CN113982619A - Novel rapid tunneling cutting mechanism and cutting method for coal mine - Google Patents
Novel rapid tunneling cutting mechanism and cutting method for coal mine Download PDFInfo
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- CN113982619A CN113982619A CN202111343372.0A CN202111343372A CN113982619A CN 113982619 A CN113982619 A CN 113982619A CN 202111343372 A CN202111343372 A CN 202111343372A CN 113982619 A CN113982619 A CN 113982619A
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- 238000005520 cutting process Methods 0.000 title claims abstract description 172
- 230000007246 mechanism Effects 0.000 title claims abstract description 77
- 230000005641 tunneling Effects 0.000 title claims abstract description 40
- 239000003245 coal Substances 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 4
- 230000009471 action Effects 0.000 claims description 20
- 238000005553 drilling Methods 0.000 claims description 3
- 239000011435 rock Substances 0.000 abstract description 11
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 230000018109 developmental process Effects 0.000 description 5
- 238000005065 mining Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 208000022971 Tuberculous meningitis Diseases 0.000 description 2
- 238000004873 anchoring Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 208000001223 meningeal tuberculosis Diseases 0.000 description 2
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1006—Making by using boring or cutting machines with rotary cutting tools
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1086—Drives or transmissions specially adapted therefor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
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- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
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Abstract
The invention relates to the technical field of underground coal mine roadway tunneling. In particular to a novel rapid tunneling cutting mechanism and a novel cutting method for coal mines. Including axis of ordinates formula cutterhead, the gear box, rotation mechanism, frame and cutting motor slide, axis of ordinates formula cutterhead is installed respectively at the both ends of gear box, axis of ordinates formula cutterhead is connected with the planetary reducer in the gear box, the gear box middle part is connected with rotation mechanism one side, the rotation mechanism opposite side is fixed on the support frame, the support frame is installed on the guide rail body of frame that slides, and can slide along the guide rail body, the support frame is connected with the one end of telescopic cylinder is articulated, the other end and the articulated connection of frame tip that slides of telescopic cylinder, cutting motor urceolus is connected with the support frame, cutting motor output shaft passes through the shaft coupling, the transmission shaft is connected with the gear box, it is rotatory to realize two axis of ordinates formula cutterhead of cutting motor drive. The invention adopts the vertical shaft type cutting head, has good geological condition adaptability and can be widely used for tunneling coal, semi-coal rock and rock roadways.
Description
Technical Field
The invention relates to the technical field of underground coal mine roadway tunneling. In particular to a novel rapid tunneling cutting mechanism and a novel cutting method for coal mines.
Background
At present, the tunneling equipment for tunneling a working face mainly comprises a cantilever type tunneling machine, a continuous mining machine and an anchor driving machine. The boom-type roadheader adopts a longitudinal shaft or a transverse shaft type cutting head, the cutting capability is strong, the single cutting head operation and the frequent adjustment of equipment charging are adopted, and the cutting efficiency is low; the continuous mining machine and the tunneling and anchoring machine both adopt cutting drums with the same width as a cutting roadway to cut, the full width is cut once, the cutting efficiency is high, but the continuous mining machine and the tunneling and anchoring machine are only suitable for a coal roadway, when a half-coal-rock roadway is cut, the problems of low efficiency, high failure rate and the like exist, and the adaptability is poor.
Aiming at improving the tunneling efficiency by changing the cutting mode, a plurality of domestic scientific research units carry out research. In the high-efficiency tunneling machine for the full-section coal roadway developed by the heavy industry in the north, a cutting mechanism adopts an upper cutting roller, a lower cutting roller and a middle cutterhead to carry out staggered cutting; the shield type full-section rectangular rapid development machine developed by Shanghai research institute of Medium coal science group adopts a cutting mechanism to arrange a large cutter head in the middle and four corners of the large cutter head respectively arrange a small cutter head to carry out staggered cutting, and cutting tools of the above two types all adopt pick-shaped cutting teeth and are all suitable for coal roadways. In recent years, TBMs produced by northern heavy industry and iron construction heavy industry are applied to coal mines, and the TBMs adopt disc cutters to cut full sections, are generally used for rock roadways and have the defects of high cost, time and labor waste in disassembly and assembly, capability of only tunneling round sections and the like.
At present, the innovation of a cutting mechanism of the tunneling equipment is still slow, newly developed equipment generally has the defects of poor geological condition adaptability, low cost performance and the like, and the mining disorder cannot be effectively relieved, so that the development of a novel cutting mechanism and a matched cutting process needs to be accelerated, and the adaptability of a roadway section and the geological condition is improved on the premise of improving the tunneling efficiency.
Disclosure of Invention
The invention provides a novel rapid tunneling cutting mechanism and a novel cutting method for a coal mine, aiming at solving the problems that the existing tunneling equipment is low in cutting efficiency, poor in adaptability of a roadway section and geological conditions and the like.
The invention adopts the following technical scheme: the utility model provides a novel colliery is with tunnelling cutting mechanism fast, including axis of ordinates formula cutterhead, the gear box, rotation mechanism, sliding frame and cutting motor, axis of ordinates formula cutterhead is installed respectively at the both ends of gear box, axis of ordinates formula cutterhead and the interior planetary reducer who moves in the gear box are connected, the gear box middle part is connected with rotation mechanism one side, the rotation mechanism opposite side is fixed on the support frame, the support frame is installed on sliding frame's guide rail body, and can follow the guide rail body and slide, the support frame is connected with telescopic cylinder's one end is articulated, telescopic cylinder's the other end and sliding frame end portion are articulated to be connected, cutting motor urceolus is connected with the support frame, cutting motor output shaft passes through the shaft coupling, the transmission shaft is connected with the gear box, it is rotatory to realize two axis of ordinates formula cutterhead of cutting motor drive.
Furthermore, the internal transmission mechanism of the slewing mechanism adopts a gear rack form or a worm and gear form, and the power unit adopts a hydraulic motor or an oil cylinder.
Furthermore, the rotating directions of the two longitudinal shaft type cutting heads are opposite when the two longitudinal shaft type cutting heads work.
A cutting method of a novel rapid tunneling cutting mechanism for a coal mine comprises the following steps:
s100, installing the novel rapid tunneling and cutting mechanism for the coal mine in front of a tunneling machine, before cutting operation, driving a gear box to rotate through the action of a rotary mechanism, enabling a longitudinal shaft type cutting head to be tightly attached to a roadway top plate, enabling another longitudinal shaft type cutting head to be tightly attached to a roadway bottom plate, driving a support frame to move to one end limit position of a guide rail body through the telescopic action of two telescopic oil cylinders, and enabling a cutting motor to start working.
And S200, keeping the cutting motor working, starting the slitting operation of the two longitudinal shaft type cutting heads, and drilling a certain depth towards the head of the working face.
S300, keeping the cutting motor working and the slewing mechanism not working, and pushing the support frame to move from one end limit position to cut to the other end limit position along the guide rail body by the two telescopic oil cylinders.
S400, keeping the cutting motor working, driving the gear box to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism, and simultaneously ensuring that the boundary of the roadway cut by the cutting head close to the roadway wall part in the moving cutting process is consistent with the design along with the small-amplitude reciprocating action of the telescopic oil cylinder; meanwhile, the rotation of the slewing mechanism finally enables the longitudinal axis type cutting head originally attached to the roadway roof to rotate to the position attached to the roadway floor, and the longitudinal axis type cutting head originally attached to the roadway floor rotates to the position attached to the roadway roof.
S500, keeping the cutting motor working and the slewing mechanism not working, and pushing the support frame to move from one end limit position to cut to the other end limit position along the guide rail body by the two telescopic oil cylinders.
S600, keeping the cutting motor working, driving the gear box to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism, and simultaneously ensuring that the boundary of the roadway cut by the cutting head close to the roadway wall part in the moving cutting process is consistent with the design along with the small-amplitude reciprocating action of the telescopic oil cylinder; meanwhile, the original longitudinal axis type cutting head close to the roadway roof is rotated to the position close to the roadway floor through rotation of the swing mechanism, the original longitudinal axis type cutting head close to the roadway floor is rotated to the position close to the roadway roof, and cutting is completed circularly.
S700, repeating S200-S600, and completing the tunneling of the whole roadway.
Compared with the prior art, the invention adopts the longitudinal shaft type cutting head, has good geological condition adaptability and can be widely used for the tunneling of coal, semi-coal rock and rock roadway; the two longitudinal axis type cutting heads work simultaneously, and cutting operation is carried out according to the cutting process, so that the cutting efficiency is obviously improved; the cutting mechanism and the cutting process provide a feasible scheme for the development of the rapid tunneling equipment of the thin coal seam, and the tunneling efficiency of the tunnel of the thin coal seam in China is improved.
Drawings
FIG. 1 is an isometric view of the novel cutting mechanism of the present invention;
FIG. 2 is an isometric view of the sliding frame of the present invention;
FIG. 3 is a schematic view of step 1 of the novel rapid cutting process;
FIG. 4 is a schematic view of step 2 of the novel rapid cutting process;
FIG. 5 is a schematic view of step 3 of the novel rapid cutting process;
FIG. 6 is a schematic view of step 4 of the novel rapid cutting process;
FIG. 7 is a schematic view of step 5 of the novel rapid cutting process;
FIG. 8 is a schematic view of step 6 of the novel rapid cutting process;
FIG. 9 is a rapid tunneling machine equipped with a novel cutting mechanism;
shown in the figure: the cutting machine comprises a 1-longitudinal axis type cutting head, a 2-gear box, a 3-slewing mechanism, a 4-sliding frame, a 5-telescopic oil cylinder, a 6-cutting motor, a 7-supporting frame and an 8-guide rail body.
Detailed Description
The embodiments of the present invention will be further explained with reference to the drawings.
As shown in fig. 1 and 2, the novel rapid tunneling cutting mechanism for coal mines mainly comprises: the cutting machine comprises two longitudinal shaft type cutting heads 1, a gear box 2, a swing mechanism 3, a sliding frame 4, two telescopic oil cylinders 5, a cutting motor 6 and the like. The sliding frame 4 is mainly composed of a support frame 7, a guide rail body 8 and the like.
The two longitudinal shaft type cutting heads 1 are respectively arranged at two ends of the gear box 2, and two groups of planetary reducers are arranged at two ends of the gear box 2; one side of the swing mechanism 3 is connected with the gear box 2, and the other side of the swing mechanism is connected with the support frame 7 of the sliding frame 4, so that the swing mechanism 3 rotates around the rotation center of the support frame 7, a transmission mechanism in the swing mechanism 3 adopts a gear rack form or a worm and gear form, and a power unit adopts a hydraulic motor or an oil cylinder; one end of each of the two telescopic oil cylinders 5 is hinged with the support frame 7, the other end of each of the two telescopic oil cylinders 5 is hinged with the guide rail body 8, and the support frame 7 is driven to slide left and right on the guide rail body 8 through the telescopic action of the two telescopic oil cylinders 5; the outer cylinder of the cutting motor 6 is connected with the supporting frame 7, the output shaft of the cutting motor 6 is connected with the gear box 2 through the coupler and the transmission shaft, and finally the cutting motor 6 drives the two longitudinal axis type cutting heads 1 to rotate, and the rotating directions of the two longitudinal axis type cutting heads 1 are opposite in working.
During cutting operation, the swing angle of the gear box 2 is adjusted through the action of the swing mechanism 3, the transverse position of the gear box 2 is adjusted through the stretching of the stretching oil cylinder 5, finally the positions of the two longitudinal shaft type cutting heads 1 are adjusted in real time through the change of the poses of the gear box 2, and the cutting motor 6 drives the gear box 2 to further drive the two longitudinal shaft type cutting heads 1 to cut coal rocks.
The novel cutting mechanism is applied:
fig. 9 shows a heading machine equipped with the novel cutting mechanism of the invention, the heading machine is composed of the novel cutting mechanism, a temporary support, a transportation mechanism, a machine body deviation adjusting mechanism, a supporting mechanism and the like, and is used for heading a coal mine tunnel, the heading machine walks by supporting a tunnel wall part tightly by the supporting mechanism, pushing the machine body and the cutting mechanism to move forwards by a group of pushing oil cylinders, the machine body deviation adjusting mechanism realizes angle adjustment of pitching, swinging and the like of the machine body, and the heading machine is used for rapid heading of a rectangular tunnel.
As shown in fig. 3-8, a novel cutting process is realized based on the novel cutting mechanism, and is used for rapid tunneling of a coal mine tunnel, and the specific cutting process is as follows:
s100: before cutting operation, the gear box 2 is driven to rotate through the action of the slewing mechanism 3, so that one longitudinal shaft type cutting head 1 is tightly attached to a roadway top plate, the other longitudinal shaft type cutting head 1 is tightly attached to a roadway bottom plate, then the support frame 7 is driven to move to the limit position of one end of the guide rail body 8 through the telescopic action of the two telescopic oil cylinders 5, and the cutting motor 6 starts to work;
s200: keeping the cutting motor 6 working, starting the cutting operation of the two longitudinal shaft type cutting heads 1, and drilling a certain depth towards the head of the working face;
s300: keeping the cutting motor 6 working and the swing mechanism 3 not working, and two telescopic oil cylinders 5 pushing the support frame 7 to move along the guide rail body 8 from one end limit position to cut to the other end limit position;
s400: keeping the cutting motor 6 working, driving the gear box 2 to slowly rotate anticlockwise or clockwise through the action of the swing mechanism 3, and simultaneously ensuring that the roadway boundary formed by cutting the cutting head 1 tightly attached to the roadway wall part in the process of moving cutting conforms to the design along with the small-amplitude reciprocating action of the telescopic oil cylinder 5. Meanwhile, the rotating mechanism 3 rotates to finally enable the longitudinal shaft type cutting head 1 originally close to the roadway roof to rotate to the position close to the roadway floor, and the longitudinal shaft type cutting head 1 originally close to the roadway floor to rotate to the position close to the roadway roof;
s500: keeping the cutting motor 6 working and the swing mechanism 3 not working, and two telescopic oil cylinders 5 pushing the support frame 7 to move along the guide rail body 8 from one end limit position to cut to the other end limit position;
s600: keeping the cutting motor 6 working, driving the gear box 2 to slowly rotate anticlockwise or clockwise through the action of the swing mechanism 3, and simultaneously ensuring that the roadway boundary formed by cutting the cutting head 1 tightly attached to the roadway wall part in the process of moving cutting conforms to the design along with the small-amplitude reciprocating action of the telescopic oil cylinder 5. Meanwhile, the original longitudinal axis type cutting head 1 close to the roadway roof is rotated to the position close to the roadway floor finally through the rotation of the swing mechanism 3, the original longitudinal axis type cutting head 1 close to the roadway floor is rotated to the position close to the roadway roof, and cutting is completed circularly.
And S700, repeating the step 2 to the step 6 to complete the tunneling of the whole roadway.
The novel cutting mechanism is arranged in front of the development machine, and the cutting process can realize the rapid development of coal, semi-coal rock and rock roadways, particularly low roadways, and has the advantages that:
(1) the novel cutting mechanism adopts the double cutting heads to cut simultaneously, so that the cutting efficiency is greatly improved compared with the original single cutting head, and the cutting efficiency is 2 times higher than that of the original single cutting head;
(2) the novel cutting mechanism adopts the longitudinal shaft type cutting head provided with the pick-shaped cutting teeth, is suitable for coal, semi-coal rock and rock roadways, and has a wide application range;
(3) the novel cutting mechanism is suitable for tunneling low coal seams or low coal seams due to the special structure and cutting mode, the tunneling requirements of the tunnels cannot be met due to equipment in the conventional low coal seams or low coal seams, the height of the tunneled tunnels can only be increased compared with the original design, the tunneling cost is increased, and the tunneling footage efficiency is also reduced.
Claims (4)
1. The utility model provides a novel coal mine is with quick tunnelling cutting mechanism which characterized in that: comprises a longitudinal axis type cutting head (1), a gear box (2), a rotating mechanism (3), a sliding frame (4) and a cutting motor (6), wherein the longitudinal axis type cutting head (1) is respectively arranged at two ends of the gear box (2), the longitudinal axis type cutting head (1) is connected with a planetary reducer in the gear box (2), the middle part of the gear box (2) is connected with one side of the rotating mechanism (3), the other side of the rotating mechanism (3) is fixed on a support frame (7), the support frame (7) is arranged on a guide rail body (8) of the sliding frame (4) and can slide along the guide rail body (8), the support frame (7) is hinged with one end of a telescopic oil cylinder (5), the other end of the telescopic oil cylinder (5) is hinged with the end part of the sliding frame (4), the outer cylinder of the cutting motor (6) is connected with the support frame (7), the output shaft of the cutting motor (6) is connected with the gear box (2) through a coupler and a transmission shaft, the cutting motor (6) drives the two longitudinal shaft type cutting heads (1) to rotate.
2. The novel rapid tunneling and cutting mechanism for the coal mine according to claim 1, characterized in that: the internal transmission mechanism of the swing mechanism (3) adopts a gear rack form or a worm gear form, and the power unit adopts a hydraulic motor or an oil cylinder.
3. The novel rapid tunneling and cutting mechanism for the coal mine according to claim 2, characterized in that: the rotating directions of the two longitudinal axis type cutting heads (1) are opposite when the two longitudinal axis type cutting heads work.
4. A novel cutting method of the rapid tunneling cutting mechanism for the coal mine according to claim 3, characterized in that: comprises the following steps of (a) carrying out,
s100, installing the novel rapid tunneling and cutting mechanism for the coal mine in front of a tunneling machine, before cutting operation, driving a gear box (2) to rotate through the action of a rotating mechanism (3), so that one longitudinal shaft type cutting head (1) is tightly attached to a roadway top plate, the other longitudinal shaft type cutting head (1) is tightly attached to a roadway bottom plate, driving a support frame (7) to move to one end limit position of a guide rail body (8) through the telescopic action of two telescopic oil cylinders (5), and starting to work by a cutting motor (6);
s200, keeping the cutting motor (6) working, starting the cutting operation of the two longitudinal shaft type cutting heads (1), and drilling a certain depth towards the head of the working face;
s300, keeping the cutting motor (6) working and the swing mechanism (3) not working, and pushing the support frame (7) to move from one end limit position to the other end limit position along the guide rail body (8) by the two telescopic oil cylinders (5);
s400, keeping the cutting motor (6) working, driving the gear box (2) to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism (3), and simultaneously ensuring that the boundary of a roadway cut by the cutting head (1) clinging to the roadway wall part is consistent with the design in the moving cutting process along with the small-amplitude reciprocating action of the telescopic oil cylinder (5); meanwhile, the rotating mechanism (3) rotates to finally enable the longitudinal shaft type cutting head (1) originally close to the roadway roof to rotate to the position close to the roadway floor, and the longitudinal shaft type cutting head (1) originally close to the roadway floor to rotate to the position close to the roadway roof;
s500, keeping the cutting motor (6) working and the swing mechanism (3) not working, and pushing the support frame (7) to move from one end limit position to cut to the other end limit position along the guide rail body (8) by the two telescopic oil cylinders (5);
s600, keeping the cutting motor (6) working, driving the gear box (2) to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism (3), and simultaneously ensuring that the boundary of a roadway cut by the cutting head (1) close to the roadway wall part in the moving cutting process is in accordance with the design along with the small-amplitude reciprocating action of the telescopic oil cylinder (5); meanwhile, the rotating mechanism (3) rotates to finally enable the longitudinal shaft type cutting head (1) originally close to the roadway roof to rotate to the position close to the roadway floor, and the longitudinal shaft type cutting head (1) originally close to the roadway floor rotates to the position close to the roadway roof, so that a cutting cycle is completed;
s700, repeating S200-S600, and completing the tunneling of the whole roadway.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111343372.0A CN113982619B (en) | 2021-11-13 | 2021-11-13 | Novel rapid tunneling cutting mechanism and cutting method for coal mine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111343372.0A CN113982619B (en) | 2021-11-13 | 2021-11-13 | Novel rapid tunneling cutting mechanism and cutting method for coal mine |
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| CN113982619B CN113982619B (en) | 2023-10-31 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2041426A (en) * | 1979-02-09 | 1980-09-10 | Coal Ind | Excavating machines for excavating rock or mineral |
| DE3402032C1 (en) * | 1984-01-21 | 1985-08-29 | Friedrich Wilhelm Paurat | Machine for driving roadways and tunnels |
| CN201103394Y (en) * | 2007-09-27 | 2008-08-20 | 王宝双 | Cutting device of development machine |
| CN103670397A (en) * | 2013-11-20 | 2014-03-26 | 王庆军 | Cutting disc type rotating arm heading machine cutting device |
| CN106761737A (en) * | 2016-11-28 | 2017-05-31 | 中国矿业大学 | Coal-winning machine attitude control method based on coal seam GIS-Geographic Information System |
| CN111779480A (en) * | 2020-07-31 | 2020-10-16 | 辽宁工程技术大学 | Short-body tunneling robot and using method thereof |
| CN112855136A (en) * | 2021-02-02 | 2021-05-28 | 山东科技大学 | Cutting part of height-adjustable centrally-mounted double-drum thin coal seam coal mining machine |
-
2021
- 2021-11-13 CN CN202111343372.0A patent/CN113982619B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2041426A (en) * | 1979-02-09 | 1980-09-10 | Coal Ind | Excavating machines for excavating rock or mineral |
| DE3402032C1 (en) * | 1984-01-21 | 1985-08-29 | Friedrich Wilhelm Paurat | Machine for driving roadways and tunnels |
| CN201103394Y (en) * | 2007-09-27 | 2008-08-20 | 王宝双 | Cutting device of development machine |
| CN103670397A (en) * | 2013-11-20 | 2014-03-26 | 王庆军 | Cutting disc type rotating arm heading machine cutting device |
| CN106761737A (en) * | 2016-11-28 | 2017-05-31 | 中国矿业大学 | Coal-winning machine attitude control method based on coal seam GIS-Geographic Information System |
| CN111779480A (en) * | 2020-07-31 | 2020-10-16 | 辽宁工程技术大学 | Short-body tunneling robot and using method thereof |
| CN112855136A (en) * | 2021-02-02 | 2021-05-28 | 山东科技大学 | Cutting part of height-adjustable centrally-mounted double-drum thin coal seam coal mining machine |
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