CN111677552A - Mining tunnel repairing robot - Google Patents
Mining tunnel repairing robot Download PDFInfo
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- CN111677552A CN111677552A CN202010426634.9A CN202010426634A CN111677552A CN 111677552 A CN111677552 A CN 111677552A CN 202010426634 A CN202010426634 A CN 202010426634A CN 111677552 A CN111677552 A CN 111677552A
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- 238000005065 mining Methods 0.000 title claims abstract description 49
- 230000008439 repair process Effects 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 41
- 238000005553 drilling Methods 0.000 claims description 20
- 230000008859 change Effects 0.000 abstract description 5
- 239000003921 oil Substances 0.000 description 55
- 239000002689 soil Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 12
- 238000010276 construction Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B7/00—Special methods or apparatus for drilling
- E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
- E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
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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
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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
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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
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Environmental & Geological Engineering (AREA)
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Abstract
The invention discloses a mining roadway repairing robot, and belongs to the technical field of mine roadway repairing. The utility model provides a mining tunnel repair robot, includes the work platform base, still includes: the device comprises a main machine arm, a steering seat, three working arms and a mechanical arm piece, wherein auxiliary arm pieces are arranged on the three working arms; the mechanical drill arm is arranged on the working platform base and is connected with a drill rod; a travel drive device; a bulldozing mechanism; the main machine arm adopts a three-section arm structure, can change the operation state according to the size of a roadway, adjusts the expansion amplitude of the mechanical arm, and avoids collision with facilities such as an anchor rope, an anchor rod, a roadway top plate and the like in the roadway, so that the robot can flexibly operate in sections with different heights; the auxiliary arm part 7 can rotate by 360 degrees through the auxiliary arm oil cylinder 8, so that the requirements of 360-degree barrier-free grabbing, breaking, excavating and the like are met, and a wireless remote control programmer is arranged to carry out remote operation.
Description
Technical Field
The invention relates to the technical field of mine tunnel repair, in particular to a mine tunnel repair robot.
Background
The term "roadway" generally refers to a narrow street in a city and also refers to a passage which is excavated for mining lifting, transportation, ventilation, drainage, power supply, etc. in underground mining, underground mining refers to a general term for mining underground tunnels, and is generally applicable to mineral deposits which are buried deep in the mine body and are not suitable for open-pit mining economically and technically.
The existing mine tunnel pipeline installation method mostly uses manpower to lift up and fix installation, and during height installation, a hoisting anchor rod and an anchor cable are often hoisted by using a reverse chain, or people carrying a ladder and holding the upper or erecting a working platform to carry out positioning installation;
the existing mining excavator adopts a two-section arm hinge mechanism, and due to underground space limitation, the joint point of an excavator arm is easy to touch a roadway roof or an anchor rod or an anchor cable, so that the safety coefficient of mine construction is reduced, construction dead angles are always left at the positions of two sides of the excavator, the excavator is usually moved or retreated or is manually piled up for trimming, and the manpower, material resources and financial resources are wasted due to repeated construction; the existing anchor rod and anchor cable drilling machine is heavy and is lifted to a construction site by two or three persons, the power source of the anchor rod and anchor cable drilling machine is supplied with pressure by a tunnel air pipe, and a connected pipeline is easy to bend and knot, so that the site is disordered and people are easy to trip and hurt.
Disclosure of Invention
The invention aims to solve the problems in the background technology, and provides a mining roadway repairing robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a mining tunnel repair robot, includes the work platform base, still includes: the three-section working arm is connected with the mechanical arm piece, the three-section working arm is rotationally connected to the steering seat, and the steering seat is rotationally connected to the working platform base; the three working arms are provided with auxiliary arm pieces, and the auxiliary arm pieces are provided with auxiliary arm rotating oil cylinders for driving the mechanical arm pieces to rotate; the mechanical drill arm is arranged on the working platform base and is connected with a drill rod; the walking driving device is arranged at the lower end of the working platform base and is used for driving the working platform base to move; the bulldozing mechanism is arranged on the walking driving device; and the hydraulic device is arranged on the working platform base and used for driving the main machine arm, the machine drill arm and the walking driving device to work.
Preferably, the three-section working arm further comprises: the large arm piece is rotationally connected with the auxiliary arm piece and is rotationally connected to the steering seat; the steering device comprises a steering seat, a large arm piece, an auxiliary arm piece, a large arm oil cylinder, an auxiliary arm oil cylinder and a hydraulic oil cylinder, wherein the large arm piece is rotatably connected with the large arm oil cylinder and the auxiliary arm oil cylinder; the small arm piece is rotationally connected to the auxiliary arm piece and is rotationally connected with the mechanical arm; the small arm piece is rotatably connected with a mechanical arm oil cylinder and a small arm oil cylinder, and one ends, far away from the small arm piece, of the mechanical arm oil cylinder and the small arm oil cylinder are rotatably connected to the mechanical arm piece and the auxiliary arm piece.
Preferably, a side-turning oil cylinder for driving the turning seat to rotate is arranged on the turning seat.
Preferably, the mechanical arm member includes: a working head; one end of the rotating shaft is rotatably connected with the small arm piece, and the other end of the rotating shaft is connected with the working head; two ends of the swing frame are respectively and rotatably connected with the small arm piece and the mechanical arm oil cylinder; the swing frame piece is connected with a swing frame connecting rod, and one end, far away from the swing frame piece, of the swing frame connecting rod is connected to the rotating shaft.
Preferably, the working head comprises a mechanical arm, a bucket and a breaking hammer, and the working head is detachably connected with the rotating shaft.
Preferably, the machine drill boom includes revolving stage, fixing base, hydraulic pressure and bores the parts, the drilling rod is connected the output that the parts was bored to hydraulic pressure, the revolving stage rotates to be connected on the work platform base, the fixing base rotates with the revolving stage and links to each other, be connected with on the fixing base and be used for driving hydraulic pressure and bore parts pivoted rotating base.
Preferably, the rotating base includes: the two ends of the connecting plate are respectively and fixedly connected with a second rotary speed reducer and a third rotary speed reducer, and the connecting plate is connected with the fixed seat through the second rotary speed reducer; the telescopic arm oil cylinder is fixedly connected to the output end of the third rotary speed reducer and is connected with a telescopic arm piece; the hydraulic drilling machine sliding seat is fixedly connected with the hydraulic drilling machine part and is connected to the telescopic arm part; the power box is arranged on the working platform and used for controlling the telescopic arm oil cylinder and the hydraulic drill machine member to work; and the support seat is connected to the telescopic arm piece.
Preferably, the revolving stage passes through a rotary speed reducer with the work platform base and links to each other, the revolving stage rotates with the fixing base through main frame of lifting and links to each other, main frame of lifting is last to rotate and is connected with the arm cylinder of lifting, the other end of lifting the arm cylinder rotates and connects on the revolving stage, be equipped with the stand frame on the fixing base, be equipped with the driver's cabin on the work platform, still be equipped with back on the flexible arm spare and prop the hydro-cylinder.
Preferably, the walking driving device comprises a guide wheel, a thrust wheel, a chassis frame, a supporting chain wheel, a driving reducer and a crawler, the chassis frame is connected with the base of the working platform, the driving reducer is connected to the chassis frame, the supporting chain wheel is connected to the upper end of the chassis frame, the guide wheel is connected to the chassis frame, and the crawler is attached to the driving reducer, the supporting chain wheel, the thrust wheel and the guide wheel.
Preferably, the soil pushing mechanism comprises a soil pushing blade part, a soil pushing blade connecting frame and a soil pushing blade oil cylinder, the soil pushing blade connecting frame is fixedly connected with the soil pushing blade part, the soil pushing blade connecting frame is rotatably connected to the chassis frame, and two ends of the soil pushing blade oil cylinder are respectively rotatably connected with the soil pushing blade part and the chassis frame.
Compared with the prior art, the invention provides a mining roadway repairing robot, which has the following beneficial effects:
1. according to the mining roadway repairing robot, the main machine arm adopts a three-section arm structure form, the operation state can be changed according to the size of a roadway, and the telescopic amplitude of the main machine arm is adjusted, so that the roadway repairing robot can flexibly operate in sections with different heights; the auxiliary arm can rotate by 360 degrees through the auxiliary arm rotating oil cylinder, and the requirements of 360-degree barrier-free grabbing, crushing, excavating and the like are met; the manipulator body can rotate by 360 degrees to realize the grabbing in each angle direction;
2. according to the mining roadway repairing robot, a first rotary speed reducer, a second rotary speed reducer and a third rotary speed reducer are arranged on a machine drill arm, and can rotate 360 degrees, so that a support can be laid without a dead angle of 360 degrees; the machine drill arm can simultaneously act with the main machine arm and the walking device without mutual influence;
3. the mining roadway repairing robot is provided with the functions of wireless remote control, operation programming, positioning navigation, camera recording, deviation correction, multi-parameter sensing, state detection and fault pre-judgment, remote intervention, anti-collision alarm, high-precision orientation, pose adjustment and the like; the intelligent feedback of real-time information is realized, the construction is accurate and effective, a large amount of man-machine investment is saved, and the production efficiency of a mine is improved;
4. according to the mining roadway repairing robot, the wireless remote control programmer can wirelessly control all actions of the whole robot, and unmanned driving is realized; the arrangement of the cab is only used for standby maintenance, temporary manual rest, tool placement and the like;
the part which is not involved in the device is the same as the prior art or can be realized by the prior art, the main robot arm adopts a three-section arm structure form, the expansion amplitude of a mechanical arm piece can be adjusted according to the size of a roadway and the change of the operation state, and facilities such as an anchor rope, an anchor rod, a roadway top plate and the like in the roadway are avoided being collided, so that the robot can flexibly operate in sections with different heights; the auxiliary arm part 7 can rotate by 360 degrees through the auxiliary arm oil cylinder 8, so that the requirements of 360-degree barrier-free grabbing, breaking, excavating and the like are met, and a wireless remote control programmer is arranged to carry out remote operation.
Drawings
Fig. 1 is one of schematic structural diagrams of a mining roadway repairing robot provided by the invention;
fig. 2 is one of schematic structural diagrams of a mining roadway repairing robot provided by the invention;
fig. 3 is a schematic structural diagram of a part a in fig. 2 of the mining roadway repairing robot provided by the invention;
fig. 4 is a schematic structural diagram of a part B in fig. 2 of the mining roadway repairing robot provided by the invention;
fig. 5 is one of schematic structural diagrams of a mining roadway repairing robot provided by the invention;
fig. 6 is a schematic structural diagram of a part C in fig. 5 of the mining roadway repairing robot provided by the invention;
fig. 7 is one of schematic structural diagrams of the mining roadway repairing robot provided by the invention.
Fig. 8 is a schematic structural diagram of a working head of the mining roadway repairing robot provided by the invention;
fig. 9 is one of schematic structural diagrams of a mining roadway repairing robot according to the present invention;
fig. 10 is one of schematic structural diagrams of a mining roadway repairing robot according to the present invention;
fig. 11 is one of schematic structural diagrams of a mining roadway repairing robot according to the present invention;
fig. 12 is one of schematic structural diagrams of the mining roadway repairing robot provided by the invention.
In the figure: 2. a rotating shaft; 3. a swing frame member; 4. a mechanical arm oil cylinder; 5. a small arm member; 6. a small arm cylinder; 7. an auxiliary arm; 8. an auxiliary arm cylinder; 9. the auxiliary arm rotates the cylinder; 10. a steering seat; 11. a large arm member; 12. a large arm cylinder; 13. a first slew reducer; 14. a rotating table; 15. a lifting arm cylinder; 16. a cab; 17. a main lifting frame; 18. a back-supporting oil cylinder; 19. a sliding seat of a hydraulic drilling machine; 20. a fixed seat; 21. a hydraulic drill work; 22. a station rack; 23. a power box; 24. a second slewing reducer; 25. a connecting plate; 26. a third slewing reducer; 27. a telescopic arm oil cylinder; 28. a telescopic arm; 29. a drill stem; 30. a support base; 31. a swing frame link; 32. a dozer blade member; 33. a blade attachment frame; 34. a dozer blade cylinder; 35. laterally rotating the oil cylinder; 36. a guide wheel; 37. a thrust wheel; 38. a chassis frame; 39. a chain supporting wheel; 40. driving a speed reducer; 41. a crawler belt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Example 1:
referring to fig. 1-12, a mining roadway repair robot includes a work platform base, and further includes:
the main machine arm is provided with a steering seat 10, three working arms and a mechanical arm piece, the three working arms are connected with the mechanical arm piece, the three working arms are rotationally connected to the steering seat 10, the steering seat 10 is rotationally connected to a working platform base, the steering seat 10 is provided with a side-turning oil cylinder 35 for driving the steering seat 10 to rotate, and a cylinder body and a piston rod head of the side-turning oil cylinder 35 are rotationally connected with the working platform base and the steering seat 10 respectively, so that the steering seat 10 can drive the three working arms to swing laterally, and the swing amplitude is large, so that the working range of the mechanical arm piece can be improved;
the mechanical arm member mainly includes:
referring to fig. 8, the working head comprises a mechanical arm, a bucket, a breaking hammer or other working elements, is detachably connected with the rotating shaft 2, and particularly referring to fig. 11-12, the required working head can be replaced in time, so that the working efficiency is improved;
one end of the rotating shaft 2 is rotatably connected with the small arm piece 5, the other end of the rotating shaft is connected with the working head, and the arrangement of the rotating shaft 2 can improve the stability of the connection of the working head;
two ends of the swing frame piece 3 are respectively and rotatably connected with the small arm piece 5 and the mechanical arm oil cylinder 4;
wherein, the swing frame piece 3 is also connected with a swing frame connecting rod 31, and one end of the swing frame connecting rod 31 far away from the swing frame piece 3 is connected to the rotating shaft 2, so that the mechanical arm oil cylinder 4 can drive the rotating shaft 2 to rotate conveniently;
the three working arms are provided with auxiliary arm pieces 7, the auxiliary arm pieces 7 are provided with auxiliary arm rotating oil cylinders 9 used for driving the mechanical arm pieces to rotate, and the auxiliary arm rotating oil cylinders 9 can enable the small arm pieces 5 in the three working arms to rotate for 360 degrees, so that multi-angle crushing and excavation of the mechanical arm pieces are met;
the three-section working arm mainly comprises:
a large arm 11 rotatably connected to the auxiliary arm 7 and rotatably connected to the steering base 10;
wherein, the large arm member 11 is rotatably connected with a large arm cylinder 12 and an auxiliary arm cylinder 8, one ends of the large arm cylinder 12 and the auxiliary arm cylinder 8 far away from the large arm member 11 are respectively rotatably connected with the steering seat 10 and the auxiliary arm member 7, namely, a cylinder body and a piston rod head of the large arm cylinder 12 are respectively connected with the steering seat 10 and the large arm member 11, and a cylinder body and a piston rod head of the auxiliary arm cylinder 8 are respectively connected with the large arm member 11 and the auxiliary arm member 7;
a small arm 5 which is rotationally connected to the auxiliary arm 7 and rotationally connected to the mechanical arm;
the small arm part 5 is rotatably connected with a mechanical arm oil cylinder 4 and a small arm oil cylinder 6, one ends of the mechanical arm oil cylinder 4 and the small arm oil cylinder 6, which are far away from the small arm part 5, are rotatably connected with the mechanical arm part and an auxiliary arm part 7, namely a cylinder body and a piston rod head of the small arm oil cylinder 6 are respectively connected with the small arm part 5 and the auxiliary arm part 7, and a cylinder body and a piston rod head of the mechanical arm oil cylinder 4 are respectively connected with the small arm part 5 and the swing frame part 3;
the three working arms formed by the small arm piece 5, the auxiliary arm piece 7 and the large arm piece 11 enable the swing amplitude of the three working arms to be +/-70 degrees, and the working range of the mechanical arm piece is large;
the machine drill arm is arranged on the working platform base, is connected with a drill rod 29, and can perform drilling operation through the drill rod 29;
the mechanical drill boom comprises a rotating platform 14, a fixed seat 20 and a hydraulic drill part 21, a drill rod 29 is connected to the output end of the hydraulic drill part 21, the rotating platform 14 is rotatably connected to a working platform base, specifically, the rotating platform 14 is connected with the working platform base through a first rotary speed reducer 13, the first rotary speed reducer 13 can drive the whole mechanical drill boom to rotate 360 degrees in the horizontal direction, the fixed seat 20 is rotatably connected with the rotating platform 14, specifically, the rotating platform 14 is rotatably connected with the fixed seat 20 through a main lifting frame 17, a boom lifting oil cylinder 15 is rotatably connected to the main lifting frame 17, the other end of the boom lifting oil cylinder 15 is rotatably connected to the rotating platform 14, a cylinder body and a piston rod head of the boom lifting oil cylinder 15 are respectively connected to the rotating platform 14 and the main lifting frame 17, and the fixed seat 20 is connected with a rotating base;
the rotating base includes:
a connecting plate 25, both ends of which are fixedly connected with a second rotation reducer 24 and a third rotation reducer 26 respectively, and which is connected with the fixed seat 20 through the second rotation reducer 24;
a telescopic arm cylinder 27 fixedly connected to an output end of the third rotation reducer 26, and to which a telescopic arm 28 is connected;
the second rotary speed reducer 24 and the third rotary speed reducer 26 can realize 360-degree rotation of the telescopic arm oil cylinder 27 in multiple directions, so that the working range of the drill rod 29 is further enlarged;
the hydraulic drilling machine sliding seat 19 is fixedly connected with the hydraulic drilling machine part 21 and is connected to the telescopic arm piece 28, specifically, an upper rail of the telescopic arm piece 28 is in sliding connection with a rail groove of the hydraulic drilling machine sliding seat 19, an external gear type rotating motor, a chain and a gear are arranged in the telescopic arm 8, two ends of the hydraulic drilling machine sliding seat 19 are respectively and fixedly connected with two ends of the chain, the chain is driven by the external gear type rotating motor, and therefore the hydraulic drilling machine sliding seat 19 and the hydraulic drilling machine part 21 are driven to run back and forth;
the power box 23 is arranged on the working platform and used for controlling the telescopic arm oil cylinder 27 and the hydraulic drill machine member 21 to work;
a support base 30 connected to the telescopic arm 28 and capable of protecting the telescopic arm 28;
the fixed seat 20 is provided with a stand frame 22 for an operator to conveniently overhaul the rotary machine base, the working platform is provided with a cab 16, when the cab 16 is standby, manual control is prevented when the machine cannot be operated, and the telescopic arm 28 is also provided with a back-up oil cylinder 18;
the walking driving device is arranged at the lower end of the working platform base and is used for driving the working platform base to move;
the walking driving device comprises a guide wheel 36, a thrust wheel 37, a chassis frame 38, a chain supporting wheel 39, a driving reducer 40 and two crawler belts 41, wherein the chassis frame 38 is connected with a base of the working platform, the driving reducer 40 is connected on the chassis frame 38, the driving reducer 40 adopts an embedded walking reducer, namely a two-stage planetary reducer, a reducer is a compact transmission part with an internal hydraulic motor, the chain supporting wheel 39 is connected at the upper end of the chassis frame 38, the guide wheel 36 is connected on the chassis frame 38, the crawler belts 41 are attached to the driving reducer 40, the chain supporting wheel 39, the thrust wheel 37 and the guide wheel 36, the guide wheel 36 plays a role in guiding, supporting and tensioning, and the thrust wheel 37 adopts a floating sealing mode, so that the running is stable, reliable and maintenance-free;
the bulldozing mechanism is arranged on the traveling driving device;
the soil pushing mechanism comprises a soil pushing blade part 32, a soil pushing blade connecting frame 33 and a soil pushing blade oil cylinder 34, the soil pushing blade connecting frame 33 is fixedly connected with the soil pushing blade part 32, the soil pushing blade connecting frame 33 is rotatably connected to a chassis frame 38, two ends of the soil pushing blade oil cylinder 34 are respectively rotatably connected with the soil pushing blade part 32 and the chassis frame 38, soil at the front end of the robot can be cleaned, and the robot is convenient to move.
The hydraulic device is arranged on the base of the working platform and used for driving the main machine arm, the machine drill boom and the walking driving device to work, comprises a small arm oil cylinder 6, a mechanical arm oil cylinder 4, an auxiliary arm rotating oil cylinder 9, a large arm oil cylinder 12, an arm lifting oil cylinder 15, a telescopic arm oil cylinder 27 and a side turning oil cylinder 35 and can drive the robot to work.
The main machine arm adopts a three-section arm structure, can change the operation state according to the size of a roadway, adjusts the expansion amplitude of the mechanical arm, and avoids collision with facilities such as an anchor rope, an anchor rod, a roadway top plate and the like in the roadway, so that the robot can flexibly operate in sections with different heights; the auxiliary arm 7 can rotate 360 degrees through the auxiliary arm oil cylinder 8, so that the requirements of 360-degree barrier-free grabbing, crushing, excavating and the like are met, and the main machine arm can be selectively provided with a bucket, a crushing hammer, a hydraulic shear, a manipulator, a milling-excavating machine and an anchor rod drilling arm; the main machine arm, the machine drill arm and the walking driving device can simultaneously advance for construction without mutual influence.
Example 2:
referring to fig. 1 to 12, a mining roadway repairing robot is basically the same as that in embodiment 1, and further, a wireless remote control programmer can be further installed on the robot, the wireless remote control programmer is in the prior art, and not described in detail herein, and can perform precise fine adjustment of angles on a first slewing reducer 13, a second slewing reducer 24, a third slewing reducer 26 and a three-section working arm, so that construction accuracy is improved
The wireless remote control programmer has manual and automatic functions, and can perform angle fine adjustment in a manual state so as to perform origin positioning; the input parameters can be permanently stored to prevent the input parameters from being constructed and used again in the future without repeated writing;
the rotating speed of the motor and the hydraulic flow of the hydraulic device are controlled by a wireless remote control programmer, parameters are input into the wireless remote control programmer, the larger the input numerical value is, the larger the rotating speed and the flow are, and the like is vice versa; the pressure of the cylinder body of the oil cylinder of the whole machine is fed back by the pressure transmitter, and the fed-back numerical value is displayed on the wireless remote control programmer and can be input to adjust the pressure.
Example 3:
referring to fig. 1 to 12, a mining roadway repairing robot is substantially the same as that in embodiment 2, and further, a horizontal posture adjusting system is installed on a chassis frame 38, the horizontal posture adjusting system is the prior art and is not described herein in detail, and a vehicle body can be kept in a horizontal state no matter how the chassis frame 38 is inclined; a horizontal adjusting plate is arranged between the chassis frame 38 and the vehicle body, a horizontal measuring sensor is arranged at the bottom of the vehicle body platform, when the vehicle body platform has an inclination trend, the horizontal measuring sensor sends out a warning signal, and the horizontal adjusting plate automatically adjusts the horizontal angle; the horizontal pose adjusting system is concealed and flexibly installed between the chassis frame 38 and the vehicle body platform, is not separated from each other and is mutually constrained in position.
Example 4:
referring to fig. 1-12, a mining roadway repairing robot is substantially the same as embodiment 2, and further, a remote laser transmitter is installed on the robot, the laser transmitter is the prior art, and is not described herein, the robot enters a mine roadway, a laser roadway center line is set at a roadway center position or a roadway head-on by using the remote laser transmitter in a static state, positioning is performed, the robot starts to work, the laser route transmitted by the laser transmitter is tracked to advance, the remaining distance and the constructed section distance can be reported according to a set time period, and when the ground is uneven and deviates from the laser roadway, a laser line is automatically searched, and a deviated path is corrected.
Example 5:
referring to fig. 1-12, a mining roadway repairing robot is basically the same as that in embodiment 2, and further, a collision avoidance alarm sensor is further installed on the robot, specifically installed in a small arm 5, an auxiliary arm 7 and a telescopic arm 28 of a machine drill arm on a main machine arm, the collision avoidance alarm sensor is directly connected with a collision avoidance alarm, when a falling top and falling side is encountered, the small arm 5, the auxiliary arm 7 and the telescopic arm 28 are hammered to greatly swing or deform in posture, the robot will stop immediately, and the collision avoidance alarm flashes to alarm; the anti-collision alarm and the alarm lamp on the wireless remote control programmer are simultaneously lighted to send out an alarm or a warning, and the screen alarm display type on the wireless remote control programmer is firstly searched, so that a solution is conveniently found.
Example 6:
referring to fig. 1-12, a mining roadway repairing robot is basically the same as that of embodiment 2, and further, if a hydraulic drill machine member 21 advances and meets hard rock, the rotating hydraulic pressure of a gear type rotating motor is increased, when the pressure is close to the pressure value of a telescopic arm oil cylinder 27, or the pressure transmitter of the telescopic arm oil cylinder 27 feeds back the value to a wireless remote control programmer, and when the pressure exceeds the set pressure limit on the wireless remote control programmer, a back-supporting oil cylinder 18 automatically extends out to prop against the opposite roadway in a back-supporting manner, so as to stabilize the drill arm of the machine; if the pressure is lower than the set pressure limit, the back-up oil cylinder 18 will retract automatically.
Example 7:
referring to fig. 1-12, a mining roadway repair robot is basically the same as that in embodiment 2, and further, a navigation GPS satellite positioning system is installed on the robot, and a central monitoring system can detect the real-time traveling speed and the track route of the robot, so that the robot has a positive auxiliary management effect for improving the mine production organization level and the like; the mine roadway layout scanning is to record the whole mine roadway track, position fixed points of a shaft, a transformer station, an avoidance chamber and the like, form a mine electronic map, and realize map terminal searching, storage of frequently-visited place records, automatic route planning, picture navigation and the like;
the operation action, the production efficiency, the change of a working site and the like of the field robot are observed and detected by installing a probe; the right side of a small arm part 5 arranged on a main machine arm is used for observing the working conditions and the walking conditions of a manipulator, a bucket, a milling machine and the like, the left side of a telescopic arm part 28 arranged on a machine drilling arm is used for observing the drilling speed, the drilling distance and the like of a hydraulic drilling machine, the tail part of a power box 23 is used for observing the field static conditions behind the robot, the real-time recording can be realized, and the wireless remote control programmer is used for searching and watching;
the robot is provided with a multi-parameter sensor which is used for multifunctional monitoring of differential pressure, static pressure and temperature of liquid, gas and steam, and realizes real-time, continuous, automatic measurement and unattended operation; the feedback information of the motor rotating speed, the hydraulic flow and temperature, the system current and voltage fluctuation and the like is utilized to carry out autonomous analysis, and possible results are displayed on a screen of the wireless remote control programmer;
the robot power box 23 is internally provided with an information transmitter, an information receiver is hung on a constructed roadway side according to the construction roadway progress, the information receiver is connected to an office computer through a signal cable, all robot dynamic information or information on a wireless remote control programmer is transmitted to the office computer through a signal line, hydraulic flow, temperature and analog input parameters, programming program contents and the like can be monitored in real time by using installed configuration software, and error information input on site is intervened and corrected in time, wherein the information transmitter and a navigation GPS satellite positioning system are the prior art, and redundant description is not given here.
Example 8:
referring to fig. 9, a mining roadway repairing robot is basically the same as that in embodiment 1, and further, a drill rod 29 can be installed on a swing frame.
Example 9:
referring to fig. 9 and 10, a mining roadway repairing robot is basically the same as that of embodiment 1, and further, a ceiling may be provided on a cab 16.
Example 10:
referring to fig. 8-10, a mining roadway repairing robot is basically the same as that in embodiment 1, and further, a telescopic supporting arm can be fixedly connected to a bulldozer mechanism, so that the stability of the device in use is improved.
According to the robot arm, the main robot arm adopts a three-section arm structure, the expansion and contraction amplitude of the mechanical arm can be adjusted according to the size of a roadway and the change of the operation state, and facilities such as anchor cables, anchor rods, a roadway top plate and the like in the roadway are prevented from being collided, so that the robot can flexibly operate in sections with different heights; the auxiliary arm part 7 can rotate by 360 degrees through the auxiliary arm oil cylinder 8, so that the requirements of 360-degree barrier-free grabbing, breaking, excavating and the like are met, and a wireless remote control programmer is arranged to carry out remote operation.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides a mining tunnel repair robot, includes the work platform base, its characterized in that still includes:
the main machine arm is provided with a steering seat (10), three working arms and a mechanical arm piece, the three working arms are connected with the mechanical arm piece, the three working arms are rotationally connected to the steering seat (10), and the steering seat (10) is rotationally connected to the working platform base;
the three working arms are provided with auxiliary arm pieces (7), and the auxiliary arm pieces (7) are provided with auxiliary arm rotating oil cylinders (9) for driving the mechanical arm pieces to rotate;
the machine drill arm is arranged on the working platform base and is connected with a drill rod (29);
the walking driving device is arranged at the lower end of the working platform base and is used for driving the working platform base to move;
the bulldozing mechanism is arranged on the walking driving device;
and the hydraulic device is arranged on the working platform base and used for driving the main machine arm, the machine drill arm and the walking driving device to work.
2. The mining roadway repair robot of claim 1, wherein the three-section working arm further comprises:
the large arm piece (11) is rotationally connected with the auxiliary arm piece (7) and is rotationally connected to the steering seat (10);
the large arm piece (11) is rotatably connected with a large arm oil cylinder (12) and an auxiliary arm oil cylinder (8), and one ends of the large arm oil cylinder (12) and the auxiliary arm oil cylinder (8) far away from the large arm piece (11) are respectively rotatably connected to the steering seat (10) and the auxiliary arm piece (7);
the small arm piece (5) is rotationally connected to the auxiliary arm piece (7) and is rotationally connected with the mechanical arm;
the small arm piece (5) is connected with a mechanical arm oil cylinder (4) and a small arm oil cylinder (6) in a rotating mode, and one ends, far away from the small arm piece (5), of the mechanical arm oil cylinder (4) and the small arm oil cylinder (6) are connected to the mechanical arm piece and the auxiliary arm piece (7) in a rotating mode.
3. The mining roadway repair robot according to claim 2, wherein the steering seat (10) is provided with a side-turning oil cylinder (35) for driving the steering seat (10) to rotate.
4. The mining roadway repair robot of claim 3, wherein the mechanical arm comprises:
a working head;
one end of the rotating shaft (2) is rotationally connected with the small arm piece (5), and the other end of the rotating shaft is connected with the working head;
the two ends of the swing frame piece (3) are respectively and rotatably connected with the small arm piece (5) and the mechanical arm oil cylinder (4);
wherein, still be connected with swing frame connecting rod (31) on swing frame spare (3), swing frame connecting rod (31) keep away from the one end of swing frame spare (3) and connect on revolving axle (2).
5. The mining roadway repairing robot according to claim 4, wherein the working head comprises a manipulator, a bucket and a breaking hammer, and the working head is detachably connected with the rotating shaft (2).
6. The mining roadway repairing robot according to claim 1, wherein the machine drill boom comprises a rotating platform (14), a fixed seat (20) and a hydraulic drill part (21), the drill rod (29) is connected to an output end of the hydraulic drill part (21), the rotating platform (14) is rotatably connected to the working platform base, the fixed seat (20) is rotatably connected to the rotating platform (14), and a rotating base for driving the hydraulic drill part (21) to rotate is connected to the fixed seat (20).
7. The mining roadway repair robot of claim 6, wherein the rotating base comprises:
the two ends of the connecting plate (25) are respectively and fixedly connected with a second rotary speed reducer (24) and a third rotary speed reducer (26) and are connected with the fixed seat (20) through the second rotary speed reducer (24);
a telescopic arm oil cylinder (27) fixedly connected to the output end of the third rotary speed reducer (26) and connected with a telescopic arm (28);
the hydraulic drilling machine sliding seat (19) is fixedly connected with the hydraulic drilling machine part (21) and is connected to the telescopic arm piece (28);
the power box (23) is arranged on the working platform and used for controlling the telescopic arm oil cylinder (27) and the hydraulic drill machine member (21) to work;
and a support base (30) connected to the telescopic arm member (28).
8. The mining roadway repairing robot according to claim 7, wherein the rotating platform (14) is connected with a base of the working platform through a first rotary speed reducer (13), the rotating platform (14) is rotatably connected with the fixed seat (20) through a main lifting frame (17), a lifting arm cylinder (15) is rotatably connected to the main lifting frame (17), the other end of the lifting arm cylinder (15) is rotatably connected to the rotating platform (14), a standing frame (22) is arranged on the fixed seat (20), a cab (16) is arranged on the working platform, and a back-supporting cylinder (18) is further arranged on the telescopic arm piece (28).
9. The mining roadway repairing robot according to claim 1, wherein the walking driving device comprises a guide wheel (36), a thrust wheel (37), a chassis frame (38), a chain supporting wheel (39), a driving reducer (40) and a crawler belt (41), the chassis frame (38) is connected with a working platform base, the driving reducer (40) is connected to the chassis frame (38), the chain supporting wheel (39) is connected to the upper end of the chassis frame (38), the guide wheel (36) is connected to the chassis frame (38), and the crawler belt (41) is attached to the driving reducer (40), the chain supporting wheel (39), the thrust wheel (37) and the guide wheel (36).
10. The mining roadway repairing robot according to claim 9, wherein the dozing mechanism comprises a dozing blade member (32), a dozing blade connecting frame (33) and a dozing blade oil cylinder (34), the dozing blade connecting frame (33) is fixedly connected with the dozing blade member (32), the dozing blade connecting frame (33) is rotatably connected to the chassis frame (38), and two ends of the dozing blade oil cylinder (34) are respectively rotatably connected with the dozing blade member (32) and the chassis frame (38).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010426634.9A CN111677552A (en) | 2020-05-19 | 2020-05-19 | Mining tunnel repairing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010426634.9A CN111677552A (en) | 2020-05-19 | 2020-05-19 | Mining tunnel repairing robot |
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| CN111677552A true CN111677552A (en) | 2020-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010426634.9A Pending CN111677552A (en) | 2020-05-19 | 2020-05-19 | Mining tunnel repairing robot |
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| CN (1) | CN111677552A (en) |
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| CN112554017A (en) * | 2020-12-01 | 2021-03-26 | 淮南市百邦气动科技有限公司 | Mining inspection robot |
| CN112593974A (en) * | 2020-12-03 | 2021-04-02 | 重庆文理学院 | Tunnel segment installation device and installation method thereof |
| CN113019765A (en) * | 2021-02-07 | 2021-06-25 | 中信重工机械股份有限公司 | Mechanical arm of roadway thin-spraying robot and spraying method using mechanical arm |
| CN113043254A (en) * | 2021-03-29 | 2021-06-29 | 宁波市健洋机器人有限公司 | Industrial robot who must install with location based on industrial production |
| CN113982662A (en) * | 2021-11-02 | 2022-01-28 | 中煤科工集团西安研究院有限公司 | An intelligent anchoring unit in a coal mine and its dynamic control method |
| CN113982660A (en) * | 2021-10-22 | 2022-01-28 | 江阴长力科技有限公司 | Mining anchor removing vehicle |
| CN115126494A (en) * | 2022-06-13 | 2022-09-30 | 中煤科工机器人科技有限公司 | Tunnel repairing machine |
| WO2023001040A1 (en) * | 2021-07-19 | 2023-01-26 | 深圳忆海原识科技有限公司 | Dexterous operation robot for tunnel or mine tunnel |
| CN119507803A (en) * | 2024-11-22 | 2025-02-25 | 盐城市群力工矿机械有限公司 | A light tunnel drilling rig |
| CN119572242A (en) * | 2024-11-26 | 2025-03-07 | 国能神东煤炭集团有限责任公司 | Roadway repairing machine |
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