CN111501863A - Artificial intelligent integrated continuous tunneling machine for frozen rock soil - Google Patents
Artificial intelligent integrated continuous tunneling machine for frozen rock soil Download PDFInfo
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- CN111501863A CN111501863A CN202010365439.XA CN202010365439A CN111501863A CN 111501863 A CN111501863 A CN 111501863A CN 202010365439 A CN202010365439 A CN 202010365439A CN 111501863 A CN111501863 A CN 111501863A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/02—Conveying equipment mounted on a dredger
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention provides an artificial intelligent comprehensive continuous tunneling machine for frozen rock and soil, which belongs to the technical field of mechanical equipment for rock and soil engineering and comprises a rack, a tunneling device, a continuous conveying mechanism of a spiral conveyor, and an automatic control system and a hydraulic system which are arranged on the rack; the rear end of the frame is provided with a continuous conveying mechanism of a spiral conveyor; the tunneling device comprises a front tunneling mechanism and a rear tunneling mechanism which are respectively arranged at the front end and the rear end of the bottom of the rack, and the hydraulic system provides power for the front tunneling mechanism, the rear driving mechanism and the continuous conveying mechanism of the screw conveyor; the automatic control system comprises a laser radar, a 360-degree rotating camera, an ultrasonic sensor, a plurality of radar sensors and a central processing unit. The invention realizes the artificial intelligent automatic operation of the frozen rock-soil tunneling machine and solves the problems of high labor intensity, low efficiency, poor safety and severe working environment of rock-soil excavation work in the prior art.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment for geotechnical engineering and roadway engineering, and particularly relates to an artificial intelligent comprehensive continuous tunneling machine for frozen geotechnical engineering.
Background
With the rapid development of the artificial intelligence technology, the directional development of machinery in the heavy industry field to the artificial intelligence is promoted, and especially for mine engineering with high safety risk and high labor intensity, the realization of the artificial intelligence of mechanical equipment is a trend.
As a large coal storage country, China is in the top of the world in the scale and number of newly built mines every year. However, in the tunneling construction of a vertical shaft, which is a bottleneck engineering of mine construction, the tunneling construction still remains in the ordinary mechanization stage of the last century, the artificial intelligence construction is basically in a blank stage, and particularly in the process of tunneling a shaft by freezing method shaft sinking, the construction is performed by adopting artificial excavation or blasting method, so that the labor intensity is high, the efficiency is low, the safety is poor, and the working environment is severe, so that the artificial intelligence construction for tunneling the vertical shaft is imperative.
Therefore, the application provides a continuous entry driving machine is synthesized to frozen ground artificial intelligence.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an artificial intelligent comprehensive continuous tunneling machine for frozen rock soil.
In order to achieve the above purpose, the invention provides the following technical scheme:
an artificial intelligent comprehensive continuous tunneling machine for frozen rock soil comprises a frame, a tunneling device, a continuous conveying mechanism of a screw conveyor, and an automatic control system and a hydraulic system which are arranged on the frame;
the rear end of the rack is provided with a continuous conveying mechanism of a spiral conveyor;
the tunneling device comprises a front tunneling mechanism and a rear tunneling mechanism which are respectively arranged at the front end and the rear end of the bottom of the rack, and the hydraulic system provides power for the front tunneling mechanism, the rear driving mechanism and the continuous conveying mechanism of the screw conveyor;
the automatic control system comprises an ultrasonic sensor, a central processing unit and a plurality of radar sensors;
the ultrasonic sensor is arranged at the top of the frame and used for collecting excavation depth information;
the plurality of radar sensors are arranged on the periphery of the rack and used for detecting the distance and the direction of the heading machine from objects around a well wall;
the central processing unit is arranged on the rack and processes information sent by the ultrasonic sensors and the plurality of radar sensors based on numerical simulation of cloud computing, plans a route, a tunneling speed and a tunneling depth of the heading machine, and controls the front heading mechanism, the rear heading mechanism and the continuous conveying mechanism of the spiral conveyor through controlling the hydraulic system according to the planned route, the tunneling speed and the tunneling depth, so that rock breaking, walking and muck transportation of the heading machine are realized.
Preferably, the hydraulic system includes explosion-proof electric machine, hydraulic pump, control mechanism, hydraulic tank and a plurality of hydraulic motor, explosion-proof electric machine is for the hydraulic pump provides power, and is a plurality of the hydraulic motor pass through hydraulic oil pipe with the hydraulic pump with hydraulic tank connects, control mechanism sets up on hydraulic oil pipe, be used for controlling and adjust the pressure, flow and the direction of liquid.
Preferably, the continuous conveying mechanism of the screw conveyor comprises a horizontal screw conveyor and a vertical screw conveyor, the horizontal screw conveyor is arranged at the lower part of the rear side of the rack and is linearly arranged, the lower end of the vertical screw conveyor is arranged in the middle of the rear side of the horizontal screw conveyor, a slag outlet is formed in the upper end of the vertical screw conveyor, one hydraulic motor drives the horizontal screw conveyor to operate, and the other hydraulic motor controls the vertical screw conveyor to operate.
Preferably, the horizontal screw conveyor and the vertical screw conveyor each comprise a screw shaft and a screw single piece arranged on the screw shaft, and one hydraulic motor drives the screw shaft to rotate.
Preferably, the front tunneling mechanism comprises a vertical shaft and four groups of tunneling roller assemblies uniformly arranged along the circumferential direction of the vertical shaft, the vertical shaft is rotatably connected with the rack through a fixed bearing, a driven gear is arranged at the upper end of the vertical shaft, one hydraulic motor drives the driven gear to rotate through a driving gear, the driven gear drives the vertical shaft to rotate, and the vertical shaft drives a roller to rotate, so that tunneling work of the tunneling machine is realized; the rear tunneling mechanism comprises two horizontal transverse shafts, each transverse shaft is divided into two independent parts, a group of driving roller assemblies are arranged at two ends of each transverse shaft, and the two hydraulic motors respectively drive the transverse shafts and the driving roller assemblies to rotate so as to realize walking and steering of the tunneling machine.
Preferably, each group of tunneling roller assemblies comprises a main shaft and a plurality of tunneling roller sections arranged on the main shaft, each tunneling roller section is fixed on the main shaft through a bearing, and each tunneling roller section can rotate independently; the main shaft is fixedly connected with the vertical shaft, a plurality of cutting tooth seats are arranged on the surface of each tunneling roller section along the circumferential direction, and the cutting teeth with the same number are fixed on the tunneling roller sections through the cutting tooth seats; each driving roller assembly comprises a transverse shaft and a driving roller fixed on the transverse shaft, the driving rollers are in key connection with the transverse shaft, a plurality of pick seats are arranged on the surface of each driving roller along the circumferential direction, and picks with the same number are fixed on the driving rollers through the pick seats.
Preferably, the system further comprises a laser radar and a 360-degree rotating camera;
the laser radar is arranged at the top of the rack and used for providing position information and identifying the position of an obstacle;
the 360-degree rotating camera is arranged at the top of the laser radar and used for 360-degree observation of the environment where frozen soil is excavated, inspection of the rack and tracking of the action route.
The artificial intelligent comprehensive continuous tunneling machine for frozen rock and soil provided by the invention has the following beneficial effects:
(1) the invention is provided with an advanced automatic control system to realize remote control, unmanned and intelligent operation;
(2) the conveying device is divided into two parts, one part is a horizontal screw conveyor, the other part is a vertical screw conveyor, a screw conveyor continuous conveying mechanism is adopted to realize the full-automatic conveying of rock soil, the horizontal screw conveyor can rotate by a certain angle in the vertical dimension to adjust the distance between the bottom and the shaft ground so as to collect broken rock soil, a mucking port at the upper end of the vertical screw conveyor is connected with a waste rock bin, and the lower end of the vertical screw conveyor is connected with the horizontal screw conveyor, so that the problems of low mechanization and intelligence degree, low working efficiency, high labor intensity, poor safety, severe working environment, difficult conveying and the like in the conventional mine shaft excavation are solved.
Drawings
FIG. 1 is a schematic structural diagram of an artificial intelligence comprehensive continuous tunneling machine for frozen rock and soil according to embodiment 1 of the invention;
fig. 2 is a schematic plan view of the artificial intelligence integrated continuous tunneling machine for frozen rock soil according to embodiment 1 of the present invention.
Description of reference numerals:
the device comprises a frame 1, a fixed frame 2, a front tunneling mechanism 3, a vertical shaft 31, a tunneling roller assembly 32, a fixed bearing 33, a driven gear 34, a driving gear 35, a rear driving mechanism 4, a horizontally arranged horizontal shaft 41, a driving roller assembly 42, a laser radar 5, a 360-degree rotary camera 6, an ultrasonic sensor 7, a central processing unit 8, a radar sensor 9, an explosion-proof motor 10, a hydraulic pump 11, a control device 12, a hydraulic oil tank 13, a hydraulic oil pipe 15, a horizontal screw conveyor 16, a vertical screw conveyor 17 and a slag outlet 18.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention and can practice the same, the present invention will be described in detail with reference to the accompanying drawings and specific examples. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing technical solutions of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. In the description of the present invention, unless otherwise specified, "a plurality" means two or more, and will not be described in detail herein.
Example 1
The invention provides an artificial intelligent comprehensive continuous tunneling machine for frozen rock soil, which comprises a frame 1, a tunneling device, a continuous conveying mechanism of a spiral conveyor, and an automatic control system and a hydraulic system which are arranged on the frame 1, as shown in figures 1 and 2;
the rear end of the frame 1 is provided with a continuous conveying mechanism of a spiral conveyor;
the tunneling device comprises a front tunneling mechanism 3 and a rear tunneling mechanism 4 which are respectively arranged at the front end and the rear end of the bottom of the frame 1, and a hydraulic system provides power for the front tunneling mechanism 3, the rear driving mechanism 4 and the continuous conveying mechanism of the screw conveyor to drive the front tunneling mechanism 3, the rear driving mechanism 4 and the continuous conveying mechanism of the screw conveyor to operate;
the automatic control system comprises an ultrasonic sensor 7, a central processing unit 8 and a plurality of radar sensors 9; meanwhile, the embodiment is also provided with a laser radar 5 and a 360-degree rotating camera 6; the laser radar 5 is arranged at the top of the rack 1, and the laser radar 5 can provide accurate position information and can accurately identify the position of an obstacle;
the 360-degree rotating camera 6 is arranged at the top of the laser radar 5, is convenient for data transmission, and is used for 360-degree observation of the environment of the frozen soil excavation, inspection of the rack, detection of the action route and the like;
the ultrasonic sensor 7 is arranged at the top of the frame 1 and used for collecting excavation depth information;
a plurality of radar sensors 9 are arranged around the frame 1 and used for detecting the distance and the direction of the heading machine from objects around a well wall;
the central processing unit 8 is arranged on the frame 1, the central processing unit 8 processes information sent by the ultrasonic sensor 7 and the plurality of radar sensors 9 based on numerical simulation of cloud computing, plans a route, a tunneling speed and a tunneling depth of the heading machine, and controls the front tunneling mechanism 3, the rear tunneling mechanism 4 and the continuous conveying mechanism of the spiral conveyor through controlling a hydraulic system according to the planned route, the tunneling speed and the tunneling depth, so that rock breaking and walking of the heading machine and conveying of slag soil are realized
The plurality of radar sensors 9 are arranged around the frame 1, 8 radar sensors 9 are arranged in the embodiment, and the radar sensors 9 can accurately position the distance and the direction of the heading machine from objects around a well wall and send out warning signals;
the central processing unit 8 is arranged on the frame 1 in front of the laser radar 5, is close to the laser radar 5 and rotates the camera 6 by 360 degrees, and is convenient for receiving and transmitting signals; the central processing unit 8 responds commands sent by the ultrasonic sensor 7 and the plurality of radar sensors 9 in time based on numerical simulation of cloud computing, plans a route, a tunneling speed and a tunneling depth of the heading machine, controls the control device in the hydraulic system to control the front tunneling mechanism 3, the rear tunneling mechanism 4 and the continuous conveying mechanism of the screw conveyor, and breaks rocks, walks and transports slag.
Further, in the present embodiment, the hydraulic system includes an explosion-proof motor 10, a hydraulic pump 11, a control mechanism 12, a hydraulic oil tank 13 and a plurality of hydraulic motors, the explosion-proof motor 10 provides power for the hydraulic pump 11, the plurality of hydraulic motors 14 are connected to the hydraulic oil tank 13 through a hydraulic oil pipe 15 and the hydraulic pump 11, and the control mechanism 12 is disposed on the hydraulic oil pipe 15 and is used for controlling and regulating the pressure, flow and direction of the liquid.
Further, in this embodiment, the continuous conveying mechanism of the screw conveyor includes a horizontal screw conveyor 16 and a vertical screw conveyor 17, the horizontal screw conveyor 16 is disposed at the lower portion of the rear side of the frame 1 and is linearly arranged, the lower end of the vertical screw conveyor 17 is disposed at the middle portion of the rear side of the horizontal screw conveyor 16, a slag outlet 18 is disposed at the upper end of the vertical screw conveyor 17, one hydraulic motor 14 drives the horizontal screw conveyor 16 to operate, and the other hydraulic motor controls the vertical screw conveyor 17 to operate. In the embodiment, the continuous conveying mechanism of the screw conveyor is fixedly connected with the rack 1 through the fixed frame 2, and the fixed frame 2 is made of a steel plate.
Further, in the present embodiment, each of the horizontal screw conveyor 16 and the vertical screw conveyor 17 includes a screw shaft and a screw single piece provided on the screw shaft, and one hydraulic motor drives the screw shaft to rotate. Specifically, in the present embodiment, each of the horizontal screw conveyor 16 and the vertical screw conveyor 17 includes a screw shaft and a single screw plate disposed on the screw shaft, and the screw shaft is driven to rotate by a hydraulic motor. The continuous conveying mechanism of the screw conveyer utilizes a hydraulic motor to drive a screw shaft with a single screw sheet to rotate, so that the muck generates relative motion along a screw surface and does not rotate together with the single screw sheet under the action of friction force of a trough or the wall of a conveying pipe, thereby axially propelling the muck and realizing the conveying of the muck. It should be noted that the directions of the spiral single pieces on the two sides of the horizontal spiral conveyor 16 are opposite, so that the muck on the two rotary sides of the horizontal spiral conveyor is conveyed to the middle part of the horizontal spiral conveyor, then enters the lower opening of the vertical spiral conveyor, and is discharged from the muck outlet of the vertical spiral conveyor. Specifically, in this embodiment, each set of ripping roller assemblies 32 includes a main shaft and a plurality of ripping roller sections disposed on the main shaft, each ripping roller section is fixed to the main shaft through a bearing, and each ripping roller section is independently rotatable. The main shaft is fixedly connected with the vertical shaft 31, a plurality of cutting tooth seats are arranged on the surface of each tunneling roller section along the circumferential direction, and cutting teeth with the same number are fixed on the tunneling roller sections through the cutting tooth seats.
Further, in this embodiment, the front tunneling mechanism 3 includes a vertical shaft 31 and four groups of tunneling drum assemblies 32 uniformly arranged along the circumferential direction of the vertical shaft 31, the vertical shaft 31 is rotatably connected with the frame 1 through a fixed bearing 33, a driven gear 34 is arranged at the upper end of the vertical shaft 31, one hydraulic motor 14 drives the driven gear 34 to rotate through a driving gear 35, the driven gear 34 drives the vertical shaft 31 to rotate, and the vertical shaft drives the drum to rotate, so as to realize the tunneling work of the tunneling machine; the rear tunneling mechanism 4 comprises two horizontal transverse shafts 41, the transverse shafts 41 are divided into two independent parts, two ends of each transverse shaft 41 are respectively provided with a group of driving roller assemblies 42, hydraulic oil pushes the two hydraulic motors to rotate, and the two hydraulic motors respectively drive the transverse shafts 41 and the driving roller assemblies 42 to rotate, so that the tunneling machine can walk and steer. Starting the explosion-proof motor 10 and the hydraulic pump 11 to pump hydraulic oil into the hydraulic pump 11; the hydraulic pump 11 converts pressure energy of the fluid into mechanical energy to drive the load to rotate. Specifically, hydraulic system utilizes explosion-proof machine 10 to drive hydraulic pump 11 and inhales oil from hydraulic tank 13, and hydraulic pump 11 converts mechanical energy into the pressure energy of liquid, and hydraulic oil passes through hydraulic pressure oil pipe 15 and gets into hydraulic motor through control mechanism 12, and control mechanism in this embodiment is the electromagnetism valves, promotes hydraulic motor and rotates, and hydraulic motor passes through driving gear 35 drive driven gear 34 rotatory, and driven gear 34 drives the rotation of vertical axis 31, and the vertical axis drives the cylinder rotation, realizes the tunnelling work of entry driving machine.
Further, in this embodiment, each group of tunneling roller assemblies 32 includes a main shaft and a plurality of tunneling roller sections disposed on the main shaft, each tunneling roller section is fixed on the main shaft through a bearing, and each tunneling roller section can rotate independently; the main shaft is fixedly connected with the vertical shaft 31, a plurality of cutting tooth seats are arranged on the surface of each tunneling roller section along the circumferential direction, and cutting teeth with the same number are fixed on the tunneling roller sections through the cutting tooth seats; each driving roller assembly 42 comprises a transverse shaft 41 and a driving roller fixed on the transverse shaft, the driving roller and the transverse shaft 41 are connected through keys, a plurality of cutting tooth seats are arranged on the surface of each driving roller along the circumferential direction, and the cutting teeth with the same number are fixed on the driving roller through the cutting tooth seats.
In order to improve the safety of the heading machine, the embodiment further comprises a safety device, wherein the safety device comprises a main power supply button and an emergency stop button, the main power supply button controls a main power supply switch of the heading machine, the emergency stop button controls emergency braking of a hydraulic system, and the two protection devices can independently operate and can also cooperatively control the safety problem of the heading machine.
When the excavator of the embodiment starts to excavate frozen rock soil, the remote control computer firstly carries out cloud computing on a frozen soil excavation task, a computing result is transmitted to the central processing unit 8, the central processing unit 8 carries out accurate 3D modeling based on numerical simulation of the cloud computing, various environments facing in the frozen soil excavation are simulated, the route planning design of the excavator is carried out, the accurate control of the depth of the frozen soil is carried out according to the ultrasonic sensor 7, the excavator carries out excavation of an excavation system under the parameter setting of a certain depth, the excavation system is stopped when the parameter value is reached, excavation is carried out after the transmission of the next command is carried out, if the command is well set one by one, the excavator can sequentially realize excavation operation of the frozen soil, the remote controller carries out strict control on the speed of the excavation system, the central processing unit 8 is started during excavation, and controls the control devices in the sensor and the hydraulic system, the control of the front tunneling mechanism, the rear driving mechanism and the continuous conveying mechanism of the screw conveyor is realized, and the rock breaking, the walking and the slag soil conveying of the tunneling machine are realized. The laser radar 5 accurately identifies a planned route, so that the heading machine moves forward when avoiding various obstacle areas, the 360-degree rotating camera 6 can remotely transmit videos to provide a visual route for the heading machine, the situation of the heading machine around a frozen wall can be remotely observed, the frozen soil excavation depth and the frozen soil conveying situation can be observed at 360 degrees, the penetration capacity of the ultrasonic sensor 7 to liquid and solid is large, the accurate positioning of the excavation operation depth can be realized in a shaft, the continuous excavation operation can be realized after the depth parameter setting is finished, the next-stage excavation operation can be carried out under the condition that each excavation operation depth command is reached, the radar sensor 9 can accurately position the distance and the direction of objects around the shaft wall of the heading machine to send warning signals, and the environment around the frozen wall can be visually detected to carry out data transmission.
The technical application that freezes rock soil artificial intelligence and synthesizes continuous entry driving machine creative realization artificial intelligence that this embodiment provided, use unmanned remote control intellectuality and screw conveyer continuous transport system's realization, the full automated control of all-round realization entry driving machine, can remote control entry driving machine's operation, thereby this entry driving machine carries on various inductors and realizes automatic accurate operation, it divide into horizontal screw conveyer and vertical screw conveyer still to be equipped with screw conveyer, horizontal screw conveyer can rely on self gravity to rotate certain angle from top to bottom at vertical dimension and horizontal dimension with certain angle, and vertical screw conveyer can 360 degrees arbitrary rotations, vertical screw conveyer upper end is connected with the waste rock storehouse, be convenient for broken transport and the transmission of soil.
The above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (7)
1. An artificial intelligent comprehensive continuous tunneling machine for frozen rock soil is characterized by comprising a rack (1), a tunneling device, a continuous conveying mechanism of a spiral conveyor, and an automatic control system and a hydraulic system which are arranged on the rack (1);
the rear end of the rack (1) is provided with a continuous conveying mechanism of a spiral conveyor;
the tunneling device comprises a front tunneling mechanism (3) and a rear tunneling mechanism (4) which are respectively arranged at the front end and the rear end of the bottom of the rack (1), and the hydraulic system provides power for the front tunneling mechanism (3), the rear driving mechanism (4) and the continuous conveying mechanism of the screw conveyor;
the automatic control system comprises an ultrasonic sensor (7), a central processing unit (8) and a plurality of radar sensors (9);
the ultrasonic sensor (7) is arranged at the top of the frame (1) and is used for collecting excavation depth information;
the plurality of radar sensors (9) are arranged on the periphery of the rack (1) and used for detecting the distance and the direction of the heading machine from objects around a well wall;
the central processing unit (8) is arranged on the rack (1), the central processing unit (8) processes information sent by the ultrasonic sensor (7) and the plurality of radar sensors (9) based on numerical simulation of cloud computing, plans a route, a tunneling speed and a tunneling depth of the heading machine, and then controls the front tunneling mechanism (3), the rear tunneling mechanism (4) and the spiral conveyor continuous conveying mechanism through controlling a hydraulic system according to the planned route, the tunneling speed and the tunneling depth, so that rock breaking, walking and muck transportation of the heading machine are realized.
2. The artificial intelligence integrated continuous tunneling machine for frozen rock and soil according to claim 1, characterized in that the hydraulic system comprises an explosion-proof motor (10), a hydraulic pump (11), a control mechanism (12), a hydraulic oil tank (13) and a plurality of hydraulic motors, the explosion-proof motor (10) provides power for the hydraulic pump (11), the hydraulic motors (14) are connected with the hydraulic oil tank (13) through hydraulic oil pipes (15), and the control mechanism (12) is arranged on the hydraulic oil pipes (15) and used for controlling and adjusting the pressure, flow and direction of the liquid.
3. The artificial intelligence comprehensive continuous tunneling machine for frozen rock soil according to claim 2, wherein the continuous conveying mechanism of the spiral conveyor comprises a horizontal spiral conveyor (16) and a vertical spiral conveyor (17), the horizontal spiral conveyor (16) is arranged at the lower part of the rear side of the rack (1) and is linearly arranged, the lower end of the vertical spiral conveyor (17) is arranged in the middle of the rear side of the horizontal spiral conveyor (16), a slag outlet (18) is arranged at the upper end of the vertical spiral conveyor (17), one hydraulic motor (14) drives the horizontal spiral conveyor (16) to operate, and the other hydraulic motor controls the vertical spiral conveyor (17) to operate.
4. The artificial intelligence integrated continuous tunneling machine for frozen rock soil according to claim 3, wherein each of the horizontal screw conveyor (16) and the vertical screw conveyor (17) comprises a screw shaft and a single screw plate disposed on the screw shaft, and one hydraulic motor drives the screw shaft to rotate.
5. The artificial intelligence comprehensive continuous tunneling machine for frozen rock soil according to claim 2, wherein the front tunneling mechanism (3) comprises a vertical shaft (31) and four groups of tunneling roller assemblies (32) uniformly arranged along the circumferential direction of the vertical shaft (31), the vertical shaft (31) is rotatably connected with the frame (1) through a fixed bearing (33), a driven gear (34) is arranged at the upper end of the vertical shaft (31), one hydraulic motor (14) drives the driven gear (34) to rotate through a driving gear (35), the driven gear (34) drives the vertical shaft (31) to rotate, and the vertical shaft drives the rollers to rotate, so that tunneling work of the tunneling machine is realized; the rear tunneling mechanism (4) comprises two horizontal transverse shafts (41), the transverse shafts (41) are divided into two independent parts, two ends of each transverse shaft are respectively provided with a group of driving roller assemblies (42), and the two hydraulic motors respectively drive the transverse shafts (41) and the driving roller assemblies (42) to rotate so as to realize walking and steering of the tunneling machine.
6. The artificial intelligence integrated continuous tunneling machine for frozen rock soil according to claim 5, wherein each group of tunneling roller assemblies (32) comprises a main shaft and a plurality of tunneling roller sections arranged on the main shaft, each tunneling roller section is fixed on the main shaft through a bearing, and each tunneling roller section can rotate independently; the main shaft is fixedly connected with the vertical shaft (31), a plurality of pick seats are arranged on the surface of each tunneling roller section along the circumferential direction, and the picks with the same number are fixed on the tunneling roller sections through the pick seats; each driving roller assembly (42) comprises a transverse shaft (41) and a driving roller fixed on the transverse shaft, the driving rollers are connected with the transverse shaft (41) through keys, a plurality of cutting tooth seats are arranged on the surface of each driving roller along the circumferential direction, and cutting teeth with the same number are fixed on the driving rollers through the cutting tooth seats.
7. The artificial intelligence integrated continuous tunneling machine for frozen rock and soil according to claim 1, further comprising a laser radar (5) and a 360-degree rotating camera (6);
the laser radar (5) is arranged at the top of the rack (1) and used for providing position information and identifying the position of an obstacle;
the 360-degree rotating camera (6) is arranged at the top of the laser radar (5) and used for observing the environment of the frozen soil during excavation by 360 degrees and carrying out inspection of the rack (1) and tracking of a moving route.
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| CN202010365439.XA CN111501863A (en) | 2020-04-30 | 2020-04-30 | Artificial intelligent integrated continuous tunneling machine for frozen rock soil |
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| CN202010365439.XA CN111501863A (en) | 2020-04-30 | 2020-04-30 | Artificial intelligent integrated continuous tunneling machine for frozen rock soil |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114856600A (en) * | 2021-02-05 | 2022-08-05 | 中铁高新工业股份有限公司 | Roller type rock breaking device for blind area of heading machine |
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| CN109386291A (en) * | 2018-11-22 | 2019-02-26 | 山东新矿信息技术有限公司 | Tunneling machine cutting paths planning method, device and tunneling machine cutting control system |
| CN109763826A (en) * | 2019-01-10 | 2019-05-17 | 河南理工大学 | A kind of broken pick machine of Frozen Rock and Soil |
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