CN111764912A - Improved working mechanism for repairing roadway and roadway repairing machine thereof - Google Patents

Abstract

The invention relates to an improved working mechanism for repairing a roadway and a roadway repairing machine thereof, wherein the improved working mechanism comprises: the rotary mechanism, the lifting mechanism, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder; one end of the main arm is respectively pivoted with the swing mechanism and one end of the bucket rod fixing seat, two ends of the main arm oil cylinder are respectively pivoted with the swing mechanism and the other end of the main arm, one end of the bucket rod fixing seat is hinged with one end of the bucket rod oil cylinder, and the other end of the bucket rod oil cylinder is connected to the main arm; the other end of the bucket rod fixing seat is rotatably provided with a bucket rod, the bucket rod is provided with a bucket oil cylinder, one end of the bucket oil cylinder is fixedly connected to the bucket rod, and the other end of the bucket oil cylinder is hinged with the bucket through a second connecting rod; and a first connecting rod is further hinged on a second connecting rod hinged with the bucket, one end of the first connecting rod is hinged with the bucket oil cylinder, and the whole machine is compact in structure and small in overall size, so that the whole machine can conveniently enter a well and lift the well. The bucket at the front end of the working device can rotate 360 degrees, and the roadway can be repaired more conveniently.

Description

Improved working mechanism for repairing roadway and roadway repairing machine thereof

Technical Field

The invention relates to roadway repair equipment, in particular to an improved working mechanism for roadway repair and a roadway repair machine thereof, and belongs to the technical field of roadway repair.

Background

The tunnel repairing machine for coal mines (called tunnel repairing machine for short) can be provided with a breaking hammer to realize multiple functions of digging, side digging, rock breaking, gangue discharging and the like, and the whole tunnel repairing operation can be completed by one machine.

The working arm of the existing roadway repairing machine for the coal mine can rotate +/-90 degrees along the axis of a vehicle body, can meet the action requirements of excavation, lateral excavation, overturning, rock breaking, loading, hoisting and the like, and realizes multiple functions of excavating a raw water ditch, laying a bed, breaking rock, cleaning float coal, cleaning the bottom of a belt conveyor, leveling a roadway, hoisting small accessories and the like. However, the bucket or the crushing hammer at the front end of the working device can only rotate synchronously along with the main arm to rotate +/-90 degrees, so that the bucket cannot realize 360-degree all-dimensional excavation, and the all-dimensional roadway repair is inconvenient.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide an improved roadway repairing working mechanism and a roadway repairing machine thereof, compared with the traditional type of equipment, a bucket or a crushing hammer head at the front end of a working device can rotate 360 degrees, and the roadway repairing is more convenient.

In order to achieve the purpose, the invention adopts the technical scheme that: modified is operating device for tunnel restoration: the method comprises the following steps: the rotary mechanism, the lifting mechanism, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder; one end of the main arm is respectively pivoted with the swing mechanism and one end of the bucket rod fixing seat, two ends of the main arm oil cylinder are respectively pivoted with the swing mechanism and the other end of the main arm, one end of the bucket rod fixing seat is hinged with one end of the bucket rod oil cylinder, and the other end of the bucket rod oil cylinder is connected to the main arm; the other end of the bucket rod fixing seat is rotatably provided with a bucket rod, the bucket rod is provided with a bucket oil cylinder, one end of the bucket oil cylinder is fixedly connected to the bucket rod, and the other end of the bucket oil cylinder is hinged with the bucket through a second connecting rod; a first connecting rod is further hinged to a second connecting rod hinged to the bucket, one end of the first connecting rod is hinged to the bucket oil cylinder, and the other end of the first connecting rod is hinged to the bucket rod; the swing mechanism is fixedly connected with the lifting mechanism;

furthermore, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder form an integral structure which moves vertically by means of the lifting mechanism; the main arm, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder form an integral structure which rotates by means of the slewing mechanism; the bucket, the bucket oil cylinder, the bucket rod, the first connecting rod and the second connecting rod are taken as an integral structure and do rotary motion relative to the bucket rod fixing seat under the action of the bucket rod oil cylinder, so that the 360-degree all-directional rotation of the bucket is realized;

further, the bucket rod rotates relative to the bucket rod fixing seat so as to realize 360-degree all-directional rotation of the bucket, and the bucket comprises a rotating mechanism, wherein the rotating mechanism is arranged in the bucket rod fixing seat, the rotating mechanism is connected with the bucket rod through a support, and the bucket rod rotates relative to the bucket rod fixing seat through the action of a driving structure;

further, the driving structure of the bucket rod for the rotation of the bucket rod fixing seat comprises a motor driving mode or a spiral swinging hydraulic cylinder driving mode;

further, the rotating mechanism includes: the spiral swinging rod is arranged in the bucket rod fixing seat, one end of the spiral swinging rod extends to the bucket rod fixing seat, the other end of the spiral swinging rod is provided with a main shaft, and the bucket rod oil cylinder is communicated in the spiral swinging rod to provide hydraulic pressure for the spiral swinging rod; a first bearing is arranged on the main shaft close to the top end direction of the bucket rod fixing seat, and an outer ring of the bearing is fixedly connected to the inner wall of the bucket rod fixing seat, so that the spiral swinging rod rotates in the bucket rod fixing seat through the bearing; the output end of the main shaft is connected with the joint position of the bucket rod through a second bearing, and an outer ring of the bearing is fixedly connected with the bucket rod, so that the bearing and the bucket rod rotate relative to the bucket rod fixing seat;

furthermore, a bucket rod fixing nut is further arranged at one end of the first bearing on the main shaft and used for protecting the first bearing;

the bucket rod oil cylinder can drive the bucket rod fixing seat and the bucket rod to swing up and down together with the bucket connected with the bucket rod as a whole, and can provide hydraulic pressure for the spiral swinging rod;

further, the slewing mechanism comprises: the lifting mechanism comprises a rotary oil cylinder, a slewing bearing and a connecting disc, wherein one end of the rotary oil cylinder is fixedly connected with the lifting mechanism, the other end of the rotary oil cylinder is fixedly connected with the slewing bearing, the slewing bearing is connected with a main arm seat through the connecting disc, and the main arm seat is pivotally connected with one end of a main arm and one end of a main arm oil cylinder; the connecting disc, the slewing bearing and the main arm seat which are fixedly connected with the rotary oil cylinder form an integral structure and rotate through the rotary oil cylinder;

further, the lifting mechanism comprises: the lifting device comprises a rack, a lifting oil cylinder and a lifting frame; one end of the lifting oil cylinder is fixedly connected with the rack, and the other end of the lifting oil cylinder is pivotally connected with the lifting frame; one end of the lifting frame is connected with the machine frame in a sliding way, and the other end of the lifting frame is fixedly connected with the swing mechanism; the lifting frame moves vertically along the frame through the extension and retraction of the lifting oil cylinder.

Furthermore, the connecting part of the bucket and the bucket rod is disassembled in a pin shaft mode, and the bucket can be replaced by a breaking hammer;

by adopting the structure, the slewing mechanism comprises the rotary oil cylinder and the slewing bearing which are arranged in the vertical direction, and the main arm, the bucket rod and the bucket can be driven to rotate under the combined action of the rotary oil cylinder and the slewing bearing; the working range is expanded; the swing mechanism, the main arm, the bucket rod and the bucket can be driven to stretch up and down through the stretching of the lifting oil cylinder in the lifting mechanism, so that the operation range is further enlarged; the dipper is rotary motion and then realizes the 360 degrees omnidirectional rotation of scraper bowl for the dipper fixing base, makes things convenient for the tunnel to restore more.

The roadway repairing machine adopting the working mechanism comprises: the electric control system comprises a rack, a walking part, an electric control box supporting frame, a cab and an operating system supporting frame; the electric cabinet supporting frame and the operating system supporting frame are connected on the rack; the traveling mechanism is arranged below the rack, the electric cabinet is arranged at the tail end of the rack, the front end of the electric cabinet is a cab, and the operating system support frame is arranged in the cab; the walking part is connected with the frame by a bolt;

the walking part comprises: the crawler frame, the guide wheel, the driving wheel, the crawler plate, the tensioning device, the speed reducer and the walking motor; the two guide wheels are arranged on the left side and the right side of the front end of the crawler frame and are symmetrically distributed, the two driving wheels are arranged on the left side and the right side of the rear end of the crawler frame and are symmetrically distributed, two pairs of crawler plates are respectively wound between the guide wheels and the driving wheels on the two sides, the two tensioning devices are arranged on the left side and the right side of the crawler frame and are positioned behind the guide wheels, an output shaft of each tensioning device is connected with a rotating shaft of the adjacent guide wheel, a speed reducer is arranged in an inner cavity of each driving wheel, a shell of each speed reducer is connected with the corresponding driving wheel so as to drive the driving wheel to rotate through the rotation of the shell of the speed reducer, a walking hydraulic motor is arranged on each speed reducer, and an output shaft of the walking;

furthermore, the track shoe adopts a three-tooth type, and the rigidity and the toughness of the track shoe are good.

Furthermore, a plurality of supporting wheels are uniformly arranged between the lower end of the crawler frame and the crawler plate at equal intervals, and a chain supporting wheel is arranged between the upper end of the crawler frame and the crawler plate;

the thrust wheel adopts floating seal, the operation is stable and reliable, and the maintenance is time-saving and labor-saving.

Furthermore, the tensioning device consists of a guide wheel, a tensioning spring and a tensioning oil cylinder. The tensioning device is mainly used for keeping the shoe to have a certain tensioning degree and playing a role in buffering in the working and running processes. The tightness of the crawler belt is adjusted by adopting butter, which is very convenient and reliable. And when the expansion degree is adjusted, a high-pressure grease gun is used for injecting grease into the expansion oil cylinder, or a grease nipple in front of a one-way valve of the oil cylinder is unscrewed to drain the grease. Because the tensioning oil cylinder is in a pressed state under the action of the tensioning spring, the one-way valve is pushed open to begin to drain the grease. Reasonable degree of tension is measured between drive wheel and leading wheel, and reasonable degree of downwarping is not more than 15 ~ 20mm, and the adjustment of controlling the track should keep unanimous.

The guide wheel plays three roles of steering, supporting and track tensioning.

The speed reducer adopts a built-in walking speed reducer.

The walking part can bear larger weight of the machine, has strong climbing capability, small ground pressure, stable walking and can adapt to steep slope driving and sharp turning; the walking part is provided with two crawler belts which are respectively and independently driven by two sets of driving devices, so that the advancing, retreating and turning of the whole machine are realized, and the whole machine can rotate in situ.

In the power part of the invention, an explosion-proof motor drives a main pump and an auxiliary pump through a connecting disc and a coupling, converts electric energy into hydraulic energy, supplies pressure oil to a hydraulic system of the whole vehicle and enables an oil cylinder and a motor to work. The electric system mainly comprises an explosion-proof motor, a QJZ1-80/1140(660) series explosion-proof and intrinsically safe reversible vacuum electromagnetic starter for mines, LED locomotive lamps, a 0.55KW explosion-proof motor for a hydraulic motor driven air cooler, a methane sensor and an explosion-proof electric bell which are matched with the explosion-proof motor and the explosion-proof electromagnetic starter. The electric cabinet is internally provided with a motor, the motor is connected with a gear pump, a vacuum electromagnetic starter is arranged in the electric cabinet and consists of a rectangular flame-proof shell arranged on a base of the machine body, a wiring cavity is arranged above the vacuum electromagnetic starter, and a main cavity is arranged below the vacuum electromagnetic starter and is respectively an independent flame-proof part.

The control mode of the vacuum electromagnetic starter is as follows: the starter has two control modes of near control and remote control, wherein the near control is operated on the starter door, and the remote control is operated on the explosion-proof button.

The hydraulic system comprises: the hydraulic control system comprises an oil tank, a motor, a dual gear pump, an oil way overflow valve, an oil way pressure regulating valve, a hydraulic motor, a hydraulic oil radiator, a multi-way reversing valve, a two-way balance valve, a bucket oil cylinder, a main arm oil cylinder, a left walking device, a right walking device, a bucket rod overturning oil cylinder, a breaking hammer oil cylinder, a main arm overturning oil cylinder, a dozer oil cylinder, a bucket rod oil cylinder, 2 arm rotating oil cylinders and a pressure gauge; a branch oil way is led out of the oil tank from one oil way, a duplex gear pump is arranged on the branch oil way, and the duplex gear pump is connected with a motor; one branch oil path is sequentially and respectively connected with a plurality of directional control valves in a parallel connection mode, and oil ports of the plurality of directional control valves are sequentially connected with a bucket oil cylinder, a main arm oil cylinder, a right traveling device, a bucket rod overturning oil cylinder, a breaking hammer oil cylinder, a main arm overturning oil cylinder, a dozer oil cylinder, a left traveling device, a bucket rod oil cylinder and an arm rotating oil cylinder; the other branch oil path is connected with an overflow valve, a pressure regulating valve and a hydraulic motor and is connected to a hydraulic loop, and a hydraulic oil radiator is arranged on the hydraulic loop; the oil supply pipeline and the oil return pipeline in the oil tank are respectively provided with a filter;

a main pump in the dual gear pump provides pressure oil for a bucket oil cylinder, a main arm oil cylinder, a left walking motor, a right walking motor, a bucket rod oil cylinder, a rotation driving oil cylinder, a rotation swinging oil cylinder and a hydraulic hammer (standby), and the dual gear pump provides pressure oil for a turning motor of the upper vehicle and a pressure oil for a soil pushing shovel oil cylinder.

All the circuits are hydraulic control circuits; the bucket cylinder and the main arm cylinder share a left handle to control the operation of two three-position four-way valves; the bucket rod oil cylinder and the main arm swing (+ -40 degrees) device share one right handle to control the operation of two three-position four-way valves; the left walking motor and the right walking motor are respectively controlled by a handle to control the three-position four-way valve to operate; the left-right rotation (+ -90 degree) device of the main arm is operated by a handle controlling a three-position four-way valve; the oil cylinder with the bucket rod swinging left and right (plus or minus 180 degrees) controls the operation of the three-dimensional four-way valve by a handle; the hydraulic breaking hammer works and stops to control the operation of the three-dimensional four-way valve by using a handle; the dozer blade oil cylinder is controlled to operate by a handle; the other gear pump directly controls the work of the air-cooled radiator motor.

The traveling motor adopts a parking brake working mechanism, namely when the traveling control valve rod is pulled backwards, high-pressure oil at the motor inlet is cut off, the balance valve returns to the middle position under the action of the spring force, and the braking oil path is cut off and removed, so that the braking plunger presses the braking piece and the friction piece to brake the traveling motor.

The system can measure the pressure of each loop at the pressure measuring interface of the main pump. The hydraulic oil used by the system is L-HM46 antiwear hydraulic oil (or L-HM68), and L-HV46 low-freezing point antiwear hydraulic oil (or L-HV68) is used when the temperature of the working environment is lower than-15 ℃; if the temperature of the downhole air is too high, L-HM100 low-freezing-point anti-wear hydraulic oil can be adopted.

Working principle and operation method (electric principle diagram) of explosion-proof and intrinsically safe reversible vacuum electromagnetic starter

The action performance of the starter is as follows:

rated operating voltage:

rated operating current: 80A.

On and off capability

In the operating system, the functions and the operating directions of each operating handle and each button are respectively explained as follows (the direction reference is that a machine walking motor is positioned at the rear part, and an operator faces the advancing direction of the machine). the left operating lever is used for pushing the operating lever forwards, extending the bucket rod oil cylinder and retracting the bucket rod; the operating rod is pulled backwards, the bucket rod oil cylinder retracts, and the bucket rod is opened; the operating rod is pulled to the left, the right oil cylinder extends out, the left oil cylinder retracts, and the auxiliary arm swings leftwards at an angle larger than or equal to 40 degrees in the horizontal plane; the operating rod is pulled rightwards, the left side oil cylinder extends out, the right side oil cylinder retracts, and the auxiliary arm swings rightwards at the horizontal plane by more than or equal to 40 degrees.

The right control lever is used for pushing the control lever forwards, extending the main arm oil cylinder and lifting the main arm; the operating rod is pulled backwards, the main arm oil cylinder is retracted, and the main arm descends; the operating rod is pulled to the left, the bucket oil cylinder extends out, and the bucket retracts; the operating rod is pulled to the right, the bucket oil cylinder is retracted, and the bucket extends.

The two control levers are pushed forwards simultaneously, and the machine walks forwards; when the two control rods are pulled backwards simultaneously, the machine walks backwards; when only the right control lever is pushed, the machine turns to the left; when only the left joystick is pushed, the machine turns to the right; when one lever is pulled back while the other lever is pushed forward, the machine rotates in place.

Main arm turnover control lever: the operating rod is pushed forwards, and the main arm turns left to 90 degrees at most; the operating lever is pulled backwards, and the main arm is rotated to the right by 90 degrees at most.

Bucket rod upset control lever: the operating rod is pushed forwards, and the bucket rod is overturned leftwards by 180 degrees to the maximum extent; the operating lever is pulled backwards, and the bucket rod is overturned rightwards by 180 degrees at most.

A blade lever: the control rod is pushed forwards, and the dozer blade descends to contact with the materials; the operating rod is pulled backwards, and the dozer blade is lifted to be separated from the materials.

A breaking hammer operating lever: the operating rod is pushed forwards, and the breaking hammer starts to work; the operating rod is pulled backwards, and the breaking hammer stops working.

The starter remote control button is positioned on the right front side of the driver seat, green is starting, and red is stopping. The bell button is positioned on the left front side of the driver seat and is red. The starter starts a button, wherein the button is positioned on the right side of the driver seat, green is starting, and red is stopping. The scram button is arranged at the rear part of the machine.

The invention has the beneficial effects that:

the repairing machine has the advantages of compact structure, small overall dimension, energy conservation, low noise and high efficiency, realizes the mechanical operation of repairing the roadway, and can greatly improve the operation speed of repairing the roadway. The working arm of the tunnel repairing machine for the coal mine can rotate +/-90 degrees along the axis of the vehicle body, can meet the action requirements of excavation, lateral digging, overturning, rock breaking, loading, hoisting and the like, and realizes multiple functions of digging a crude ditch, laying a bed, breaking rock, cleaning float coal, cleaning the bottom of a belt conveyor, leveling a tunnel, hoisting small accessories and the like. The multifunctional side digging machine can be provided with a breaking hammer, can realize multiple functions of digging, side digging, rock breaking, gangue discharging and the like, and can complete the full operation of roadway maintenance by one machine. The machine has the advantages of simple power, low energy consumption, complete machine power of only 30 kilowatts, and power modules formed by concentrating all power and respectively used for a main pump and an auxiliary pump. The hydraulic system is advanced and adopts a medium-high pressure system. The main action is controlled by a pilot valve, the operation is easy and convenient, and the work is stable and has no impact. Compared with the traditional manual bottom cleaning, the machine greatly saves labor cost, improves working efficiency and improves working environment. Compared with the traditional diesel engine power small excavator, the hydraulic excavator has the characteristics of low noise, no tail gas pollution and the like due to the adoption of the electric hydraulic system, and is more suitable for repairing underground roadways. The whole machine has compact structure and small overall dimension, and the working device can be recovered to the minimum dimension when entering the well, thereby being convenient for the whole entering and lifting of the well. When the rotary tool rotates, the tail part and the two sides cannot collide, so that the rotary tool is more suitable for operation in narrow space in a well. Compared with the same type of equipment, the bucket or the crushing hammer head at the front end of the working device can rotate by 360 degrees, so that the roadway can be repaired more conveniently.

Drawings

Fig. 1 is a structural diagram of an improved working mechanism for repairing a roadway according to the present invention.

Fig. 2 is an internal cross-sectional view of a bucket rod of the improved working mechanism for repairing roadways.

Fig. 3 is a general view of the roadway repairing machine of the present invention.

Fig. 4 is a side view of fig. 3.

Fig. 5 is a top view of fig. 3.

Fig. 6 is a structural view of a walking part of the roadway repairing machine of the invention.

Fig. 7 is a partial top cross-sectional view of fig. 6.

Fig. 8 is a hydraulic schematic diagram of the roadway repair machine of the present invention.

Fig. 9 is an electrical schematic diagram of the tunnel repairing machine of the present invention.

Fig. 10 is a first partial enlarged view of fig. 9.

Fig. 11 is a second partial enlarged view of fig. 9.

Fig. 12 is a third partial enlarged view of fig. 9.

Fig. 13 is a fourth partial enlarged view of fig. 9.

Fig. 14 is a fifth partial enlarged view of fig. 9.

Fig. 15 is a schematic view of an operation indication board of a handle of an operation system of the roadway repairing machine.

In the figure, 1, a main arm, 2, a main arm oil cylinder, 3, an arm, 4, an arm fixing seat, 5, an arm oil cylinder, 6, a bucket, 7, a bucket oil cylinder, 8, a first connecting rod, 8.1, a second connecting rod, 9, a slewing bearing, 10, a main arm seat, 11, a dozer blade, 12, an electric cabinet, 13, a walking part, 13.1, a crawler frame, 13.2, a guide wheel, 13.3, a driving wheel, 13.4, a crawler plate, 13.5, a tensioning device, 13.6, a speed reducer, 13.7, a walking motor, 13.8, a supporting wheel, 13.9, a chain supporting wheel, 14, a motor, 15, a gear pump, 16, a vacuum electromagnetic starter, 17, an oil tank, 18, a duplex gear pump, 19, an oil circuit overflow valve, 20, an oil circuit pressure regulating valve, 21, a hydraulic motor, 22, a hydraulic oil radiator, 23, a multi-way reversing valve, 24, a two-way balance valve, 25, a left walking device, 26, a right walking device, a soil pushing oil cylinder, 27, a dozer, Arm rotating oil cylinder, 29, pressure gauge, 30, filter, 40, remote control, 41, near control, 33, control button, 34, emergency stop button, 35, early warning electric bell, 36, lighting lamp, 37, lighting signal lamp, 38, spiral swinging rod, 38.1, main shaft, 39, first bearing, 42, second bearing, 43 and bucket rod fixing nut.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

Example 1

As shown in fig. 1-2, the improved working mechanism for repairing the tunnel is suitable for a model WPZ-30/600L tunnel repairing machine for coal mines, and comprises: the device comprises a slewing mechanism, a lifting mechanism, a main arm 1, a main arm oil cylinder 2, a bucket rod 3, a bucket rod fixing seat 4, a bucket rod oil cylinder 5, a bucket 6 and a bucket oil cylinder 7; one end of the main arm 1 is respectively pivoted with the swing mechanism and one end of the bucket rod fixing seat 4, two ends of the main arm oil cylinder 2 are respectively pivoted with the swing mechanism and the other end of the main arm 1, one end of the bucket rod fixing seat 4 is hinged with one end of the bucket rod oil cylinder 5, and the other end of the bucket rod oil cylinder 5 is connected to the main arm 1; the other end of the bucket rod fixing seat 4 is rotatably provided with a bucket rod 3, a bucket oil cylinder 7 is arranged on the bucket rod 3, one end of the bucket oil cylinder 7 is fixedly connected to the bucket rod 3, and the other end of the bucket oil cylinder 7 is hinged with a bucket 6 through a second connecting rod 8.1; a second connecting rod 8.1 hinged with the bucket 6 is also hinged with a first connecting rod 8, one end of the first connecting rod 8 is hinged with a bucket oil cylinder 7, and the other end of the first connecting rod 8 is hinged with the bucket rod 3; the swing mechanism is fixedly connected with the lifting mechanism;

further, the main arm 1, the main arm cylinder 2, the bucket rod 3, the bucket rod fixing seat 4, the bucket rod cylinder 5, the bucket 6 and the bucket cylinder 7 form an integral structure which vertically moves by means of a lifting mechanism; the main arm 1, the main arm oil cylinder 2, the bucket rod 3, the bucket rod fixing seat 4, the bucket rod oil cylinder 5, the bucket 6 and the bucket oil cylinder 7 form an integral structure which rotates by means of a slewing mechanism; the bucket 6, the bucket cylinder 7, the bucket rod 3, the first connecting rod 8 and the second connecting rod 8.1 are used as an integral structure to rotate relative to the bucket rod fixing seat 4 under the action of the bucket rod cylinder 5, so that the 360-degree all-directional rotation of the bucket 6 is realized;

further, the bucket rod 3 rotates relative to the bucket rod fixing seat 4 to further achieve 360-degree all-directional rotation of the bucket 6, and the all-directional rotation bucket comprises a rotating mechanism, wherein the rotating mechanism is arranged in the bucket rod fixing seat 4 and is connected with the bucket rod 3 through a support, and the bucket rod 3 rotates relative to the bucket rod fixing seat 4 through the action of a driving structure;

further, the rotating mechanism includes: the spiral swinging rod 38 is arranged in the bucket rod fixing seat 4, one end of the spiral swinging rod 38 extends to the bucket rod fixing seat 4, the other end of the spiral swinging rod 38 is provided with a main shaft 38.1, and the bucket rod oil cylinder 5 is communicated in the spiral swinging rod 38 to provide hydraulic pressure for the spiral swinging rod 38; a first bearing 39 is arranged on a main shaft 38.1 close to the top end direction of the bucket rod fixing seat 4, and an outer ring of the bearing is fixedly connected to the inner wall of the bucket rod fixing seat 4, so that the spiral swinging rod 38 rotates in the bucket rod fixing seat 4 through the bearing; the joint position of the output end of the main shaft 38.1 and the bucket rod 3 is connected through a second bearing 42, and an outer ring of the bearing is fixedly connected to the bucket rod 3, so that the bearing and the bucket rod 3 rotate relative to the bucket rod fixing seat 4;

further, an arm fixing nut 43 is further disposed at one end of the first bearing 39 on the main shaft 38.1, and is used for protecting the first bearing 39;

the bucket rod oil cylinder 5 can drive the bucket rod fixing seat 4 and the bucket rod 3 to swing up and down together with the bucket 6 connected with the bucket rod, and can provide hydraulic pressure for the spiral swinging rod 38;

further, the slewing mechanism comprises: the lifting mechanism comprises a rotary oil cylinder, a slewing bearing 9 and a connecting disc, wherein one end of the rotary oil cylinder is fixedly connected with the lifting mechanism, the other end of the rotary oil cylinder is fixedly connected with the slewing bearing 9, the slewing bearing 9 is connected with a main arm seat 10 through the connecting disc, and the main arm seat 10 is pivotally connected with one end of a main arm 1 and one end of a main arm oil cylinder 2; the connecting disc fixedly connected with the rotary oil cylinder, the slewing bearing 9 and the main arm seat 10 form an integral structure and rotate through the rotary oil cylinder;

furthermore, the connecting part of the bucket 6 and the bucket rod 3 is disassembled in a pin shaft mode, and the bucket 6 can be replaced by a breaking hammer;

by adopting the structure, the slewing mechanism comprises a rotary oil cylinder and a slewing bearing 9 which are arranged in the vertical direction, and the main arm 1, the dipper 3 and the bucket 6 can be driven to rotate under the combined action of the rotary oil cylinder and the slewing bearing 9; the working range is expanded; the swing mechanism, the main arm 1, the bucket rod 3 and the bucket 6 can be driven to stretch up and down through the stretching of the lifting oil cylinder in the lifting mechanism, so that the operation range is further enlarged; the dipper 3 is rotary motion and then realizes 360 degrees omnidirectional rotation of scraper bowl 6 for dipper fixing base 4, makes things convenient for the tunnel to restore more.

As shown in fig. 3 to 15, a tunnel repairing machine using the above working mechanism, model WPZ-30/600L, includes: the device comprises a frame, a walking part 13, an electric cabinet supporting frame, a cab and an operating system supporting frame; the electric cabinet supporting frame and the operating system supporting frame are connected on the rack; the walking part 13 is arranged below the rack, the electric cabinet 12 is arranged at the tail end of the rack, the front end of the electric cabinet 12 is a cab, and the operating system support frame is arranged in the cab; the walking part 13 is connected with the frame by bolts;

the walking part comprises: the device comprises a crawler frame 13.1, a guide wheel 13.2, a driving wheel 13.3, a crawler plate 13.4, a tensioning device 13.5, a speed reducer 13.6 and a traveling motor 13.7; the two guide wheels 13.2 are arranged on the left side and the right side of the front end of the crawler frame 13.1 and are symmetrically distributed, the two driving wheels 13.3 are arranged on the left side and the right side of the rear end of the crawler frame 13.1 and are symmetrically distributed, the two crawler plates 13.4 are respectively wound between the guide wheels 13.2 and the driving wheels 13.3 on the two sides, the two tensioning devices 13.5 are arranged on the left side and the right side of the crawler frame 13.1 and are positioned behind the guide wheels 13.2, the output shaft of each tensioning device 13.5 is connected with the rotating shaft of the adjacent guide wheel 13.2, a speed reducer 13.6 is arranged in the inner cavity of each driving wheel 13.3, the shell of each speed reducer 13.6 is connected with the corresponding driving wheel 13.3 so as to drive the driving wheel 13.3 to rotate through the rotation of the shell of the speed reducer 13.6, a walking hydraulic motor 13.7 is arranged on each speed reducer 13.6, and the output shaft of the walking hydraulic motor 13.7 is connected with the;

furthermore, the track shoe 13.4 adopts a three-tooth type, and has good rigidity and toughness.

Furthermore, a plurality of supporting wheels 13.8 are uniformly arranged between the lower end of the crawler frame 13.1 and the crawler plate 13.4 at equal intervals, and a chain supporting wheel 13.9 is arranged between the upper end of the crawler frame 13.1 and the crawler plate 13.4;

the thrust wheel 13.8 adopts floating seal, the operation is stable and reliable, and the maintenance is time-saving and labor-saving. Further, the tensioning device 13.5 is composed of a guide wheel 13.2, a tensioning spring 13.5 and a tensioning oil cylinder.

The speed reducer 13.6 adopts an internal-mounted walking speed reducer.

And in the power part, the explosion-proof motor drives a main pump and an auxiliary pump through a connecting disc and a coupler, electric energy is converted into hydraulic energy, and pressure oil is supplied to a hydraulic system of the whole vehicle, so that an oil cylinder and a motor work. The electric system mainly comprises an explosion-proof motor, a QJZ1-80/1140(660) series explosion-proof and intrinsically safe reversible vacuum electromagnetic starter for mines, LED locomotive lamps, a 0.55KW explosion-proof motor for a hydraulic motor driven air cooler, a methane sensor and an explosion-proof electric bell which are matched with the explosion-proof motor and the explosion-proof electromagnetic starter. The electric cabinet 12 is internally provided with a motor 14, the motor 14 is connected with a gear pump 15, a vacuum electromagnetic starter 16 is arranged in the electric cabinet 12, the vacuum electromagnetic starter 16 is composed of a rectangular flameproof shell arranged on a base of the machine body, a wiring cavity is arranged above the vacuum electromagnetic starter, and a main cavity is arranged below the vacuum electromagnetic starter and is respectively an independent flameproof part. The hydraulic system comprises: the hydraulic control system comprises an oil tank 17, a motor 14, a double gear pump 18, an oil way overflow valve 19, an oil way pressure regulating valve 20, a hydraulic motor 21, a hydraulic oil radiator 22, a multi-way reversing valve 23, a two-way balance valve 24, a bucket cylinder 7, a main arm cylinder 2, a left walking device 25, a right walking device 25, an arm overturning cylinder, a breaking hammer cylinder, a main arm overturning cylinder, a dozer cylinder 27, an arm cylinder 5, a 2-arm rotating cylinder 28 and a pressure gauge 29; a branch oil way is led out of the oil tank 17 from an oil way, a double gear pump 18 is arranged on the branch oil way, and the motor 14 is connected to the double gear pump 18; one branch oil path is sequentially and respectively connected with a plurality of directional control valves 23 in a parallel connection mode, and oil ports of the plurality of directional control valves 23 are sequentially connected with a bucket oil cylinder 7, a main arm oil cylinder 2, a right walking device 26, a bucket rod overturning oil cylinder, a breaking hammer oil cylinder, a main arm overturning oil cylinder, a soil pushing shovel oil cylinder 27, a left walking device 25, a bucket rod oil cylinder 5 and an arm rotating oil cylinder 28; the other branch oil path is connected with an overflow valve 19, a pressure regulating valve 20 and a hydraulic motor 21 and is connected with a hydraulic loop, and a hydraulic oil radiator 22 is arranged on the hydraulic loop; the oil supply pipeline and the oil return pipeline in the oil tank 17 are respectively provided with a filter 30;

the main pump in the double gear pump provides pressure oil for a bucket oil cylinder 7, a main arm oil cylinder 2, a left walking motor, a right walking motor, a bucket rod oil cylinder 5, a rotary driving oil cylinder, a rotary swing oil cylinder and a hydraulic hammer (standby), and the one gear pump provides pressure oil for a turning motor of the upper vehicle and a soil pushing shovel oil cylinder 27.

All the circuits are hydraulic control circuits; the bucket oil cylinder 7 and the main arm oil cylinder 2 share a left handle to control two three-position four-way valves to operate; the bucket rod oil cylinder 5 and the main arm swinging (+ -40 degrees) device share one right handle to control the operation of two three-position four-way valves; the left walking motor and the right walking motor are respectively controlled by a handle to control the three-position four-way valve to operate; the left-right rotation (+ -90 degree) device of the main arm is operated by a handle controlling a three-position four-way valve; the oil cylinder with the bucket rod swinging left and right (plus or minus 180 degrees) controls the operation of the three-dimensional four-way valve by a handle; the hydraulic breaking hammer works and stops to control the operation of the three-dimensional four-way valve by using a handle; the dozer blade oil cylinder is controlled to operate by a handle; the other gear pump directly controls the work of the air-cooled radiator motor.

The traveling motor adopts a parking brake working mechanism, namely when the traveling control valve rod is pulled backwards, high-pressure oil at the motor inlet is cut off, the balance valve returns to the middle position under the action of the spring force, and the braking oil path is cut off and removed, so that the braking plunger presses the braking piece and the friction piece to brake the traveling motor.

The system can measure the pressure of each loop at the pressure measuring interface of the main pump. The hydraulic oil used by the system is L-HM46 antiwear hydraulic oil (or L-HM68), and L-HV46 low-freezing point antiwear hydraulic oil (or L-HV68) is used when the temperature of the working environment is lower than-15 ℃; if the temperature of the downhole air is too high, L-HM100 low-freezing-point anti-wear hydraulic oil can be adopted.

Example 2

The improved roadway repairing working mechanism of the embodiment 1 is applied to a coal mine roadway repairing machine with the model of WPZ-22/400L.

The service environment conditions of the roadway repair machine of the two embodiments are as follows:

it is suitable for medium and small sized tunnel with cross section of 2.0X 2.0 m or more. The loaded rock Purchase hardness coefficient: f is less than or equal to 12, the bulk density is not more than 1.8t/m3, and the maximum rock lumpiness of the ore is not more than 500 mm. The altitude of the using place is less than or equal to 1000 m. When the device is used in a plateau environment with the altitude of more than 1000m, necessary measures or special design is adopted according to the situation; the temperature of the tunnel environment is-5 ℃ to +40 ℃, and the maximum relative humidity is less than or equal to 90% (when the temperature is 25 ℃); the voltage limit deviation is +/-5%, and the alternating current frequency limit deviation is +/-1%; the gradient of the roadway is not more than 25%; the height of the water in the working area is lower than that of the rail surface; the content of coal dust and methane explosive gas around the roadway repairing machine during working is in accordance with the safety content specified in coal mine safety regulation.

The main technical parameters of the two types of coal mine roadway repair machines are as follows

Claims (10)

1. Modified is operating device for tunnel is restoreed, its characterized in that includes: the rotary mechanism, the lifting mechanism, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder; one end of the main arm is respectively pivoted with the swing mechanism and one end of the bucket rod fixing seat, two ends of the main arm oil cylinder are respectively pivoted with the swing mechanism and the other end of the main arm, one end of the bucket rod fixing seat is hinged with one end of the bucket rod oil cylinder, and the other end of the bucket rod oil cylinder is connected to the main arm; the other end of the bucket rod fixing seat is rotatably provided with a bucket rod, the bucket rod is provided with a bucket oil cylinder, one end of the bucket oil cylinder is fixedly connected to the bucket rod, and the other end of the bucket oil cylinder is hinged with the bucket through a second connecting rod; a first connecting rod is further hinged to a second connecting rod hinged to the bucket, one end of the first connecting rod is hinged to the bucket oil cylinder, and the other end of the first connecting rod is hinged to the bucket rod; the swing mechanism is fixedly connected with the lifting mechanism.

2. The improved roadway repair work mechanism of claim 1, wherein: the main arm, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder form an integral structure which moves vertically by means of the lifting mechanism; the main arm, the main arm oil cylinder, the bucket rod fixing seat, the bucket rod oil cylinder, the bucket and the bucket oil cylinder form an integral structure which rotates by means of the slewing mechanism; the bucket, the bucket oil cylinder, the bucket rod, the first connecting rod and the second connecting rod are of an integral structure and rotate relative to the bucket rod fixing seat under the action of the bucket rod oil cylinder, and 360-degree all-directional rotation of the bucket is achieved.

3. The improved roadway repair work mechanism of claim 2, wherein: the bucket rod is rotary motion and then realizes 360 degrees all around rotations of scraper bowl for the bucket rod fixing base, including slewing mechanism, slewing mechanism sets up in the bucket rod fixing base, and slewing mechanism passes through the supporting to be connected with the bucket rod, and the bucket rod rotates for the bucket rod fixing base through the drive structure effect.

4. The improved roadway repair work mechanism of claim 3, wherein: the driving structure of the bucket rod for the rotation of the bucket rod fixing seat comprises a motor driving mode or a spiral swinging hydraulic cylinder driving mode.

5. The improved roadway repair work mechanism of claim 3, wherein: the rotating mechanism includes: the spiral swinging rod is arranged in the bucket rod fixing seat, one end of the spiral swinging rod extends to the bucket rod fixing seat, the other end of the spiral swinging rod is provided with a main shaft, and the bucket rod oil cylinder is communicated in the spiral swinging rod to provide hydraulic pressure for the spiral swinging rod; a first bearing is arranged on the main shaft close to the top end direction of the bucket rod fixing seat, and an outer ring of the bearing is fixedly connected to the inner wall of the bucket rod fixing seat, so that the spiral swinging rod rotates in the bucket rod fixing seat through the bearing; the output end of the main shaft is connected with the joint position of the bucket rod through a second bearing, and an outer ring of the bearing is fixedly connected with the bucket rod, so that the bearing and the bucket rod rotate relative to the bucket rod fixing seat.

6. The improved roadway repair work mechanism of claim 1, wherein: the slewing mechanism comprises: the lifting mechanism comprises a rotary oil cylinder, a slewing bearing and a connecting disc, wherein one end of the rotary oil cylinder is fixedly connected with the lifting mechanism, the other end of the rotary oil cylinder is fixedly connected with the slewing bearing, the slewing bearing is connected with a main arm seat through the connecting disc, and the main arm seat is pivotally connected with one end of a main arm and one end of a main arm oil cylinder; the connecting disc fixedly connected with the rotary oil cylinder, the slewing bearing and the main arm seat form an integral structure which rotates through the rotary oil cylinder.

7. The roadway repair machine using the working mechanism of any one of claims 1 to 6, characterized in that: comprises a frame, a walking part, an electric cabinet supporting frame, a cab and an operating system supporting frame; the electric cabinet supporting frame and the operating system supporting frame are connected on the rack; the traveling mechanism is arranged below the rack, the electric cabinet is arranged at the tail end of the rack, the front end of the electric cabinet is a cab, and the operating system support frame is arranged in the cab; the walking part is connected with the frame by bolts.

8. The roadway repair machine of claim 7, wherein: the walking part comprises: the crawler frame, the guide wheel, the driving wheel, the crawler plate, the tensioning device, the speed reducer and the walking motor; the two guide wheels are symmetrically arranged on the left side and the right side of the front end of the crawler frame, the two driving wheels are symmetrically arranged on the left side and the right side of the rear end of the crawler frame, two pairs of crawler plates are respectively wound between the guide wheels and the driving wheels on the two sides, the two tensioning devices are arranged on the left side and the right side of the crawler frame and are positioned behind the guide wheels, the output shaft of each tensioning device is connected with the rotating shaft of the adjacent guide wheel, a speed reducer is arranged in the inner cavity of each driving wheel, the shell of each speed reducer is connected with the corresponding driving wheel so as to drive the driving wheel to rotate through the rotation of the shell of the speed reducer, a walking hydraulic motor is arranged on each speed reducer, and the output shaft of the walking hydraulic motor is connected with the.

9. The roadway repair machine of claim 7, wherein: the hydraulic system includes: the hydraulic control system comprises an oil tank, a motor, a dual gear pump, an oil way overflow valve, an oil way pressure regulating valve, a hydraulic motor, a hydraulic oil radiator, a multi-way reversing valve, a two-way balance valve, a bucket oil cylinder, a main arm oil cylinder, a left walking device, a right walking device, a bucket rod overturning oil cylinder, a breaking hammer oil cylinder, a main arm overturning oil cylinder, a dozer oil cylinder, a bucket rod oil cylinder, 2 arm rotating oil cylinders and a pressure gauge; a branch oil way is led out of the oil tank from one oil way, a duplex gear pump is arranged on the branch oil way, and the duplex gear pump is connected with a motor; one branch oil path is sequentially and respectively connected with a plurality of directional control valves in a parallel connection mode, and oil ports of the plurality of directional control valves are sequentially connected with a bucket oil cylinder, a main arm oil cylinder, a right traveling device, a bucket rod overturning oil cylinder, a breaking hammer oil cylinder, a main arm overturning oil cylinder, a dozer oil cylinder, a left traveling device, a bucket rod oil cylinder and an arm rotating oil cylinder; the other branch oil path is connected with an overflow valve, a pressure regulating valve and a hydraulic motor and is connected to a hydraulic loop, and a hydraulic oil radiator is arranged on the hydraulic loop; the oil supply pipeline and the oil return pipeline in the oil tank are respectively provided with a filter; a main pump in the dual gear pump provides a bucket oil cylinder, a main arm oil cylinder, a left walking motor, a right walking motor, a bucket rod oil cylinder, a rotation driving oil cylinder, a rotation swinging oil cylinder and pressure oil, and a dual gear pump provides pressure oil for an upper turning motor and a dozer blade oil cylinder.

10. The roadway repair machine of claim 7, wherein: in the operating system, the functions and operating directions of the operating handles and buttons are described as follows: the direction reference is that the machine walking motor is positioned at the rear part, and an operator faces the advancing direction of the machine;

the left control lever is used for pushing the control lever forwards, extending the bucket rod oil cylinder and retracting the bucket rod; the operating rod is pulled backwards, the bucket rod oil cylinder retracts, and the bucket rod is opened; the operating rod is pulled to the left, the right oil cylinder extends out, the left oil cylinder retracts, and the auxiliary arm swings leftwards at an angle larger than or equal to 40 degrees in the horizontal plane; the operating rod is pulled rightwards, the left oil cylinder extends out, the right oil cylinder retracts, and the auxiliary arm swings rightwards at an angle larger than or equal to 40 degrees on the horizontal plane;

the right control lever is used for pushing the control lever forwards, extending the main arm oil cylinder and lifting the main arm; the operating rod is pulled backwards, the main arm oil cylinder is retracted, and the main arm descends; the operating rod is pulled to the left, the bucket oil cylinder extends out, and the bucket retracts; the operating rod is pulled rightwards, the bucket oil cylinder is retracted, and the bucket extends out;

the two control levers are pushed forwards simultaneously, and the machine walks forwards; when the two control rods are pulled backwards simultaneously, the machine walks backwards; when only the right control lever is pushed, the machine turns to the left; when only the left joystick is pushed, the machine turns to the right; when one operating rod is pulled backwards and the other operating rod is pushed forwards, the machine rotates in situ;

main arm turnover control lever: the operating rod is pushed forwards, and the main arm turns left to 90 degrees at most; the operating rod is pulled backwards, and the main arm turns rightwards to 90 degrees at most;

bucket rod upset control lever: the operating rod is pushed forwards, and the bucket rod is overturned leftwards by 180 degrees to the maximum extent; the operating rod is pulled backwards, and the bucket rod is turned rightwards to 180 degrees;

a blade lever: the control rod is pushed forwards, and the dozer blade descends to contact with the materials; the control rod is pulled backwards, and the dozer blade is lifted to be separated from the materials;

a breaking hammer operating lever: the operating rod is pushed forwards, and the breaking hammer starts to work; the operating rod is pulled backwards, and the breaking hammer stops working.

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