylinder 72 and is accommodated in
The auxiliary climbing apparatus 7 of 1 rear lower of rack, therefore Department of Transportation is not influenced in the normal headwork of non-high inclination-angle tunnelling
The operation for swinging up and down amplitude, not influencing running part 4 of 5 drag conveyor；Since auxiliary drive frame assembly 73 includes auxiliary
Driving hydraulic motor 731 and engagement driving wheel 732 and auxiliary drive frame assembly 73 pass through guide slip shoe 74 with there is and engage drive
The weight tray 76 for the meshing transmission structure that driving wheel 732 cooperates connects, therefore high inclination-angle development machine can be simultaneously during climbing
Hydraulic motor travel motor and 731 output power of auxiliary drive hydraulic motor are controlled, hydraulic motor travel motor drive sprocket drives caterpillar chain
Forward movement provides the main driving force that high inclination-angle development machine advances, and the driving engagement driving wheel 732 of auxiliary drive hydraulic motor 731 is logical
It crosses meshing transmission structure and rolls the auxiliary driving force that Forward offer high inclination-angle development machine advances on weight tray 76, and then realize
Biggish driving force is provided, so as to realize that the power for reducing hydraulic motor travel motor is matched under the premise of identical climbing capacity
Set, realize it is energy-saving；When high inclination-angle development machine driving moves forward to the stroke front end of weight tray 76, upper support portion 6 cooperates
Stretching, which is supported in back, to be made to lift and invert auxiliary auxiliary climbing apparatus 7 after this high inclination-angle development machine strong fix to drive
Hydrodynamic pressure motor 731 realizes one step pitch of Forward of taking a step of weight tray 76, and control is simple and fast, in the case where effectivelying prevent development machine
Drivage efficiency is improved under the premise of cunning, reduces security risk, the cutting driving especially suitable for ± 25 ° of high inclination-angle tunnels.
Claims (2)
1. a kind of climbing control method of high inclination-angle development machine, used high inclination-angle development machine includes rack (1), cutting units
(2), loading part (3), running part (4), Department of Transportation (5), electrical system, hydraulic system and atomizing dust-removing system；Cutting units (2) is logical
Cross the front upper part that revolving platform is mounted on rack (1), including cantilever and cutterhead；Loading part (3) is mounted on the front lower of rack (1)
Portion, including shovel board and the multijaw star-wheel or scraper plate that are left and right symmetrically arranged in shovel board；Running part (4) is mounted under rack (1)
Portion, including track frame, hydraulic motor travel motor, sprocket wheel and caterpillar chain；Department of Transportation (5) includes that front-rear direction is erected on rack (1)
, with loading part (3) back-connected drag conveyor；Electrical system, hydraulic system and atomizing dust-removing system are installed in machine
On frame (1)；It is characterized in that, used high inclination-angle development machine further includes upper support portion (6) and auxiliary climbing apparatus (7)；
Described upper support portion (6) setting at the top of rack (1), including telescopic supporting rod (61), rod end support plate (62) and
Support rod turns down hydraulic cylinder；The position setting of telescopic supporting rod (61) corresponding running part (4) is in the top of rack (1), branch of stretching
The bottom end articulated connection of strut (61) is in setting support rod telescopic hydraulic cylinder in the top of rack (1), telescopic supporting rod (61)；Bar
The baseplane articulated connection at end support plate (62) is set on the top of telescopic supporting rod (61), the top plane of rod end support plate (62)
There is anti-skid structure；The bottom end articulated connection that support rod turns down hydraulic cylinder is articulated and connected in rack (1), top in telescopic supporting rod
(61)；
Described auxiliary climbing apparatus (7) setting is in the rear lower of rack (1), including the fold of attachment beam (71), attachment beam is hydraulic
Cylinder (72), auxiliary drive frame assembly (73), guide slip shoe (74), balance hydraulic cylinder (75) and weight tray (76)；Attachment beam
(71) front-rear direction is arranged, and the front end and rack (1) of attachment beam (71) are articulated and connected；Attachment beam turns down hydraulic cylinder (72) setting and exists
The top of attachment beam (71), attachment beam turn down hydraulic cylinder (72) one end and rack (1) articulated connection, the other end and attachment beam (71)
Articulated connection；Auxiliary drive frame assembly (73) is mounted on the rear end of attachment beam (71), including frame body, auxiliary drive hydraulic motor
(731) and engagement driving wheel (732), the body of auxiliary drive hydraulic motor (731) are fixedly mounted on the rear end of frame body, and auxiliary is driven
The output end of hydrodynamic pressure motor (731) with to engage driving wheel (732) coaxially connected, engagement driving wheel (732) is rolled along the longitudinal direction
Dynamic setting；It is hingedly connected at the top of guide slip shoe (74) on the frame body of auxiliary drive frame assembly (73), bottom has front and back
To the piston shoes guide groove of setting；Balance hydraulic cylinder (75) is arranged in the top of guide slip shoe (74), balance hydraulic cylinder (75) one end
It is articulated and connected with auxiliary drive frame assembly (73) articulated connection, the other end and guide slip shoe (74)；Weight tray (76) is front and back
The string configuration of direction setting, is fixed on the upper surface of weight tray (76) and the piston shoes guide groove of guide slip shoe (74)
The guided way of dimensional fits, weight tray (76) pass through guided way and the sliding connection of guide slip shoe (74) guiding, weight tray
(76) position that driving wheel (732) is engaged on upper surface is equipped with ties with the engaged transmission for engaging driving wheel (732) cooperation
Structure, the baseplane of weight tray (76) are equipped with anti-skid structure, and weight tray (76) is equipped with ground anchor bolt mounting hole；
Climb control method specifically includes the following steps:
A. climbing support: control attachment beam fold hydraulic cylinder (72), which is stretched out, makes attachment beam (71) be turned over downwards band along hinge joint rotation
Dynamic auxiliary bogie assembly (73), guide slip shoe (74) and weight tray (76) are integrally routed up from the rear lower of rack (1), rationally
The output pressure of control attachment beam fold hydraulic cylinder (72) makes the baseplane of weight tray (76) is firm to be supported on roadway floor,
Rationally the output pressure of control balance hydraulic cylinder (75) make the baseplane of weight tray (76) in the longitudinal direction with roadway floor
Closely knit fitting passes through ground anchor bolt mounting hole installation ground after the baseplane of weight tray (76) consolidates and is supported on roadway floor
Anchor bolt；
B., climbing auxiliary driving force is provided: while hydraulic motor travel motor and auxiliary drive hydraulic motor (731) output power are controlled,
Hydraulic motor travel motor drive sprocket drives caterpillar chain Forward movement 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 Forward by meshing transmission structure on weight tray (76) and mentions
The auxiliary driving force to advance for this high inclination-angle development machine；
C. stepping is mobile: stopping Forward, control when this high inclination-angle development machine driving moves forward to the stroke front end of weight tray (76)
Support rod fold hydraulic cylinder processed and the stretching of support rod telescopic hydraulic cylinder stretch telescopic supporting rod (61) fold from the top of rack (1)
Out, rationally the output pressure of control support rod telescopic hydraulic cylinder makes the top plane of rod end support plate (62) is firm to be supported on tunnel top
On plate, control attachment beam fold hydraulic cylinder (72) retraction rotates attachment beam (71) to turning over along hinge joint after removing ground anchor bolt
Fold belt moves weight tray (76) and moves up disengaging roadway floor, then controls auxiliary drive hydraulic motor (731) and exports reverse power
Driving engagement driving wheel (732) by meshing transmission structure make weight tray (76) relative to auxiliary drive frame assembly (73) forward
It is moved to stroke rear end, controlling attachment beam fold hydraulic cylinder (72) again and stretching out makes attachment beam (71) be turned over downwards drive carrying bottom
Plate (76) is firm to be supported in the Forward that a step pitch is completed on roadway floor, and control support rod fold hydraulic cylinder and support rod are flexible
Hydraulic cylinder retraction carries out excavation operation after so that telescopic supporting rod (61) is accommodated in the top of rack (1) again.
2. the climbing control method of high inclination-angle development machine according to claim 1, which is characterized in that used high inclination-angle
The bottom end of support rod fold hydraulic cylinder of development machine and the articulated position of rack (1) are located at bottom end and the machine of telescopic supporting rod (61)
The rear of the articulated position of frame (1), and telescopic supporting rod (61) relative to rack (1) fold expanded angle less than 90 °；It is described
Step b in control hydraulic motor travel motor and auxiliary drive hydraulic motor (731) output power at the same time before first control support rod
Fold hydraulic cylinder and the stretching of support rod telescopic hydraulic cylinder, which stretch out telescopic supporting rod (61) fold from the top of rack (1), makes rod end branch
The top plane of fagging (62) is firm to be supported on back, then controls hydraulic motor travel motor and the hydraulic horse of auxiliary drive simultaneously
The stretching of the support rod telescopic hydraulic cylinder of synchronously control telescopic supporting rod (61) provides additional promotion when up to (731) output power
Power.
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| CN201810916962.XA CN109026048B (en) | 2017-04-01 | 2017-04-01 | A kind of climbing control method of high inclination-angle development machine |
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| CN201710211826.6A CN106979015B (en) | 2017-04-01 | 2017-04-01 | A kind of climbing control method of the high inclination-angle development machine with auxiliary climbing apparatus |
| CN201810916962.XA CN109026048B (en) | 2017-04-01 | 2017-04-01 | A kind of climbing control method of high inclination-angle development machine |
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| CN109334681B (en) * | 2018-11-23 | 2023-11-10 | 中建三局集团有限公司 | Hydraulic pushing wheel set device and application method thereof |
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| CN111119911B (en) * | 2019-12-04 | 2024-04-30 | 中铁隧道集团二处有限公司 | Hydraulic shifting device for heading machine |
| CN111594202B (en) * | 2020-05-29 | 2022-01-21 | 中国铁建重工集团股份有限公司 | Control method and control system for rear supporting leg system of heading machine |
| 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 |
| CN113153288B (en) * | 2021-04-20 | 2022-06-14 | 中国煤炭科工集团太原研究院有限公司 | Complete equipment for tunneling steep roadway and tunneling method |
| CN113700493B (en) * | 2021-10-28 | 2022-02-11 | 三一重型装备有限公司 | Supporting component behind entry driving machine and entry driving machine |
| 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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| Publication number | Publication date |
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| CN109026048A (en) | 2018-12-18 |
| CN106979015B (en) | 2018-11-16 |
| CN106979015A (en) | 2017-07-25 |
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