CN111911207A - Gantry shield type intelligent tunneling robot system - Google Patents
Gantry shield type intelligent tunneling robot system Download PDFInfo
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- CN111911207A CN111911207A CN202010689273.7A CN202010689273A CN111911207A CN 111911207 A CN111911207 A CN 111911207A CN 202010689273 A CN202010689273 A CN 202010689273A CN 111911207 A CN111911207 A CN 111911207A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 91
- 238000005553 drilling Methods 0.000 claims abstract description 100
- 239000003245 coal Substances 0.000 claims abstract description 38
- 238000004873 anchoring Methods 0.000 claims abstract description 34
- 238000005065 mining Methods 0.000 claims abstract description 15
- 238000009423 ventilation Methods 0.000 claims abstract description 11
- 230000001502 supplementing effect Effects 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000009412 basement excavation Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 239000011435 rock Substances 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000035874 Excoriation Diseases 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D19/00—Provisional protective covers for working space
- E21D19/04—Provisional protective covers for working space for use in drifting galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/08—Advancing mechanisms
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/08—Advancing mechanisms
- E21D23/081—Advancing mechanisms forming parts of the roof supports
- E21D23/087—Advancing mechanisms forming parts of the roof supports acting directly on the walls of the seam
- E21D23/088—Advancing mechanisms forming parts of the roof supports acting directly on the walls of the seam by means of wheels, rollers, caterpillars, belts or worm screws
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F1/00—Ventilation of mines or tunnels; Distribution of ventilating currents
- E21F1/006—Ventilation at the working face of galleries or tunnels
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
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- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a gantry shield type (complicated geological condition) intelligent tunneling robot system, which comprises a cantilever type tunneling robot, a drilling and anchoring robot, a temporary support robot, a drilling and repairing robot, an anchor net transporting robot, a ventilation system, a secondary transportation system and a self-moving tail, wherein the drilling and anchoring robot, the temporary support robot and the drilling and repairing robot are all frame structures and are sequentially arranged in front and back, a safe working space is provided for the cantilever type tunneling robot, and the tasks of supporting and drilling and anchoring of an anchor net are completed; the arm type tunneling robot and the secondary transportation system are sequentially arranged and are positioned in a frame structure formed by connecting the drilling anchor robot, the temporary support robot and the drilling machine supplementing robot, so that coal mining and transportation can be realized; the invention can realize the parallel operation of tunneling and supporting on the basis of ensuring the work safety, has the characteristics of simple structure, convenient operation and control, strong adaptability and the like, can effectively improve the tunneling efficiency, promote the supporting speed and quality, reduce the number of workers and ensure the safe production.
Description
Technical Field
The invention relates to the field of machinery, in particular to a gantry shield type intelligent tunneling robot system.
Background
In production life, coal is a high-quality resource commonly used in China, and although coal mines in China are widely distributed, coal exploration reserves in China are large, and mineable coal resources are rich, open pit coal mines capable of being directly mined are few. Therefore, most coal mines need to build a tunnel to assist mining in the mining process, and therefore, in the coal mining process, the tunneling speed of the tunnel directly influences the mining speed of coal.
Since the 21 st century, coal mining technologies and equipment are rapidly developed, the coal mining capacity and efficiency are continuously improved, however, the roadway tunneling technologies and equipment are relatively lagged in fully mechanized mining development, and the problem of mining proportion imbalance commonly exists in coal enterprises. Meanwhile, the environment of the coal mine underground roadway tunneling working face is severe, the safety performance is poor, the automation degree of coal equipment is low, the system of the coal equipment on the tunneling working face is complex, more actions need to be controlled, and the requirements on the logicality, the accuracy, the response speed and the like of all the actions are high. At present, the roadway tunneling operation is mostly in a mechanical operation mode, the working strength of coal mine workers is reduced, and the life safety of workers is guaranteed, but higher requirements are provided for the technical requirements and professional requirements of constructors, and the performance of excavating equipment cannot be fully exerted and the tunneling efficiency of a tunneling working face cannot be improved. The mine has the condition of mining disorder, the technical level of coal roadway tunneling lags behind the technical level of coal mining, and the requirement of coal production cannot be met. In order to realize safe and efficient production and low-cost operation of coal enterprises, the method breaks through the bottleneck of the rapid tunneling technology and equipment of the coal mine tunnel and becomes a key technical support.
The problems affecting the tunneling efficiency include complex geological conditions, complex tunneling and supporting process, unbalanced tunneling and supporting and the like:
the geological conditions of the coal seam roadway can be directly influenced by the condition of the rock stratum of the roadway when the roadway is tunneled. If the tunneling roadway is a hard coal rock roadway, the difficulty of rapid tunneling can be increased, meanwhile, the machine can be seriously abraded in the tunneling process, severe vibration can be easily caused, secondary abrasion can be carried out on the machine, and adverse effects can be brought to the tunneling efficiency improvement. In addition, the water permeability of rock strata, the gas emergence condition and the like are also contents of the geological conditions of the roadway.
According to the tunneling construction status of the tunnel of the coal mine in China, the tunneling support construction process can find that the time consumed by the support construction is long, and the rapid footage of the tunneling machine is severely restricted. The lag of the supporting process causes direct influence on the rapid excavation of coal mine tunnels in China, if the deviation phenomenon always occurs in the process of drilling the anchor rod, the process is always carried out according to experience when the equipment advances, and thus the supporting speed is difficult to meet the actual excavation speed.
The excavation and support are unbalanced, annual report statistics of mechanized production conditions of Chinese coal mines in recent years show that in 1 operation cycle, the support time accounts for 50% -60% of the total cycle time, the tunneling time accounts for 20% -25%, the work preparation time and the mechanical failure time account for 10% -15%, and the excavation is fast and the support is slow. Therefore, the balance of supporting and tunneling is a key factor influencing the rapid tunneling of the coal mine, and therefore, the problems related to the rapid tunneling of the coal roadway need to be further researched and discussed so as to further improve various technical indexes of tunneling operation and meet the requirements of safe and efficient coal mining and tunneling.
According to the analysis, the factor influencing the tunneling efficiency is mainly the imbalance of tunneling and supporting, the alternating and parallel operation working principle of tunneling and supporting is analyzed on the basis of the existing work, the tunneling and supporting system and the working process are researched, and the tunneling and supporting equipment with the advantages of simple structure, reasonable drill arrangement, flexible process, convenience in operation and control, strong adaptability and high cost performance is innovated. With the continuous development of science and technology, the technologies such as computers, industrial robots, sensing technologies, new materials and the like can be widely applied to coal mine tunneling and supporting machinery, the equipment can effectively improve the tunneling efficiency, promote the supporting speed and quality, reduce workers, ensure safe production, have important significance for effectively solving the technical problem of rapid tunneling of roadways under complex geological conditions, and promote the coal mine machinery to be developed in the directions of integration, high efficiency, intellectualization and the like.
Disclosure of Invention
In order to solve the problems, the invention provides a gantry shield type intelligent tunneling robot system.
In order to achieve the purpose, the invention adopts the technical scheme that:
a gantry shield type intelligent tunneling robot system comprises a cantilever type tunneling robot, an anchor drilling robot, a temporary support robot, a rig supplementing robot, an anchor net conveying robot, a ventilation system, a secondary conveying system and a self-moving tail; the drilling and anchoring robot, the temporary support robot and the drilling machine repairing robot are all of frame structures and are sequentially arranged in front and back, a safe working space is provided for the cantilever type tunneling robot, and supporting and drilling and anchoring tasks of an anchor net are completed; the arm type tunneling robot and the secondary transportation system are sequentially arranged in the front and back, are positioned in a frame structure formed by connecting the drilling and anchoring robot, the temporary support robot and the drilling machine supplementing robot and are used for realizing coal mining and transportation; the self-moving tail is positioned behind the secondary conveying system, is coordinated with the advancing step pitch of the secondary conveying system, automatically moves forward through a self-contained hydraulic system, and has the functions of adjusting belt deviation, straightening the advancing direction of the reversed loader, automatically moving forward and the like; the ventilation system is Y-shaped and used for providing fresh air for a tunneling working face, a main machine of the ventilation system is erected above a self-moving tail, an air duct is erected above the secondary transportation system and below the anchor net transportation robot respectively, then the air duct in a framework of the rig-repairing robot is changed into 2 ducts from 1 duct, and the 2 ducts are erected on two sides in the framework of the temporary support robot and the anchor drilling robot respectively; the anchor net conveying robot is of a straddle type structure, an anchor net warehouse and a manipulator are arranged on the anchor net warehouse, the anchor net warehouse is used for providing a folding anchor net for the drilling and anchoring robot, and the manipulator is used for unfolding the folding anchor net and placing the folding anchor net on the top end of the temporary support robot.
Furthermore, the cantilever type tunneling robot realizes the underground positioning and pose identification through a total station and an inertial navigation system, and realizes automatic tunneling according to a preset tunneling track.
Furthermore, the anchor drilling robot is used for completing anchor net transportation, anchor net support and previous anchor drilling tasks, 6 drilling machines are installed on the anchor drilling robot, and the 6 drilling machines are respectively 4 top plate drilling machines, 1 left side drilling machine and 1 right side drilling machine, so that the anchor net can be preliminarily fixed, and temporary support of the anchor net is realized;
furthermore, the temporary support robot is matched with the drilling and anchoring robot in a cooperative manner, and is provided with a hydraulic power system and related power equipment for providing power sources for the drilling and anchoring robot, the drilling and repairing robot and the anchor net transportation robot;
furthermore, 5 drilling machines are installed on the drilling machine supplementing robot, wherein 3 roof drilling machines, 1 left-side drilling machine and 1 right-side drilling machine can complete the drilling and anchoring tasks of the residual anchor rods supported by the anchor nets and complete the permanent support of the anchor nets;
further, the second transportation system is a floor scraper conveyor and is used for completing transportation and transshipment of coal.
Furthermore, the cantilever type tunneling machine is positioned at the forefront of the whole system and moves forwards by utilizing a self crawler traveling system, the second transportation system is connected to the rear part of the cantilever type tunneling machine in a hinged mode and moves forwards by utilizing the traction of the cantilever type tunneling machine; the drilling and anchoring robot, the temporary support robot and the drilling repairing robot all move forwards through the crawler traveling mechanisms of the drilling and anchoring robot, the temporary support robot and the drilling repairing robot.
The gantry shield type (complex geological condition) intelligent tunneling robot system disclosed by the invention can realize parallel tunneling and supporting operation on the basis of ensuring the working safety, has the characteristics of simple structure, reasonable drilling arrangement, flexible process, convenience in operation and control, strong adaptability, high cost performance and the like, can effectively improve the tunneling efficiency, promotes the supporting speed and quality, reduces the number of workers, ensures the safe production, and has important significance for effectively solving the technical problem of rapid tunneling of a roadway under the complex geological condition.
Drawings
Fig. 1 is a schematic structural diagram of a gantry shield type intelligent tunneling robot system according to an embodiment of the present invention.
Fig. 2 is a schematic view of a connection structure of the boom excavation robot and the second transportation system in the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of the drilling and anchoring robot in the embodiment of the invention.
Fig. 4 is a schematic structural diagram of a temporary support robot in the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a rig repairing robot in an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of an anchor net transporting robot in the embodiment of the invention.
Fig. 7 is a schematic structural view of a ventilation system in an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of a self-moving tail in the embodiment of the present invention.
Fig. 9 is a flowchart of the operation of the embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the gantry shield type intelligent tunneling robot system of the embodiment of the present invention includes a cantilever type tunneling robot 1, a drilling and anchoring robot 2, a temporary support robot 3, a drilling and repairing robot 4, an anchor net transporting robot 5, a ventilating system 6, a secondary transporting system 7, and a self-moving tail 8; the drilling and anchoring robot, the temporary support robot and the drilling machine repairing robot are all of frame structures and are sequentially arranged in front and back, a safe working space is provided for the cantilever type tunneling robot, and supporting and drilling and anchoring tasks of an anchor net are completed; the arm type tunneling robot and the secondary transportation system are sequentially arranged in the front and back, are positioned in a frame structure formed by connecting the drilling and anchoring robot, the temporary support robot and the drilling machine supplementing robot and are used for realizing coal mining and transportation; the self-moving tail is positioned behind the secondary conveying system, is coordinated with the advancing step pitch of the secondary conveying system, automatically moves forward through a self-contained hydraulic system, and has the functions of adjusting belt deviation, straightening the advancing direction of the reversed loader, automatically moving forward and the like; the ventilation system is Y-shaped and used for providing fresh air for a tunneling working face, a main machine of the ventilation system is erected above a self-moving tail, an air duct is erected above the secondary transportation system and below the anchor net transportation robot respectively, then the air duct in a framework of the rig-repairing robot is changed into 2 ducts from 1 duct, and the 2 ducts are erected on two sides in the framework of the temporary support robot and the anchor drilling robot respectively; the anchor net conveying robot is of a straddle type structure, an anchor net warehouse and a manipulator are arranged on the anchor net warehouse, the anchor net warehouse is used for providing a folding anchor net for the drilling and anchoring robot, and the manipulator is used for unfolding the folding anchor net and placing the folding anchor net on the top end of the temporary support robot.
In this embodiment, the boom-type tunneling robot realizes positioning and pose identification of the boom-type tunneling robot in the underground through the total station and the inertial navigation system, and realizes automatic tunneling according to a predetermined tunneling track.
In the embodiment, the anchor drilling robot is used for completing anchor net transportation, anchor net support and previous anchor drilling tasks, 6 drilling machines are installed on the anchor drilling robot, and the 6 drilling machines are respectively 4 top plate drilling machines, 1 left side drilling machine and 1 right side drilling machine, so that the anchor net can be preliminarily fixed, and temporary support of the anchor net is realized;
in the embodiment, the temporary support robot is matched with the drilling and anchoring robot in a cooperative manner, and is provided with a hydraulic power system and related power equipment for providing power sources for the drilling and anchoring robot, the drilling and repairing robot and the anchor net transportation robot;
in the embodiment, 5 drilling machines are installed on the drilling machine supplementing robot, wherein 3 roof drilling machines, 1 left side drilling machine and 1 right side drilling machine can complete the drilling and anchoring tasks of the residual anchor rods supported by the anchor nets and complete the permanent support of the anchor nets;
in this embodiment, the second transportation system is a floor scraper, and is used for completing transportation and transfer of coal.
In the embodiment, the cantilever type tunneling machine is positioned at the forefront of the whole system and moves forwards by utilizing a self crawler traveling system, the secondary transportation system is connected behind the cantilever type tunneling machine in a hinged mode and moves forwards by utilizing the traction of the cantilever type tunneling machine; the drilling and anchoring robot, the temporary support robot and the drilling repairing robot all move forwards through the crawler traveling mechanisms of the drilling and anchoring robot, the temporary support robot and the drilling repairing robot.
When the cantilever type tunneling robot is used, as shown in fig. 2, after the cantilever type tunneling robot finishes a cutting task of an intercept, the drilling and anchoring robot, the temporary supporting robot, the drilling and repairing robot, the anchor net transporting robot, the ventilation system, the secondary transporting system and the self-moving machine tail follow the cutting task of an intercept and then advance an intercept, and enter a working state, and the tasks of a series of procedures of tunneling, temporary supporting and permanent supporting of a coal mine roadway are completed in a circulating mode.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. The utility model provides a longmen shield formula intelligence tunnelling robot system which characterized in that: the system comprises a cantilever type tunneling robot (1), a drilling and anchoring robot (2), a temporary support robot (3), a drilling repairing robot (4), an anchor net conveying robot (5), a ventilation system (6), a secondary conveying system (7) and a self-moving tail (8); the drilling and anchoring robot, the temporary support robot and the drilling machine repairing robot are all of frame structures and are sequentially arranged in front and back, a safe working space is provided for the cantilever type tunneling robot, and supporting and drilling and anchoring tasks of an anchor net are completed; the arm type tunneling robot and the secondary transportation system are sequentially arranged in the front and back, are positioned in a frame structure formed by connecting the drilling and anchoring robot, the temporary support robot and the drilling machine supplementing robot and are used for realizing coal mining and transportation; the self-moving tail is positioned behind the secondary conveying system, is coordinated with the advancing step pitch of the secondary conveying system, automatically moves forward through a self-contained hydraulic system, and has the functions of adjusting belt deviation, straightening the advancing direction of the reversed loader and automatically moving forward; the ventilation system is Y-shaped and used for providing fresh air for a tunneling working face, a main machine of the ventilation system is erected above a self-moving tail, an air duct is erected above the secondary transportation system and below the anchor net transportation robot respectively, then the air duct in a framework of the rig-repairing robot is changed into 2 ducts from 1 duct, and the 2 ducts are erected on two sides in the framework of the temporary support robot and the anchor drilling robot respectively; the anchor net conveying robot is of a straddle type structure, an anchor net warehouse and a manipulator are arranged on the anchor net warehouse, the anchor net warehouse is used for providing a folding anchor net for the drilling and anchoring robot, and the manipulator is used for unfolding the folding anchor net and placing the folding anchor net on the top end of the temporary support robot.
2. The gantry shield type intelligent tunneling robot system according to claim 1, characterized in that: the cantilever type tunneling robot realizes positioning and pose identification under the well through a total station and an inertial navigation system and realizes automatic tunneling according to a preset tunneling track.
3. The gantry shield type intelligent tunneling robot system according to claim 1, characterized in that: the anchor drilling robot is used for completing anchor net transportation, anchor net supporting and previous anchor drilling tasks, 6 drilling machines are installed on the anchor drilling robot, the 6 drilling machines are respectively 4 top plate drilling machines, 1 left side drilling machine and 1 right side drilling machine, the anchor net can be preliminarily fixed, and temporary supporting of the anchor net is achieved.
4. The gantry shield type intelligent tunneling robot system according to claim 1, characterized in that: the temporary support robot is matched with the drilling and anchoring robot in a cooperative mode, and a hydraulic power system and related power equipment are arranged on the temporary support robot and are used for providing power sources for the drilling and anchoring robot, the rig supplementing robot and the anchor net conveying robot.
5. The gantry shield type intelligent tunneling robot system according to claim 1, characterized in that: 5 drilling machines are installed on the drilling machine repairing robot, wherein 3 roof drilling machines, 1 left side drilling machine and 1 right side drilling machine can complete the drilling and anchoring tasks of the residual anchor rods supported by the anchor nets and complete the permanent support of the anchor nets.
6. The gantry shield type intelligent tunneling robot system according to claim 1, characterized in that: the second transportation system is a floor scraper conveyor and is used for completing transportation and transshipment of coal.
7. The gantry shield type intelligent tunneling robot system according to claim 1, characterized in that: the cantilever type tunneling machine is positioned at the forefront of the whole system, the crawler traveling system of the cantilever type tunneling machine is used for moving forwards, the secondary transportation system is connected to the rear part of the cantilever type tunneling machine in a hinged mode, and the secondary transportation system is used for moving forwards under the traction of the cantilever type tunneling machine; the drilling and anchoring robot, the temporary support robot and the drilling repairing robot all move forwards through the crawler traveling mechanisms of the drilling and anchoring robot, the temporary support robot and the drilling repairing robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010689273.7A CN111911207A (en) | 2020-07-16 | 2020-07-16 | Gantry shield type intelligent tunneling robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010689273.7A CN111911207A (en) | 2020-07-16 | 2020-07-16 | Gantry shield type intelligent tunneling robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114458346A (en) * | 2022-02-14 | 2022-05-10 | 西安科技大学 | Automatic net spreading mechanism of rapid tunneling system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0497097A (en) * | 1990-08-13 | 1992-03-30 | Nippon Telegr & Teleph Corp <Ntt> | Automatic direction control method of small-diameter tunnel robot using fuzzy control |
| CN103670400A (en) * | 2013-12-17 | 2014-03-26 | 中国神华能源股份有限公司 | Heading machine |
| CN107401376A (en) * | 2017-08-21 | 2017-11-28 | 福建亿钻机械有限公司 | It is a kind of can remote monitoring horizontal directional drilling machine and level get into the cave method |
| CN109184691A (en) * | 2018-08-07 | 2019-01-11 | 中国矿业大学(北京) | Full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch |
-
2020
- 2020-07-16 CN CN202010689273.7A patent/CN111911207A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0497097A (en) * | 1990-08-13 | 1992-03-30 | Nippon Telegr & Teleph Corp <Ntt> | Automatic direction control method of small-diameter tunnel robot using fuzzy control |
| CN103670400A (en) * | 2013-12-17 | 2014-03-26 | 中国神华能源股份有限公司 | Heading machine |
| CN107401376A (en) * | 2017-08-21 | 2017-11-28 | 福建亿钻机械有限公司 | It is a kind of can remote monitoring horizontal directional drilling machine and level get into the cave method |
| CN109184691A (en) * | 2018-08-07 | 2019-01-11 | 中国矿业大学(北京) | Full-mechanized roadway piercing technique based on the anchor combined unit of robotization pick branch |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114458346A (en) * | 2022-02-14 | 2022-05-10 | 西安科技大学 | Automatic net spreading mechanism of rapid tunneling system |
| CN114458346B (en) * | 2022-02-14 | 2024-05-10 | 西安科技大学 | Automatic net spreading mechanism of rapid tunneling system |
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Application publication date: 20201110 |
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