CN113818895A - Automatic cutting, digging and anchoring all-in-one machine for tunnel and control method thereof - Google Patents

Abstract

The invention discloses an automatic cutting, tunneling and anchoring all-in-one machine for a tunnel and a control method thereof, wherein the machine comprises a cutting part, a shovel part, a conveyor part, a body part, a walking part, a supporting part and a drilling and anchoring mechanism; the cutting part, the shovel plate part, the conveyor part, the walking part, the supporting part and the drilling and anchoring mechanism are all connected with the body part; the cutting part and the shovel plate part are both rotatably connected with the front end of the body part; the shovel plate part is positioned below the cutting part; the conveyor part penetrates through the body part and is used for conveying the articles shoveled by the shovel plate part from the front end to the rear end; the walking part is connected with the bottom side surface of the body part; the drill anchor mechanism is connected with the upper part of the side of the body part and can move back and forth along the body part. According to the invention, the drilling and anchoring mechanism is loaded on the cantilever type tunnel boring machine, so that the continuous operation of the working procedures of boring and drilling and anchoring in tunnel construction is realized, the working flow is simplified, the personnel allocation is reduced, and the labor intensity is reduced; the cutting path is automatically calculated through the set section size and the cutting line spacing to realize automatic cutting, and the working efficiency is improved.

Description

Automatic cutting, digging and anchoring all-in-one machine for tunnel and control method thereof

Technical Field

The invention relates to the technical field of tunneling, drilling and anchoring for tunnels, in particular to an automatic cutting, tunneling and anchoring all-in-one machine for tunnels and a control method thereof.

Background

With the continuous development of tunnel excavation mechanization, the tunneling machine becomes an indispensable comprehensive device for tunnel tunneling operation. The traditional cantilever type longitudinal shaft heading machine has been available for about seventy years, integrates mechanical, electrical, hydraulic and information technologies into a whole, has the advantages of simple and reliable structure, relative easiness in processing and manufacturing, low cost, good adaptability and the like, and is widely applied to tunnel engineering of subways, railways, highways, municipal works, hydroelectric power and the like. The excavation operation is used as an important production link of tunnel construction, the technical level of the process and the equipment of the excavation operation is directly related to the capacity and the safety of tunnel construction, and the efficient mechanized tunneling and supporting technology is a necessary condition for ensuring the high yield and the high efficiency of the tunnel and is also the development direction of the tunneling technology. The existing tunneling machine has the problems that the tunneling process and the drilling and anchoring process are discontinuous in single circulation, the connection is not smooth, the footage is small and the tunneling efficiency is low under the condition that surrounding rocks are broken in tunnel construction.

Meanwhile, with the development of scientific technology and the improvement of safety consciousness, the tunnel working face is also developed towards mechanization and intellectualization, the unattended operation (few people) of tunnel excavation and tunneling is realized, the tunnel footage efficiency and the footage precision are favorably improved, the safety production of the tunnel excavation working face is realized, and the labor condition of workers is improved.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an automatic cutting, tunneling and anchoring all-in-one machine for a tunnel and a control method thereof, so that the continuous operation of a tunneling process and a drilling and anchoring process can be realized, the working flow is simplified, the personnel allocation is reduced, the labor intensity is reduced, the working efficiency is improved, and the defects of the existing cantilever type tunneling machine are overcome.

In order to solve the technical problems, the invention adopts the following technical scheme:

an automatic cutting, tunneling and anchoring integrated machine for a tunnel comprises a cutting part, a shovel part, a conveyor part, a body part, a walking part, a supporting part and a drilling and anchoring mechanism; the cutting part, the shovel plate part, the conveyor part, the walking part, the supporting part and the drilling and anchoring mechanism are all connected with the body part; the cutting part is rotatably connected with the front end of the body part; the shovel plate part is rotatably connected with the front end of the body part and is positioned below the cutting part; the conveyor part penetrates through the body part and is used for conveying the articles shoveled by the shovel plate part from the front end to the rear end; the bottom side surface of the walking part body part is connected; the drilling and anchoring mechanism is connected with the upper side of the body part and can move back and forth along the body part.

As a further improvement of the present invention, the drill-anchor mechanism comprises: the hydraulic rock drill comprises a guide rail, a compensation oil cylinder, a swing base, a swing oil cylinder, a rotating support, a leveling oil cylinder, a large arm, a hydraulic rock drill, a propelling oil cylinder, a variable amplitude oil cylinder, a telescopic oil cylinder and a drill arm base; the hydraulic rock drill is arranged on the guide rail and can slide on the guide rail through the propulsion oil cylinder; the guide rail is connected with the swing base through a compensation oil cylinder, the swing base is connected with the rotating support through a swing oil cylinder, and the front, back, left and right angles of the guide rail can be adjusted by adjusting the swing oil cylinder; the rotary support is rotatably connected with the large arm, and the rotary support can be driven to turn over by a leveling oil cylinder connected with the rotary support and the large arm; the telescopic oil cylinder is arranged in the large arm; the large boom is rotatably connected with a cross shaft of the drill boom base, and the large boom is connected with the drill boom base through two variable-amplitude oil cylinders.

Furthermore, the cutting part is rotatably connected with the front end of the rotary worktable of the body part, and the cutting part can be driven to turn up and down by a lifting hydraulic oil cylinder connected with the cutting part and the rotary worktable; the rotary worktable of the body part drives the rotary worktable to rotate left and right through a left swing hydraulic oil cylinder and a right swing hydraulic oil cylinder.

Furthermore, the supporting part has a plurality of positions which are all lifting structures, wherein two positions are connected with the side surface of the walking part, and the other two positions are connected with the rear end of the body part.

Further, the cutting part includes: the cutting head, the cutting arm, the cutting speed reducer, the telescopic oil cylinder, the clamping oil cylinder, the cutting motor and the motor frame body; the cutting head, the cutting arm, the cutting speed reducer and the cutting motor are sequentially connected together and synchronously move, and the whole body is fixed with the motor frame body through the clamping oil cylinder; the cutting speed reducer and the motor frame body are connected at two ends of the telescopic oil cylinder, and the cutting head, the cutting arm, the cutting speed reducer and the cutting motor can be pushed to slide in the motor frame body together through the telescopic oil cylinder.

Further, the tunnel is with automatic cutting anchor all-in-one still includes: a hydraulic system, an electrical system and a waterway system; the hydraulic system is connected with at least one of the cutting part, the shovel plate part, the conveyor part, the body part, the walking part, the supporting part and the drilling and anchoring mechanism and provides power for at least one of the cutting part, the shovel plate part, the conveyor part, the body part, the walking part, the supporting part and the drilling and anchoring mechanism; the electric system is connected with at least one of the cutting part, the shovel plate part, the conveyor part, the body part, the walking part, the supporting part, the drilling and anchoring mechanism, the waterway system and the hydraulic system and provides signals for at least one of the cutting part, the shovel plate part, the conveyor part, the body part, the walking part, the supporting part, the drilling and anchoring mechanism, the waterway system and the hydraulic system; the waterway system is connected with at least one of the cutting part, the conveyer part, the body part, the hydraulic system and the drilling and anchoring mechanism and supplies water to at least one of the cutting part, the conveyer part, the body part, the hydraulic system and the drilling and anchoring mechanism.

The invention also provides a control method of the automatic cutting, digging and anchoring all-in-one machine for the tunnel, which comprises the following steps: when the tunnel is excavated, in the first tunneling process, the walking part drives the tunnel to be positioned at the middle position of the section to be cut by the automatic cutting, tunneling and anchoring integrated machine, then the shovel part and the supporting part connected with the rear end of the body part descend simultaneously to touch the ground, then the cutting part starts tunneling work circulation, meanwhile, materials are conveyed to the rear of the machine through the shovel part and the conveyor part, tunneling action is repeated, and finally the shape of the section is trimmed; a second step of drilling and anchoring, namely, placing the tunnel in the middle of the tunnel by using an automatic cutting, tunneling and anchoring all-in-one machine, then simultaneously descending and touching the shovel plate part and the supporting part connected with the rear end of the body part, then turning the cutting part downwards and descending and touching the ground, switching to a drilling and anchoring loop, locking all components except the drilling and anchoring mechanism to act, and then moving the drilling and anchoring mechanism forwards to adjust the position; and then, starting the drilling and anchoring work cycle, and finally, restoring the drilling and anchoring mechanism to slide to the side of the body part after the drilling and anchoring work is finished.

Furthermore, the tunneling process adopts a positioning automatic cutting mode, a cutting head driven by a telescopic oil cylinder is arranged in the cutting part, the cutting head is driven to move to a ruler by the telescopic oil cylinder, and a cutting path is automatically calculated according to the input roadway size, cutting row spacing and section size and shape to realize automatic cutting.

Further, when the cutting resistance changes, the cutting swing speed is automatically adjusted; and/or when the distance between the cutting part and the shovel plate part is lower than a certain set threshold value, giving an alarm and preventing the cutting part and the shovel plate part from continuously approaching; and/or in the tunneling process, when the pressure value in the supporting part connected with the rear end of the body part is lower than a certain set threshold value, an alarm is sent out, the oil cylinder is moved, and the grounding pressure is kept; and/or in the tunneling process, the hydraulic system and the electrical system are combined to lock the drilling and anchoring mechanism to prevent the drilling and anchoring mechanism from moving; and/or in the anchor drilling process, except for movable elements directly related to the movement of the anchor drilling mechanism, the hydraulic system and the electric system are combined to lock all the other parts to move.

By adopting the technical scheme, the invention at least has the following advantages:

according to the automatic cutting, tunneling and anchoring integrated machine for the tunnel, the efficient connection between the tunneling process and the drilling and anchoring process in tunnel construction is realized in a mode of loading the drilling and anchoring mechanism on the cantilever type tunnel boring machine, the working process is simplified, the personnel allocation is reduced, the labor intensity is reduced, and the working efficiency is improved; on the other hand, mutually support between through cutting unit, shovel board portion, conveyer portion, somatic part portion, walking portion and the supporting part and realize the tunnelling function, cutting unit possesses automatic cutting function, can be according to the tunnel size of input, cut line spacing and the automatic calculation cutting path of cross section size shape, possesses the hard rock prevention function, can change according to the cutting resistance, automatic adjustment cutting swing speed has reduced workman intensity of labour, has reduced the operation personnel, has improved work efficiency.

Drawings

The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.

Fig. 1 is a schematic structural diagram of an automatic cutting, tunneling and anchoring all-in-one machine for tunnels according to an embodiment of the present invention;

fig. 2 is a front view of an automatic cutting, tunneling and anchoring all-in-one machine for tunnels according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a cutting part of the automatic cutting, tunneling and anchoring all-in-one machine for tunnels according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of an anchor drilling mechanism of an automatic cutting, tunneling and anchoring all-in-one machine for tunnels according to an embodiment of the present invention;

fig. 5 is a top view of an anchor drilling mechanism of an automatic cutting, tunneling and anchoring all-in-one machine for tunnels according to an embodiment of the present invention.

Wherein the figures include the following reference numerals:

1-cutting part; 2-a blade portion; 3-a walking part; 4-a support part; 5-a body portion; 6-a hydraulic system; 7-drilling and anchoring mechanism; 8-a conveyor section; 9-a waterway system; 10-an electrical system; 11-left swing hydraulic cylinder; 12-a right swing hydraulic cylinder; 13-lifting hydraulic oil cylinder; 1-1-a cutting head; 1-2-a cutting arm; 1-3-cutting speed reducer; 1-4-telescopic oil cylinder; 1-5-clamping the oil cylinder; 1-6-cutting motor; 1-7-motor frame body; 7-1-guide rail; 7-2-a compensation oil cylinder; 7-3-a swing base; 7-4-swing oil cylinder; 7-5-rotating the support; 7-6-leveling oil cylinder; 7-7-big arm; 7-8-hydraulic rock drill; 7-9-propulsion oil cylinder; 7-10-variable amplitude oil cylinder; 7-11-telescopic oil cylinder; 7-12-drill boom base.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail with reference to the embodiments with reference to the accompanying drawings.

It is noted that, unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

In the present invention, unless indicated to the contrary, use of the directional terms "upper, lower, top, bottom" and the like are generally directed to the orientation indicated in the drawings, or to the vertical, perpendicular, or gravitational orientation of the components themselves; likewise, for ease of understanding and description, "inner and outer" refer to the inner and outer relative to the profile of the components themselves, but the above directional words are not intended to limit the invention.

The invention provides an automatic cutting, digging and anchoring integrated machine for a tunnel, which aims to realize continuous operation of a tunneling process and a drilling and anchoring process in tunnel excavation, realize quick tunneling and anchoring in tunnel construction and solve the problems of discontinuous tunneling process and drilling and anchoring process in single circulation, long construction scheduling time, less footage, low tunneling efficiency, more workers and high labor intensity in tunnel construction under the condition of surrounding rock crushing.

As shown in fig. 1 and 2, an automatic cutting, digging and anchoring all-in-one machine for tunnels comprises a cutting part 1, a shovel part 2, a conveyor part 8, a body part 5, a walking part 3, a supporting part 4 and a drilling and anchoring mechanism 7. The cutting part 1, the shovel plate part 2, the conveyor part 8, the walking part 3 and the supporting part 4 are all connected with the body part 5; the walking part 3 is connected with the side face of the bottom of the body part 5, can be set into a structure such as a crawler belt and the like, plays a role in driving the whole automatic cutting, tunneling and anchoring integrated machine for the tunnel to move forwards, backwards and directionally, and realizes the whole movement of the automatic cutting, tunneling and anchoring integrated machine for the tunnel, and when the automatic cutting, tunneling and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the walking part 3 is static and can not move; the cutting part 1 is rotatably connected with the front end of the body part 5, when the automatic cutting, tunneling and anchoring all-in-one machine for tunnel use is in a tunneling and cutting working state, the cutting part 1 can be overturned and lifted up and down and turned left and right to cut, and when the automatic cutting, tunneling and anchoring all-in-one machine for tunnel use is in a drilling and anchoring state, the cutting part 1 is overturned and lowered down downwards and contacts the ground; the shovel plate part 2 is rotatably connected with the front end of the body part 5, the shovel plate part 2 is positioned below the cutting part 1, when the automatic cutting, tunneling and anchoring all-in-one machine for tunnel is in a working state, the shovel plate part 2 can be turned and lifted up and down, and when the automatic cutting, tunneling and anchoring all-in-one machine for tunnel is in a cutting state and a drilling and anchoring state, the shovel plate part 2 is turned and lifted down downwards and contacts the ground; the conveyor part 8 is connected with the body part 5, penetrates through the body part 5 and can convey the articles shoveled by the shovel part 2 from the front end to the rear end of the automatic cutting, digging and anchoring all-in-one machine for the tunnel; the supporting part 4 is provided with a plurality of parts which are of lifting structures, wherein two parts are connected with the side surfaces of the walking part 3 and are only used when the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel is maintained, the other two parts are connected with the rear end of the body part 5, when the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel is in a working state, the supporting part 4 is lifted, so that the advancing, retreating and steering of the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel are not influenced, and when the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel is in a cutting state and a drilling and anchoring state, the supporting part 4 connected with the rear end of the body part 5 is descended to touch the ground to support the rear end of the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel; the drilling and anchoring mechanism 7 is connected with the upper side of the body part 5, when the tunnel is in a working state and a tunneling state, the drilling and anchoring mechanism 7 is retracted at the side of the body part 5, when the tunnel is in the drilling and anchoring working state, the cutting part 1 is overturned downwards and falls to the ground, the shovel plate part 2 and the supporting part 4 connected with the rear end of the body part 5 fall to the ground, the cutting part 1, the shovel plate part 2, the conveyor part 8, the walking part 3 and the supporting part 4 can not act, the drilling and anchoring mechanism 7 moves forwards and unfolds for drilling and anchoring, a top anchor rod and an anchor rod can be drilled, holes can be drilled forwards, and the drilling and anchoring mechanism can use a drill rod or a self-propelled anchor rod for operation. When the automatic cutting and tunneling integrated machine for the tunnel is in a tunneling state and a drilling and anchoring state, the shovel plate part 2 and the supporting part 4 connected with the rear end of the body part 5 descend and contact with the ground together, and can be uniformly controlled by the hydraulic system 6 and the electrical system 10, so that the automatic cutting and tunneling integrated machine for the tunnel is stably supported during cutting and drilling and anchoring, and the cutting and drilling and anchoring work is protected to be smooth.

As shown in fig. 3, the cutting part 1 mainly includes: the cutting machine comprises a cutting head 1-1, a cutting arm 1-2, a cutting speed reducer 1-3, a telescopic oil cylinder 1-4, a clamping oil cylinder 1-5, a cutting motor 1-6 and a motor frame body 1-7; the cutting head 1-1, the cutting arm 1-2, the cutting speed reducer 1-3 and the cutting motor 1-6 are sequentially connected together and move together, the whole body of the cutting head 1-1, the cutting arm 1-2, the cutting speed reducer 1-3 and the cutting motor 1-6 is fixed with a motor frame body 1-7 through a clamping oil cylinder 1-5, two ends of a telescopic oil cylinder 1-4 are connected with the cutting speed reducer 1-3 and the motor frame body 1-7, the clamping oil cylinder 1-5 is generally in a high-pressure clamping state and is in a low-pressure clamping state only when the automatic cutting and heading integrated machine for the tunnel is in a cutting state and a ruler is advanced, and when a cutting part 1 advances the ruler, the cutting head 1-1, the cutting arm 1-2, the cutting speed reducer 1-3 and the cutting motor 1-6 are pushed to slide in the motor frame body 1-7 through the telescopic oil cylinder 1-4; the cutting part 1 is rotatably connected with the front end of the rotary worktable of the body part 5, and in addition, the cutting part 1 is turned over up and down by the extension of a lifting hydraulic oil cylinder 13 which is connected with the cutting part and the lifting hydraulic oil cylinder 13; the rotary table of the body part 5 is connected with the body part 5 through a left swing hydraulic oil cylinder 11 and a right swing hydraulic oil cylinder 12, and the body part 5 is asynchronously stretched and contracted through the left swing hydraulic oil cylinder 11 and the right swing hydraulic oil cylinder 12 to realize the rotation of the rotary table, and the cutting part 1 synchronously swings.

As shown in fig. 4 and 5, the drill-anchor mechanism 7 mainly includes: 7-1 parts of guide rails, 7-2 parts of compensation oil cylinders, 7-3 parts of swing bases, 7-4 parts of swing oil cylinders, 7-5 parts of rotating supports, 7-6 parts of leveling oil cylinders, 7-7 parts of large arms, 7-8 parts of hydraulic rock drills, 7-9 parts of propulsion oil cylinders, 7-10 parts of amplitude oil cylinders, 7-11 parts of telescopic oil cylinders and 7-12 parts of drill arm bases; the hydraulic rock drill 7-8 is arranged on the guide rail 7-1, and when the automatic cutting, digging and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the hydraulic rock drill 7-8 slides on the guide rail 7-1 through the propulsion oil cylinder 7-9; the guide rail 7-1 is connected with the swing base 7-3 through the compensation oil cylinder 7-2, and when the automatic cutting, digging and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the guide rail 7-1 obtains effective support on a rock wall through adjusting the compensation oil cylinder 7-2; the swing base 7-3 is connected with the rotary support 7-5 through the swing oil cylinders 7-4, and when the automatic cutting, digging and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the two swing oil cylinders 7-4 are adjusted to adjust the front-back and left-right angles of the guide rail 7-1 so as to realize the positioning of an anchor rod hole; the rotary support 7-5 is rotatably connected with the large arm 7-7, the rotary support (7-5) can be driven to turn over through a leveling cylinder (7-6) connected with the rotary support and the large arm, the drilling direction is adjusted, and when the automatic cutting, digging and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the leveling cylinder 7-6 is adjusted to adjust the angle between the guide rail 7-1 and the section of the tunnel; the telescopic oil cylinders 7-11 are arranged inside the large arms 7-7, and when the automatic cutting, digging and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the telescopic oil cylinders 7-11 are adjusted to realize the construction of a plurality of rows of anchor rod holes; the large arm 7-7 is rotatably connected with a cross shaft of the drill boom base 7-12, and when the automatic cutting, digging and anchoring integrated machine for the tunnel is in a drilling and anchoring state, the drilling position can be adjusted in a large range by adjusting the two variable amplitude oil cylinders 7-10.

As shown in fig. 1, the automatic cutting, tunneling and anchoring all-in-one machine for tunnels further comprises: a hydraulic system 6, an electrical system 10 and a water circuit system 9. The hydraulic system 6 of the embodiment comprises a hydraulic oil tank group, a motor oil pump group, a control group, a rubber hose joint group and the like, is distributed in each mechanism of the automatic cutting, digging and anchoring all-in-one machine for the tunnel, and provides power for at least one of the cutting part 1, the shovel plate part 2, the conveyor part 8, the body part 5, the walking part 3, the supporting part 4 and the drilling and anchoring mechanism 7; the waterway system 9 consists of a stop valve, a backwashing filter, a pressure reducing valve, a booster pump, a spraying system and the like, and supplies water for at least one of the cutting part 1, the conveyor part 8, the body part 5, the hydraulic system 6 and the drilling and anchoring mechanism 7; electric system 10 comprises combination switch case, operation panel group, sensor group, remote control transmitter, remote control receiver, control box group, including a motor, an illumination lamp bank, a junction box group, cable group, distribute in tunnel with each mechanism of automatic cutting anchor all-in-one, the operation of each part of automatic cutting anchor all-in-one is dug in the control tunnel, and this embodiment realizes the linkage between each part through electric system 10, during the use, only need press "automatic cutting mode" on the remote controller, tunnel can carry out corresponding action with automatic cutting anchor all-in-one automatically.

The embodiment of the invention provides an automatic cutting, digging and anchoring all-in-one machine for a tunnel, which has the following specific implementation mode: when a tunnel is excavated, in the first tunneling process, a pump station in a hydraulic system 6 is started to work, then a motor in a conveyor part 8 and a hydraulic motor in a shovel plate part 2 are started in sequence, then a walking part 3 drives the tunnel to be positioned in the middle of the section to be cut by an automatic cutting, excavating and anchoring integrated machine, then the shovel plate part 2 and a supporting part 4 connected with the rear end of a body part 5 descend to touch the ground at the same time, and then cutting motors 1-6 in a cutting part 1 are started; and then starting a tunneling working cycle, firstly extending out the telescopic oil cylinders 1-4 to push the cutting heads 1-1 to advance to cut, then turning the cutting part 1 up and down to lift and rotate left and right to cut the section, meanwhile, conveying the material to the rear of the machine through the shovel plate part 2 and the conveyor part 8, repeating the tunneling action, and finally finishing the section shape. A second step of drilling and anchoring, namely, firstly, the tunnel is positioned in the middle of the tunnel by using the automatic cutting, digging and anchoring all-in-one machine, then the shovel plate part 2 and the supporting part 4 connected with the rear end of the body part 5 descend to the ground simultaneously, then the cutting part 1 overturns downwards and descends to the ground, then the hydraulic system 6 is switched to a drilling and anchoring loop, all parts except the drilling and anchoring mechanism 7 are locked to act, meanwhile, the electric system 10 locks the cutting motors 1-6 in the cutting part 1, and then the drilling and anchoring mechanism 7 moves forwards; then, the drilling and anchoring work cycle is started, the drilling and anchoring mechanism 7 firstly slides to the working position, then the two amplitude-changing oil cylinders 7-10 and the telescopic oil cylinders 7-11 are adjusted, the drilling position is preliminarily positioned, then the guide rail 7-1 is driven to the drilling position by adjusting the two swing oil cylinders 7-4 and the leveling oil cylinders 7-6, then the compensating oil cylinder 7-2 extends out to ensure that the guide rail 7-1 is reliably contacted with surrounding rocks, then the hydraulic rock drill 7-8 is controlled to start impacting rotation, and then controlling the propulsion oil cylinder 7-9 to carry out drilling operation, after the drilling is in place, controlling the propulsion oil cylinder 7-9 to return the hydraulic rock drill 7-8, controlling the compensation oil cylinder 7-2 to retract so as to separate the guide rail 7-1 from the surrounding rock, repeating the drilling and anchoring action, and finally restoring the drilling and anchoring mechanism 7 to slide to the side of the body part 5 after the drilling and anchoring operation is finished.

After the tunnel is arranged in the middle of a cutting section by the automatic cutting, tunneling and anchoring integrated machine, an operator presses down a (positioning) automatic cutting mode on a remote controller, a cutting head 1-1 is driven to move to the length by adopting a telescopic oil cylinder 1-4 in a cutting part 1, the section size to be cut and a cutting line distance are input, a cutting path can be automatically calculated, after preparation work before cutting is completed, the cutting part cuts according to the set section size and cutting line distance, and the telescopic oil cylinder 1-4, a lifting hydraulic oil cylinder 13, a left swinging hydraulic oil cylinder 11 and a right swinging hydraulic oil cylinder 12 of the cutting part can do corresponding telescopic motion according to the cutting position in the cutting process; simultaneously, automatic tunnel of cutting of big section is with automatic cutting anchor all-in-one of digging possesses hard rock prevention function, can be according to the cutting resistance change, automatic adjustment cutting swing speed. Possess between cutting unit 1 and the shovel board portion 2 and prevent interfering the ability, when cutting unit 1 and shovel board portion 2 distance is too close (if be less than when certain threshold value of setting for), the entry driving machine alarm sends the police dispatch newspaper and prevents cutting unit 1 and shovel board portion 2 to continue to be close. In the tunneling process, when the pressure value in the supporting part 4 connected with the rear end of the main body part 5 is lower than a certain set threshold value, an alarm is sent out, the oil cylinder is moved, and the grounding pressure is kept. In the tunneling process, the hydraulic system 6 and the electrical system 10 jointly lock the drilling and anchoring mechanism 7 to prevent the drilling and anchoring mechanism 7 from moving; in the drilling and anchoring process, all the other parts are blocked by the hydraulic system 6 and the electric system 10 in a combined mode except for movable elements directly related to the movement of the drilling and anchoring mechanism 7.

The above description is only a specific embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and those skilled in the art can make several variations and modifications without departing from the concept of the present invention, and all of them should be covered by the claims of the present invention.

Claims (9)

1. An automatic cutting, tunneling and anchoring integrated machine for a tunnel is characterized by comprising a cutting part (1), a shovel plate part (2), a conveyor part (8), a body part (5), a walking part (3), a supporting part (4) and a drilling and anchoring mechanism (7);

the cutting part (1), the shovel plate part (2), the conveyor part (8), the walking part (3), the supporting part (4) and the drilling and anchoring mechanism (7) are all connected with the body part (5); the cutting part (1) is rotatably connected with the front end of the body part (5); the shovel plate part (2) is rotatably connected with the front end of the body part (5), and the shovel plate part (2) is positioned below the cutting part (1); the conveyor part (8) penetrates through the body part (5) and is used for conveying the articles shoveled by the shoveling plate part (2) from the front end to the rear end; the walking part (3) is connected with the bottom side surface of the body part (5); the drilling and anchoring mechanism (7) is connected with the upper side of the body part (5) and can move back and forth along the body part (5).

2. The tunneling automatic cutting and bolting all-in-one machine according to claim 1, characterized in that said drilling and bolting means (7) comprises: the device comprises a guide rail (7-1), a compensation oil cylinder (7-2), a swing base (7-3), a swing oil cylinder (7-4), a rotating support (7-5), a leveling oil cylinder (7-6), a large arm (7-7), a hydraulic rock drill (7-8), a propulsion oil cylinder (7-9), a variable amplitude oil cylinder (7-10), a telescopic oil cylinder (7-11) and a drill arm base (7-12);

the hydraulic rock drill (7-8) is arranged on the guide rail (7-1), and the hydraulic rock drill (7-8) can slide on the guide rail (7-1) through the propulsion oil cylinder (7-9); the guide rail (7-1) is connected with the swing base (7-3) through a compensation oil cylinder (7-2), the swing base (7-3) is connected with the rotating support (7-5) through a swing oil cylinder (7-4), and the front, back, left and right angles of the guide rail (7-1) can be adjusted by adjusting the swing oil cylinder (7-4); the rotating support (7-5) is rotatably connected with the large arm (7-7), and the rotating support (7-5) can be driven to turn over through a leveling oil cylinder (7-6) connected with the rotating support and the large arm; the telescopic oil cylinder (7-11) is arranged inside the large arm (7-7); the large arm (7-7) is rotatably connected with a cross shaft of the drill boom base (7-12), and the large arm (7-7) is connected with the drill boom base (7-12) through two amplitude-variable oil cylinders (7-10).

3. The automatic cutting, digging and anchoring all-in-one machine for the tunnel as claimed in any one of claims 1-2, characterized in that the cutting part (1) is rotatably connected with the front end of a rotary table of the body part (5), and the cutting part (1) can be driven to turn up and down through a lifting hydraulic oil cylinder (13) connecting the cutting part and the rotary table; the rotary worktable of the body part (5) is driven to rotate left and right through a left swing hydraulic oil cylinder (11) and a right swing hydraulic oil cylinder (12).

4. The automatic cutting, digging and anchoring all-in-one machine for tunnels according to any one of claims 1-2, characterized in that the supporting part (4) has a plurality of positions, which are lifting structures, wherein two positions are connected with the side surface of the walking part (3) and the other two positions are connected with the rear end of the body part (5).

5. The tunneling automatic cutting and bolting machine according to any of claims 1-2, characterized in that said cutting part (1) comprises: the cutting machine comprises a cutting head (1-1), a cutting arm (1-2), a cutting speed reducer (1-3), a telescopic oil cylinder (1-4), a clamping oil cylinder (1-5), a cutting motor (1-6) and a motor frame body (1-7);

the cutting head (1-1), the cutting arm (1-2), the cutting speed reducer (1-3) and the cutting motor (1-6) are sequentially connected together and move synchronously, and the whole body is fixed with the motor frame body (1-7) through a clamping oil cylinder (1-5); two ends of the telescopic oil cylinder (1-4) are connected with the cutting speed reducer (1-3) and the motor frame body (1-7), and the cutting head (1-1), the cutting arm (1-2), the cutting speed reducer (1-3) and the cutting motor (1-6) can be pushed to slide in the motor frame body (1-7) through the telescopic oil cylinder (1-4).

6. The automatic tunneling cutting and anchoring machine according to any one of claims 1-2, further comprising: a hydraulic system (6), an electrical system (10) and a waterway system (9);

the hydraulic system (6) is connected with at least one of the cutting part (1), the shovel plate part (2), the conveyer part (8), the body part (5), the walking part (3), the supporting part (4) and the drilling and anchoring mechanism (7) and provides power for at least one of the cutting part, the shovel plate part, the conveyer part and the drilling and anchoring mechanism;

the electric system (10) is connected with at least one of the cutting part (1), the shovel plate part (2), the conveyer part (8), the body part (5), the walking part (3), the supporting part (4), the drilling and anchoring mechanism (7), the waterway system (9) and the hydraulic system (6) and provides signals for at least one of the cutting part, the shovel plate part, the conveyer part and the hydraulic system;

the waterway system (9) is connected with at least one of the cutting part (1), the conveyor part (8), the body part (5), the hydraulic system (6) and the drilling and anchoring mechanism (7) and supplies water to at least one of the cutting part, the conveyor part, the body part, the hydraulic system and the drilling and anchoring mechanism.

7. A control method of the automatic cutting, digging and anchoring all-in-one machine for the tunnel as claimed in any one of claims 1-6, is characterized in that:

when a tunnel is excavated, in the first tunneling process, the walking part (3) drives the tunnel to be positioned at the middle position of a section to be cut by the automatic cutting, tunneling and anchoring integrated machine, then the shovel plate part (2) and the supporting part (4) connected with the rear end of the body part (5) descend simultaneously to touch the ground, then the cutting part (1) starts tunneling work circulation, meanwhile, materials are conveyed to the rear of the machine through the shovel plate part (2) and the conveyor part (8), tunneling action is repeated, and finally the shape of the section is trimmed;

a second step of drilling and anchoring, namely, the tunnel is located in the middle of the tunnel by using an automatic cutting, digging and anchoring all-in-one machine, then the shovel plate part (2) and the supporting part (4) connected with the rear end of the body part (5) descend simultaneously to touch the ground, then the cutting part (1) overturns downwards to descend and touch the ground, then the cutting part is switched to a drilling and anchoring loop, all parts except the drilling and anchoring mechanism (7) are locked to act, and then the drilling and anchoring mechanism (7) moves forwards to adjust the position; and then, starting the drilling and anchoring work cycle, and finally, restoring the drilling and anchoring mechanism (7) to slide to the side of the body part (5) after the drilling and anchoring work is finished.

8. The control method of the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel according to claim 7, characterized in that: the tunneling process adopts a positioning automatic cutting mode, a cutting head (1-1) driven by a telescopic oil cylinder (1-4) is arranged in the cutting part (1), the cutting head (1-1) is driven to move to the depth by the telescopic oil cylinder (1-4), and a cutting path is automatically calculated according to the input roadway size, cutting row spacing and section size and shape to realize automatic cutting.

9. The control method of the automatic cutting, tunneling and anchoring all-in-one machine for the tunnel according to claim 7 or 8, characterized in that when the cutting resistance is changed, the cutting swing speed is automatically adjusted;

and/or when the distance between the cutting part (1) and the shovel plate part (2) is lower than a certain set threshold value, giving an alarm and preventing the cutting part (1) and the shovel plate part (2) from continuously approaching;

and/or in the tunneling process, when the pressure value in the supporting part (4) connected with the rear end of the body part (5) is lower than a certain set threshold value, an alarm is given out, the oil cylinder is moved, and the grounding pressure is kept;

and/or in the tunneling process, the hydraulic system (6) and the electrical system (10) are used for jointly locking the drilling and anchoring mechanism (7) to prevent the drilling and anchoring mechanism (7) from moving;

and/or in the process of drilling and anchoring, except for movable elements directly related to the movement of the drilling and anchoring mechanism (7), the hydraulic system (6) and the electric system (10) are combined to lock all the other parts.

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