CN113833485B - Multi-mode tunnel tunneling robot suitable for complex geology - Google Patents

Multi-mode tunnel tunneling robot suitable for complex geology Download PDF

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Publication number
CN113833485B
CN113833485B CN202111143069.6A CN202111143069A CN113833485B CN 113833485 B CN113833485 B CN 113833485B CN 202111143069 A CN202111143069 A CN 202111143069A CN 113833485 B CN113833485 B CN 113833485B
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China
Prior art keywords
hob
jet
flow channel
axial
shell
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CN202111143069.6A
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CN113833485A (en
Inventor
江红祥
夏超
朱真才
刘送永
沈刚
司垒
许少毅
江帆
李洪盛
王欧国
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10Making by using boring or cutting machines
    • E21D9/1066Making by using boring or cutting machines with fluid jets
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10Making by using boring or cutting machines
    • E21D9/1006Making by using boring or cutting machines with rotary cutting tools
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10Making by using boring or cutting machines
    • E21D9/1086Drives or transmissions specially adapted therefor
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10Making by using boring or cutting machines
    • E21D9/1093Devices for supporting, advancing or orientating the machine or the tool-carrier
    • EFIXED CONSTRUCTIONS
    • E21EARTH OR ROCK DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10Making by using boring or cutting machines
    • E21D9/11Making by using boring or cutting machines with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Shovels (AREA)
  • Earth Drilling (AREA)

Abstract

The invention discloses a multi-mode tunnel tunneling robot suitable for complex geology, which comprises a hob part, a jet device, a rotating mechanism, a connecting mechanism, a milling part, a machine body, a cantilever, a shovel plate and a travelling mechanism, wherein the hob part and the milling part are oppositely arranged at the front end and the rear end of the rotating mechanism, the rotating mechanism comprises a connecting mechanism in the middle and rotating driving devices at two sides, the rotating mechanism is fixedly connected at two sides in the cantilever, the shovel plate is arranged at the bottom of one end of the machine body, the jet device is arranged on the hob part, and comprises a water inlet arranged on the hob part, a jet channel arranged in the hob part and a spray head arranged at the front part of the hob part, and the water inlet, the jet channel and the spray head are communicated. The multi-mode tunnel tunneling robot suitable for complex geology combines the milling head, the disc-type hob and the high-pressure water jet together, and can select the milling head and the disc-type hob to work by utilizing the rotating mechanism, so that the tunnel tunneling of the complex geology is realized.

Description

Multi-mode tunnel tunneling robot suitable for complex geology
Technical Field
The invention relates to the technical field of building apparatuses, in particular to a multi-mode tunneling robot suitable for complex geology.
Background
The energy industry is the basic industry of national economy and is also a technology-intensive industry. In the resource consumption of China, the consumption of coal resources always accounts for the main body of the total consumption, and the energy source of China is characterized by more coal and less oil, so the energy source has an irreplaceable position as the main body energy source of China in a long period in the future. In recent years, the economic development of China is rapid, so that the demand for coal energy is increasing. The coal mining in China is gradually developed to deep and complex stratum, and the problem of imbalance of mining proportion caused by difficulty in tunneling rock drift is brought along with the development of the deep and complex stratum, so that the coal mining in China is limited as a main reason.
In the prior art, a drilling and blasting method and a mechanical cutting pick are adopted for rock breaking in coal mine tunnel tunneling, wherein the drilling and blasting method has high efficiency and strong applicability to stratum, but is easy to cause major accidents such as gas explosion, so that ore body resources are not beneficial to safe, efficient and green exploitation, the cutting pick commonly used in a coal mine tunnel boring machine has high difficulty in breaking hard rock, large load, easy damage of the cutting pick and frequent replacement, low rock tunnel tunneling efficiency and high cost, and underground experiments prove that the cutting pick milling and rock breaking mode is difficult to realize the economic tunneling of the hard rock tunnel.
Disclosure of Invention
The invention aims to provide a multi-mode tunneling robot suitable for complex geology, which aims to solve the problems of low tunneling efficiency and high cost of the current coal mine tunneling in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a multimode lane tunneling robot suitable for complicated geology, includes hobbing cutter portion, fluidic device, rotary mechanism, coupling mechanism, mills the portion of planing, organism, cantilever, shovel board and running gear, and hobbing cutter portion and mill the portion subtend and set up the front and back end at rotary mechanism, rotary mechanism includes coupling mechanism and the rotatory drive arrangement of both sides in the middle, and coupling mechanism adopts the design of cross axle, and rotatory drive arrangement passes through the rotation axis and rotates with coupling mechanism through the rotation to be connected, hobbing cutter portion and mill the portion whole and do 0-360 rotation with the rotation axis through coupling mechanism and be connected, the one end fixedly connected with cantilever of organism, rotary mechanism fixed connection is in the inside both sides of cantilever, and the bottom that the organism is located cantilever one end is installed the shovel board, and the bottom of organism is provided with running gear, is provided with fluidic device on the hobbing cutter portion, and fluidic device includes the water inlet that sets up on hobbing cutter portion, embeds in the inside jet channel and installs the shower nozzle in hobbing cutter portion front portion, water inlet, jet channel and shower nozzle intercommunication.
Preferably, the hob part comprises a hob, a reciprocating rotary shell, a driven gear, a driving motor base, a first driving motor, a vibrating motor, a hob arm and a jet device, one end of the hob arm is fixedly connected with a connecting mechanism, 2 vibrating motors which are axially symmetrical are arranged in the middle of the hob arm and are used for driving the hob arm to transversely swing, the other end of the hob arm is connected with the hob, a horn-shaped reciprocating rotary shell is sleeved outside the hob, the driving motor base is fixedly arranged outside the hob arm, the two sides of the driving motor base are respectively provided with the first driving motor, the driven gear is sleeved on the hob arm in a rotating way, the shape of the inner wall of the reciprocating rotary shell is consistent with the shape of the side face of the hob, the distance from the inner wall of the reciprocating rotary shell to the side face of the hob is 3-4 mm, the rear end of the reciprocating rotary shell is fixedly arranged on the driven gear, the first driving motor is meshed with the driven gear through the driving gear to drive the reciprocating rotary shell, and the jet device is arranged on the hob and the reciprocating rotary shell.
Further preferably, the jet device comprises an axial jet device and a side jet device, the axial jet device comprises an axial jet water inlet, an axial jet flow channel and an axial jet flow nozzle, the side jet device comprises a side jet water inlet, a side jet flow channel and a side jet flow nozzle, the axial jet water inlet and the side jet flow water inlet are both positioned on the hob part, the axial jet flow channel is positioned inside the hob, the side jet flow channel is positioned inside the reciprocating rotary shell, water outlets of the axial jet flow channel and the side jet flow channel are respectively positioned on the knife face of the hob and the ring edge of the outermost side of the reciprocating rotary shell, the water outlets of the axial jet flow channel and the side jet flow channel are respectively provided with the axial jet flow nozzle and the side jet flow nozzle, and the axial jet flow channel, the axial jet flow nozzle, the side jet flow channel and the side jet flow nozzle are all provided with a plurality of groups.
Preferably, the milling part comprises a milling head, a transmission longitudinal shaft, a telescopic arm I, a hydraulic motor, a telescopic arm II and a hydraulic cylinder, one end of the telescopic arm II is fixedly connected to the connecting mechanism, the other end of the telescopic arm II is movably sleeved on the telescopic arm I, the telescopic arm II and the telescopic arm I form a telescopic structure through the hydraulic cylinder internally installed, the hydraulic motor and the transmission longitudinal shaft are arranged in the middle of the telescopic arm I, one end of the transmission longitudinal shaft is connected with the hydraulic motor through a spline, and the other end of the transmission longitudinal shaft is fixedly connected with the milling head through a spline.
Further preferably, the hydraulic motor is fixed in the telescopic arm I through a flange plate, one end of the hydraulic motor is connected with the transmission longitudinal shaft, one end of the hydraulic motor is connected with the integrated valve block through an oil pipe, and the hydraulic motor is a low-speed high-torque hydraulic motor.
Preferably, the rotary mechanism comprises a rotary driving device, a connecting mechanism and a rotating shaft, the rotary driving device comprises a second driving motor, a primary gear reducer, double-row cylindrical rollers, a worm wheel, a worm, a shell and an end cover, the shell is an internal hollow box body, one surface of the shell is provided with an opening shape, the end cover is installed on the surface, the end cover is fixedly connected with a cantilever, the second driving motor, the primary gear reducer, the double-row cylindrical rollers, the worm wheel and the worm are installed in the shell, the rotating shaft is sequentially connected with the worm wheel and the double-row cylindrical roller bearing along the axial direction, one end of the double-row cylindrical rollers is positioned through the shaft shoulder of the worm wheel, one end of the double-row cylindrical rollers is fixed on the inner side of the end cover of the shell, the output shaft of the second driving motor is connected with the primary gear reducer, a low-speed gear is fixed on the worm shaft, power is transmitted to the rotating shaft through the worm and the worm wheel, and the rotating shaft is driven to rotate.
Further preferably, an eccentrically arranged shaft sleeve is arranged on the inner side of the shell end cover, and one end of the double-row cylindrical roller is fixed through the shaft sleeve on the shell end cover.
Compared with the prior art, the invention has the beneficial effects that: the invention combines the hob and the milling head together to form the cutting part of the heading machine, so that the heading machine can carry out heading work in complex geological roadways, the efficiency is high, and the heading speed of coal mine roadways is improved. The hob is provided with a side jet and an axial jet, when the hob breaks rock, the high-pressure water jet can be used for pre-slotting, the side jet is convenient for the hob to break rock, and the axial jet is convenient for milling heads and cutting, so that the milling difficulty of the hob is reduced; the side jet flow can expand the slotting range through the reciprocating rotation of the reciprocating rotary shell, and the axial jet flow can cause the hob part to swing through the vibration of the vibration motor to expand the slotting range of the axial jet flow. The rotary mechanism is driven by the driving motor, and the driving motor transmits power through the primary gear reducer, the worm wheel and the worm, so that the whole rotary mechanism is more compact, and the whole machine width of the heading machine is not influenced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the overall structure of the hob section, the rotary mechanism and the milling section of the present invention;
FIG. 3 is a schematic perspective view of a hob section according to the present invention;
FIG. 4 is a schematic view of a partial cross-sectional view of the hob position of the hob section of the present invention;
FIG. 5 is a schematic perspective view of a rotary mechanism according to the present invention;
FIG. 6 is a schematic view of the internal structure of the milling part of the present invention;
FIG. 7 is a schematic view of the internal side structure of the roller arm of the present invention;
FIG. 8 is a schematic view of the transmission longitudinal axis structure of the present invention;
FIG. 9 is a schematic diagram of an end cap structure of the present invention;
Fig. 10 is a schematic structural view of the connecting mechanism of the present invention.
In the figure: 1. a hob section; 1-1, hob; 1-2, reciprocating rotary shell; 1-3, driven gears; 1-4, a driving gear; 1-5, a first driving motor; 1-6, a driving motor base; 1-7, a vibration motor; 1-8, a hob arm; 1-9, a side jet water inlet; 1-10, side jet flow channels; 1-11, side jet nozzles; 1-12, an axial jet water inlet; 1-13, axial jet flow channel; 1-14, axial jet nozzles; 2. a rotation mechanism; 2-1, a second driving motor; 2-2, a primary gear reducer; 2-3, double-row cylindrical rollers; 2-4, worm gear; 2-5, a worm; 2-6, a connecting mechanism; 2-7, a rotating shaft; 2-8, a shell; 2-9, end covers; 3. milling and planing the part; 3-1, milling the head; 3-2, a transmission longitudinal axis; 3-3, a telescopic arm I; 3-4, a hydraulic motor; 3-5, a telescopic arm II; 3-6 parts of hydraulic cylinders; 4. a body; 5. a cantilever; 6. a shovel plate; 7. and a walking mechanism 7.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-10, the present invention provides a technical solution: a multi-mode tunneling robot suitable for complex geology comprises a hob part 1, a jet device, a rotating mechanism 2, a connecting mechanism 2-6, a milling part 3, a machine body 4, a cantilever 5, a shovel plate 6 and a traveling mechanism 7, wherein the hob part 1 and the milling part 3 are oppositely arranged at the front end and the rear end of the rotating mechanism 2, the rotating mechanism 2 comprises the connecting mechanism 2-6 in the middle and rotating driving devices at two sides, the connecting mechanism 2-6 adopts a cross shaft design, the rotating driving devices are rotationally connected with the connecting mechanism 2-6 through the rotating shaft 2-7, the hob part 1 and the milling part 3 are integrally and rotationally connected with the rotating shaft 2-7 through the connecting mechanism 2-6 by 0-360 degrees, one end of the machine body 4 is fixedly connected with the cantilever 5, the rotating mechanism 2 is fixedly connected with two sides in the cantilever 5, the shovel plate 6 is arranged at the bottom of one end of the machine body 4, the traveling mechanism 7 is arranged at the bottom of the machine body 4, the hob part 1 is provided with the jet device, the jet device comprises a water inlet arranged on the hob part 1, a jet channel arranged in the hob part 1 and a jet nozzle arranged at the front part 1, the jet channel and a jet device is arranged at the front of the hob part 1, the jet channel and the jet device is communicated with the jet channel 1 through the jet channel and the jet device, the jet channel is arranged at the front part 1, the jet channel and the jet device 3, the jet device is used for realizing the extrusion of the milling part 1, the tunneling machine can be used for realizing the tunneling efficiency, and the tunneling machine can be realized by using the machine part 3, and the milling efficiency is realized, and the tunneling machine has the cutting efficiency is realized.
As shown in fig. 2,3, 4 and 7, the hob part 1 comprises a hob 1-1, a reciprocating rotary shell 1-2, a driven gear 1-3, a driving gear 1-4, a driving motor base 1-6, a first driving motor 1-5, a vibrating motor 1-7, a hob arm 1-8 and a jet device, one end of the hob arm 1-8 is fixedly connected with a connecting mechanism 2-6, the middle of the hob arm 1-8 is hollow, 2 vibrating motors 1-7 which are axially symmetrical are internally mounted, the vibrating motor 1-7 drives the hob arm 1-8 to transversely swing, the other end of the hob arm 1-8 is connected with the hob 1-1, the horn-shaped reciprocating rotary shell 1-2 is sleeved outside the hob 1-1, the driving motor base 1-6 is fixedly mounted outside the hob arm 1-8, the two sides of the driving motor base 1-6 are provided with a first driving motor 1-5, the hob arm 1-8 is rotatably sleeved with a driven gear 1-3, the shape of the inner wall of the reciprocating rotary shell 1-2 is consistent with that of the side surface of the hob 1-1, the distance from the inner wall of the reciprocating rotary shell 1-2 to the side surface of the hob 1-1 is 3-4 mm, the rear end of the reciprocating rotary shell 1-2 is fixedly arranged on the driven gear 1-3, the first driving motor 1-5 is meshed with the driven gear 1-3 through a driving gear 1-4 to drive the reciprocating rotary shell 1-2 to rotate, the hob 1-1 and the reciprocating rotary shell 1-2 are respectively provided with a jet device, on the basis of the embodiment, the hob part 1 is additionally provided with a vibrating motor 1-7, the hob 1-1 can swing transversely, the spraying range of the high-pressure spray head can be increased while the working range is improved, the jet device is arranged on the reciprocating rotary shell 1-2, the cutting difficulty of the side face of the hob 1-1 can be further reduced, meanwhile, the reciprocating rotary shell 1-2 can rotate in a reciprocating mode during working, the spraying efficiency is improved, and the rotating range of the reciprocating rotary shell 1-2 is between-100 degrees and 100 degrees.
It should be noted that, in the drawings, a driving mechanism of the hob part 1 is not provided, but the driving mode of the hob part 1 is the prior art, a common operation means is to install a hydraulic rod on a machine body to drive the hob 1-1 to repeatedly extrude, and the driving mode of the hob part 1 is not an advantageous effect of the present application, so the driving mode of the hob part 1 should not be used as a necessary condition for judging whether the functions of the present application are complete.
As shown in FIG. 4, the jet device comprises an axial jet device and a side jet device, the axial jet device comprises an axial jet water inlet 1-12, an axial jet flow channel 1-13 and an axial jet nozzle 1-14, the side jet device comprises a side jet water inlet 1-9, a side jet flow channel 1-10 and a side jet nozzle 1-11, the axial jet water inlet 1-12 and the side jet water inlet 1-9 are both positioned on the hob part 1, the axial jet flow channel 1-13 is positioned in the hob 1-1, the side jet flow channel 1-10 is positioned in the reciprocating rotary shell 1-2, water outlets of the axial jet flow channel 1-13 and the side jet flow channel 1-10 are respectively positioned on the knife surface of the hob 1-1 and the outermost ring edge of the reciprocating rotary shell 1-2, the axial jet flow channel 1-14 and the side jet flow nozzle 1-11 are respectively arranged on the water outlets of the axial jet flow channel 1-13 and the side jet flow channel 1-10, and the axial jet flow channel 1-13, the side jet flow nozzle 1-10 and the side jet flow nozzle 1-11 are respectively provided with multiple groups.
As shown in fig. 1, 6 and 8, the milling part 3 comprises a milling head 3-1, a transmission longitudinal shaft 3-2, a telescopic arm I3-3, a hydraulic motor 3-4, a telescopic arm II 3-5 and a hydraulic cylinder 3-6, one end of the telescopic arm II 3-5 is fixedly connected to the connecting mechanism 2-6, the other end of the telescopic arm II 3-5 is movably sleeved on the telescopic arm I3-3, the telescopic arm II 3-5 and the telescopic arm I3-3 form a telescopic structure through the hydraulic cylinder 3-6 arranged in the telescopic arm II 3-5, the hydraulic motor 3-4 and the transmission longitudinal shaft 3-2 are arranged in the middle of the telescopic arm I3-3, one end of the transmission longitudinal shaft 3-2 is connected with the hydraulic motor 3-4 through a spline, and the other end of the transmission longitudinal shaft 3-2 is fixedly connected with the milling head 3-1 through a spline.
The hydraulic motor 3-4 is fixed in the telescopic arm I3-3 through the ring flange, and hydraulic motor 3-4 one end is connected with transmission vertical axis 3-2, and one end passes through oil pipe and is connected with the integrated valve piece, and hydraulic motor 3-4 adopts low-speed big moment of torsion hydraulic motor.
As shown in fig. 2, 5, 9 and 10, the rotating mechanism 2 comprises a rotating driving device, a connecting mechanism 2-6 and a rotating shaft 2-7, the rotating driving device comprises a second driving motor 2-1, a first-stage gear reducer 2-2, double-row cylindrical rollers 2-3, a worm wheel 2-4, a worm 2-5, a shell 2-8 and an end cover 2-9, the shell 2-8 is a hollow box body inside, one surface of the shell 2-8 is opened, the end cover 2-9 is arranged on the surface, the end cover 2-9 is fixedly connected with the cantilever 5, the second driving motor 2-1, the first-stage gear reducer 2-3, the worm wheel 2-4 and the worm 2-5 are arranged in the shell 2-8, the rotating shaft 2-7 is sequentially connected with the worm wheel 2-4 and the double-row cylindrical roller bearing 2-3 along the axial direction, one end of the cylindrical roller 2-3 is positioned through a shaft shoulder of the worm 2-4, one end of the cylindrical roller is fixed on the inner side of the end cover 2-9, the output shaft of the second driving motor 2-1 is connected with the first-stage gear reducer 2-2, the worm wheel reducer 2-4 is fixed on the worm 2-4, the worm 2-4 is fixed on the worm shaft 2-4, the rotating shaft 2-5 is further connected with the rotating mechanism 2-7 through the worm 2-4, and the rotating mechanism is rotated by the rotating mechanism 2-6.
As a further preferable option, an eccentrically arranged sleeve is mounted inside the housing end cap 2-9, and one end of the double row cylindrical roller 2-3 is fixed by the sleeve on the housing end cap 2-9.
The working mode of the tunneling robot is as follows:
The first step: when the complex geological tunnel is tunneled, the position of a tunnelling robot is firstly adjusted, the rotating mechanism 2 is controlled to rotate, the milling part 3 is positioned at the working surface in front of the tunnelling robot, the relative positions of the telescopic arms I3-3 and II 3-5 are adjusted through the hydraulic cylinders 3-6, and the milling head 3-1 is driven to cut through the hydraulic motor 3-4.
And a second step of: rotating the station to cut the hob
After the cutting of the working face is completed, the rotary mechanism 2 is controlled to rotate, so that the hob 1-1 enters a groove of the working face in front of the tunneling robot, and when the hob 1-1 extrudes and breaks rock, high-pressure water enters the axial jet nozzle 1-14 through the axial jet water inlet 1-12 and the axial jet flow channel 1-13 on the hob arm 1-8 to perform axial high-pressure water injection; the high-pressure water is sprayed at the side surface through a water inlet 1-9, a side jet flow channel 1-10 and a side jet flow nozzle 1-11 on the reciprocating rotary shell 1-2, the axial high-pressure water spraying range can be changed through a vibration motor 1-7, and the driving gear 1-4 and the driven gear 1-3 of the first driving motor 1-5 are meshed to drive the reciprocating rotary shell 1-2 to rotate, so that the side cutting efficiency of the hob 1-1 is improved.
And a third step of: and (5) milling and planing the head to cut by rotating the station, and circularly carrying out.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. A multimode tunnel tunneling robot suitable for complex geology is characterized in that: comprises a hob part (1), a jet device, a rotating mechanism (2), a connecting mechanism (2-6), a milling part (3), a machine body (4), a cantilever (5), a shovel plate (6) and a travelling mechanism (7), wherein the hob part (1) and the milling part (3) are oppositely arranged at the front end and the rear end of the rotating mechanism (2), the rotating mechanism (2) comprises the connecting mechanism (2-6) in the middle and rotary driving devices at the two sides, the connecting mechanism (2-6) adopts a cross shaft design, the rotary driving devices are rotationally connected with the connecting mechanism (2-6) through the rotating shaft (2-7), the hob part (1) and the milling part (3) are integrally rotationally connected with the rotating shaft (2-7) through the connecting mechanism (2-6), one end of the machine body (4) is fixedly connected with the cantilever (5), the rotating mechanism (2) is fixedly connected with the two sides in the cantilever (5), the bottom of one end of the machine body (4) is provided with the shovel plate (6), the bottom of the machine body (4) is provided with the jet device (7), the jet device (1) is arranged on the jet device, the jet device is arranged on the jet device and comprises a water inlet and a jet device arranged on the front part (1) and a jet part arranged on the jet part (1), the water inlet, the jet flow channel and the spray head are communicated;
The hob part (1) comprises a hob (1-1), a reciprocating rotary shell (1-2), a driven gear (1-3), a driving gear (1-4), a driving motor base (1-6), a first driving motor (1-5), a vibrating motor (1-7), a hob arm (1-8) and a jet device, one end of the hob arm (1-8) is fixedly connected with the connecting mechanism (2-6), 2 vibrating motors (1-7) which are axially symmetrical are arranged in the middle of the hob arm (1-8), the vibrating motor (1-7) drives the hob arm (1-8) to transversely swing, the other end of the hob arm (1-8) is connected with the hob (1-1), the horn-shaped reciprocating rotary shell (1-2) is sleeved outside the hob (1-1), the driving motor base (1-6) is fixedly arranged outside the hob arm (1-8), the first driving motor (1-5) is arranged on two sides of the driving motor base (1-6), the hob arm (1-8) is rotatably sleeved with the driven gear (1-3), the reciprocating rotary shell (1-2) is in a consistent shape with the side face (1-1), the distance from the inner wall of the reciprocating rotary shell (1-2) to the side surface of the hob (1-1) is 3-4 mm, the rear end of the reciprocating rotary shell (1-2) is fixedly arranged on the driven gear (1-3), the first driving motor (1-5) is meshed with the driven gear (1-3) through the driving gear (1-4) to drive the reciprocating rotary shell (1-2) to rotate, and jet devices are arranged on the hob (1-1) and the reciprocating rotary shell (1-2);
The rotating mechanism (2) comprises a rotating driving device, a connecting mechanism (2-6) and a rotating shaft (2-7), wherein the rotating driving device comprises a second driving motor (2-1), a primary gear reducer (2-2), a double-row cylindrical roller bearing (2-3), a worm wheel (2-4), a worm (2-5), a shell (2-8) and an end cover (2-9), the shell (2-8) is a hollow box body inside, one surface of the shell (2-8) is opened, the end cover (2-9) is arranged on the surface, the end cover (2-9) is fixedly connected with the cantilever (5), the second driving motor (2-1), the primary gear reducer (2-2), the double-row cylindrical roller bearing (2-3), the worm wheel (2-4) and the worm (2-5) are internally arranged in the shell (2-8), one end of the rotating shaft (2-7) is sequentially connected with the worm wheel (2-4) and the cylindrical roller bearing (2-3) along the axial direction, one end of the cylindrical roller bearing (2-3) is positioned through a shoulder of the worm wheel (2-4), one end of the inner cylindrical roller bearing is fixed on the end cover (2-9), the output shaft of the second driving motor (2-1) is connected with the primary gear reducer (2-2), the low-speed gear is fixed on the worm shaft, and power is transmitted to the rotating shaft (2-7) through the worm (2-5) and the worm wheel (2-4) to drive the rotating shaft (2-7) to rotate.
2. A multi-mode tunneling robot adapted for complex geology as claimed in claim 1, wherein: the jet device comprises an axial jet device and a side jet device, the axial jet device comprises an axial jet water inlet (1-12), an axial jet flow channel (1-13) and an axial jet nozzle (1-14), the side jet device comprises a side jet water inlet (1-9), a side jet flow channel (1-10) and a side jet nozzle (1-11), the axial jet water inlet (1-12) and the side jet water inlet (1-9) are both arranged on a hob part (1), the axial jet flow channel (1-13) is arranged in the hob (1-1), the side jet flow channel (1-10) is arranged in a reciprocating rotary shell (1-2), water outlets of the axial jet flow channel (1-13) and the side jet flow channel (1-10) are respectively arranged on the blade surface of the hob (1-1) and the outermost ring edge of the reciprocating rotary shell (1-2), and the axial jet flow channel (1-13) and the water outlets of the side jet flow channel (1-10) are respectively provided with the axial jet nozzle (1-14) and the side jet nozzle (1-11), the axial jet flow channel (1-13), the axial jet flow channel (1-14) and the side jet flow channel (1-10) are respectively arranged on the water outlets of the hob (1-10) The side jet nozzles (1-11) are provided with a plurality of groups.
3. A multi-mode tunneling robot adapted for complex geology as claimed in claim 1, wherein: milling part (3) is including milling head (3-1), transmission vertical axis (3-2), flexible arm I (3-3), hydraulic motor (3-4), flexible arm II (3-5) and pneumatic cylinder (3-6), the one end fixed connection of flexible arm II (3-5) is on coupling mechanism (2-6), the other end activity of flexible arm II (3-5) cup joints on flexible arm I (3-3), flexible arm II (3-5) constitutes the extending structure through its internally mounted pneumatic cylinder (3-6) and flexible arm I (3-3), be provided with hydraulic motor (3-4) and transmission vertical axis (3-2) in the middle of flexible arm I (3-3), the one end of transmission vertical axis (3-2) passes through spline connection hydraulic motor (3-4), the other end of transmission vertical axis (3-2) passes through spline and mills head (3-1) fixed connection.
4. A multi-mode tunneling robot adapted for complex geology as claimed in claim 3, wherein: the hydraulic motor (3-4) is fixed in the telescopic arm I (3-3) through a flange plate, one end of the hydraulic motor (3-4) is connected with the transmission longitudinal shaft (3-2), and the other end of the hydraulic motor is connected with the integrated valve block through an oil pipe, and the hydraulic motor (3-4) is a low-speed high-torque hydraulic motor.
5. A multi-mode tunneling robot adapted for complex geology as claimed in claim 1, wherein: an eccentrically arranged shaft sleeve is arranged on the inner side of the shell end cover (2-9), and one end of the double-row cylindrical roller bearing (2-3) is fixed through the shaft sleeve on the shell end cover (2-9).
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CN114233319B (en) * 2022-01-27 2024-05-10 常州工业职业技术学院 Tunneling robot based on soil fluidization mechanism
CN114876486B (en) * 2022-05-20 2023-03-10 中国矿业大学 Roadway tunneling robot and automatic cutting control method

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