CN111945807A - Shoveling and milling machine for tunnel - Google Patents
Shoveling and milling machine for tunnel Download PDFInfo
- Publication number
- CN111945807A CN111945807A CN202010864709.1A CN202010864709A CN111945807A CN 111945807 A CN111945807 A CN 111945807A CN 202010864709 A CN202010864709 A CN 202010864709A CN 111945807 A CN111945807 A CN 111945807A
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- quick
- change
- arm
- oil cylinder
- milling
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F7/00—Equipment for conveying or separating excavated material
- E02F7/04—Loading devices mounted on a dredger or an excavator hopper dredgers, also equipment for unloading the hopper
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Shovels (AREA)
Abstract
The invention provides a tunnel shoveling and milling machine, which comprises a chassis, a frame arranged on the chassis, a working arm connected to the frame and a working device arranged at the front end of the working arm, wherein the working arm is connected with the frame; the working arm comprises a movable arm, a movable arm oil cylinder, a bucket rod oil cylinder, a rocker arm, a connecting rod, a working oil cylinder and a quick-change device; two ends of the movable arm are respectively connected with the frame and the bucket rod; two ends of the rocker arm are respectively connected with the bucket rod and the connecting rod; two ends of the quick-change device are respectively connected with the connecting rod and the bucket rod; two ends of the movable arm oil cylinder are respectively arranged on the frame and the movable arm; two ends of the bucket rod oil cylinder are respectively arranged on the frame and the bucket rod; two ends of the working oil cylinder are respectively connected with the bucket rod and the rocker arm; the working device is connected with the quick-change device through the quick-change connecting frame. The shovel milling machine can load slag, the bucket can be replaced by a milling and digging device after the slag is loaded, an underdigging area is identified and underdigging is automatically processed, the underdigging is processed along the theoretical contour of a tunnel, the tunnel surface forming quality is good, the underdigging is automatically processed, the construction efficiency is high, and the labor intensity is low.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a tunnel shoveling and milling machine.
Background
In the current drilling and blasting method construction, after tunnel blasting is finished, underexcavation after tunnel blasting is generally processed by manually holding a pneumatic rock drill, and a loader is used for deslagging; the manual treatment is low in underexcavation operation efficiency, the environment near the blasting tunnel face is severe, and the safety of operators cannot be guaranteed; the loader needs to move frequently when loading slag, and the slag loading efficiency is low. Therefore, the development of the shoveling and milling machine which can efficiently load slag and process tunnel underexcavation has certain practical significance.
In summary, there is a need for a tunnel milling and shoveling machine to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a tunnel shoveling and milling machine which can efficiently load slag and process tunnel underexcavation so as to solve the problems that the conventional tunnel slag loading equipment is low in working efficiency and single in function and cannot process tunnel underexcavation.
In order to achieve the aim, the invention provides a tunnel shoveling and milling machine, which comprises a chassis, a frame arranged on the chassis, a working arm connected to the frame and a working device arranged at the front end of the working arm, wherein the working arm is connected with the frame;
the working arm comprises a movable arm, a movable arm oil cylinder, a bucket rod oil cylinder, a rocker arm, a connecting rod, a working oil cylinder and a quick-change device; one end of the movable arm is connected with the frame, and the other end of the movable arm is connected with the first end of the bucket rod; the second end of the bucket rod is connected with the first end of the rocker arm; the second end of the rocker arm is connected with the first end of the connecting rod; the second end of the connecting rod is connected with the first end of the quick-change device; the second end of the quick-change device is connected with the second end of the bucket rod; one end of the movable arm oil cylinder is installed on the frame, and the other end of the movable arm oil cylinder is installed on the movable arm; one end of the bucket rod oil cylinder is installed on the frame, and the other end of the bucket rod oil cylinder is installed on the bucket rod; one end of the working oil cylinder is connected with the bucket rod, and the other end of the working oil cylinder is connected with the rocker arm; the working device is connected with the quick-change device through the quick-change connecting frame.
Furthermore, the quick-change device comprises a quick-change base, a quick-change oil cylinder, a locking block, a pressing plate, a connecting rod, a dovetail groove guide rail and a quick-change connector mother board; the rodless end of the quick-change oil cylinder is fixed on the quick-change base through a pressing plate, and the rod end of the quick-change oil cylinder drives the locking block to move in a groove of the quick-change base; one end of the connecting rod is connected with the locking block, and the other end of the connecting rod is connected with the quick-change connector mother board; the dovetail groove guide rail is fixed on the quick-change base; the quick-change connector mother board is provided with a dovetail groove, and when the quick-change oil cylinder stretches, the locking block drives the quick-change connector mother board to move back and forth along the dovetail groove guide rail through the connecting rod.
Furthermore, a quick-change connector male plate and two locking block mounting grooves are fixedly mounted on the quick-change connecting frame; when the quick-change connecting frame is connected with the quick-change device, the male plate of the quick-change connector is matched with the female plate of the quick-change connector, and the locking block extends into the locking block mounting groove.
Further, the working device is a bucket or a milling and digging device.
Further, the milling and digging device comprises a large arm, a first slewing bearing, a small arm, a swing oil cylinder, a second slewing bearing and a milling and digging head; the milling and digging head is connected with one end of the small arm through a second slewing bearing; the other end of the small arm is connected with the large arm, and the large arm is installed on the quick-change connecting frame through the first slewing bearing; the swing oil cylinder is connected with the large arm by a rod end and is connected with the small arm by a rodless end.
Furthermore, the shoveling and milling machine also comprises an engine power system, and the engine power system is installed on the frame and used for providing power for the shoveling and milling machine and controlling the shoveling and milling machine to walk and work.
Furthermore, the shovel milling machine also comprises a cab and an anti-smashing device; the cab is arranged on the frame and is connected with a lifting device and a pitching device; the anti-smashing device is arranged on the outer side of the cab and used for protecting operators in the cab.
Further, the shovel mill still includes laser scanner, and the scanner fixed mounting is on the frame for scan tunnel profile.
The technical scheme of the invention has the following beneficial effects:
(1) according to the invention, the quick-change device is arranged at the front end of the working arm, so that the bucket can be quickly changed into the milling and digging device, underdigging of the tunnel is treated, manual operation is replaced, the surface forming quality is high, and the safety and health of operators are ensured.
(2) By utilizing the shovel loader for the tunnel, the whole shovel loader does not need to move when loading slag, the slag loading is realized through 360-degree rotation of the frame, and the operation efficiency is high.
(3) According to the invention, the laser scanner is fixedly arranged on the frame, so that the underexcavated area of the tunnel can be rapidly identified, and the construction efficiency is high.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural view of a tunnel milling and shoveling machine of the present invention;
FIG. 2 is a schematic view of the working arm of FIG. 1;
fig. 3 is a schematic structural view of the quick-change device in fig. 2;
FIG. 4 is a schematic view of a tunnel undermining handling shovel mill for a tunnel according to the present invention in a first operating state;
FIG. 5 is a schematic view of a second operating condition of the tunnel milling and shoveling machine for processing tunnel underexcavation according to the present invention;
FIG. 6 is a schematic view of a milling and excavating apparatus;
FIG. 7 is a cross-sectional view of the quick-change device and the milling and excavating device after the quick-change frame is connected;
FIG. 8 is a perspective view of the quick-change device and the milling and excavating device after the quick-change frame is connected;
the quick-change type hydraulic power tool comprises a bucket 1, a bucket 2, a working arm 3, a cab 4, a smash-proof device 5, an engine power system 6, a vehicle frame 7, a chassis 8, a movable arm 9, a movable arm cylinder 10, an arm cylinder 11, an arm 12, a rocker arm 13, a quick-change device 14, a connecting rod 15, a working cylinder 16, a quick-change base 17, a quick-change cylinder 18, a pressing plate 19, a locking block 20, a connecting rod 21, a quick-change connector mother plate 22, a dovetail groove guide rail 23, a milling device 24, a quick-change connecting frame 25, a first slewing bearing 26, a large arm 27, a swinging cylinder 28, a small arm 29, a second slewing bearing 30, a milling head 31, a locking block mounting groove 32, a quick-change connector male plate 33 and a laser scanner.
Detailed Description
Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.
Example 1:
referring to fig. 1 to 8, a tunnel milling and shoveling machine includes a chassis 7, a frame 6 mounted on the chassis 7, a working arm 2 connected to the frame 6, and a working device mounted at the front end of the working arm 2; the chassis 7 adopts a crawler-type chassis, and the frame 6 can realize 360-degree rotation.
As shown in fig. 2, the work arm 2 includes a boom 8, a boom cylinder 9, an arm 11, an arm cylinder 10, a swing arm 12, a link 14, a work cylinder 15, and a quick-change device 13; one end of the movable arm 8 is hinged with the frame 6, and the other end of the movable arm is hinged with the first end of the bucket rod 11; the second end of the bucket rod 11 is hinged with the first end of the rocker arm 12; the second end of the rocker arm 12 is hinged with the first end of the connecting rod 14; the second end of the connecting rod 14 is hinged with the first end of the quick-change device 13; the second end of the quick-change device 13 is hinged with the second end of the bucket rod 11; one end of the movable arm oil cylinder 9 is installed on the frame 6, and the other end of the movable arm oil cylinder is installed on the movable arm 8; one end of the bucket rod oil cylinder 10 is mounted on the frame 6, and the other end of the bucket rod oil cylinder is mounted on the bucket rod 11; one end of the working oil cylinder 15 is hinged with the bucket rod 11, and the other end of the working oil cylinder is hinged with the rocker arm 12; the working device is connected with the quick-change device 13 through a quick-change connecting frame 24.
As shown in fig. 3, the quick-change device 13 includes a quick-change base 16, a quick-change oil cylinder 17, a locking block 19, a pressure plate 18, a connecting rod 20, a dovetail groove guide rail 22 and a quick-change connector mother board 21; a rodless end of the quick-change oil cylinder 17 is fixed on the quick-change base 16 through a pressing plate 18, and a rod end of the quick-change oil cylinder 17 drives a locking block 19 to move in a groove of the quick-change base 16; one end of the connecting rod 20 is connected with the locking block 19, and the other end is connected with the quick-change connector mother board 21; the dovetail groove guide rail 22 is fixed on the quick-change base 16; the quick-change connector mother board 21 is provided with a dovetail groove, and when the quick-change oil cylinder 17 stretches, the locking block 19 drives the quick-change connector mother board 21 to move back and forth along a dovetail groove guide rail 22 through the connecting rod 20.
A quick-change connector male plate 32 and two locking block mounting grooves 31 are fixedly arranged on the quick-change connecting frame 24; when the quick-change connector 24 is connected with the quick-change device 13, the male quick-change connector plate 32 is matched with the female quick-change connector plate 21, and the locking block 19 extends into the locking block mounting groove 31.
The working device is a bucket 1 or a milling and digging device 23. The milling device 23 can handle tunnel underexcavation.
The milling and excavating device 23 comprises a large arm 26, a first slewing bearing 25, a small arm 28, a swing oil cylinder 27, a second slewing bearing 29 and a milling and excavating head 30; the milling and digging head 30 is connected with one end of the small arm 28 through a second rotary support 29; the other end of the small arm 28 is hinged with the large arm 26, and the large arm 26 is installed on the quick-change connecting frame 24 through the first slewing bearing 25; the swing cylinder 27 has a rod end hinged to the large arm 26 and a rodless end hinged to the small arm 28. When the milling and digging device 23 is installed, the locking block 19 is inserted into the locking block installation groove 31 of the quick-change connecting frame 24, so that the milling and digging device 23 is connected to the working arm 2; when the locking block 19 moves, the quick-change connector mother board 21 is driven to move simultaneously, so that the mother board is connected with the hydraulic oil pipe connector on the male board, and automatic pipe connection is realized.
The tunnel shoveling and milling machine further comprises an engine power system 5, the engine power system 5 is installed on the right side of the frame 6, the output end of the engine is connected with the input shaft of the transfer case, the output shaft of the transfer case is connected with four hydraulic motors, power is provided for the whole machine, and the shoveling and milling machine is controlled to walk and work.
The tunnel shoveling and milling machine further comprises a cab 3 and an anti-smashing device 4; the cab 3 is arranged on the left side of the frame 6, the cab 3 is connected with a lifting device and a pitching device, the cab can be lifted, the visual field of an operator is wide, the cab can be pitched 15 degrees backwards, and the operator can conveniently observe when the tunnel top is underexcavated; smash-proof device 4 installs in the outside of driver's cabin 3 for protect the operating personnel in the driver's cabin 3, avoid tunnel top rockfall to hurt operating personnel.
The utility model provides a shovel mills machine for tunnel still includes laser scanner 33, and scanner fixed mounting is on the right side of frame 6, and its effect is the scanning tunnel profile to with the contrast of theoretical profile line behind the tunnel blasting, discern the tunnel area of digging inadequately, control system mills according to theoretical profile line automatic planning and digs first motion interpolation point, and control mills and digs the head and according to interpolation point motion, accomplishes and digs the processing inadequately.
When the tunnel shovel milling machine is used, an operator operates on a seat of a cab to control the walking, shoveling and milling operation and milling and digging operation of the tunnel shovel milling machine. After blasting is finished, the shovel milling machine moves to the front of the face, slag is loaded by using a bucket of the shovel milling machine, after the slag is loaded, a quick-change oil cylinder on a quick-change device contracts to drive a locking block to move, and the bucket at the front end of a working arm is unloaded; then adjusting the angle of a quick-change device at the front end of the working arm to enable the quick-change base to be attached to a quick-change frame, enabling a rod cavity of a quick-change oil cylinder to extend out, inserting a locking block into a locking installation groove of the milling and digging device, and simultaneously enabling the locking block to drive a mother plate of the quick-change connector to move through a connecting rod to enable the mother plate to be connected with an oil cylinder connector on a male plate to complete automatic pipe connection; and positioning the shovel loader by using a laser scanner, associating the shovel loader with the design reference coordinates of the tunnel, scanning the profile of the tunnel by using the scanner to obtain scanning data, comparing the scanning data with the design data of the tunnel, and marking out the area under excavation. And the shovel milling machine control system generates and generates moving joint insertion points of the shovel milling machine working arm and the milling device according to the theoretical contour line, controls the milling head to move from the top of the tunnel to the left lower side along the theoretical contour line to automatically process undermining, returns to the vault and moves from the vault to the right lower side to automatically process undermining, and completes tunnel undermining processing. And then the milling and digging device is replaced by a bucket through the quick replacing device. The slag loading and the automatic underdigging treatment can be realized by repeating the steps.
The shovel milling machine can load slag, and after the slag loading is finished, the bucket can be replaced by the milling and digging device, so that the underdigging area is identified and underdigging is automatically processed, the functions are complete, the underdigging is processed along the theoretical contour of the tunnel, the forming quality of the surface of the tunnel is good, the underdigging is automatically processed, the construction efficiency is high, and the labor intensity is low.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A tunnel is with shovel milling machine, characterized by, including chassis (7), mount to chassis (7) on the frame (6), connect to the working arm (2) on the frame (6) and install the working device in the front end of the working arm (2);
the working arm (2) comprises a movable arm (8), a movable arm oil cylinder (9), an arm (11), an arm oil cylinder (10), a rocker arm (12), a connecting rod (14), a working oil cylinder (15) and a quick-change device (13); one end of the movable arm (8) is connected with the frame (6), and the other end of the movable arm is connected with the first end of the bucket rod (11); the second end of the bucket rod (11) is connected with the first end of the rocker arm (12); the second end of the rocker arm (12) is connected with the first end of the connecting rod (14); the second end of the connecting rod (14) is connected with the first end of the quick-change device (13); the second end of the quick-change device (13) is connected with the second end of the bucket rod (11); one end of the movable arm oil cylinder (9) is installed on the frame (6), and the other end of the movable arm oil cylinder is installed on the movable arm (8); one end of the bucket rod oil cylinder (10) is installed on the frame (6), and the other end of the bucket rod oil cylinder is installed on the bucket rod (11); one end of the working oil cylinder (15) is connected with the bucket rod (11), and the other end of the working oil cylinder is connected with the rocker arm (12); the working device is connected with the quick-change device (13) through a quick-change connecting frame (24).
2. The tunnel milling and shoveling machine according to claim 1, wherein the quick-change device (13) comprises a quick-change base (16), a quick-change oil cylinder (17), a locking block (19), a pressing plate (18), a connecting rod (20), a dovetail groove guide rail (22) and a quick-change connector mother board (21); the rodless end of the quick-change oil cylinder (17) is fixed on the quick-change base (16) through a pressing plate (18), and the rod end of the quick-change oil cylinder (17) drives a locking block (19) to move in a groove of the quick-change base (16); one end of a connecting rod (20) is connected with a locking block (19), and the other end of the connecting rod is connected with a quick-change connector mother board (21); the dovetail groove guide rail (22) is fixed on the quick-change base (16); a dovetail groove is formed in the quick-change connector mother board (21), and when the quick-change oil cylinder (17) stretches, the locking block (19) drives the quick-change connector mother board (21) to move back and forth along a dovetail groove guide rail (22) through the connecting rod (20).
3. The milling and shoveling machine for tunnels according to claim 2, wherein a male quick-change connector plate (32) and two locking block installation grooves (31) are fixedly installed on the quick-change connecting frame (24); when the quick-change connecting frame (24) is connected with the quick-change device (13), the male plate (32) of the quick-change connector is matched with the female plate (21) of the quick-change connector, and the locking block (19) extends into the locking block mounting groove (31).
4. A tunnel milling and shoveling machine according to claim 2 or 3, characterized in that the working device is a bucket (1) or a milling and digging device (23).
5. The tunnel milling and shoveling machine according to claim 4, wherein the milling and digging device (23) comprises a large arm (26), a first slewing bearing (25), a small arm (28), a swing cylinder (27), a second slewing bearing (29) and a milling and digging head (30); the milling and digging head (30) is connected with one end of the small arm (28) through a second rotary support (29); the other end of the small arm (28) is connected with the large arm (26), and the large arm (26) is installed on the quick-change connecting frame (24) through the first slewing bearing (25); the swing oil cylinder (27) is connected with the large arm (26) by a rod end, and is connected with the small arm (28) by a rodless end.
6. The tunnel milling and shoveling machine according to claim 5, further comprising an engine power system (5), wherein the engine power system (5) is mounted on the frame (6) and used for providing power for the milling and shoveling machine and controlling the milling and shoveling machine to walk and work.
7. The tunnel milling and shoveling machine according to claim 6, further comprising a cab (3) and a smash-proof device (4); the cab (3) is arranged on the frame (6), and the cab (3) is connected with a lifting device and a pitching device; the anti-smashing device (4) is arranged on the outer side of the cab (3) and used for protecting operators in the cab (3).
8. The milling and shoveling machine for tunnels according to any one of claims 5 to 7, further comprising a laser scanner (33) fixedly mounted on the carriage (6) for scanning the tunnel profile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010864709.1A CN111945807A (en) | 2020-08-25 | 2020-08-25 | Shoveling and milling machine for tunnel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010864709.1A CN111945807A (en) | 2020-08-25 | 2020-08-25 | Shoveling and milling machine for tunnel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111945807A true CN111945807A (en) | 2020-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010864709.1A Pending CN111945807A (en) | 2020-08-25 | 2020-08-25 | Shoveling and milling machine for tunnel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111945807A (en) |
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Application publication date: 20201117 |
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