CN113266387A - Mining full-face rectangular rapid tunneling machine - Google Patents

Abstract

The invention discloses a mining full-section rectangular rapid tunneling machine which comprises a cutting mechanism, a tunneling machine shell and a support platform assembly, wherein the cutting mechanism is arranged on the tunneling machine shell in a matched mode and comprises a first central cutter head and four second cutter heads, the first central cutter head is arranged in the front, the four second cutter heads are arranged in the rear, and 4 approximate rectangular sections can be cut at the periphery of the first central cutter head. The full-face rectangular rapid tunneling machine provided by the invention has the capabilities of one-time full-face rectangular forming, high-efficiency loading and high-efficiency propelling, and can effectively overcome the problems in the prior art.

Description

Mining full-face rectangular rapid tunneling machine

Technical Field

The invention belongs to the technical field of tunnel and coal mine tunnel construction, and particularly relates to a full-section rectangular rapid tunneling machine technology for mines.

Background

At present, China has become the first coal producing and consuming country in the world, and due to the restriction of energy structures and the requirement of high-speed development of national economy, the demand of coal is further increased in a considerable period of time in the future. That is, the coal production capacity in china is also required to be increased. However, in three major links of coal mining, tunneling and transportation, which affect the production of coal in China, the efficiency of coal mining and transportation has already reached the top-grade level of the world, but the tunneling efficiency always becomes an important bottleneck restricting the further improvement of the coal yield.

At the present stage, the coal mine coal roadway tunneling mainly adopts a cantilever type tunneling machine, a combined mining machine, an anchor driving machine and other equipment. The existing tunneling equipment has inherent structural defects: all the small-section cutting heads are equipped, so that the full section can not be completed at one time; the tunneling and bolting cannot work simultaneously; the formed roadway top and bottom plate have obvious height fluctuation and need to be shaped; a large amount of float coal is generated in the tunneling process, and the float coal needs to be cleaned in time, and the like.

Therefore, the existing tunneling equipment generally has the phenomena of low tunneling work efficiency, more tunneling teams, poor roadway quality and the like, and the improvement of the coal yield is seriously restricted.

Therefore, the development of tunneling equipment is urgently needed in the field, the existing tunneling process is improved, and the tunneling speed and the tunneling quality of a roadway are improved, so that the bottleneck influencing coal production is thoroughly solved.

Disclosure of Invention

The invention aims to provide a full-section rectangular rapid tunneling machine which can perform full-section rectangular forming, efficient loading and propelling and accurate guiding at one time, realize parallel tunneling and supporting operation and improve the tunneling efficiency, the roadway quality and the operation safety.

In order to achieve the purpose, the mining full-section rectangular rapid tunneling machine provided by the invention comprises a cutting mechanism, a tunneling machine shell and a support platform assembly, wherein the cutting mechanism is arranged on the tunneling machine shell in a matched mode, the cutting mechanism comprises a first central cutter head and four second cutter heads, the first central cutter head is arranged in the front, the four second cutter heads are uniformly distributed around the first central cutter head, the first cutter head is arranged in the front, the second cutter heads are arranged behind the first cutter head, and the four second cutter heads can cut 4 approximate rectangular sections around the first central cutter head.

Furthermore, the second cutter head can realize quasi-rectangular section cutting through special planetary transmission, the second cutter head is divided into a front cutter head and a rear cutter head, the front cutter head performs circular cutting, and a rear cutter head main shaft is connected with a planetary wheel main shaft of the transmission case and can perform eccentric motion relative to the front cutter head to form quasi-rectangular cutting action.

Furthermore, the second cutter head is of a composite structure consisting of a front cutter head and a rear cutter head.

Furthermore, the cutting mechanism further comprises a plurality of blind shoveling area mechanisms, and the blind shoveling area mechanisms are arranged corresponding to blind areas formed between the first central cutter disc and the four second cutter discs.

Furthermore, among the plurality of blind area shoveling mechanisms, a part is a fixed structure, and a part is a telescopic structure.

Furthermore, the heading machine shell is formed by combining a first shell, a middle shell and a second shell, the first shell, the middle shell and the second shell are respectively formed by connecting two groups of small shells, cushion blocks can be added between the shells for adjustment, and the size of the outer contour of the shells can be changed correspondingly.

Furthermore, a scraper conveyor is arranged in the excavator shell, and the scraper conveyor is matched with a second cutter head in the cutting mechanism.

Further, the support platform assembly comprises a support platform and a propelling mechanism arranged in the support platform, wherein the propelling mechanism is arranged in the support platform in a matching mode.

Further, the propulsion mechanism forms a hydraulic step propulsion structure with the frictional resistance generated by the support platform and/or the heading machine housing as an effective propulsion reaction.

Furthermore, the cutting mechanism and the support platform assembly are distributed at the front end and the rear end of the heading machine, and the cutting mechanism and the support platform assembly are flexibly connected in the middle through a flexible connecting assembly.

Further, the anchor rod supporting mechanisms are respectively arranged in top beam shields at the front end and the rear end of the support platform to support the top and the side walls of the support platform.

Furthermore, a guide system based on a gyroscope as a main part is arranged in the heading machine and is positioned at the lower part of the left lower shell of the heading machine.

Further, a direction control mechanism is arranged in the heading machine, the direction control mechanism comprises saddle frame direction adjusting mechanisms, a shell bottom lifting mechanism and shoe supporting mechanisms, the saddle frame direction adjusting mechanisms are arranged on two sides of a supporting platform behind the heading machine, direction adjustment is carried out through a cross oil cylinder and a T-shaped sliding rail, the shell bottom lifting mechanism is arranged at the bottom of the heading machine shell, and the left and right shoe supporting mechanisms are arranged on two sides of the heading machine shell.

The full-face rectangular rapid tunneling machine provided by the invention has the capabilities of one-time full-face rectangular forming, high-efficiency loading and high-efficiency propelling, and can effectively overcome the problems in the prior art.

The full-section rectangular rapid tunneling machine provided by the invention can realize parallel operation of tunneling and anchor rod supporting, and improves the tunneling efficiency, the roadway quality and the operation safety.

The full-section rectangular rapid tunneling machine provided by the invention can form a high-quality tunnel, improve the operation environment, reduce the number of personnel and labor intensity and realize safe production when being applied specifically.

Drawings

The invention is further described below in conjunction with the appended drawings and the detailed description.

FIG. 1 is a view showing an example of a full-face rectangular rapid tunneling machine according to an embodiment of the present invention;

FIG. 2 is a schematic view of a cutter head arrangement and housing construction in an example of the invention;

FIG. 3 is a schematic view of the overall structure of a small and medium cutterhead in an embodiment of the present invention;

FIG. 4 is a schematic view of the blind shovel area mechanism in a retracted state according to an embodiment of the present invention;

FIG. 5 is a schematic view of the blind shovel area mechanism in an extended state according to an embodiment of the present invention;

FIG. 6 is a schematic view of the arrangement of the propulsion mechanism in an example of the present invention;

FIG. 7 is a schematic view of the placement of the bolting unit in an embodiment of the invention;

FIG. 8 is a schematic diagram of the arrangement of the bottom raising mechanism in the embodiment of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

Referring to fig. 1 and 6, there are shown diagrams of an example of the construction of a full face rectangular rapid tunnel boring machine given in this example.

As can be seen from the figure, the full-section rectangular rapid tunneling machine mainly comprises a rectangular tunneling machine head 1, a support platform 6, a propelling mechanism 4, a head horizontal supporting mechanism 2, a support platform horizontal supporting mechanism 5, a guide main beam 7, a scraper conveyor 8, a saddle direction adjusting mechanism 9, an anchor rod supporting unit 3 and a measurement guiding mechanism.

According to the scheme shown in figure 1, a rectangular heading machine head 1 in the heading machine is positioned at the forefront of the heading machine and comprises a cutting cutterhead and a shell, wherein the cutting cutterhead is mainly used for cutting a coal wall in front, and the shell is used for installing components such as the cutting cutterhead, a scraper conveyor, an internal electric control system, a hydraulic part and a measurement guide mechanism and protecting the system.

The specific installation of the cutting cutterhead, the scraper conveyor, the internal electrical control system, the hydraulic part, the measuring guide mechanism and other components can be determined according to actual requirements, and is not limited herein.

The bracket platform 6 is integrally positioned at the rear part of the cutting head and used for providing propulsion counterforce for the front part in the propulsion process. In the concrete implementation, a guide main beam 7, a saddle frame adjusting mechanism 9, an anchor bolt supporting unit 3 and the like are installed on the support platform, and the support platform 6 is connected with the heading machine head 1 through the guide main beam.

A propelling mechanism 4 in the mechanism is positioned on a support platform 6, particularly on two sides of the support platform, an oil cylinder of the propelling mechanism is connected with a horizontal supporting mechanism 5 on the support platform 6, and a piston rod of the propelling mechanism is connected with the rear parts of a left shell and a right shell of a machine head. The propelling mechanism arranged in this way can effectively propel the front heading machine head and the rear pulling platform.

The horizontal handpiece supporting mechanism 2 in the mechanism is positioned outside the left shell and the right shell of the handpiece 1 of the development machine and is respectively connected with the left shell and the right shell of the handpiece, so that the horizontal handpiece supporting mechanism can extend out to support a coal wall to provide counter force when the rear platform is pulled.

The horizontal supporting mechanisms 5 of the support platform in the mechanism are positioned on two sides of the rear part of the support platform 6 and are connected with the bottom of the support platform through T-shaped sliding rails. The support platform horizontal supporting mechanism 5 arranged in this way can extend out to support the coal wall in the process of propelling the machine head 1 to provide propelling counterforce.

A guide main beam 7 in the mechanism is positioned on a support platform 6, extends to the rear part from the front part in the middle of the support platform, and is connected with the rear part of a shell in a heading machine head 1 through bolts, so that the directions of the upper part, the lower part, the left part and the right part of the head 1 are adjusted, and meanwhile, a scraper conveyor 8 is hidden in the heading machine head 1 and the guide main beam and can be used for conveying cut coal blocks.

The saddle adjusting mechanism 9 in the structure is positioned on the support platform 6, is connected with the support platform 6 together, and can be used for adjusting the direction of the rectangular heading machine. Specifically, the saddle adjusting mechanism 9 is positioned outside a guide main beam in the middle of the support platform, and adjusts the direction of the front heading machine through the main beam.

Anchor bolt support unit 3 in this structure is located support platform the place ahead and rear, links together with the support platform bottom, so realizes beating the anchor rod and struts top and lateral part coal wall.

The anchor rod supporting unit 3 comprises a front anchor rod machine and a rear anchor rod machine, wherein the front anchor rod machine is positioned in front of a support platform to realize front anchor rod driving; the rear anchor machine is positioned behind the support platform, and top anchor rods and upper anchor rods are supplemented at the rear part.

The measuring guide mechanism is positioned at the lower part of the left shell of the heading machine head and connected with the left shell of the heading machine head, and mainly used for measuring the advancing direction of the heading machine.

The rectangular heading machine head 1 in the full-face rectangular rapid heading machine can effectively realize one-step forming cutting of multi-size and full-face rectangles.

Specifically, the rectangular heading machine head 1 is mainly realized by matching a cutting mechanism 10 with a corresponding heading machine shell 20.

Referring to fig. 2, the cutting mechanism 10 in this example is composed of a central large cutter head 11 and four small cutter heads 12 uniformly distributed around the central large cutter head 11, wherein the central large cutter head 11 is arranged in front, the four small cutter heads 12 are arranged in back, and the cutting sections are overlapped.

Set up four little blade discs 12 in this scheme, as shown in the figure in the front, 4 little blade discs use the big blade disc in center as the center, evenly arrange around big blade disc, arrange respectively in big blade disc left side downside, upper left side, right downside, upper right side, see in the side, 4 little blade discs arrange in the big blade disc rear side in center, and big blade disc is the echelonment with little blade disc and arranges.

In the cutting mechanism 10 thus configured, a circular cross section is formed by first cutting with a large middle cutter head arranged in front; the rear-mounted 4 small cutterheads cut 4 approximate rectangular sections around the large cutterhead through corresponding planetary transmission, the second cutterhead is divided into a front cutterhead and a rear cutterhead, the front cutterhead performs circular cutting, a rear cutterhead main shaft is connected with a planetary wheel main shaft of a transmission case, and the rear cutterhead can rotate and eccentrically move along with a planetary gear, so that rectangular-like cutting is realized; therefore, the rectangular section with the required size can be obtained by one-step forming through the combination of the cutting sections of the large cutter head and the small cutter head.

By way of example, the large cutter head in the embodiment adopts a three-strip structure, a plurality of detachable pick-shaped cutting teeth are arranged on each strip, an assembled radially-movable cutter plate is arranged on the outer edge of each strip, the diameter of the large cutter head can be adjusted as required by adjusting the fixed position of the cutter plate, and multi-diameter circular cutting is realized.

The four small knife discs 12 in this example are identical in structure, and refer to fig. 3, which shows an example of the structure of the small knife disc in this example.

As can be seen from the figure, the small cutter head 12 in the present embodiment is a composite structure composed of a front cutter head 12-1 and a rear cutter head 12-2. The front cutter head 12-1 is in a triangular structure, and a plurality of detachable pickaxe-shaped cutting teeth are arranged on the front cutter head to finish circular cutting; the rear cutter head 12-2 is of a three-breadth assembled movable cutter plate structure, fixed cutter teeth are arranged on the edge of the cutter plate, the assembled cutter plate can move radially, and quasi-rectangular section cutting can be achieved through corresponding planetary transmission.

For example, the small cutter 12 constituted by the front and rear cutter head assemblies can have an approximately rectangular cross section of 1900mm × 1900mm at the maximum.

Thus, the middle big cutter head is firstly cut into one

The four sides of the round section of the cutter head are cut into 4 approximate rectangular sections of 1900mm multiplied by 1900mm, the cut sections of the large cutter head and the small cutter head are overlapped to obtain rectangular sections of 5800mm in width multiplied by 3800mm to 6000mm in height multiplied by 4200mm in various sizes through one-step forming.

The casing 20 (shown in figure 6) in the rectangular heading machine head 1 is used for installing a cutting cutterhead, a scraper conveyor, an internal electric control system, a hydraulic part, a measuring guide mechanism and the like, and simultaneously has a protection effect on the system.

This casing is formed by 6 little casings through bolt and cushion fastening combination, 6 little casings divide into casing under a left side, casing on a left side, well casing down, well casing on, casing under the right side, casing on the right side, casing under a left side passes through bolted connection with casing on the left side and becomes left casing, well casing down passes through bolted connection with casing on the well casing and becomes well casing, casing under the right side passes through bolted connection with casing on the right side and becomes right casing, left side casing, well casing, right side casing is according to corresponding left side, in, the right side passes through bolted connection and is whole casing. The casing and the profile of the cutting mechanism are minimally provided with a 200mm gap on the upper side and the left side and the right side, the gap has the function of adjusting the size of the cutting head, and the cushion blocks are placed in the gap to enable the upper left small cutter disc and the upper right small cutter disc to be lifted and move towards the outer side, so that the cutting section size is increased, the cushion blocks in the gap are removed, and the cutting section size can be reduced.

The housing 20 formed in this way can be adjusted by adjusting the size of the inner cushion block or adding cushion blocks between the housings, so that the size of the outer contour of the housing can be correspondingly changed, and rectangular roadway section cutting of various sizes can be realized by using the movable cutting board on the outer edge of the large cutter head.

By way of example, the combined housing can enable the cutter head to be combined to form various cutting section requirements of 5800mm in width, 3800mm in height and 6000mm in width, 4200mm in height, and the adaptability of the equipment is improved.

Meanwhile, when the equipment needs to retreat, the minimum clearance of 250mm exists between the outline of the shell and the outline of the cutting mechanism and the outline of the left side and the outline of the right side of the shell, so that a supported anchor rod and an anchor cable cannot be damaged when the equipment retreats, and the heading machine can freely advance and retreat forwards and backwards.

Further, when the heading machine normally tunnels, the cutting mechanism 10 in this example will form 6 cutting blind areas after the central large cutterhead and the four small cutterheads in the cutting mechanism 10 are combined to cut, which are respectively one at the left and right, and two at the top and the bottom (refer to fig. 4 and 5). The formation of blind area can increase the propulsive resistance, also can make the tunnel section shape that obtains not conform to the requirement of high quality rectangle, all can produce very big influence to tunnel support and atress.

In this regard, in this example, the shovel blind area mechanism 13 is provided correspondingly to the blind area formed by the cutting combination between the central large cutter head and the four small cutter heads in the cutting mechanism 10.

Specifically, in this example, 6 blind cutting area shoveling mechanisms 13 are correspondingly arranged relative to 6 blind cutting areas formed by the cutting mechanism 10: one on the left and the right, and two on the top and the bottom.

Considering that the top and the side of the device need to reserve 200 movable spaces, the blind shoveling area mechanisms 13 on the top and the two sides are arranged to be telescopic mechanisms, for example, the extension length of the blind area mechanism can be adjusted according to the actual use outer contour size of the shell. The ear bottom blind spot shoveling mechanism 13 is arranged in a fixed structure.

As shown in fig. 4, when the roadheader is backed off, the blind shovel mechanism retracts. As shown in figure 5, when the heading machine is pushed forwards, the blind area shoveling mechanisms extend out, the problem of blind areas can be solved through the blind area shoveling mechanisms on the left side, the right side and the top and the bottom, and finally, high-quality rectangular cutting sections are cut out at one time through full sections.

Further, in the rectangular heading machine head 1, a corresponding scraper conveyor is arranged in the middle of the housing 20, and the scraper conveyor is arranged in cooperation with the two sets of small cutter discs at the lower part of the cutting mechanism 10, so that the loading function is realized through the two sets of small cutter discs at the lower part of the cutting mechanism 10.

Specifically, the loading is completed by the rear cutterheads which are positioned at the two sets of small cutterheads at the lower part. Under the action of a rectangular motion track generated by planetary transmission, the rear cutter heads positioned on the two sets of small cutter heads at the lower part can push and pull fallen objects into the scraper conveyor at the middle part of the shell very efficiently, and the scraper conveyor can transport out coal quickly, so that efficient loading is realized.

According to the rectangular heading machine head 1 formed based on the scheme, 5 cutterheads work simultaneously in the heading process of the heading machine, and the two lower small cutterheads are required to complete a coal stirring and loading task besides a normal cutting task. In order to ensure that each cutterhead works smoothly, the cutterheads have enough power configuration, and the motors are provided with speed regulating devices, so that 5 cutterheads of the development machine rotate simultaneously, and the full-section one-time rectangular section forming cutting task of the development machine is completed.

The rectangular development machine realizes efficient propelling and retreating of the whole rectangular development machine through the matching of the support platform and the propelling mechanism. Preferably, the propulsion mechanism in this example forms a hydraulic step-by-step propulsion arrangement with frictional resistance generated by the carriage platform and/or the ripper housing as an effective propulsion reaction.

Referring to fig. 6, the support platform 6 mainly comprises a support base 6-1, support columns 6-2, support top beams 6-3, a rear support platform 6-4, rear horizontal support shoes 6-5, horizontal support structures 6-6 and the like.

The support base 6-1 is located below the rack platform 6 and carries all the mechanisms and components on the rack platform. And a bottom pricking oil cylinder is arranged on the support base 6-1 and used for pricking the oil cylinder into a coal seam at the bottom of the roadway to provide a supporting force for propelling the tunneling machine.

The supporting upright post 6-2 is positioned in front of the bracket; the supporting top beam 6-3 is positioned above the support platform, and in the propelling process of the heading machine, the supporting upright post 6-2 is propped up to enable the supporting top beam 6-3 to press the top coal wall, so that propelling counter force is provided for propelling; the rear supporting platform 6-4 is positioned behind the bracket and is mainly used for fixing and supporting the top beam.

The rear horizontal supporting shoes 6-5 are positioned at two sides of the support platform and are mainly used for supporting coal walls at two sides to provide propulsion counterforce in the propelling process of the heading machine.

The horizontal support structure 6-6 is located behind the support platform and is mainly used for supporting the main beam 7.

In the scheme of the formed propulsion mechanism, the top beam, the supporting base and the rear horizontal supporting shoe are supported by the support platform, the friction resistance generated by the top base plate and the side wall is respectively supported tightly to serve as the propulsion counterforce, and meanwhile, the propulsion is carried out by 4 main thrust cylinders arranged between the shell 20 and the support platform support, and the high-efficiency tunneling and the retreating of the tunneling machine are realized by guiding through a guide rail on a guiding main beam connected with the shell 20. Because the contact area of the development machine and the bottom plate is large, the specific pressure of the development machine to the bottom plate can be effectively reduced, and the adaptability of the development machine is effectively improved.

The formed propelling mechanism scheme can effectively realize no-load movement, normal cutting propulsion, forward movement of the support platform and backward movement of the heading machine.

(1) No-load movement:

the equipment needs to be moved empty after the chamber is assembled. Because the chamber is large in width and height, the heading machine cannot provide supporting counter force by means of the side walls and the top plate. At the moment, friction force generated by the self weight of the support platform and supporting force provided by a bottom pricking oil cylinder of the supporting base are mainly used for providing effective push-pull counter force for the main push oil cylinder, so that the front and back movement of the heading machine head is realized. Because the weight of the machine head is larger than the mass of the support platform, under the condition of the same friction coefficient, the friction force provided by the self weight of the cutting part is larger than the friction force between the support platform and the bottom plate, and the support platform can move back and forth through the main push oil cylinder. In this way, no-load movement of the heading machine is achieved.

(2) Normal cutting and propelling of the development machine:

when normal cutting propulsion is realized, the top plate, the bottom plate and the side walls are supported by the top beam, the base, the horizontal supporting shoes and the like of the support platform to generate enough friction force to provide propulsion counterforce. The horizontal supporting shoes are connected through a guide structure embedded in the support base, move left and right and transmit force and moment, so that the support platform and the supporting shoes effectively form an organic whole, and effective propulsion is realized by using 4 main thrust cylinders on the basis.

(3) The support platform moves forwards:

after the heading machine cuts and advances a step distance, the support platform is pulled forwards by adopting a retraction mode of the main push oil cylinder. The process mainly depends on the self gravity of the machine head, the friction force generated by the bottom plates and the side walls such as the supporting boots at the two sides of the shell, the bottom binding oil cylinder and the like as the supporting counter force, and the support platform is moved forwards by retracting 4 main push oil cylinders.

(4) And (5) retreating the tunneling machine.

Firstly, a main push oil cylinder extends out to push a support platform to move backwards by taking the dead weight of a machine head and the friction force generated on a side supporting shoe of a shell and a coal wall as counter force;

then, the oil cylinder retracts by using the dead weight of the support platform and the friction force provided by the top beam of the support platform and the horizontal supporting shoes supporting the top bottom plate, the side walls and the like as counter-forces, so that the machine head can be pulled to move backwards, and the heading machine retreats.

According to the rectangular heading machine, the cutting mechanism 10 and the support platform 6 are respectively arranged at the front end and the rear end of the heading machine, and the middle of the rectangular heading machine is flexibly connected through the flexible connecting component, so that the vibration generated by coal cutting of a cutter head cannot influence anchor rod supporting operation, and anchor rod supporting and heading parallel operation is realized.

Referring to fig. 7, in this example, the cutting part and the support platform are respectively arranged at the front end and the rear end of the development machine, the middle of the cutting part and the support platform are flexibly connected through a guide main beam and a saddle adjusting mechanism, the front end of the guide main beam is connected with the rear part of a development machine passenger body through a bolt, the saddle adjusting mechanism is connected with a support base on the support platform through a bolt, and the guide main beam extends to the middle of the support platform and then is connected with the saddle adjusting mechanism through a guide rail, so that the flexible connection is realized. The anchor rod supporting mechanism 3 is arranged on the support platform and is particularly and respectively arranged in the top beam shield at the front end and the rear end of the support platform, so that vibration generated by coal cutting of the cutter head of the cutting part cannot be transmitted to the anchor rod mechanism, and simultaneous operation of anchor rod supporting cannot be influenced. Therefore, the synchronous operation of tunneling and supporting can be realized, and the tunneling efficiency is improved.

By way of example, the heading machine in the embodiment adopts 4 anchor machines arranged in front of the support platform, and can be used for making roof bolts, and 2 anchor machines arranged on the side of the support platform, and can be used for making roof bolts and side wall anchors, and the positions and angles of the side wall anchors can be adjusted. All anchor rod support and tunneling machine operators operate under the shield of the top beam, and effective safety protection is achieved for the operating personnel in the tunneling machine.

The rectangular heading machine is further provided with barrier-free guide measurement to realize accurate measurement and control of the heading direction and the attitude of the heading machine.

In the embodiment, a guide system based on a gyro inertial navigation technology is preferentially adopted, so that the attitude and the tunneling direction of the heading machine are accurately measured and controlled.

The system is not influenced by visibility reduction caused by dust, blindness caused by rear supporting equipment and electromagnetic interference and temperature change, can accurately obtain the heading angle, the inclination angle and the rolling angle of the development machine and the real-time axis deviation of the development machine, and provides a basis and a platform for the guide control of the development machine.

The system can be used for measuring the direction of the heading machine during long-distance linear or curvilinear heading, the spatial position and the coordinates of the heading machine during the heading process can be obtained through three angles of the gyroscope and corresponding algorithms, the spatial position of the heading machine position is measured and calculated after each movement of one stroke, and then the deviation value between the equipment running track and the design axis is calculated through the constructed algorithms and the feedback function. Thus, the driver can be guided to perform the direction correction operation according to the deviation amount.

The rectangular heading machine is further provided with a corresponding accurate direction control system 30 for accurately controlling the advancing direction of the rectangular heading machine, so that the heading machine can adapt to the fluctuation change of the coal bed.

In this example, the heading machine is preferably provided with a direction control function of more than 5 ° in each of the up, down, left and right directions by the combined movement of the saddle steering mechanism 9, the front casing bottom raising mechanism 31 and the shoe supporting mechanism 32.

The saddle direction adjusting mechanism 9 is arranged on a supporting base of the support platform and connected with the support platform through a guide rail, and the saddle direction adjusting mechanism realizes direction adjustment through a specially-made cross oil cylinder and a Harvard structure. Therefore, the heading machine adopts the saddle direction adjusting mechanism to adjust the direction of the equipment, and the direction adjustment in the horizontal and vertical directions is realized through the hydraulic deviation correcting system.

Referring to fig. 8, the present example is provided with 2 side supports and 4 shoe supports on each of the left and right sides of the housing to form respective shoe support mechanisms 32 on the left and right sides of the housing. When the device is in normal operation, the device extends out to play the roles of stabilizing the machine head and blocking float coal, and the shoe supporting structure retracts when the device needs to be corrected and retreated. The maximum stroke 400 of the shoe supporting mechanism formed in the way can increase the left and right deviation correcting angle of the equipment.

Furthermore, in the embodiment, 3 bottom lifting mechanisms 31 are arranged at the bottom of the shell 20, when the fluctuation of the bottom plate is large and the angle cannot be corrected by the equipment saddle, the bottom lifting mechanisms are started, the front mechanism can be directly lifted, the maximum stroke of the bottom lifting mechanisms is 250mm, and the vertical correction angle of the equipment can be increased.

The accurate direction control system 30 formed in this way can enable the direction deviation-rectifying adjustment angle of the heading machine to reach the angle ranges of being larger than 5 degrees respectively from top to bottom, from left to right.

The full-section rectangular rapid tunneling machine formed based on the embodiment scheme can be used for one-time full-section rectangular forming, efficient loading and propelling and accurate guiding; meanwhile, parallel operation of tunneling and supporting is realized, so that the tunneling efficiency, the roadway quality and the operation safety are improved.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (13)

1. Mining full section rectangle quick entry driving machine, including cutting mechanism, entry driving machine casing and support platform subassembly, its characterized in that, the cooperation of cutting mechanism sets up on the entry driving machine casing, cutting mechanism includes first central blade disc and four second blade discs and constitutes, first central blade disc is leading, four second blade disc equipartitions are around first central blade disc, and first blade disc is leading, and first blade disc rear is arranged in to the second blade disc, four second blade discs can cut out 4 approximate rectangular cross sections around first central blade disc.

2. The mining full-face rectangular rapid tunneling machine according to claim 1, wherein the second cutterhead is divided into a front cutterhead and a rear cutterhead, the front cutterhead performs circular cutting, and a rear cutterhead main shaft is connected with a planetary wheel main shaft of the transmission case and can perform eccentric motion relative to the front cutterhead to form rectangular-like cutting action.

3. The mining full-face rectangular rapid tunneling machine according to claim 1 or 2, characterized in that the second cutterhead is of a composite structure consisting of a front cutterhead and a rear cutterhead.

4. The mining full face rectangular rapid roadheader of claim 1, wherein said cutting mechanism further comprises a plurality of blind shoveling area mechanisms, said plurality of blind shoveling area mechanisms corresponding to the blind area arrangement formed between the first central cutterhead and the four second cutterheads.

5. The mining full-face rectangular rapid tunneling machine according to claim 4, wherein the plurality of blind shoveling area mechanisms are partly of fixed structure and partly of telescopic structure.

6. The mining full-face rectangular rapid tunneling machine according to claim 1, wherein the tunneling machine shell is formed by combining a first shell, a middle shell and a second shell, the first shell, the middle shell and the second shell are respectively formed by connecting two groups of small shells, cushion blocks can be added between the shells for adjustment, and the size of the outer contour of the shells can be changed correspondingly.

7. The mining full-face rectangular rapid tunneling machine according to claim 1, wherein a scraper conveyor is arranged in the tunneling machine shell, and the scraper conveyor is matched with a second cutterhead in the cutting mechanism.

8. The mining full face rectangular rapid tunneling machine according to claim 1, wherein said carriage platform assembly comprises a carriage platform, a propulsion mechanism disposed in said carriage platform, said propulsion mechanism cooperatively disposed in said carriage platform.

9. A full face rectangular rapid mining roadheader according to claim 8, wherein the propulsion mechanism forms a hydraulic step propulsion structure with frictional resistance generated by the support platform and/or the roadheader housing as an effective propulsion counterforce.

10. The mining full-face rectangular rapid tunneling machine according to claim 8, wherein the cutting mechanism and the support platform are distributed at the front end and the rear end of the tunneling machine, and the cutting mechanism and the support platform assembly are flexibly connected through a flexible connecting assembly in the middle.

11. The mining full-face rectangular rapid tunneling machine according to claim 10, wherein the bolting mechanisms are respectively arranged in top beam shields at the front and rear ends of the support platform to support the top and the side walls of the support platform.

12. The mining full-face rectangular rapid tunneling machine according to claim 1, wherein a mainly gyroscope-based guiding system is arranged in the tunneling machine.

13. The mining full-face rectangular rapid tunneling machine according to claim 1, wherein a direction control mechanism is arranged in the tunneling machine, the direction control mechanism comprises saddle frame direction adjusting mechanisms, a shell bottom lifting mechanism and shoe supporting mechanisms, the saddle frame direction adjusting mechanisms are arranged on two sides of a supporting platform behind the tunneling machine, direction adjustment is carried out through a cross oil cylinder and a T-shaped sliding rail, the shell bottom lifting mechanism is arranged at the bottom of a tunneling machine shell, and the left and right shoe supporting mechanisms are arranged on two sides of the tunneling machine shell.

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