CN110094210B - Full-automatic coal roadway self-induction unmanned tunneling device and using method - Google Patents
Full-automatic coal roadway self-induction unmanned tunneling device and using method Download PDFInfo
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- CN110094210B CN110094210B CN201910200382.5A CN201910200382A CN110094210B CN 110094210 B CN110094210 B CN 110094210B CN 201910200382 A CN201910200382 A CN 201910200382A CN 110094210 B CN110094210 B CN 110094210B
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- 239000003245 coal Substances 0.000 title claims abstract description 64
- 230000005641 tunneling Effects 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000005520 cutting process Methods 0.000 claims description 52
- 239000000463 material Substances 0.000 claims description 26
- 238000009412 basement excavation Methods 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 244000309464 bull Species 0.000 claims description 2
- 238000005553 drilling Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 239000002817 coal dust Substances 0.000 abstract description 3
- 238000004880 explosion Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000005065 mining Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
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- 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
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a full-automatic coal roadway self-induction unmanned tunneling device, which comprises a bottom plate, a first transmission shaft, a second transmission shaft, a rack and pinion steering gear and a connecting rod, wherein a control chip is arranged in the bottom plate, and the device has the beneficial effects that: the invention has simple structure and simple and convenient operation, can automatically carry out regional tunneling on the coal roadway, can automatically tunnel the coal roadway which is in and out of the coal roadway and has larger area than equipment, can carry out dust explosion on the coal roadway during the tunneling process to avoid the coal dust from flying, avoids the problem of roadway collapse easily caused by the traditional equipment tunneling, can tunnel dead corners in the roadway, can crush the coal generated during the tunneling process and then collect and send out of the roadway, has full automation without manual operation, protects the health of workers, and greatly improves the production efficiency.
Description
Technical Field
The invention relates to the technical field of full-coal roadway tunneling, in particular to a full-automatic coal roadway self-induction unmanned tunneling device and a using method thereof.
Background
At present, in the process of mining underground coal mines, a roadway needs to be excavated, wherein the roadway is various passages drilled between the earth surface and the coal mine and is used for carrying mines, ventilating, draining water, pedestrians, various necessary preparation projects for mining the coal mine newly excavated by metallurgical equipment, and the like. The passages are collectively called as a tunnel, the tunnel is divided into three types, namely a rock tunnel, a half-coal rock tunnel and a coal tunnel, and the coal tunnel is characterized in that the coal seam has the danger of gas and coal dust (mine dust) explosion, safety explosion-proof measures need to be taken, the coal seam is softer and is beneficial to mechanical tunneling, the ground pressure is larger, the service time is short, corresponding maintenance measures need to be taken, a hand-held explosion-proof electric coal drill or a frame column type forced propelling electric coal drill is generally used for tunneling the coal tunnel at present, a tunneling machine is also used as a method, but the tunneling machine can only carry out movement in a single direction, therefore, when excavating and crushing operations are carried out on some dead-angle areas of the coal mine tunnel, an operator needs to continuously adjust the angle of the machine body, but the two existing methods can not leave manual operation, the operator consumes great physical force for long-time operation, and has low efficiency, moreover, dust and harmful gas generated in the tunneling process can also damage the health of operators at any time, and the mined coal also needs to be additionally transported in the tunneling process, so that the coal mining is very inconvenient, and a full-automatic self-adaptive coal roadway tunneling device capable of automatically transporting and mining without manual operation is needed at present.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a full-automatic coal roadway self-induction unmanned tunneling device which does not need manual operation in the whole process, improves the automation, can automatically tunnel coal roadways, can cover dead corners in the traditional coal roadway tunneling, automatically crushes coal generated in the tunneling process, can be collected and sent out of the roadway after being crushed, avoids the problem of flying dust, avoids the trouble of additionally installing coal transportation equipment, and can automatically tunnel a roadway with a larger area than the equipment.
The invention adopts the technical scheme for solving the technical problems that: the full-automatic coal roadway self-induction unmanned tunneling device comprises a bottom plate, a first transmission shaft, a second transmission shaft, a rack and pinion steering gear and a connecting rod, wherein a control chip is arranged in the bottom plate, a differential motor is arranged in the rear half part of the bottom plate, the first transmission shaft and the second transmission shaft are respectively arranged on the left side and the right side of the bottom plate, the right end of the first transmission shaft and the left end of the second transmission shaft respectively penetrate through the left end and the right end of the bottom plate and then are connected with the differential motor, a large gear is fixedly arranged on the outer side of the left end of the first transmission shaft and the outer side of the right end of the second transmission shaft respectively, a crawler belt is meshed and fixed on the outer side of the large gear, universal wheels which are flush with the bottom of the front half part of the bottom plate and the bottom of the crawler belt are fixedly arranged at the bottom of the front half part of the, the first motor and the second motor are respectively provided with a first screw rod and a second screw rod, the top parts of the first screw rod and the second screw rod extend to the upper part of the bottom plate, connecting blocks are respectively fixedly arranged at the top parts of the first screw rod and the second screw rod, a fixing rod is fixedly arranged between the connecting blocks, the outer sides of the first screw rod and the second screw rod are respectively connected with a first sliding block and a second sliding block in a sliding manner, a fourth motor is fixedly arranged at the rear end of the second sliding block, the left end of the fourth motor is provided with a double screw rod, the left end of the double screw rod is movably connected with the first sliding block, the outer side of the double screw rod is connected with a third sliding block in a sliding manner, the front end of the third sliding block is fixedly provided with a third motor, the front end of the third, a second fixed column is arranged at the top of the fourth motor, a fixed block is fixedly arranged on the outer side of the fixed column, a second air cylinder is fixedly arranged at the front end of the second fixed column, a third support plate is fixedly arranged at the front end of the third support plate, a second connecting rod is fixedly arranged in the middle between the third support plate and the fourth support plate, a universal joint capable of rotating is arranged in the middle of the second connecting rod, springs fixedly connected with the third support plate and the fourth support plate are arranged around the second connecting rod, a fifth motor is fixedly arranged in the middle of the front end of the fourth support plate, a third connecting rod positioned around the fifth motor is fixedly arranged in an array at the front end of the fourth support plate, a material collecting cylinder is fixedly arranged at the front end of the third connecting rod, a cutting cylinder is arranged in front of the material collecting cylinder, a bulge is, the rear end of the cutting cylinder is connected with a feeding cylinder in a sealing manner, the front end of the feeding cylinder is communicated with the rear end of the cutting cylinder, the rear end of the feeding cylinder penetrates through the inner wall of the front end of the cutting cylinder and then reaches the inside of the cutting cylinder, the feeding cylinder is movably connected with the cutting cylinder through a bearing, the front end of the motor is provided with a third fixing column, the third fixing column penetrates through the inner wall of the rear end of the material collecting cylinder and then is fixedly connected with the rear end of the feeding cylinder, the feeding cylinder is provided with feeding ports at the inner walls of the left and right ends of the inner part of the material collecting cylinder, the inner wall of the left end of the material collecting cylinder is provided with a guide pipe communicated with the inner part of the material collecting cylinder, the other end of the guide pipe is connected with a hose in a sealing manner, the other end of the hose can be connected with a fan outside a coal roadway through a screw rod I and a screw rod II, in summary, the differential motor in the above-mentioned facilities is used to ensure that the speed difference between the inner wheel and the outer wheel is not consistent when the large gear travels in a curve, and to prevent the occurrence of braking.
A use method of a full-automatic coal roadway self-induction unmanned tunneling device comprises the following steps:
firstly, early preparation: placing the device in front of a roadway to be tunneled, and then writing the length and the depth of the roadway to be tunneled into a control chip;
secondly, advancing: the control chip controls the first infrared distance measuring instrument to detect the distance between the front end face of the roadway and the device, then controls the chip differential motor to operate, the differential motor operates to drive the first transmission shaft and the second transmission shaft to rotate, the first transmission shaft and the second transmission shaft rotate to drive the large gear to rotate, the large gear rotates to drive the crawler belt to rotate, the crawler belt rotates to drive the device to integrally advance, so that the front end of the cutting cylinder is attached to the front end face of the roadway, then the differential motor stops operating, and the crawler belt can prevent the device from backing;
thirdly, tunneling for the first time: then the control chip controls the operation of a fifth motor, the fifth motor drives a third fixed column to rotate, the third fixed column rotates to drive a cutting barrel to rotate, a first air cylinder extends out when the cutting barrel rotates, the first air cylinder extends out to enable the cutting barrel to drill into a coal roadway to perform crushing tunneling, the first motor drives a first screw rod and a second screw rod to rotate respectively when the crushing tunneling is performed, the first screw rod and the second screw rod rotate to drive a first sliding block and a second sliding block to slide, the first sliding block and the second sliding block drive a third sliding block to move freely in the vertical direction, the fourth motor drives a second screw rod to rotate, the second screw rod rotates to drive a third sliding block to move freely in the horizontal direction, the third sliding block can cooperate with the third motor to rotate in the stroke to drive the cutting barrel to tunnel in the stroke, the third motor can enable the cutting barrel to turn better to tunnel in the coal roadway in the left direction and the right direction, and the third motor can drive the coal roadway beyond The motor four drives the fixed column two to rotate, the fixed column two rotates to drive the fixed block to rotate by a certain angle, the fixed block drives the cylinder two to rotate when rotating, the support plate three rotates along with the cylinder two when the cylinder two rotates, but due to the action of a universal joint, the support plate four and the cutting cylinder cannot rotate along with the fixed block, the cylinder two rotates to extend continuously, so that the cutting cylinder can be always attached to the surface of the roadway and tunnels towards the coal roadway outside the three strokes of the sliding block, and the specific formula of the length of the motor four rotating angle and the length of the cylinder two needing to extend can be calculated by the control chip according to the distance of the center of the cutting cylinder exceeding the three maximum strokes of the sliding block, namely the pythagorean theorem and the arctan function arctan X, wherein X tan theta is y/X;
fourthly, tunneling again: the control chip controls the track to retreat for a certain distance through the differential motor, the device retreats along with the distance, then the control chip sets the cylinder I, the motor IV and the cylinder II to be in an initial state, then the track advances, the rack-and-pinion steering gear drives the bull gear to perform steering offset through the connecting rod when the track advances, the device changes the direction, then the step II and the step III are repeated, a roadway which is larger than the area of the device can be excavated and accessed as long as the tracks of the first excavation and the second excavation are overlapped, and the infrared distance meter II can detect the distance between two sides of the inner wall of the roadway and the device after entering the roadway so as to control the chip to correct in real time and prevent the chip from colliding with the;
fifthly, discharging: coal materials generated in the tunneling process are sucked into the cutting barrel through the through holes, the coal materials enter the material collecting barrel through the feeding port, and the guide pipe sucks the coal materials out of the material collecting barrel and sends the coal materials out of the roadway through the feeding port.
The invention has the beneficial effects that: the invention has simple structure and simple and convenient operation, can automatically carry out regional tunneling on the coal roadway, can automatically tunnel the coal roadway which is in and out of the coal roadway and has larger area than equipment, can carry out dust explosion on the coal roadway during the tunneling process to avoid the coal dust from flying, avoids the problem of roadway collapse easily caused by the traditional equipment tunneling, can tunnel dead corners in the roadway, can crush the coal generated during the tunneling process and then collect and send out of the roadway, has full automation without manual operation, protects the health of workers, and greatly improves the production efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a sectional view taken along line A of FIG. 1;
FIG. 3 is an enlarged view of a portion of the cutting cartridge of FIG. 2;
FIG. 4 is a sectional view taken along line B of FIG. 1;
FIG. 5 is a cross-sectional view taken along line C of FIG. 4;
FIG. 6 is a rear view of the present invention;
FIG. 7 is a front view of the present invention;
FIG. 8 is a first schematic diagram of the present invention;
fig. 9 is a second working diagram of the present invention.
Description of reference numerals: a bottom plate 1, a differential motor 2, a first transmission shaft 3, a gearwheel 4, a crawler 5, a second transmission shaft 6, a first sliding block 7, a first screw rod 8, a connecting block 9, a fixed rod 10, a second sliding block 11, a second screw rod 12, a double screw rod 13, a fourth motor 14, a universal wheel 15, a third sliding block 16, a first fixed column 17, a third motor 18, a first infrared distance meter 19, a first support plate 20, a first cylinder 21, a second fixed column 22, a second cylinder 23 and a second support plate 24, the device comprises a motor IV 25, a fixed block 26, a connecting rod II 27, a universal joint 28, a spring 29, a supporting plate IV 30, a motor V31, a connecting rod III 32, a fixed column III 33, a material collecting barrel 34, a cutting barrel 35, a through hole 36, a feeding port 37, a feeding barrel 38, a guide pipe 39, a supporting plate III 40, an infrared distance meter II 41, a motor II 42, a motor I43, a control chip 44, a gear-rack steering gear 45, a connecting rod 46, a hose 47 and a bulge 48.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
with reference to figures 1, 2, 3, 4, 5, 6, 7, 8, 9: a full-automatic coal roadway self-induction unmanned tunneling device comprises a bottom plate 1, a first transmission shaft 3, a second transmission shaft 6, a rack and pinion steering gear 45 and a connecting rod 46, wherein a control chip 44 is arranged inside the bottom plate 1, a differential motor 2 is arranged inside the rear half part of the bottom plate 1, the first transmission shaft 3 and the second transmission shaft 6 are respectively arranged on the left side and the right side of the bottom plate 1, the right end of the first transmission shaft 3 and the left end of the second transmission shaft 6 respectively penetrate through the left end and the right end of the bottom plate 1 and then are connected with the differential motor 2, a large gear 4 is respectively and fixedly arranged on the outer side of the left end of the first transmission shaft 3 and the outer side of the right end of the second transmission shaft 6, a crawler 5 is fixedly engaged and fixed on the outer side of the large gear 4, universal wheels 15 which are flush with the bottom and the bottom of the crawler 5 are fixedly arranged at the bottom, the left half part and the right half part inside the bottom plate 1 are respectively provided with a first motor 43 and a second motor 42 which are positioned in front of the differential motor 2, the tops of the first motor 43 and the second motor 42 are respectively provided with a first screw 8 and a second screw 12 of which the tops extend to the upper side of the bottom plate 1, the tops of the first screw 8 and the second screw 12 are respectively fixedly provided with a connecting block 9, a fixing rod 10 is fixedly arranged between the connecting blocks 9, the outer sides of the first screw 8 and the second screw 12 are respectively and slidably connected with a first sliding block 7 and a second sliding block 11, the rear end of the second sliding block 11 is fixedly provided with a fourth motor 14, the left end of the fourth motor 14 is provided with a double screw 13, the left end of the double screw 13 is movably connected with the first sliding block 7, the outer side of the double screw 13 is slidably connected with a third sliding block, a first support plate 20 is fixedly installed at the front end of the first fixed column 17, a first air cylinder 21 is fixedly installed at the front end of the first support plate 20, a second support plate 24 is fixedly installed at the front end of the first air cylinder 21, a fourth motor 25 is fixedly installed at the front end of the second support plate 24, a second fixed column 22 is arranged at the top of the fourth motor 25, a fixed block 26 is fixedly installed at the outer side of the second fixed column 22, a second air cylinder 23 is fixedly installed at the front end of the second air cylinder 26, a third support plate 40 is fixedly installed at the front end of the second air cylinder 23, a fourth support plate 30 is arranged in front of the third support plate 40, a second connecting rod 27 is fixedly installed in the middle between the third support plate 40 and the fourth support plate 30, a universal joint 28 capable of rotating angle is arranged in the middle of the second connecting rod 27, springs 29, the front end of the support plate four 30 is fixedly provided with a third connecting rod 32 positioned around a fifth motor 31 in an array manner, the front end of the third connecting rod 32 is fixedly provided with a material collecting barrel 34, the front part of the material collecting barrel 34 is provided with a cutting barrel 35, the front end of the cutting barrel 35 is fixedly provided with a bulge 48, the front end and the outer side of the cutting barrel 35 are provided with through holes 36 distributed in an array manner, the rear end of the cutting barrel 35 is hermetically connected with a feeding barrel 38, the front end of the feeding barrel 38 is communicated with the rear end of the cutting barrel 35, the rear end of the feeding barrel 38 penetrates through the inner wall of the front end of the cutting barrel 35 and then reaches the inside of the cutting barrel 35, the feeding barrel 38 is movably connected with the cutting barrel 35 through a bearing, the front end of the fifth motor 31 is provided with a third fixing column 33, the third fixing column 33 penetrates through the inner wall of the rear end of the material collecting barrel 34, the inner wall of the left end of the material collecting barrel 34 is provided with a conduit 39 communicated with the interior of the material collecting barrel 34, the other end of the conduit 39 is connected with a hose 47 in a sealing mode, the other end of the hose 47 can be connected with a fan outside a coal roadway after passing through a screw I8 and a screw II 12, the left half part and the right half part of the front end of the connecting block 9 and the front end of the bottom plate 1 are respectively and fixedly provided with a first infrared distance measuring instrument 19, and the left front end and the right front end of the bottom plate 1 are fixedly provided with a second infrared distance measuring instrument 41 with.
With reference to figures 1, 2, 3, 4, 5, 6, 7, 8, 9: a use method of a full-automatic coal roadway self-induction unmanned tunneling device comprises the following steps:
firstly, early preparation: the device is placed in front of a roadway to be tunneled, and then the length and the depth of the roadway to be tunneled are written into the control chip 44;
secondly, advancing: the control chip 44 controls the first infrared distance measuring instrument 19 to detect the distance between the front end face of the roadway and the device, then the control chip 44 controls the differential motor 2 to operate, the differential motor 2 operates to drive the first transmission shaft 3 and the second transmission shaft 6 to rotate, the first transmission shaft 3 and the second transmission shaft 6 rotate to drive the large gear 4 to rotate, the large gear 4 rotates to drive the crawler 5 to rotate, the crawler 5 rotates to drive the device to integrally advance, so that the front end of the cutting cylinder 35 is attached to the front end face of the roadway, then the differential motor 2 stops operating, and the crawler 5 can prevent the device from backing up;
thirdly, tunneling for the first time: then the control chip 44 controls the operation of the motor five 31, the operation of the motor five 31 drives the fixed column three 33 to rotate, the rotation of the fixed column three 33 drives the cutting cylinder 35 to rotate, when the cutting cylinder 35 rotates, the cylinder one 21 extends out to enable the cutting cylinder 35 to drill into a coal roadway for crushing and tunneling, when the crushing and tunneling is performed, the motor one 43 drives the screw rod one 8 and the screw rod two 12 to rotate respectively, the screw rod one 8 and the screw rod two 12 rotate to drive the slide block one 7 and the slide block two 11 to slide, the slide block one 7 and the slide block two 11 drive the slide block three 16 to freely move in the vertical direction, the motor four 14 drives the double screw 13 to rotate, the double screw 13 rotates to drive the slide block three 16 to freely move in the horizontal direction, the slide block three 16 can cooperate with the motor three 18 to rotate in a stroke to drive the cutting cylinder 35 to tunnel in the stroke, the rotation of the motor three 18 can enable the, when a coal roadway beyond the stroke of the third sliding block 16 needs to be tunneled (the purpose of the step is to tunnel a space for supplying a track to advance and tunnel which is larger than the area of the device itself in and out), the motor four 25 drives the fixed column two 22 to rotate, the fixed column two 22 rotates to drive the fixed block 26 to rotate for a certain angle, the fixed block 26 rotates to drive the cylinder two 23 to rotate, when the cylinder two 23 rotates, the support plate three 40 rotates along with the cylinder two 23, but due to the action of the universal joint 28, the support plate four 30 and the cutting cylinder 35 do not rotate along with the fixed column two 22, the cylinder two 23 continuously extends when rotating, so that the cutting cylinder 35 can always adhere to the roadway surface and tunnel towards the coal beyond the stroke of the third sliding block 16, the control chip 44 can calculate the specific formulas of the angle of the rotation of the motor four 25 and the length of the cylinder two 23 which need to extend by using the distance of the center of the cutting cylinder 35 beyond the maximum stroke of the, x is tan θ is y/X;
fourthly, tunneling again: the control chip 44 controls the crawler 5 to retreat for a certain distance through the differential motor 2, the device retreats along with the distance, then the control chip 44 sets the first air cylinder 21, the fourth motor 25 and the second air cylinder 23 to be in an initial state, then the crawler 5 advances, the rack-and-pinion steering gear 45 drives the large gear 4 to perform steering offset through the connecting rod 46 when the crawler advances, the direction of the device is changed, then the second step and the third step are repeated, a roadway which is larger than the area of the device can be excavated and accessed only by overlapping the tracks of the first excavation and the second excavation, and the second infrared distance meter 41 can detect the distance between two sides of the inner wall of the roadway and the device after the roadway enters so that the control chip 44 corrects in real time and prevents the device from colliding with the coal;
fifthly, discharging: coal generated in the tunneling process is sucked into the cutting barrel 35 through the through hole 36, enters the collecting barrel 34 through the feeding port 37, is sucked out of the collecting barrel 34 through the guide pipe 39 and is sent out of the roadway through the feeding port 37
While the invention has been shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the appended claims.
Claims (2)
1. The utility model provides a full-automatic coal road is from unmanned tunnelling device of response, includes bottom plate (1), transmission shaft one (3), transmission shaft two (6), rack and pinion steering gear (45), connecting rod (46), characterized by: the utility model discloses a motor, including bottom plate (1), rear half inside is equipped with differential motor (2) bottom plate (1), the bottom plate (1) left and right sides is equipped with transmission shaft one (3) and transmission shaft two (6) respectively, transmission shaft one (3) right-hand member and transmission shaft two (6) left end pass bottom plate (1) respectively about both ends back be connected with differential motor (2), transmission shaft one (3) left end outside and transmission shaft two (6) right-hand member outside respectively fixed mounting have gear wheel (4), gear wheel (4) outside meshing is fixed with track (5), bottom plate (1) first half bottom fixed mounting have with bottom and track (5) bottom parallel and level universal wheel (15), bottom plate (1) rear end fixed mounting has rack and pinion steering gear (45), interconnect through connecting rod (46) between gear wheel (4) and rack and pinion steering gear (45), the left half part and the right half part in the bottom plate (1) are respectively provided with a first motor (43) and a second motor (42) which are positioned in front of the differential motor (2), the tops of the first motor (43) and the second motor (42) are respectively provided with a first screw rod (8) and a second screw rod (12) of which the tops extend to the upper side of the bottom plate (1), the tops of the first screw rod (8) and the second screw rod (12) are respectively and fixedly provided with a connecting block (9), a fixing rod (10) is fixedly arranged between the connecting blocks (9), the outer sides of the first screw rod (8) and the second screw rod (12) are respectively and slidably connected with a first sliding block (7) and a second sliding block (11), the rear end of the second sliding block (11) is fixedly provided with a fourth motor (14), the left end of the fourth motor (14) is provided with a double screw rod (13), the left end of the double screw rod (13), the front end of the third sliding block (16) is fixedly provided with a third motor (18), the front end of the third motor (18) is provided with a first fixed column (17), the front end of the first fixed column (17) is fixedly provided with a first support plate (20), the front end of the first support plate (20) is fixedly provided with a first cylinder (21), the front end of the first cylinder (21) is fixedly provided with a second support plate (24), the front end of the second support plate (24) is fixedly provided with a fourth motor (25), the top of the fourth motor (25) is provided with a second fixed column (22), the outer side of the second fixed column (22) is fixedly provided with a fixed block (26), the front end of the fixed block (26) is fixedly provided with a second cylinder (23), the front end of the second cylinder (23) is fixedly provided with a third support plate (40), the front part of the third support plate (40) is provided with a, the middle of the second connecting rod (27) is provided with a universal joint (28) capable of rotating by an angle, springs (29) fixedly connected with the third supporting plate (40) and the fourth supporting plate (30) are arranged on the periphery of the second connecting rod (27), a fifth motor (31) is fixedly installed in the middle of the front end of the fourth supporting plate (30), a third connecting rod (32) positioned on the periphery of the fifth motor (31) is fixedly installed in the front end of the fourth supporting plate (30) in an array manner, a material collecting barrel (34) is fixedly installed at the front end of the third connecting rod (32), a cutting barrel (35) is arranged in front of the material collecting barrel (34), a protruding part (48) is fixedly installed at the front end of the cutting barrel (35), through holes (36) distributed in an array manner are formed in the front end and the outer side of the cutting barrel (35), the rear end of the cutting barrel (35) is hermetically connected with a feeding barrel, the rear end of the feeding barrel (38) penetrates through the inner wall of the front end of the cutting barrel (35) and then reaches the inside of the cutting barrel (35), the feeding barrel (38) is movably connected with the cutting barrel (35) through a bearing, the front end of the motor five (31) is provided with a fixing column three (33), the fixing column three (33) penetrates through the inner wall of the rear end of the material collecting barrel (34) and then is fixedly connected with the rear end of the feeding barrel (38), the feeding barrels (38) are provided with feeding ports (37) on the inner walls of the left and right ends of the inner part of the material collecting barrel (34), the inner wall of the left end of the material collecting barrel (34) is provided with a guide pipe (39) communicated with the inner part of the material collecting barrel (34), the other end of the guide pipe (39) is hermetically connected with a hose (47), the other end of the hose (47) can pass through the space between the screw rod one (8) and the screw rod two (12) and then be connected with a fan outside a coal roadway, and a second infrared distance meter (41) with opposite directions is fixedly installed at the left front end and the right front end of the bottom plate (1).
2. The use method of the full-automatic coal roadway self-induction unmanned tunneling device according to claim 1 comprises the following steps:
firstly, early preparation: the device is placed in front of a roadway to be tunneled, and then the length and the depth of the roadway to be tunneled are written into a control chip (44);
secondly, advancing: the control chip (44) controls the infrared range finder I (19) to detect the distance between the front end face of the roadway and the device, then the control chip (44) controls the differential motor (2) to operate, the differential motor (2) operates to drive the transmission shaft I (3) and the transmission shaft II (6) to rotate, the transmission shaft I (3) and the transmission shaft II (6) rotate to drive the large gear (4) to rotate, the large gear (4) rotates to drive the crawler (5) to rotate, the crawler (5) rotates to drive the device to integrally advance, so that the front end of the cutting cylinder (35) is attached to the front end face of the roadway, then the differential motor (2) stops operating, and the crawler (5) can prevent the device from backing up;
thirdly, tunneling for the first time: then a control chip (44) controls a motor five (31) to operate, the motor five (31) operates to drive a fixed column three (33) to rotate, the fixed column three (33) rotates to drive a cutting barrel (35) to rotate, a cylinder I (21) extends out when the cutting barrel (35) rotates, the cylinder I (21) extends out to enable the cutting barrel (35) to be capable of drilling into a coal roadway for crushing and tunneling, a motor I (43) respectively drives a screw rod I (8) and a screw rod II (12) to rotate during crushing and tunneling, the screw rod I (8) and the screw rod II (12) rotate to drive a sliding block I (7) and a sliding block II (11) to slide, the sliding block I (7) and the sliding block II (11) drive a motor three (16) to freely move in the vertical direction, a motor four (14) drives a double screw rod (13) to rotate, the double screw rod (13) rotates to drive a sliding block III (16) to freely move in the horizontal direction, and the sliding block III (16) can cooperate with the motor three (18) The roadway in the course is tunneled, the rotation of the motor III (18) can enable the cutting cylinder (35) to be capable of steering to tunnel coal roadways in the left direction, the right direction and the lower direction in the course better, when the coal roadways beyond the stroke of the sliding block III (16) need to be tunneled (the purpose of the step is to tunnel a space for advancing a crawler and tunnel entering and exiting the device larger than the area of the device per se), the motor IV (25) drives the fixed column II (22) to rotate, the fixed column II (22) rotates to drive the fixed block (26) to rotate for a certain angle, the fixed block (26) drives the air cylinder II (23) to rotate when rotating, when the air cylinder II (23) rotates, the support plate III (40) can rotate along with the air cylinder II (23), but due to the action of the universal joint (28), the support plate IV (30) and the cutting cylinder (35) cannot rotate along with the cutting cylinder II, and the air, enabling the cutting barrel (35) to be always attached to the roadway surface and heading towards a coal roadway outside the stroke of the third sliding block (16), and enabling the control chip (44) to calculate the rotating angle of the motor four (25) and the length of the second air cylinder (23) needing to be extended according to the distance that the center of the cutting barrel (35) exceeds the maximum stroke of the third sliding block (16) to be specifically defined as a pythagorean theorem and an arctangent function arctangent X, wherein X = tan theta = y/X;
fourthly, tunneling again: the control chip (44) controls the track (5) to retreat for a certain distance through the differential motor (2), the device also retreats along with the retreat, then the control chip (44) sets the cylinder I (21), the motor II (25) and the cylinder II (23) to be in an initial state, then the track (5) advances, the rack-and-pinion steering gear (45) drives the bull gear (4) to perform steering offset through the connecting rod (46) when the track advances, the device changes the direction along with the change of the direction, then the step II and the step III are repeated, a roadway which is larger than the area of the device can be excavated and accessed as long as the tracks of the first excavation and the second excavation are overlapped, and the infrared distance meter II (41) can detect the distance between the two sides of the inner wall of the roadway and the device after the roadway is entered, so that the control chip (44) can correct in;
fifthly, discharging: coal generated in the tunneling process is sucked into the cutting barrel (35) through the through hole (36), the coal enters the material collecting barrel (34) through the feeding port (37), and the coal is sucked out of the material collecting barrel (34) through the guide pipe (39) and is sent out of a roadway through the feeding port (37).
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| CA2141984C (en) * | 1995-02-07 | 2002-11-26 | Herbert A. Smith | Continuous control system for a mining or tunnelling machine |
| AT406892B (en) * | 1996-07-18 | 2000-10-25 | Voest Alpine Bergtechnik | METHOD FOR CONTROLLING THE CUTTING PROCESS AND DEVICE FOR DETECTING THE DROP-IN DEPTH OF CUTTING TOOLS |
| CN102383795B (en) * | 2011-10-11 | 2014-06-11 | 闫振东 | Comprehensive mechanical rock drift excavating process |
| CN104314467B (en) * | 2014-09-27 | 2017-04-12 | 孙刚力 | Tunneling drilling rig |
| US20170234129A1 (en) * | 2016-02-11 | 2017-08-17 | Eagle Harbor Holdings, Llc | System and method for real-time guidance and mapping of a tunnel boring machine and tunnel |
| CN108131150B (en) * | 2017-12-28 | 2024-05-14 | 中铁隧道局集团有限公司 | Remote real-time monitoring and controlling device for temperature of cutter head of shield machine |
| CN109296370B (en) * | 2018-10-09 | 2020-07-10 | 山东蓝光软件有限公司 | Tunneling method and system for automatic surveying and mapping positioning |
| CN109339813A (en) * | 2018-11-27 | 2019-02-15 | 中国水利水电第四工程局有限公司 | A kind of pipe jacking tunnelling machine |
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