CN111794745B - Tunnel grooving machine for coal mine - Google Patents
Tunnel grooving machine for coal mine Download PDFInfo
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- CN111794745B CN111794745B CN202010714539.9A CN202010714539A CN111794745B CN 111794745 B CN111794745 B CN 111794745B CN 202010714539 A CN202010714539 A CN 202010714539A CN 111794745 B CN111794745 B CN 111794745B
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- 239000003245 coal Substances 0.000 title claims abstract description 37
- 239000000463 material Substances 0.000 claims description 26
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C25/00—Cutting machines, i.e. for making slits approximately parallel or perpendicular to the seam
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
- E21C29/24—Trucks carrying the machine while working
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C29/00—Propulsion of machines for slitting or completely freeing the mineral from the seam
- E21C29/22—Propulsion of machines for slitting or completely freeing the mineral from the seam by wheels, endless tracks or the like
- E21C29/24—Trucks carrying the machine while working
- E21C29/26—Trucks carrying the machine while working with means for adjustably positioning the machine on the truck
- E21C29/28—Trucks carrying the machine while working with means for adjustably positioning the machine on the truck adjusting the height of the whole machine
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C31/00—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam
- E21C31/02—Driving means incorporated in machines for slitting or completely freeing the mineral from the seam for cutting or breaking-down devices
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/20—General features of equipment for removal of chippings, e.g. for loading on conveyor
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- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Geology (AREA)
- Road Repair (AREA)
Abstract
The invention provides a coal mine roadway grooving machine, which belongs to the technical field of coal mine underground equipment and comprises a traction part, a cutting part, a steering assembly and a supporting leg system, wherein the traction part is used for providing power for the coal mine roadway grooving machine; the cutting part comprises a frame and a cutting arm component; the cutting arm assembly comprises a base, an angle adjusting oil cylinder, a main arm rotation driving assembly, a swing arm, a connecting rod I, a connecting rod II, a swing arm oil cylinder and a cutting head. The roadway grooving machine for the coal mine is simple in structure, wide in roadway adaptation range and provided with the intelligent cutting system, automatic cutting can be achieved, and the roadway can be fully grooved around once positioning.
Description
Technical Field
The invention belongs to the technical field of underground coal mine equipment, and particularly discloses a roadway grooving machine for a coal mine.
Background
Among the colliery underworkings construction operation, based on ventilation or safe requirement, need install air door or airtight tunnel in the tunnel, these two kinds of operation processes all need earlier carry out the fluting operation around the tunnel, and the operation of slotting mainly relies on the manual work to use the quartering hammer construction at present, and not only inefficiency has very big potential safety hazard moreover. Mechanical grooving equipment is used in part of mines, wherein the equipment in the patent 'underground coal mine grooving machine (201710990248.0)' has the defects that a mechanical arm mechanism is complex to operate, and grooving cannot be performed right below the equipment after one-time positioning. Patent "a coal mine tunnel groover (201510818526.5)" it is flexible that equipment manipulation arm in the working process needs the area to carry, and wearing and tearing are serious, and two kinds of schemes do not have clear material device, are greater than the operating mode of cutting drum width to the fluting width promptly, need the multitool operation, need artifically clear up the blanking between two sword operations. According to market research, no effective slotting device is available in the market at present.
Disclosure of Invention
Aiming at the defects of the existing equipment, the invention provides the coal mine roadway grooving machine which is simple in structure, wide in roadway adaptation range and capable of grooving the periphery of the roadway with full grooves after one-time positioning.
In order to achieve the aim, the invention provides a coal mine roadway grooving machine, which comprises a traction part, a cutting part, a steering assembly and a supporting leg system, wherein the traction part is used for providing power for the coal mine roadway grooving machine; the cutting part comprises a frame and a cutting arm component; the cutting arm assembly comprises a base, an angle adjusting oil cylinder, a main arm rotation driving assembly, a swing arm, a connecting rod I, a connecting rod II, a swing arm oil cylinder and a cutting head; the base is hinged on the frame, and the hinge axis is parallel to the horizontal plane; two ends of the angle adjusting oil cylinder are respectively hinged with the frame and the base and used for adjusting an included angle between the frame and the base; the main arm rotation driving component is arranged on the base, and the output end of the main arm rotation driving component is connected with the main arm and is used for driving the main arm to rotate relative to the rack in the whole circle; the bottom end of the swing arm is hinged with the main arm, and the top end of the swing arm is provided with a cutting head; one end of a connecting rod I is hinged with the swing arm, one end of a connecting rod II is hinged with the main arm, the connecting rod I is hinged with the connecting rod II, and the main arm, the swing arm, the connecting rod I and the connecting rod II form a double-rocker-arm structure; two ends of the swing arm oil cylinder are respectively hinged with the main arm and the connecting rod II.
Further, the cutting part also comprises a material pushing assembly; the pushing assembly is positioned below the cutting arm assembly and comprises a main pushing plate, an auxiliary pushing plate, a lifting oil cylinder and a pushing oil cylinder; the main material pushing plate and the frame form a sliding pair, and the sliding direction is vertical to the horizontal plane; two ends of the lifting oil cylinder are respectively hinged with the rack and the main material pushing plate and used for driving the main material pushing plate to slide up and down relative to the rack; the two auxiliary material pushing plates and the main material pushing plate respectively form sliding pairs, and the sliding direction is parallel to the horizontal plane; two ends of the pushing oil cylinder are respectively hinged with the main pushing plate and the auxiliary pushing plate and used for driving the auxiliary pushing plate to slide relative to the main pushing plate.
Furthermore, the cutting arm assembly also comprises a pendulum bob hinged on the base, and the base is provided with a mark plumb mark; the plumb mark is located under the pendulum bob when the base is in a horizontal position.
Further, the steering assembly comprises a male hinge, a female hinge and a steering oil cylinder; the male hinge is fixedly connected with the traction part and hinged with the female hinge, and the hinge axes of the male hinge and the female hinge are vertical to the horizontal plane; the female hinge is hinged with the rack, and the hinge axes of the female hinge and the rack are parallel to the horizontal plane; one end of the steering oil cylinder is hinged with the female hinge, and the other end of the steering oil cylinder is hinged with the traction part or the male hinge.
Furthermore, the supporting leg system comprises supporting legs I which are arranged on two sides of the traction part; the supporting leg I comprises a fixed sleeve, a telescopic leg and a supporting oil cylinder; the fixed sleeve is fixed on the traction part; the telescopic legs and the fixed sleeves form sliding pairs, and the sliding direction is vertical to the horizontal plane; the supporting oil cylinder is arranged in a space enclosed by the telescopic legs and the fixed sleeve, and two ends of the supporting oil cylinder are respectively hinged with the telescopic legs and the fixed sleeve.
Furthermore, the supporting leg system also comprises supporting legs II which are arranged at two sides of the cutting part; the supporting leg II comprises a fixed arm, a telescopic oil cylinder, a fixed sleeve, a telescopic leg and a supporting oil cylinder; the fixed arm is fixed on the cutting part; the telescopic arm and the fixed arm form a sliding pair, and the sliding direction is horizontal to the horizontal plane; the telescopic oil cylinder is arranged in a space enclosed by the telescopic arm and the fixed arm, and two ends of the telescopic oil cylinder are respectively hinged with the telescopic arm and the fixed arm; the fixed sleeve is fixed on the telescopic arm; the telescopic legs and the fixed sleeves form sliding pairs, and the sliding direction is vertical to the horizontal plane; the supporting oil cylinder is arranged in a space enclosed by the telescopic legs and the fixed sleeve, and two ends of the supporting oil cylinder are respectively hinged with the telescopic legs and the fixed sleeve.
Furthermore, the traction part comprises a traction frame, and an explosion-proof engine system, a hydraulic system, an electric control system and a cab which are arranged on the traction frame; the explosion-proof engine system provides power for the hydraulic system; the walking power of the roadway grooving machine for the coal mine and the driving forces of the angle adjusting oil cylinder, the swing arm oil cylinder, the lifting oil cylinder, the pushing oil cylinder, the steering oil cylinder, the supporting oil cylinder and the telescopic oil cylinder are all provided by a hydraulic system.
Furthermore, the coal mine roadway grooving machine further comprises an intelligent cutting system, an angular displacement sensor I and an angular displacement sensor II; the angular displacement sensor I is used for acquiring an angle value between the main arm and the base; the angular displacement sensor II is used for acquiring an angle value between the swing arm and the main arm;
the intelligent cutting system receives initial values of an angular displacement sensor I and an angular displacement sensor II after manual tool settingθ 10 、θ 20 Calculating the initial position coordinates of the cutting head relative to the coordinate system of the machine body according to the formula 1 (X 0 ,Y 0 ) According to upward, downward, leftward and rightward cutsCutting direction and corresponding formula 2.1, formula 2.2, formula 2.3 and formula 2.4, and calculating target angle value between swing arm and main arm during cuttingθControlling the swing arm cylinder to stretch and contract to make the angle between the swing arm and the main arm measuredθ 2 Infinitely approaching a target valueθThe automatic cutting is realized, and the automatic cutting is realized,
wherein,ωfor constant angular velocity of the main arm slewing drive assembly, of the order ofa，Positive up or left, negative down or right;
θ 1 the actual measurement angle between the main arm and the base is obtained;
L 1 is the length of the main arm;
L 2 is the swing arm length.
Further, the intelligent cutting system is integrated in a remote control transmitter.
Furthermore, a manual/automatic cutting switching key is arranged on the remote control transmitter, when the key is positioned at a manual cutting gear, an operator manually operates the swing arm oil cylinder and the main arm rotary driving assembly to complete cutting action, the operator observes the relative position of the cutting head and the roadway by means of naked eyes, and the displacement of the swing arm oil cylinder and the main arm rotary driving assembly is timely adjusted to complete cutting.
The invention has the following beneficial effects:
1. by adopting the mechanical arm mechanism in a double-arm hinged mode, the operation range covers all roadways with the width of 4.0-6.0 m and the height of 3.3-5 m, and the whole machine can be positioned at one time and can be opened at 360 degrees;
2. only 1 operator is needed for a single device, and the lowest slotting efficiency is about 5m3H, which is about 30 times of the efficiency of manual slotting;
3. the whole machine is provided with the material pushing assembly, and for the working condition that the slotting width is larger than the width of the cutting drum, other equipment is not needed for auxiliary material cleaning in the slotting process;
4. the traction part of the whole machine can select the headstock of the vehicle with the same power as a power source, so that the utilization rate of the existing equipment is improved;
5. adopt intelligent cutting system, realize automatic cutting, operating personnel only need accomplish at tunnel corner corresponding direction switch can, staff intensity of labour is lower, and the orbit precision is higher simultaneously, and the fluting quality is higher.
Drawings
FIG. 1 is a front view of a coal mine roadway grooving machine;
FIG. 2 is a top view of a coal mine roadway grooving machine;
FIG. 3 is a left side view of a coal mine roadway grooving machine;
FIG. 4 is a perspective view of a coal mine roadway grooving machine;
fig. 5 is a schematic diagram of a remote control transmitter.
Wherein, the names corresponding to the reference numbers are:
1.1-a frame; 1.2-base; 1.3-angle modulation oil cylinder; 1.4-main arm; 1.5-main arm rotation driving component; 1.6-swing arm; 1.7-connecting rod I; 1.8-connecting rod II; 1.9-swing arm cylinder; 1.10-cutting head; 1.11-main pusher plate; 1.12-auxiliary material pushing plate; 1.13-lifting oil cylinder; 1.14-pushing oil cylinder; 1.15-pendulum bob; 2.1-male hinge; 2.2-female hinge; 2.3-steering oil cylinder; 3.1-fixing the sleeve; 3.2-telescoping legs; 3.3-supporting the oil cylinder; 3.4-fixed arm; 3.5-telescopic arm; 3.6-telescopic oil cylinder; 4.1-traction frame; 4.2-explosion-proof engine system; 4.3-hydraulic system; 4.4-electric control system; 4.5-driver's cabin; 5-angular displacement sensor I; 6-angular displacement sensor II; 7-a remote control transmitter; 8-remote control receiver.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment provides a coal mine roadway grooving machine, which comprises a traction part, a cutting part, a steering assembly and a supporting leg system, wherein the traction part is used for providing power for the coal mine roadway grooving machine; the cutting part comprises a frame 1.1 and a cutting arm component; the cutting arm component comprises a base 1.2, an angle adjusting oil cylinder 1.3, a main arm 1.4, a main arm rotation driving component 1.5, a swing arm 1.6, a connecting rod I1.7, a connecting rod II 1.8, a swing arm oil cylinder 1.9 and a cutting head 1.10; the base 1.2 is hinged on the frame 1.1, and the hinge axis is parallel to the horizontal plane; two ends of the angle adjusting oil cylinder 1.3 are respectively hinged with the frame 1.1 and the base 1.3 and used for adjusting an included angle between the frame 1.1 and the base 1.2, so that the base 1.2 is always in a horizontal position in a grooving process, and a moving plane of the cutting head 1.10 is always vertical to the horizontal plane; the main arm rotation driving component 1.5 is arranged on the base 1.2, the output end of the main arm rotation driving component is connected with the main arm 1.4 and is used for driving the main arm 1.4 to rotate in a whole circle (360 degrees) relative to the rack 1.1, and the main arm rotation driving component 1.5 comprises a rotation motor and a speed reducer; the bottom end of the swing arm 1.6 is hinged with the main arm 1.4, the top end is provided with a cutting head 1.10, and the cutting head 1.10 is fixedly connected with the swing arm 1.6 through bolt connection; one end of a connecting rod I1.7 is hinged with a swing arm 1.6, one end of a connecting rod II 1.8 is hinged with a main arm 1.4, the connecting rod I1.7 is hinged with a connecting rod II 1.8, and the main arm 1.4, the swing arm 1.6, the connecting rod I1.7 and the connecting rod II 1.8 form a double-rocker-arm structure; two ends of the swing arm oil cylinder 1.9 are respectively hinged with the main arm 1.4 and the connecting rod II 1.8, and the swing arm oil cylinder 1.9 drives the swing arm 1.6 to swing at a large angle relative to the main arm 1.4 through a double-rocker-arm structure.
The cutting arm assembly is mainly used for slotting, the cutting head 1.10 is driven to cover the periphery of a roadway through the whole-circle rotation of the main arm 1.4 relative to the rack 1.1 and the swinging of the swing arm 1.6 relative to the main arm 1.4, and the included angle between the base 1.2 and the rack 1.1 is adjusted through the angle adjusting oil cylinder 1.3, so that the moving plane of the cutting head 1.10 is always vertical to the horizontal plane in the slotting process.
Further, the cutting part also comprises a material pushing assembly; the pushing assembly is positioned below the cutting arm assembly and comprises a main pushing plate 1.11, an auxiliary pushing plate 1.12, a lifting oil cylinder 1.13 and a pushing oil cylinder 1.14; the main material pushing plate 1.11 and the frame 1.1 form a sliding pair, and the sliding direction is vertical to the horizontal plane; two ends of the lifting oil cylinder 1.13 are respectively hinged with the frame 1.1 and the main material pushing plate 1.11 and used for driving the main material pushing plate 1.11 to slide up and down relative to the frame 1.1; the two auxiliary material pushing plates 1.12 and the main material pushing plate 1.11 form sliding pairs respectively, and the sliding direction is parallel to the horizontal plane; two ends of the pushing cylinder 1.14 are respectively hinged with the main material pushing plate 1.11 and the auxiliary material pushing plate 1.12, and the pushing cylinder is used for driving the auxiliary material pushing plate 1.12 to slide relative to the main material pushing plate 1.11, so that the width of the pushing plate is changed. The pushing assembly is used for cleaning on-site materials after a knife is cut, so that the next knife can be conveniently subjected to grooving operation.
Furthermore, the cutting arm assembly also comprises a pendulum bob 1.15 hinged on the base 1.2, and the base 1.2 is provided with a mark plumb mark; the plumb mark is located directly below the pendulum bob 1.15 when the base 1.2 is in a horizontal position. The vertical mark is delta, and before slotting, the pendulum bob 1.15 is ensured to point to the vertical mark on the base 1.2, so that the position of the base 1.2 is ensured to be in a horizontal state.
Further, the steering assembly comprises a male hinge 2.1, a female hinge 2.2 and a steering oil cylinder 2.3; the male hinge 2.1 is fixedly connected with the traction part and is hinged with the female hinge 2.2, and the hinge axes of the male hinge 2.1 and the female hinge 2.2 are vertical to the horizontal plane; the female hinge 2.2 is hinged with the rack 1.1, and the hinge axis of the female hinge 2.2 and the rack 1.1 is parallel to the horizontal plane so as to adapt to the uneven ground; one end of the steering oil cylinder 2.3 is hinged with the female hinge 2.2, and the other end is hinged with the traction part or the male hinge 2.1. The included angle between the traction part and the cutting part is adjusted through the extension and retraction of steering oil cylinders 2.3 on the two sides of the male hinge 2.1 and the female hinge 2.2, and the turning is realized.
Furthermore, the supporting leg system comprises supporting legs I which are arranged on two sides of the traction part; the supporting leg I comprises a fixed sleeve 3.1, a telescopic leg 3.2 and a supporting oil cylinder 3.3; the fixed sleeve 3.1 is fixed on the traction part; the telescopic legs 3.2 and the fixed sleeves 3.1 form sliding pairs, and the sliding direction is vertical to the horizontal plane; the supporting oil cylinder 3.3 is arranged in a space enclosed by the telescopic legs 3.2 and the fixed sleeve 3.1, and two ends of the supporting oil cylinder are respectively hinged with the telescopic legs 3.2 and the fixed sleeve 3.1. The height of the supporting leg I is adjusted by stretching the supporting oil cylinder 3.3.
Furthermore, the supporting leg system also comprises supporting legs II which are arranged at two sides of the cutting part; the supporting leg II comprises a fixed arm 3.4, a telescopic arm 3.5, a telescopic oil cylinder 3.6, a fixed sleeve 3.1, a telescopic leg 3.2 and a supporting oil cylinder 3.3; the fixed arm 3.4 is fixed on the cutting part, and the fixed arm 3.4 is fixed on the rack 1.1 in the embodiment; the telescopic arm 3.5 and the fixed arm 3.4 form a sliding pair, and the sliding direction is parallel to the horizontal plane; the telescopic oil cylinder 3.6 is arranged in a space enclosed by the telescopic arm 3.5 and the fixed arm 3.4, and two ends of the telescopic oil cylinder are respectively hinged with the telescopic arm 3.5 and the fixed arm 3.6; the fixed sleeve 3.1 is fixed on the telescopic arm 3.5; the telescopic legs 3.2 and the fixed sleeves 3.1 form sliding pairs, and the sliding direction is vertical to the horizontal plane; the supporting oil cylinder 3.3 is arranged in a space enclosed by the telescopic legs 3.2 and the fixed sleeve 3.1, and two ends of the supporting oil cylinder are respectively hinged with the telescopic legs 3.2 and the fixed sleeve 3.1. The expansion of the support range of the support leg II is realized through the stretching of the telescopic oil cylinder 3.6, and the adjustment of the height of the support leg II is realized through the stretching of the support oil cylinder 3.3. The supporting leg system is used for increasing the supporting area in the grooving process and ensuring the stability of the whole machine.
Further, the traction part comprises a traction frame 4.1, and an explosion-proof engine system 4.2, a hydraulic system 4.3, an electric control system 4.4 and a cab 4.5 which are arranged on the traction frame 4.1; the explosion-proof engine system 4.2 provides power for the hydraulic system 4.3; the walking power of the roadway grooving machine for the coal mine and the driving forces of the angle adjusting oil cylinder 1.3, the swing arm oil cylinder 1.9, the lifting oil cylinder 1.13, the pushing oil cylinder 1.14, the steering oil cylinder 2.3, the supporting oil cylinder 3.3 and the telescopic oil cylinder 3.6 are all provided by a hydraulic system 4.3. The explosion-proof engine system 4.2, the hydraulic system 4.3 and the electronic control system 4.4 are all designed by a person skilled in the relevant art.
Furthermore, the frame 1.1 and the traction frame 4.1 are provided with walking wheels.
Furthermore, the coal mine roadway grooving machine further comprises an intelligent cutting system, an angular displacement sensor I5 and an angular displacement sensor II 6; the angular displacement sensor I5 is used for acquiring an angle value between the main arm 1.4 and the base 1.2; the angular displacement sensor II 6 is used for acquiring an angle value between the swing arm 1.6 and the main arm 1.4;
the intelligent cutting system receives initial values of an angular displacement sensor I5 and an angular displacement sensor II 6 after manual tool settingθ 10 、θ 20 Calculating the cut according to equation 1Initial position coordinates of the head 1.10 with respect to a coordinate system of the body (with a hinge point of the main arm 1.4 and the base 1.2 in fig. 3 as an origin, a horizontal rightward direction as an X-axis, and a vertical upward direction as a Y-axis) (X-axis)X 0 ,Y 0 ) According to the cutting directions of upward, downward, leftward and rightward and the corresponding formula 2.1, formula 2.2, formula 2.3 and formula 2.4, the target angle value between the swing arm 1.6 and the main arm 1.4 during cutting is calculatedθControlling the swing arm oil cylinder 1.9 to stretch and contract to make the actual measurement angle between the swing arm 1.6 and the main arm 1.4θ 2 Infinitely approaching a target valueθThe automatic cutting is realized, and the automatic cutting is realized,
wherein,ωfor constant angular velocity of the main arm slewing drive assembly, of the order ofa，Positive up or left, negative down or right;
θ 1 the actual measurement angle between the main arm and the base is obtained;
L 1 is the length of the main arm;
L 2 is the swing arm length.
Further, the intelligent cutting system is integrated in the remote control transmitter 7.
Further, a manual/automatic cutting switching key is arranged on the remote control transmitter 7, when the key is positioned at a manual cutting gear, an operator manually operates the swing arm oil cylinder 1.9 and the main arm rotary driving component 1.5 to complete cutting action, the operator observes the relative position of the cutting head 1.10 and a roadway by means of naked eyes, and timely adjusts the displacement of the swing arm oil cylinder 1.9 and the main arm rotary driving component 1.5 to complete cutting.
The tunnel grooving machine for the coal mine comprises the following parts of parameters:
(1) the weight (kg) of the whole machine is as follows: 30000
(2) Installed power (kW): 120 kw
(3) Cutting power (kW):55
(4) Cutting hardness: f6 is less than or equal to
(5) Depth (mm) of the grooves is 0 to 500
(6) Width (mm) of the cut groove of 370 Xn
(7) 3300-5000 of the tunnel height (mm)
(8) Adapt to the width (mm) of the roadway of 4000-6000
(9) Maximum adaptive gradient: 12 DEG or less
(10) Ground clearance: 300 mm.
The roadway grooving machine for the coal mine is special grooving equipment developed and designed for sealing roadways and installing air doors. The method is suitable for the width of the roadway: 4.0 ~ 6.2 meters, adaptation tunnel height: 3.3-5.0 m, and can open a slot along the cross section of the roadway by 360 degrees. The slotting efficiency is not lower than 5m3And/h is about 30 times of the efficiency of manual slotting. Above-mentioned tunnel groover for coal mine can very big degree reduce workman intensity of labour, improves work efficiency.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A roadway grooving machine for a coal mine is characterized by comprising a traction part, a cutting part, a steering assembly, a supporting leg system, an intelligent cutting system, an angular displacement sensor I and an angular displacement sensor II, wherein the traction part is used for providing power for the roadway grooving machine for the coal mine;
the cutting part comprises a rack and a cutting arm component;
the cutting arm assembly comprises a base, an angle adjusting oil cylinder, a main arm rotation driving assembly, a swing arm, a connecting rod I, a connecting rod II, a swing arm oil cylinder and a cutting head;
the base is hinged on the rack, and the hinge axis is parallel to the horizontal plane;
two ends of the angle adjusting oil cylinder are respectively hinged with the rack and the base and used for adjusting an included angle between the rack and the base;
the main arm rotation driving component is arranged on the base, and the output end of the main arm rotation driving component is connected with the main arm and is used for driving the main arm to rotate relative to the rack in the whole circle;
the bottom end of the swing arm is hinged with the main arm, and the top end of the swing arm is provided with a cutting head;
one end of the connecting rod I is hinged with the swing arm, one end of the connecting rod II is hinged with the main arm, the connecting rod I is hinged with the connecting rod II, and the main arm, the swing arm, the connecting rod I and the connecting rod II form a double-rocker-arm structure;
two ends of the swing arm oil cylinder are respectively hinged with the main arm and the connecting rod II;
the angular displacement sensor I is used for acquiring an angle value between the main arm and the base;
the angular displacement sensor II is used for acquiring an angle value between the swing arm and the main arm;
the intelligent cutting system receives initial values of an angular displacement sensor I and an angular displacement sensor II after manual tool settingθ 10 、θ 20 Calculating the initial position coordinates of the cutting head relative to the coordinate system of the machine body according to the formula 1 (X 0 ,Y 0 ) Calculating the target angle value between the swing arm and the main arm during cutting according to the cutting directions of upward, downward, leftward and rightward and corresponding formulas 2.1, 2.2, 2.3 and 2.4θControlling the swing arm cylinder to stretch and contract to make the angle between the swing arm and the main arm measuredθ 2 Infinitely approaching a target valueθThe automatic cutting is realized, and the automatic cutting is realized,
wherein,ωfor constant angular velocity of main arm slewing drive assemblyDegree, value ofa，Positive up or left, negative down or right;
θ 1 the actual measurement angle between the main arm and the base is obtained;
L 1 is the length of the main arm;
L 2 is the swing arm length.
2. The coal mine roadway grooving machine of claim 1, wherein the cutting portion further comprises a pushing assembly;
the pushing assembly is positioned below the cutting arm assembly and comprises a main pushing plate, an auxiliary pushing plate, a lifting oil cylinder and a pushing oil cylinder;
the main material pushing plate and the rack form a sliding pair, and the sliding direction is vertical to the horizontal plane;
two ends of the lifting oil cylinder are respectively hinged with the rack and the main material pushing plate and used for driving the main material pushing plate to slide up and down relative to the rack;
the two auxiliary material pushing plates and the main material pushing plate respectively form sliding pairs, and the sliding direction is parallel to the horizontal plane;
two ends of the pushing oil cylinder are respectively hinged with the main pushing plate and the auxiliary pushing plate and used for driving the auxiliary pushing plate to slide relative to the main pushing plate.
3. The coal mine roadway grooving machine of claim 2, wherein the cutting arm assembly further comprises a pendulum bob hinged to the base, the base being provided with a marking plumb mark;
the plumb mark is positioned under the pendulum bob when the base is positioned at a horizontal position.
4. The coal mine roadway grooving machine of claim 3, wherein the steering assembly comprises a male hinge, a female hinge and a steering cylinder;
the male hinge is fixedly connected with the traction part and is hinged with the female hinge, and hinge axes of the male hinge and the female hinge are vertical to a horizontal plane;
the female hinge is hinged with the rack, and the hinge axes of the female hinge and the rack are parallel to the horizontal plane;
one end of the steering oil cylinder is hinged with the female hinge, and the other end of the steering oil cylinder is hinged with the traction part or the male hinge.
5. The coal mine roadway grooving machine according to claim 4, wherein the support leg system comprises support legs I installed on two sides of the traction part;
the supporting leg I comprises a fixed sleeve, a telescopic leg and a supporting oil cylinder;
the fixed sleeve is fixed on the traction part;
the telescopic legs and the fixed sleeves form sliding pairs, and the sliding direction is vertical to the horizontal plane;
the supporting oil cylinder is arranged in a space enclosed by the telescopic legs and the fixed sleeve, and two ends of the supporting oil cylinder are respectively hinged with the telescopic legs and the fixed sleeve.
6. The coal mine roadway grooving machine according to claim 5, wherein the support leg system further comprises support legs II mounted on two sides of the cutting part;
the supporting leg II comprises a fixed arm, a telescopic oil cylinder, a fixed sleeve, a telescopic leg and a supporting oil cylinder;
the fixed arm is fixed on the cutting part;
the telescopic arm and the fixed arm form a sliding pair, and the sliding direction is horizontal to the horizontal plane;
the telescopic oil cylinder is arranged in a space enclosed by the telescopic arm and the fixed arm, and two ends of the telescopic oil cylinder are respectively hinged with the telescopic arm and the fixed arm;
the fixed sleeve is fixed on the telescopic arm;
the telescopic legs and the fixed sleeves form sliding pairs, and the sliding direction is vertical to the horizontal plane;
the supporting oil cylinder is arranged in a space enclosed by the telescopic legs and the fixed sleeve, and two ends of the supporting oil cylinder are respectively hinged with the telescopic legs and the fixed sleeve.
7. The coal mine roadway grooving machine according to claim 6, wherein the traction part comprises a traction frame, and an explosion-proof engine system, a hydraulic system, an electric control system and a cab which are arranged on the traction frame;
the explosion-proof engine system provides power for the hydraulic system;
the walking power of the roadway grooving machine for the coal mine and the driving forces of the angle adjusting oil cylinder, the swing arm oil cylinder, the lifting oil cylinder, the pushing oil cylinder, the steering oil cylinder, the supporting oil cylinder and the telescopic oil cylinder are all provided by a hydraulic system.
8. The coal mine roadway grooving machine of claim 1, wherein the intelligent cutting system is integrated into a remote control transmitter.
9. The coal mine roadway grooving machine according to claim 8, wherein a manual/automatic cutting switching key is provided on the remote control transmitter, when the key is at a manual cutting gear, an operator manually operates the swing arm cylinder and the main arm rotary driving assembly to complete cutting, the operator observes the relative position of the cutting head and the roadway by naked eyes, and the operator timely adjusts the displacement of the swing arm cylinder and the main arm rotary driving assembly to complete cutting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714539.9A CN111794745B (en) | 2020-07-23 | 2020-07-23 | Tunnel grooving machine for coal mine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714539.9A CN111794745B (en) | 2020-07-23 | 2020-07-23 | Tunnel grooving machine for coal mine |
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| CN111794745A CN111794745A (en) | 2020-10-20 |
| CN111794745B true CN111794745B (en) | 2022-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010714539.9A Active CN111794745B (en) | 2020-07-23 | 2020-07-23 | Tunnel grooving machine for coal mine |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116378695B (en) * | 2023-04-07 | 2023-09-29 | 廊坊景隆重工机械有限公司 | Mining thin coal seam hydraulic grooving machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105332700A (en) * | 2015-11-23 | 2016-02-17 | 蒲长晏 | Coal mine roadway grooving machine |
| CN107165630A (en) * | 2017-07-19 | 2017-09-15 | 山西天巨重工机械有限公司 | A kind of colliery quick digging and anchoring all-in-one |
| CN107605479A (en) * | 2017-10-23 | 2018-01-19 | 连云港天明装备有限公司 | Underground coal mine groover grooving apparatus |
| CN110043255A (en) * | 2018-09-10 | 2019-07-23 | 鄂尔多斯市昱轩装备科技有限公司 | Coal cutting roadway spiral arm milling machine |
| CN111411655A (en) * | 2020-05-06 | 2020-07-14 | 山西天巨重工机械有限公司 | Multifunctional roadway maintenance repairing machine |
-
2020
- 2020-07-23 CN CN202010714539.9A patent/CN111794745B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105332700A (en) * | 2015-11-23 | 2016-02-17 | 蒲长晏 | Coal mine roadway grooving machine |
| CN107165630A (en) * | 2017-07-19 | 2017-09-15 | 山西天巨重工机械有限公司 | A kind of colliery quick digging and anchoring all-in-one |
| CN107605479A (en) * | 2017-10-23 | 2018-01-19 | 连云港天明装备有限公司 | Underground coal mine groover grooving apparatus |
| CN110043255A (en) * | 2018-09-10 | 2019-07-23 | 鄂尔多斯市昱轩装备科技有限公司 | Coal cutting roadway spiral arm milling machine |
| CN111411655A (en) * | 2020-05-06 | 2020-07-14 | 山西天巨重工机械有限公司 | Multifunctional roadway maintenance repairing machine |
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| CN111794745A (en) | 2020-10-20 |
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