CN113982619B - 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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- CN113982619B CN113982619B CN202111343372.0A CN202111343372A CN113982619B CN 113982619 B CN113982619 B CN 113982619B CN 202111343372 A CN202111343372 A CN 202111343372A CN 113982619 B CN113982619 B CN 113982619B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 184
- 230000007246 mechanism Effects 0.000 title claims abstract description 73
- 230000005641 tunneling Effects 0.000 title claims abstract description 41
- 239000003245 coal Substances 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims abstract description 3
- 238000010168 coupling process Methods 0.000 claims abstract description 3
- 238000005859 coupling reaction Methods 0.000 claims abstract description 3
- 230000009471 action Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000011435 rock Substances 0.000 abstract description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005065 mining Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- 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)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention relates to the technical field of coal mine underground roadway tunneling. In particular to a novel rapid tunneling cutting mechanism and a cutting method for a coal mine. The cutting machine comprises a longitudinal axis type cutting head, a gear box, a rotating mechanism, a sliding frame and a cutting motor, wherein the two ends of the gear box are respectively provided with the longitudinal axis type cutting head, the longitudinal axis type cutting head is connected with a planetary reducer in the gear box, the middle part of the gear box is connected with one side of the rotating mechanism, the other side of the rotating mechanism is fixed on a supporting frame, the supporting frame is arranged on a guide rail body of the sliding frame and can slide along the guide rail body, the supporting frame is hinged with one end of a telescopic oil cylinder, the other end of the telescopic oil cylinder is hinged with the end part of the sliding frame, an outer cylinder of the cutting motor is connected with the supporting frame, an output shaft of the cutting motor is connected with the gear box through a coupling, and the driving shaft is used for driving the two longitudinal axis type cutting heads to rotate. The invention adopts the longitudinal axis type cutting head, has good adaptability to geological conditions, and can be widely used for tunneling coal, semi-coal rock and rock drifts.
Description
Technical Field
The invention relates to the technical field of coal mine underground roadway tunneling. In particular to a novel rapid tunneling cutting mechanism and a cutting method for a coal mine.
Background
The existing tunneling equipment of the tunneling working face mainly comprises a cantilever type tunneling machine, a continuous mining machine and an anchor tunneling machine. The cantilever type heading machine adopts a longitudinal axis or a transverse axis type cutting head, has strong cutting capability, single cutting head operation and frequent equipment charging adjustment, and has low cutting efficiency; the continuous miner and the anchor digger adopt cutting rollers with the same width as the cutting roadway to cut, the full width is cut once, the cutting efficiency is high, but the continuous miner and the anchor digger are only suitable for coal roadways, and when half coal and rock roadways are cut, the problems of low efficiency, high failure rate and the like exist, and the adaptability is poor.
Aiming at changing the cutting mode to improve the tunneling efficiency, many domestic scientific research institutions are researched. The cutting mechanism adopts an upper cutting roller, a lower cutting roller and a middle cutter head to perform dislocation cutting; a shield type full-section rectangular rapid tunneling machine developed by Shanghai institute of middling department is characterized in that a cutting mechanism adopts a large cutter disc arranged in the middle, and small cutter discs are respectively arranged at four corners of the large cutter disc for dislocation cutting, and pick-shaped cutting picks are adopted for the cutting tools of the two types and are suitable for coal roadways. In recent years, TBM produced by northern heavy industry and iron construction heavy industry is applied to coal mines, and the TBM adopts a disc cutter to cut a full section and is generally used for a rock roadway, and has the defects of high cost, time and labor waste in disassembly, only tunneling of a round section and the like.
At present, innovation of a cutting mechanism of tunneling equipment is still slow, the defects of poor adaptability to geological conditions, low cost performance and the like of newly developed equipment generally exist, mining disorder cannot be effectively relieved, and therefore development of the novel cutting mechanism and a matched cutting process are required to be quickened, and the adaptability of the tunnel section and the geological conditions is improved on the premise of improving tunneling efficiency.
Disclosure of Invention
The invention provides a novel rapid tunneling cutting mechanism and a novel rapid tunneling cutting method for a coal mine, which aim to solve the problems of low cutting efficiency, poor adaptability of a tunnel section and geological conditions and the like of the conventional tunneling equipment.
The invention adopts the following technical scheme: the utility model provides a novel quick tunneling cutting mechanism for coal mine, including vertical axis type cutting head, the gear box, swing mechanism, sliding frame and cutting motor, vertical axis type cutting head is installed respectively at the both ends of gear box, vertical axis type cutting head is connected with the planetary reducer in the gear box, gear box middle part is connected with swing mechanism one side, the swing mechanism opposite side is fixed on the support frame, the support frame is installed on the guide rail body of sliding frame, and can follow the guide rail body and slide, the support frame is articulated with the one end of flexible hydro-cylinder, the other end and the sliding frame tip of flexible hydro-cylinder are articulated to be connected, the cutting motor urceolus is connected with the support frame, the cutting motor output shaft passes through the shaft coupling, the transmission shaft is connected with the gear box, realize cutting motor drive two vertical axis type cutting heads rotation.
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.
Further, the two longitudinal axis type cutting heads are opposite in rotation direction when working.
A cutting method of a novel rapid tunneling cutting mechanism for a coal mine comprises the following steps:
s100-installing a novel rapid tunneling cutting mechanism for a coal mine in front of a tunneling machine, driving a gear box to rotate through the action of a rotating mechanism before cutting operation, enabling one longitudinal axis type cutting head to be clung to a roadway top plate, enabling the other longitudinal axis type cutting head to be clung to a roadway bottom plate, driving a supporting frame to move to an end limit position of a guide rail body through the telescopic action of two telescopic cylinders, and enabling a cutting motor to start working.
S200, keeping the cutting motor to work, and starting cutting operation by the two longitudinal axis type cutting heads, and drilling a certain depth into the working face in a head-on manner.
And S300, keeping the cutting motor working and the rotary mechanism not working, and pushing the support frame to move along the guide rail body from one end limit position to the other end limit position by the two telescopic cylinders.
S400-keeping the cutting motor to work, driving the gear box to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism, and simultaneously carrying out small-amplitude reciprocating action of the telescopic oil cylinder to ensure that the boundary of a roadway formed by cutting by a cutting head attached to the roadway side part in the moving cutting process is consistent with the design; simultaneously, the longitudinal axis type cutting head which is originally close to the roadway top plate rotates to be close to the roadway bottom plate through rotation of the slewing mechanism, and the longitudinal axis type cutting head which is originally close to the roadway bottom plate rotates to be close to the roadway top plate.
S500, keeping the cutting motor working and the rotary mechanism not working, and pushing the support frame to move along the guide rail body from one end limit position to the other end limit position by the two telescopic cylinders.
S600-keeping the cutting motor to work, driving the gear box to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism, and simultaneously carrying out small-amplitude reciprocating action of the telescopic oil cylinder to ensure that the boundary of a roadway formed by cutting by a cutting head attached to the roadway side part in the moving cutting process is consistent with the design; simultaneously, the longitudinal axis type cutting head which is originally close to the roadway top plate rotates to be close to the roadway bottom plate through rotation of the rotary mechanism, the longitudinal axis type cutting head which is originally close to the roadway bottom plate rotates to be close to the roadway top plate, and one cutting cycle is completed.
S700-repeating S200-S600 to finish tunneling of the whole roadway.
Compared with the prior art, the longitudinal axis type cutting head is adopted, so that the geological condition adaptability is good, and the longitudinal axis type cutting head can be widely used for tunneling coal, semi-coal rock and rock drifts; the two longitudinal axis type cutting heads work simultaneously, and the cutting process is used for cutting operation, so that the cutting efficiency is obviously improved; the cutting mechanism and the cutting process provide a feasible scheme for developing the rapid tunneling equipment of the thin coal seam, and the tunneling efficiency of the thin coal seam tunnel 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 a glide carrier 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 diagram 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 heading machine equipped with a novel cutting mechanism;
the figure shows: 1-a longitudinal axis type cutting head, 2-a gear box, 3-a rotating mechanism, 4-a sliding frame, 5-a telescopic oil cylinder, 6-a cutting motor, 7-a supporting frame and 8-a guide rail body.
Detailed Description
Specific embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the novel rapid tunneling and cutting mechanism for coal mines mainly comprises: two longitudinal axis type cutting heads 1, a gear box 2, a slewing mechanism 3, a sliding frame 4, two telescopic oil cylinders 5, a cutting motor 6 and the like. The sliding frame 4 mainly comprises a supporting frame 7, a guide rail body 8 and the like.
The two longitudinal axis 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 revolving mechanism 3 is connected with the gear box 2, the other side is connected with the supporting frame 7 of the sliding frame 4, so that the revolving mechanism 3 can rotate around the revolving center of the supporting frame 7, a transmission mechanism in the revolving mechanism 3 adopts a gear rack form or a worm gear form, and a power unit adopts a hydraulic motor or an oil cylinder; one end of each of the two telescopic cylinders 5 is hinged with the support frame 7, the other end of each of the two telescopic cylinders 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 telescopic actions of the two telescopic 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 a coupler and a transmission shaft, and finally, the cutting motor 6 drives the two longitudinal axis type cutting heads 1 to rotate, and the rotation directions of the two longitudinal axis type cutting heads 1 are opposite when in operation.
During cutting operation, the swing angle of the gear box 2 is adjusted through the action of the slewing mechanism 3, the transverse position of the gear box 2 is adjusted through the expansion of the expansion oil cylinder 5, finally, the positions of the two longitudinal axis type cutting heads 1 are adjusted in real time through the position change of the gear box 2, and the gear box 2 is driven by the cutting motor 6 to further drive the two longitudinal axis type cutting heads 1 to rotationally cut coal and rock.
Novel cutting mechanism application:
FIG. 9 shows a development machine with a novel cutting mechanism, which consists of the novel cutting mechanism, a temporary support, a conveying mechanism, a machine body deviation adjusting mechanism, a supporting mechanism and the like, and is used for development of a coal mine tunnel, the development machine walks by means of the supporting mechanism to tightly support a tunnel side part, a group of pushing cylinders push the machine body and the cutting mechanism to move forwards, the machine body deviation adjusting mechanism realizes adjustment of angles such as pitching and swinging of the machine body, and the development machine is used for rapid development 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 coal mine roadways, 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 rotary mechanism 3, so that one longitudinal axis type cutting head 1 is clung to a roadway top plate, the other longitudinal axis type cutting head 1 is clung to a roadway bottom plate, then the supporting 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 cylinders 5, and the cutting motor 6 starts to work;
s200: the cutting motor 6 is kept to work, the two longitudinal axis type cutting heads 1 start cutting operation, and drill into a working face in a head-on mode to a certain depth;
s300: the cutting motor 6 is kept to work, the slewing mechanism 3 is not operated, and the two telescopic cylinders 5 push the support frame 7 to move along the guide rail body 8 from one end limit position to the other end limit position;
s400: the cutting motor 6 is kept to work, the gear box 2 is driven to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism 3, and meanwhile, the small-amplitude reciprocating action of the telescopic oil cylinder 5 is accompanied, so that the boundary of a roadway formed by cutting in the moving cutting process of the cutting head 1 attached to the roadway side part is ensured to be consistent with the design. Simultaneously, the longitudinal axis type cutting head 1 which is originally close to the roadway top plate rotates to be close to the roadway bottom plate through the rotation of the rotary mechanism 3, and the longitudinal axis type cutting head 1 which is originally close to the roadway bottom plate rotates to be close to the roadway top plate;
s500: the cutting motor 6 is kept to work, the slewing mechanism 3 is not operated, and the two telescopic cylinders 5 push the support frame 7 to move along the guide rail body 8 from one end limit position to the other end limit position;
s600: the cutting motor 6 is kept to work, the gear box 2 is driven to slowly rotate anticlockwise or clockwise through the action of the slewing mechanism 3, and meanwhile, the small-amplitude reciprocating action of the telescopic oil cylinder 5 is accompanied, so that the boundary of a roadway formed by cutting in the moving cutting process of the cutting head 1 attached to the roadway side part is ensured to be consistent with the design. Simultaneously, the longitudinal axis type cutting head 1 which is originally close to the roadway top plate rotates to be close to the roadway bottom plate through the rotation of the rotary mechanism 3, the longitudinal axis type cutting head 1 which is originally close to the roadway bottom plate rotates to be close to the roadway top plate, and one cutting cycle is completed.
And S700, repeating the step 2 to the step 6 to finish tunneling of the whole roadway.
The novel cutting mechanism is arranged in front of the heading machine, and the rapid heading of coal, half-coal rock and rock roadways, especially low roadways, can be realized by adopting the cutting process, and the novel cutting mechanism 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 that of the original single cutting head, and is 2 times of 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 pick, is suitable for coal, semi-coal rock and rock roadway, and has wide application range;
(3) The novel cutting mechanism is suitable for tunneling of a thin coal seam or a low coal seam roadway due to the special structure and the cutting mode, and the tunneling requirement of the thin coal seam or the low coal seam in the past cannot be met due to equipment, so that the height of the tunneling roadway is only increased compared with that of the original design, the tunneling cost is increased, the tunneling footage efficiency is reduced, and the tunneling of the thin coal seam or the low coal seam roadway can be realized by designing the cutting height of the double cutting heads.
Claims (2)
1. A novel rapid tunneling and cutting method for coal mines is characterized by comprising the following steps: the cutting device comprises a longitudinal axis type cutting head (1), a gear box (2), a rotary 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 rotary mechanism (3), the other side of the rotary mechanism (3) is fixed on a supporting frame (7), the supporting 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 supporting frame (7) is hinged with one end of a telescopic cylinder (5), the other end of the telescopic cylinder (5) is hinged with the end of the sliding frame (4), the outer cylinder of the cutting motor (6) is connected with the supporting frame (7), and an output shaft of the cutting motor (6) is connected with the gear box (2) through a coupling, so that the cutting motor (6) drives the two longitudinal axis type cutting heads (1) to rotate, and the two longitudinal axis type cutting heads (1) rotate in opposite working directions when the two longitudinal axis type cutting heads (1) work.
Comprises the steps of,
s100-installing a novel rapid tunneling cutting mechanism for a coal mine in front of a tunneling machine, driving a gear box (2) to rotate through the action of a rotary mechanism (3) before cutting operation, enabling one longitudinal axis type cutting head (1) to cling to a roadway top plate, enabling the other longitudinal axis type cutting head (1) to cling to a roadway bottom plate, driving a supporting frame (7) to move to one end limit position of a guide rail body (8) through the telescopic action of two telescopic cylinders (5), and enabling a cutting motor (6) to start working;
s200-keeping the cutting motor (6) to work, and starting the slitting operation by the two longitudinal axis type cutting heads (1) to drill into the working face in a head-on manner to a certain depth;
s300-keeping the cutting motor (6) working and the rotary mechanism (3) not working, and pushing the support frame (7) by the two telescopic cylinders (5) to move along the guide rail body (8) from one end limit position to the other end limit position;
s400-keeping the cutting motor (6) to work, driving the gear box (2) to slowly rotate anticlockwise or clockwise through the action of the rotary mechanism (3), and simultaneously ensuring that the boundary of a roadway formed by cutting of the cutting head (1) which is closely attached to the roadway side part in the moving cutting process is consistent with the design along with the small-amplitude reciprocating action of the telescopic oil cylinder (5); simultaneously, the longitudinal axis type cutting head (1) which is originally close to the roadway top plate is rotated to be close to the roadway bottom plate through the rotation of the rotary mechanism (3), and the longitudinal axis type cutting head (1) which is originally close to the roadway bottom plate is rotated to be close to the roadway top plate;
s500-keeping the cutting motor (6) working and the rotary mechanism (3) not working, and pushing the support frame (7) by the two telescopic cylinders (5) to move along the guide rail body (8) from one end limit position to the other end limit position;
s600-keeping the cutting motor (6) to work, driving the gear box (2) to slowly rotate anticlockwise or clockwise through the action of the rotary mechanism (3), and simultaneously ensuring that the boundary of a roadway formed by cutting of the cutting head (1) which is closely attached to the roadway side part in the moving cutting process is consistent with the design along with the small-amplitude reciprocating action of the telescopic oil cylinder (5); simultaneously, the longitudinal axis type cutting head (1) which is originally close to the roadway top plate rotates to be close to the roadway bottom plate through the rotation of the rotary mechanism (3), the longitudinal axis type cutting head (1) which is originally close to the roadway bottom plate rotates to be close to the roadway top plate, and one cutting cycle is completed;
s700-repeating S200-S600 to finish tunneling of the whole roadway.
2. The novel rapid tunneling cutting method for coal mines according to claim 1, which is characterized by comprising the following steps: the internal transmission mechanism of the slewing mechanism (3) adopts a gear rack form or a worm and gear form, and the power unit adopts a hydraulic motor or an oil cylinder.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
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| CN113982619A CN113982619A (en) | 2022-01-28 |
| CN113982619B true 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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