CN114087004B - Temporary support carrying device for realizing parallel operation of digging and supporting and working method - Google Patents
Temporary support carrying device for realizing parallel operation of digging and supporting and working method Download PDFInfo
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- CN114087004B CN114087004B CN202111362758.6A CN202111362758A CN114087004B CN 114087004 B CN114087004 B CN 114087004B CN 202111362758 A CN202111362758 A CN 202111362758A CN 114087004 B CN114087004 B CN 114087004B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000005641 tunneling Effects 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims description 19
- 238000005065 mining Methods 0.000 claims description 8
- 230000008602 contraction Effects 0.000 claims 1
- 239000003245 coal Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/0004—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor along the working face
- E21D23/0013—Frame type supports
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/0052—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor with advancing shifting devices connected therewith
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/0086—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor in galleries
- E21D23/0095—Temporary supports at the driving front
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/04—Structural features of the supporting construction, e.g. linking members between adjacent frames or sets of props; Means for counteracting lateral sliding on inclined floor
- E21D23/06—Special mine caps or special tops of pit-props for permitting step-by-step movement
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/08—Advancing mechanisms
- E21D23/081—Advancing mechanisms forming parts of the roof supports
- E21D23/085—Advancing mechanisms forming parts of the roof supports acting on a conveyor or a guide for the mining machine
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/12—Control, e.g. using remote control
- E21D23/14—Effecting automatic sequential movement of supports, e.g. one behind the other
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D23/00—Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides therefor
- E21D23/16—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices
- E21D23/18—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms
- E21D23/20—Hydraulic or pneumatic features, e.g. circuits, arrangement or adaptation of valves, setting or retracting devices of advancing mechanisms for sequential movement, e.g. one behind the other
-
- 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
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a temporary support carrying device for realizing parallel operation of digging and supporting and a working method, which are suitable for the field of mine supporting equipment. The device comprises a carrying device arranged at the top of a tunneling machine and a plurality of temporary support brackets matched with the carrying device, wherein the temporary support brackets are arranged above the current working position of the tunneling machine in groups and used for supporting a tunneling roadway top plate; the temporary support bracket is of a folding telescopic structure. The whole structure is simple, the working efficiency is high, the carrying device is positioned on the heading machine and can move along with the heading machine, and the quick frame moving can be realized.
Description
Technical Field
The invention relates to a temporary support conveying device and a working method thereof, in particular to a temporary support conveying device and a working method thereof for realizing parallel operation of digging and supporting, which are applicable to the field of mine supporting equipment.
Background
Tunneling and stoping are two important links of coal mining, and the mining technology and equipment level thereof are directly related to the capacity and safety of coal production. The high-efficiency mechanical tunneling and supporting technology is a necessary condition for ensuring the high yield and high efficiency of the mine, and is also the development direction of the tunneling technology.
The tunnel excavation working face in China has no temporary supporting equipment for a long time, most of underground excavation technical processes are to stop a development machine after cutting one cutter, withdraw the development machine, and enable workers to carry equipment such as anchor nets, anchor rods, anchor nets and anchor rod drilling machines to enter the front end for permanent supporting. The process is time-consuming and low in efficiency, and workers can work for a long time without roof, so that personal safety of the workers is seriously threatened. In order to solve the problems of short total working time, low starting rate and avoidance of long-time overhead operation of mine workers in the tunneling process, a roadway is divided into a permanent supporting area and a temporary supporting area. The temporary supporting area is arranged above the heading machine, and the permanent supporting area is arranged behind the heading machine. When the heading machine cuts the roadway and moves a certain distance, the temporary support bracket moves along with the heading machine, and the temporary support area behind the heading machine becomes a permanent support area, so that parallel operation of heading and support is realized, the working efficiency is improved, and the safety of coal workers is ensured.
Currently, the technology and equipment of permanent support are mature, the problems of complex structure of the temporary support and repeated support damage to surrounding rocks of the roadway are successfully solved by a top beam self-telescopic roadway hydraulic temporary support (CN 103758522A), but the problems of high labor intensity, complex moving action, long moving time, low efficiency and the like of required workers still exist in the carrying of the top beam self-telescopic roadway hydraulic temporary support. Therefore, there is an urgent need for a temporary support rack handling device that requires fewer workers, has a simple structure, has a short rack moving time, and can achieve automatic rack moving.
Disclosure of Invention
Aiming at the defects of the prior art, the temporary support carrying device for realizing the parallel operation of the digging and the supporting along with the synchronous circulation carrying of the digging machine is simple in structure, convenient to use and capable of being directly refitted on the existing digging machine and a working method.
In order to achieve the above purpose, the temporary support carrying device for realizing parallel operation of the tunneling and supporting comprises a carrying device arranged at the top of a tunneling machine and a plurality of temporary support supports matched with the carrying device, wherein the temporary support supports are arranged above the current working position of the tunneling machine in groups to support a tunneling tunnel top plate, a safe tunneling operation space is provided for the tunneling machine, the carrying device comprises two carrying moving parts which are symmetrically arranged and are arranged along the front and rear central axes of the tunneling machine, the two carrying moving parts are respectively provided with a grabbing mechanism, the grabbing mechanisms move back and forth on the carrying moving parts, and the temporary support supports behind are continuously grabbed along with tunneling of the tunneling machine and are carried to a space which is newly dug in and out in front of the tunneling machine for supporting; the temporary support bracket is of a folding telescopic structure, and is folded when being carried, so that the size is reduced, and the temporary support bracket is folded and unfolded after being carried to a preset position, so as to support the top plate.
Further, the temporary support comprises a top beam, a first horizontal oil cylinder and a second horizontal oil cylinder are reversely arranged in the top beam, the first horizontal oil cylinder is connected with a first vertical oil cylinder serving as a telescopic upright post through a first sliding plate, the second horizontal oil cylinder is connected with a second vertical oil cylinder serving as a telescopic upright post through a second sliding plate, wing-shaped first side protection plates are connected to the outer side of the first sliding plate, the first side protection plates are folded by opening and closing the first side protection plate oil cylinders and the third side protection plate oil cylinders which are arranged on two sides, wing-shaped second side protection plates are connected to the outer side of the second sliding plate, and the second side protection plates are folded by opening and closing the second side protection plate oil cylinders and the fourth side protection plate oil cylinders which are arranged on two sides.
Further, carry the movable part and include track portion and movable part, wherein track portion includes the transport seat and at the pin tooth support frame, the level is provided with pushing cylinder and pin row supporting seat on the transport seat, wherein pushing cylinder one end and the end connection of transport seat, the other end is connected with pin row supporting seat, push or pull back the transport seat through pushing cylinder's flexible, be fixed with the pin row through the retaining ring on the pin row supporting seat, movable part sets up on the pin row, movable part includes the pin tooth support frame, be equipped with in the pin tooth support frame through bearing and pin tooth axle and the pin tooth of matching and track movement of pin row, the pin tooth axle is connected with hydraulic motor, hydraulic motor sets up on the motor supporting seat in the pin tooth support frame outside.
Further, the carrying seat is connected with the bottom of the pin row supporting seat through a sliding rail, the sliding rail comprises a left sliding shoe and a right sliding shoe which are arranged on two sides below the pin row supporting seat, sliding cover plates for buckling the left sliding shoe and the right sliding shoe are respectively arranged on two sides on the carrying seat, and therefore the pin row supporting seat with the left sliding shoe and the right sliding shoe can move back and forth in the sliding rail above the carrying seat without derailing.
Further, snatch the mechanism and be the manipulator, it includes the manipulator mount pad, install on two round pin tooth support frames of two sets of transport moving part, wherein be equipped with first horizontal manipulator and second horizontal manipulator about on the manipulator mount pad respectively, still be equipped with perpendicular manipulator upwards to the manipulator mount pad, wherein first horizontal manipulator and second horizontal manipulator are connected with manipulator mount pad through first horizontal manipulator support hydro-cylinder and second horizontal manipulator support hydro-cylinder respectively, and perpendicular manipulator is connected with the manipulator mount pad through perpendicular manipulator support hydro-cylinder.
Further, the first horizontal manipulator comprises a first horizontal manipulator fixing part, a first horizontal manipulator sliding part, a first horizontal manipulator oil cylinder, a first horizontal manipulator piston, a first horizontal manipulator pushing oil cylinder and a first horizontal manipulator sleeve; the first horizontal manipulator piston is arranged in the first horizontal manipulator sleeve through a horizontal manipulator pushing oil cylinder, the end part of the first horizontal manipulator sleeve is connected with the manipulator mounting seat, and the first horizontal manipulator piston end is respectively connected with the first horizontal manipulator sliding part and the first horizontal manipulator fixing part through the first horizontal manipulator oil cylinder to form a clamping mechanism at the front end part;
the second horizontal manipulator comprises a second horizontal manipulator fixing part, a second horizontal manipulator sliding part, a second horizontal manipulator oil cylinder, a second horizontal manipulator piston, a second horizontal manipulator pushing oil cylinder and a second horizontal manipulator sleeve; the second horizontal manipulator piston is arranged in the second horizontal manipulator sleeve through a second horizontal manipulator oil cylinder, the end part of the second horizontal manipulator sleeve is connected with the manipulator mounting seat, and the second horizontal manipulator piston end is respectively connected with the second horizontal manipulator fixing part and the second horizontal manipulator sliding part through the second horizontal manipulator oil cylinder to form a clamping mechanism at the front end part;
further, the vertical manipulator comprises a vertical manipulator fixing part, a vertical manipulator sliding part, a vertical manipulator oil cylinder, a vertical manipulator piston, a vertical manipulator pushing oil cylinder and a vertical manipulator sleeve; the vertical manipulator piston is arranged in the vertical manipulator sleeve through a vertical manipulator pushing oil cylinder, the end part of the vertical manipulator sleeve is connected with the top of the manipulator mounting seat, and the vertical manipulator piston end is respectively connected with the vertical manipulator fixing part and the vertical manipulator sliding part through a vertical manipulator oil cylinder to form a clamping mechanism of the front end part.
Further, one end of the first horizontal manipulator support cylinder is connected with the first horizontal cylinder sleeve through a pin shaft, and the other end of the first horizontal manipulator support cylinder is connected with the manipulator mounting seat to play a role in support; the second horizontal manipulator support cylinder is connected with the second horizontal cylinder sleeve through one end of a pin shaft, and the other end of the second horizontal cylinder support cylinder is connected with the manipulator mounting seat to play a role in support; the vertical manipulator support cylinder is connected with the vertical cylinder sleeve through one end of a pin shaft, and the other end of the vertical manipulator support cylinder is connected with the manipulator mounting seat; the manipulator mounting seat is internally provided with a hydraulic motor for driving the first horizontal manipulator support cylinder, the vertical manipulator support cylinder and the second horizontal manipulator support cylinder.
The working method of the temporary support carrying device for realizing the parallel operation of the digging and the supporting comprises the following steps:
step one: in the initial state, all temporary support brackets are in a supporting state, an anchor net is paved on a top plate above the temporary support brackets, and a plurality of temporary support brackets cover the heading machine below; when the heading machine is about to finish a step operation, the first side protection plate oil cylinder, the third side protection plate oil cylinder, the second side protection plate oil cylinder and the fourth side protection plate oil cylinder of the temporary support bracket positioned at the tail part of the heading machine are retracted, so that the first side protection plate and the second side protection plate rotate towards the center side of the temporary support bracket; then moving the manipulator on the carrying moving part until the manipulator is below the temporary support bracket at the tail part, extending a vertical manipulator oil cylinder of the manipulator, enabling a vertical manipulator sliding part to move relative to a vertical manipulator fixing part to realize the opening of the vertical manipulator, then controlling a first vertical oil cylinder and a second vertical oil cylinder of the temporary support bracket to retract, enabling a top beam to be separated from a tunnel top plate, enabling the top beam to be caught by the opened vertical manipulator, retracting the vertical manipulator oil cylinder to enable the vertical manipulator to grip the top beam, extending the vertical manipulator moving oil cylinder to enable the vertical manipulator to carry the temporary support bracket to move upwards, and enabling the temporary support bracket to be separated from the ground; then, the first horizontal oil cylinder and the second horizontal oil cylinder are retracted, so that the first sliding plate and the second sliding plate slide and contract towards the center of the temporary support bracket, and the shrinkage and folding of the temporary support bracket are completed; then the first horizontal manipulator and the second horizontal manipulator are controlled to extend to two sides and respectively grasp the first vertical oil cylinder and the second vertical oil cylinder through the clamping devices at the end parts, so that the temporary support bracket is fixed by the three manipulators; then, a hydraulic motor in the manipulator mounting seat is started to rotate to drive the manipulator mounting seat to rotate by a certain angle, and the contracted and folded temporary support bracket rotates by the same angle; finally, the mechanical hand grabs the temporary support bracket and then drives the pin teeth to move towards the front end of the heading machine on the pin row by utilizing the rotation of the hydraulic motor, and when the pin tooth support frame slides to the forefront end of the pin row support seat, the piston rod of the pushing cylinder is controlled to extend out to push the pin row support seat to slide forwards in the carrying seat, so that the temporary support bracket reaches the expected appointed position of the front end of the heading machine;
step two: when the movable temporary support bracket reaches the expected appointed position, controlling a hydraulic motor in the manipulator mounting seat to rotate so as to drive the manipulator mounting seat to rotate anticlockwise, and enabling the folded temporary support bracket to be restored to be parallel to the section of the roadway; the first horizontal mechanical arm and the second horizontal mechanical arm of the mechanical arm loosen the first vertical oil cylinder and the second vertical oil cylinder, and then control the first horizontal oil cylinder and the second horizontal oil cylinder to extend out, so that the first sliding plate and the second sliding plate slide and spread towards two sides; the first vertical oil cylinder and the second vertical oil cylinder extend and are grounded, the vertical mechanical arm releases the top beam, and the first vertical oil cylinder and the second vertical oil cylinder extend continuously to enable the top beam to support the roadway top plate; the first side protection plate oil cylinder, the third side protection plate oil cylinder, the second side protection plate oil cylinder and the fourth side protection plate oil cylinder extend out, so that the first side protection plate and the second side protection plate rotate towards the center side far away from the temporary support bracket and support the side surface of the roadway, and the temporary support bracket is carried;
step three: retracting the vertical manipulator support cylinder to enable the vertical manipulator to rotate to be in a horizontal direction with the heading machine, then fully retracting the pushing cylinder to enable the pin tooth supporting seat to retract, starting the hydraulic motor to drive the pin tooth to rotate on the pin row to enable the manipulator to be located under the last temporary support bracket at the tail of the heading machine, and finally extending the vertical manipulator support cylinder to enable the vertical manipulator to rotate to a vertical direction;
step four: and (3) circularly repeating the steps one to three, and forming permanent supporting spaces formed by a plurality of temporary supporting brackets on the outer side of the heading machine along with the propulsion of the heading machine until the tunneling and supporting work of the tunnel is completed.
The effective effects are as follows: 1. the carrying device is arranged on the heading machine, can move forwards along with the heading machine, and is convenient for determining the moving distance of the bracket by taking the heading machine as a reference; 2. the carrying and moving part adopts a two-stage structure, and the hydraulic cylinder is utilized to push the pin row supporting seat to move along the heading machine, so that the problem that the track cannot be too long to move the temporary support bracket to the front side of the heading machine is solved, namely the normal work of the heading machine can be influenced due to the overlong track; 3. the carrying and moving part adopts a pin tooth pin row structure, so that coal gangue falling from a tunnel roof can slide off a track, the operation of a frame moving device is prevented from being influenced, and the working stability and the service life of the frame moving device are improved; the existing heading machine can be refitted for use, and the implementation cost is low.
Drawings
FIG. 1 is a schematic structural view of a temporary support handling device for carrying out parallel operations of digging and supporting;
FIG. 2 is a front view of the temporary support bracket of the present invention;
FIG. 3 is a left side view of the temporary support bracket of the present invention;
FIG. 4 is a top view of the temporary support bracket of the present invention;
FIG. 5 is a front view of the transport carriage of the present invention;
FIG. 6 is a cross-sectional view of A-A of the present invention carrying and moving portion;
FIG. 7 is a left side view of the present invention carrying and moving part;
FIG. 8 is a top view of the transport carriage of the present invention;
FIG. 9 is a schematic view showing the forward movement of the pin rows of the extended pin teeth of the pushing cylinder of the carrying and moving part of the present invention;
FIG. 10 is a front view of the robot of the present invention;
FIG. 11 is a top view of the robot of the present invention;
fig. 12 is a schematic structural view of the vertical robot of the present invention.
In the figure: 1-a heading machine; 2-temporary support brackets; 3-a carrying and moving part; 4-a manipulator; 201-a first side protection plate cylinder; 202-a first side protection plate; 203-a first vertical cylinder; 204-a first sled; 205-a first horizontal cylinder; 206-top beam; 207-a second horizontal cylinder; 208-a second sled; 209-a second vertical cylinder; 210-a second side protection plate cylinder; 211-a second side protection plate; 212-a third side protection plate oil cylinder; 213-fourth side protection plate cylinder; 301-carrying seats; 302-pushing an oil cylinder; 303-pin row supporting seats; 304-pin teeth; 305-pin tooth support frames; 306-a slip cover plate; 307-pin rows; 308-check ring; 309-left slipper; 310-right slipper; 311-motor support; 312-bearings; 313-pin tooth shaft; 314-a hydraulic motor; 401-a first horizontal manipulator; 402-a first horizontal manipulator support cylinder; 403-a manipulator mounting base; 404-vertical robot; 405-a vertical manipulator support cylinder; 406-a second horizontal manipulator support cylinder; 407-a second horizontal manipulator; 408-a first horizontal manipulator securing section; 409-a first horizontal manipulator slip; 410-a first horizontal manipulator cylinder; 411-a first horizontal manipulator piston; 412-a first horizontal mechanical hand moving cylinder; 413-a first horizontal manipulator sleeve; 414-a second horizontal manipulator piston; 415-a second horizontal manipulator sleeve; 416-a second horizontal mechanical hand-push shifting cylinder; 417-a second horizontal manipulator cylinder; 418-a second horizontal manipulator securing section; 419-a second horizontal manipulator slip; 420-a vertical manipulator fixing part; 421—vertical manipulator slip; 422-vertical manipulator cylinder; 423-vertical manipulator piston; 424-vertical mechanical hand moving cylinder; 425-vertical robot sleeve.
Detailed Description
The following figures further illustrate embodiments of the invention.
As shown in fig. 1, the temporary support carrying device for realizing parallel operation of tunneling and supporting comprises a carrying device arranged at the top of a tunneling machine 1 and a plurality of temporary support supports 2 matched with the carrying device, wherein the temporary support supports 2 are arranged above the current working position of the tunneling machine 1 in groups to support a tunneling tunnel top plate, a safe tunneling operation space is provided for the tunneling machine 1, the carrying device comprises two carrying moving parts 3 which are symmetrically arranged, the carrying moving parts 3 are arranged along the front and rear central axes of the tunneling machine 1, the two carrying moving parts 3 are respectively provided with a grabbing mechanism, the grabbing mechanisms move forwards and backwards on the carrying moving parts 3, and the temporary support supports 2 behind are continuously grabbed to the space in front of the tunneling machine 1 for supporting along with tunneling of the tunneling machine 1; the temporary support bracket 2 is of a folding telescopic structure, and is folded when being carried, so that the volume is reduced, and the temporary support bracket is folded and unfolded when being carried to a preset position and supports the top plate.
As shown in fig. 2, 3 and 4, the temporary support 2 comprises a top beam 206, a first horizontal cylinder 205 and a second horizontal cylinder 207 are reversely arranged in the top beam 206, the first horizontal cylinder 205 is connected with a first vertical cylinder 203 serving as a telescopic column through a first sliding plate 204, the second horizontal cylinder 207 is connected with a second vertical cylinder 209 serving as a telescopic column through a second sliding plate 208, wherein the outer side of the first sliding plate 204 is linked with a wing-shaped first side protection plate 202, the first side protection plate 202 is folded by opening and closing a first side protection plate cylinder 201 and a third side protection plate cylinder 212 which are arranged on two sides, the outer side of the second sliding plate 208 is linked with a wing-shaped second side protection plate 211, and the second side protection plate 211 is folded by opening and closing a second side protection plate cylinder 210 and a fourth side protection plate cylinder 213 which are arranged on two sides.
As shown in fig. 5, 7, 8 and 9, the carrying and moving part 3 comprises a track part and a moving part, wherein the track part comprises a carrying seat 301 and a pin row supporting seat 305, a pushing cylinder 302 and a pin row supporting seat 303 are horizontally arranged on the carrying seat 301, one end of the pushing cylinder 302 is connected with the end of the carrying seat 301, the other end of the pushing cylinder 302 is connected with the pin row supporting seat 303, the pin row supporting seat 303 is fixed with a pin row 307 through a check ring 308 by pushing and pulling the carrying seat 301, the moving part is arranged on the pin row 307 and comprises a pin tooth supporting seat 305, pin teeth 304 matched with the pin row 307 and moving in a track are arranged in the pin tooth supporting seat 305 through bearings 312 and pin tooth shafts 313, the pin tooth shafts 313 are connected with a hydraulic motor 314, and the hydraulic motor 314 is arranged on a motor supporting seat 311 outside the pin tooth supporting seat 305.
As shown in fig. 6, the carrying seat 301 is connected with the bottom of the pin row supporting seat 303 through a sliding rail, the sliding rail comprises a left sliding shoe (309) and a right sliding shoe 310 which are arranged at two sides below the pin row supporting seat 303, and sliding cover plates 306 for buckling the left sliding shoe (309) and the right sliding shoe 310 are respectively arranged at two sides on the carrying seat 301, so that the pin row supporting seat 303 with the left sliding shoe (309) and the right sliding shoe 310 can move back and forth in the sliding rail above the carrying seat 301 without derailing.
As shown in fig. 10, the grabbing mechanism is a manipulator 4, which includes a manipulator mounting seat 403, and is mounted on two pin tooth support frames 305 of two groups of carrying moving parts 3, wherein a first horizontal manipulator 401 and a second horizontal manipulator 407 are respectively arranged on the left and right sides of the manipulator mounting seat 403, a vertical manipulator 404 is further arranged on the manipulator mounting seat 403, wherein the first horizontal manipulator 401 and the second horizontal manipulator 407 are respectively connected with the manipulator mounting seat 403 through a first horizontal manipulator support cylinder 402 and a second horizontal manipulator support cylinder 406, and the vertical manipulator 404 is connected with the manipulator mounting seat 403 through a vertical manipulator support cylinder 405.
As shown in fig. 11, the first horizontal manipulator 401 includes a first horizontal manipulator fixing part 408, a first horizontal manipulator sliding part 409, a first horizontal manipulator cylinder 410, a first horizontal manipulator piston 411, a first horizontal manipulator pushing cylinder 412, and a first horizontal manipulator sleeve 413; the first horizontal manipulator piston 411 is disposed in the first horizontal manipulator sleeve 413 through a horizontal manipulator pushing cylinder 412, the end of the first horizontal manipulator sleeve 413 is connected to the manipulator mounting seat 403, and the end of the first horizontal manipulator piston 411 is connected to the first horizontal manipulator sliding part 409 and the first horizontal manipulator fixing part 408 through the first horizontal manipulator cylinder 410 to form a clamping mechanism at the front end;
the second horizontal manipulator 407 includes a second horizontal manipulator fixing part 418, a second horizontal manipulator sliding part 419, a second horizontal manipulator cylinder 417, a second horizontal manipulator piston 415, a second horizontal manipulator pushing cylinder 416, and a second horizontal manipulator sleeve 414; the second horizontal manipulator piston 415 is arranged in the second horizontal manipulator sleeve 414 through a second horizontal manipulator oil cylinder 417, the end part of the second horizontal manipulator sleeve 414 is connected with the manipulator mounting seat 403, and the end of the second horizontal manipulator piston 415 is respectively connected with the second horizontal manipulator fixing part 418 and the second horizontal manipulator sliding part 419 through the second horizontal manipulator oil cylinder 417 to form a clamping mechanism at the front end part;
as shown in fig. 12, the vertical manipulator 404 includes a vertical manipulator fixing part 420, a vertical manipulator sliding part 421, a vertical manipulator cylinder 422, a vertical manipulator piston 423, a vertical manipulator pushing cylinder 424, and a vertical manipulator sleeve 425; the vertical manipulator piston 423 is disposed in the vertical manipulator sleeve 425 through the vertical manipulator pushing cylinder 424, the end of the vertical manipulator sleeve 425 is connected to the top of the manipulator mounting seat 403, and the vertical manipulator piston 423 end is connected to the vertical manipulator fixing part 420 and the vertical manipulator sliding part 421 through the vertical manipulator cylinder 422, respectively, to form a front end clamping mechanism.
The first horizontal manipulator support cylinder 402 is connected with the first horizontal cylinder sleeve 413 through one end of a pin shaft, and the other end of the first horizontal cylinder sleeve is connected with the manipulator mounting seat 403, so that a support function is achieved; the second horizontal manipulator support cylinder 406 is connected with the second horizontal cylinder sleeve 414 through one end of a pin shaft, and the other end of the second horizontal cylinder support cylinder is connected with the manipulator mounting seat 403, so that a support function is achieved; the vertical manipulator support cylinder 405 is connected with the vertical cylinder sleeve 425 through one end of a pin shaft, and the other end of the vertical manipulator support cylinder is connected with the manipulator mounting seat 403; the manipulator mounting base 403 is internally provided with a hydraulic motor for driving the first horizontal manipulator support cylinder 402, the vertical manipulator support cylinder 405 and the second horizontal manipulator support cylinder 406.
The working method of the temporary support carrying device for realizing the parallel operation of the digging and the supporting comprises the following steps:
step 1: in the initial state, all temporary support brackets 2 are in a supporting state, an anchor net is paved on a top plate above the temporary support brackets, and a plurality of temporary support brackets 2 cover the heading machine 1 below; when the heading machine 1 is about to finish a step operation, the first side protection plate oil cylinder 201 and the third side protection plate oil cylinder 212, the second side protection plate oil cylinder 210 and the fourth side protection plate oil cylinder 213 of the temporary support bracket 2 positioned at the tail part of the heading machine 1 are retracted, so that the first side protection plate 202 and the second side protection plate 211 rotate towards the center side of the temporary support bracket 2; then the manipulator 4 moves on the carrying and moving part 3 until the vertical manipulator oil cylinder 422 of the manipulator 4 extends out below the temporary support bracket 2 at the tail part, so that the vertical manipulator sliding part 421 moves relative to the vertical manipulator fixing part 420 to realize the opening of the vertical manipulator, then the first vertical oil cylinder 203 and the second vertical oil cylinder 209 of the temporary support bracket 2 are controlled to be retracted, so that the top beam 206 is separated from the roadway roof, the top beam 206 is caught by the opened vertical manipulator, the vertical manipulator oil cylinder 422 is retracted to enable the vertical manipulator 404 to grasp the top beam 206, the vertical manipulator oil cylinder 421 extends out to enable the vertical manipulator 403 to move upwards with the temporary support bracket, and the temporary support bracket is separated from the ground; then, the first horizontal cylinder 205 and the second horizontal cylinder 207 are retracted, so that the first sliding plate 204 and the second sliding plate 208 slide and contract towards the center of the temporary support bracket, and the shrinkage and folding of the temporary support bracket 2 are completed; then the first horizontal manipulator 401 and the second horizontal manipulator 407 are controlled to extend to two sides, and the first vertical oil cylinder 203 and the second vertical oil cylinder 209 are respectively gripped by the clamping devices at the end parts, so that the temporary support bracket 2 is fixed by the three manipulators; then, a hydraulic motor in the manipulator mounting seat 403 is started to rotate to drive the manipulator mounting seat 403 to fold ninety degrees so that the contracted and folded temporary support bracket 2 rotates ninety degrees in a following way; finally, after the robot 4 grabs the temporary support bracket 2, the hydraulic motor 314 rotates to drive the pin teeth 304 to move towards the front end of the heading machine 1 on the pin row 307, when the pin teeth support frame 305 slides to the forefront end of the pin row support seat 303, the piston rod of the pushing cylinder 302 is controlled to extend out to push the pin row support seat 303 to slide forwards in the carrying seat 301, so that the temporary support bracket 2 reaches the expected specified position of the front end of the heading machine 1;
step 2: when the movable temporary support bracket reaches the expected appointed position, controlling a hydraulic motor in the manipulator mounting seat 403 to rotate so as to drive the manipulator mounting seat 403 to rotate anticlockwise, and enabling the folded temporary support bracket 2 to be restored to be parallel to the section of the roadway; the first horizontal manipulator 401 and the second horizontal manipulator 407 of the manipulator 4 release the first vertical cylinder 203 and the second vertical cylinder 209, and then control the first horizontal cylinder 205 and the second horizontal cylinder 207 to extend, so that the first sliding plate 202 and the second sliding plate 211 slide and expand to two sides; the first vertical oil cylinder 203 and the second vertical oil cylinder 209 are extended and grounded, the vertical manipulator 403 releases the top beam 206, and the first vertical oil cylinder 203 and the second vertical oil cylinder (209) extend continuously to enable the top beam 206 to support the roadway roof; the first side protection plate oil cylinder 202 and the third side protection plate oil cylinder 212, the second side protection plate oil cylinder 210 and the fourth side protection plate oil cylinder 213 extend out, so that the first side protection plate 202 and the second side protection plate 211 rotate towards the center side far away from the temporary support bracket and support the side of the roadway, and the temporary support bracket is carried;
step 3: retracting the vertical manipulator support cylinder 405 to enable the vertical manipulator 405 to rotate to be in a horizontal direction with the heading machine, then fully retracting the pushing cylinder 302 to enable the pin tooth supporting seat to retract, starting the hydraulic motor 314 to drive the pin tooth 304 to rotate on the pin row 307, enabling the manipulator to be located right below the last temporary support bracket at the tail of the heading machine 1, and finally extending the vertical manipulator support cylinder 405 to enable the vertical manipulator 405 to rotate to a vertical direction;
step 4: and (3) circularly repeating the steps 1 to 3, and forming permanent supporting spaces formed by a plurality of temporary supporting brackets 2 on the outer side of the heading machine 1 along with the propulsion of the heading machine 1 until the tunneling and supporting work of a roadway is completed.
Claims (8)
1. Realize digging temporary support handling device of prop up parallel operation, its characterized in that: the device comprises a carrying device arranged at the top of a heading machine (1), and a plurality of temporary support brackets (2) matched with the carrying device, wherein the temporary support brackets (2) are arranged above the current working position of the heading machine (1) in groups to support a heading tunnel roof, a safe tunneling operation space is provided for the heading machine (1), the carrying device comprises two carrying moving parts (3) which are symmetrically arranged, the two carrying moving parts (3) are arranged along the front and rear central axes of the heading machine (1), the two carrying moving parts (3) are respectively provided with a grabbing mechanism, the grabbing mechanisms move back and forth on the carrying moving parts (3), and the temporary support brackets (2) behind the grabbing mechanism are carried to the space in front of the heading machine (1) for supporting along with the tunneling operation cycle of the heading machine (1); the temporary support bracket (2) is of a folding telescopic structure, is folded when being carried, so that the volume is reduced, and is folded and unfolded when being carried to a preset position, and a top plate is supported;
the carrying moving part (3) comprises a track part and a moving part, wherein the track part comprises a carrying seat (301) and a pin tooth supporting frame (305);
the grabbing mechanism is a manipulator (4), and comprises a manipulator mounting seat (403), and is mounted on two pin tooth supporting frames (305) of two groups of carrying moving parts (3), wherein a first horizontal manipulator (401) and a second horizontal manipulator (407) are respectively arranged on the manipulator mounting seat (403) left and right, a vertical manipulator (404) is further arranged on the manipulator mounting seat (403) upwards, and the first horizontal manipulator (401) and the second horizontal manipulator (407) are respectively connected with the manipulator mounting seat (403) through a first horizontal manipulator supporting oil cylinder (402) and a second horizontal manipulator supporting oil cylinder (406), and the vertical manipulator (404) is connected with the manipulator mounting seat (403) through a vertical manipulator supporting oil cylinder (405).
2. The temporary support handling device for performing parallel operations of a mining machine according to claim 1, wherein: the temporary support bracket (2) comprises a top beam (206), a first horizontal oil cylinder (205) and a second horizontal oil cylinder (207) are reversely arranged in the top beam (206), the first horizontal oil cylinder (205) is connected with a first vertical oil cylinder (203) serving as a telescopic upright post through a first sliding plate (204), the second horizontal oil cylinder (207) is connected with a second vertical oil cylinder (209) serving as a telescopic upright post through a second sliding plate (208), wing-shaped first side protection plates (202) are linked on the outer sides of the first sliding plate (204), the first side protection plates (202) are folded by opening and closing the first side protection plate oil cylinders (201) and the third side protection plate oil cylinders (212) which are arranged on the two sides, wing-shaped second side protection plates (211) are linked on the outer sides of the second sliding plate (208), and the second side protection plates (211) are folded by opening and closing the second side protection plate oil cylinders (210) and the fourth side protection plate oil cylinders (213) which are arranged on the two sides.
3. The temporary support handling device for performing parallel operations of a mining machine according to claim 1, wherein: a pushing cylinder (302) and a pin row supporting seat (303) are horizontally arranged on a carrying seat (301) of a track part of the carrying moving part (3), one end of the pushing cylinder (302) is connected with the end part of the carrying seat (301), the other end of the pushing cylinder is connected with the pin row supporting seat (303), the carrying seat (301) is pushed or pulled back through the expansion and contraction of the pushing cylinder (302), a pin row (307) is fixed on the pin row supporting seat (303) through a check ring (308), the moving part is arranged on the pin row (307), the moving part comprises a pin tooth supporting frame (305), pin teeth (304) which are matched with the pin row (307) and move in a track mode are arranged in the pin tooth supporting frame (305) through bearings (312) and pin tooth shafts (313), the pin tooth shafts (313) are connected with a hydraulic motor (314), and the hydraulic motor (314) is arranged on a motor supporting seat (311) on the outer side of the pin tooth supporting frame (305).
4. The temporary support handling apparatus for performing parallel operations for mining and supporting as set forth in claim 3, wherein: the carrying seat (301) is connected with the bottom of the pin row supporting seat (303) through a sliding rail, the sliding rail comprises a left sliding shoe (309) and a right sliding shoe (310) which are arranged on two sides below the pin row supporting seat (303), sliding cover plates (306) for buckling the left sliding shoe (309) and the right sliding shoe (310) are respectively arranged on two sides of the carrying seat (301), and accordingly the pin row supporting seat (303) with the left sliding shoe (309) and the right sliding shoe (310) can move back and forth in the sliding rail above the carrying seat (301) without falling.
5. The temporary support handling device for performing parallel operations of a mining machine according to claim 1, wherein: the first horizontal manipulator (401) comprises a first horizontal manipulator fixing part (408), a first horizontal manipulator sliding part (409), a first horizontal manipulator oil cylinder (410), a first horizontal manipulator piston (411), a first horizontal manipulator hand-pushing oil cylinder (412) and a first horizontal manipulator sleeve (413); the first horizontal manipulator piston (411) is arranged in the first horizontal manipulator sleeve (413) through a horizontal manipulator pushing oil cylinder (412), the end part of the first horizontal manipulator sleeve (413) is connected with the manipulator mounting seat (403), and the end of the first horizontal manipulator piston (411) is respectively connected with the first horizontal manipulator sliding part (409) and the first horizontal manipulator fixing part (408) through the first horizontal manipulator oil cylinder (410) to form a clamping mechanism at the front end part;
the second horizontal manipulator (407) comprises a second horizontal manipulator fixing part (418), a second horizontal manipulator sliding part (419), a second horizontal manipulator oil cylinder (417), a second horizontal manipulator piston (415), a second horizontal manipulator pushing oil cylinder (416) and a second horizontal manipulator sleeve (414); the second horizontal manipulator piston (415) is arranged in the second horizontal manipulator sleeve (414) through a second horizontal manipulator oil cylinder (417), the end part of the second horizontal manipulator sleeve (414) is connected with the manipulator mounting seat (403), and the end of the second horizontal manipulator piston (415) is respectively connected with the second horizontal manipulator fixing part (418) and the second horizontal manipulator sliding part (419) through the second horizontal manipulator oil cylinder (417) to form a clamping mechanism at the front end part.
6. The temporary support handling device for performing parallel operations of a mining machine according to claim 1, wherein: the vertical manipulator (404) comprises a vertical manipulator fixing part (420), a vertical manipulator sliding part (421), a vertical manipulator oil cylinder (422), a vertical manipulator piston (423), a vertical manipulator pushing oil cylinder (424) and a vertical manipulator sleeve (425); the vertical manipulator piston (423) is arranged in the vertical manipulator sleeve (425) through the vertical manipulator pushing oil cylinder (424), the end part of the vertical manipulator sleeve (425) is connected with the top of the manipulator mounting seat (403), and the vertical manipulator piston (423) end is respectively connected with the vertical manipulator fixing part (420) and the vertical manipulator sliding part (421) through the vertical manipulator oil cylinder (422) to form a clamping mechanism at the front end part.
7. The temporary support handling device for performing parallel operations of a mining machine according to claim 1, wherein: the first horizontal manipulator support cylinder (402) is connected with the first horizontal cylinder sleeve (413) through one end of a pin shaft, and the other end of the first horizontal cylinder support cylinder is connected with the manipulator mounting seat (403) to play a role in support; the second horizontal manipulator support cylinder (406) is connected with the second horizontal cylinder sleeve (414) through one end of a pin shaft, and the other end of the second horizontal cylinder support cylinder is connected with the manipulator mounting seat (403) to play a role in support; the vertical manipulator support cylinder (405) is connected with the vertical cylinder sleeve (425) through one end of a pin shaft, and the other end of the vertical manipulator support cylinder is connected with the manipulator mounting seat (403); the manipulator mounting seat (403) is internally provided with a hydraulic motor for driving the first horizontal manipulator support oil cylinder (402), the vertical manipulator support oil cylinder (405) and the second horizontal manipulator support oil cylinder (406).
8. A method of operating a temporary support handling device for carrying out parallel operations according to any one of the preceding claims 1-7, characterized by the steps of:
step 1: in the initial state, all temporary support brackets (2) are in a supporting state, an anchor net is paved on a top plate above the temporary support brackets, and a plurality of temporary support brackets (2) cover the heading machine (1) below; when the heading machine (1) is about to finish a step operation, firstly, a first side protection plate oil cylinder (201) and a third side protection plate oil cylinder (212), a second side protection plate oil cylinder (210) and a fourth side protection plate oil cylinder (213) of a temporary support bracket (2) positioned at the tail part of the heading machine (1) are retracted, so that a first side protection plate (202) and a second side protection plate (211) rotate towards the central side of the temporary support bracket (2); then, the manipulator (4) moves on the carrying and moving part (3) until the manipulator extends out from the lower part of the temporary support bracket (2) at the tail part, a vertical manipulator oil cylinder (422) of the manipulator (4) moves relative to a vertical manipulator fixing part (420) to realize the opening of the vertical manipulator, then the first vertical oil cylinder (203) and the second vertical oil cylinder (209) of the temporary support bracket (2) are controlled to be retracted, the top beam (206) is separated from the roadway top plate, the opened vertical manipulator is used for receiving the top beam (206), the vertical manipulator oil cylinder (422) is retracted to enable the vertical manipulator (404) to grasp the top beam (206), the vertical manipulator oil cylinder (424) extends out to enable the vertical manipulator (404) to move upwards with the temporary support bracket, and the temporary support bracket is separated from the ground; then, the first horizontal oil cylinder (205) and the second horizontal oil cylinder (207) are retracted, so that the first sliding plate (204) and the second sliding plate (208) slide and shrink towards the center of the temporary support bracket, and the shrinkage and folding of the temporary support bracket (2) are completed; then the first horizontal manipulator (401) and the second horizontal manipulator (407) are controlled to extend to two sides and respectively grasp the first vertical oil cylinder (203) and the second vertical oil cylinder (209) through the clamping devices at the end parts, so that the temporary support bracket (2) is fixed by the three manipulators; then, a hydraulic motor in the manipulator mounting seat (403) is started to rotate to drive the manipulator mounting seat (403) to fold, so that the contracted and folded temporary support bracket (2) rotates by the same angle; finally, the mechanical arm (4) is used for driving the pin teeth (304) to move towards the front end of the heading machine (1) on the pin row (307) by rotating the hydraulic motor (314), when the pin teeth support frame (305) slides to the forefront end of the pin row support seat (303), the piston rod of the pushing cylinder (302) is controlled to extend out to push the pin row support seat (303) to slide forwards in the carrying seat (301), so that the temporary support frame (2) reaches the expected appointed position of the front end of the heading machine (1);
step 2: when the movable temporary support bracket reaches the expected appointed position, controlling a hydraulic motor in the manipulator mounting seat (403) to rotate so as to drive the manipulator mounting seat (403) to rotate anticlockwise, and enabling the folded temporary support bracket (2) to be restored to be parallel to the section of the roadway; a first horizontal manipulator (401) and a second horizontal manipulator (407) of the manipulator (4) release the first vertical oil cylinder (203) and the second vertical oil cylinder (209), and then control the first horizontal oil cylinder (205) and the second horizontal oil cylinder (207) to extend, so that the first sliding plate (204) and the second sliding plate (208) slide and spread towards two sides; the first vertical oil cylinder (203) and the second vertical oil cylinder (209) are extended and grounded, the vertical mechanical arm (404) releases the top beam (206), and the first vertical oil cylinder (203) and the second vertical oil cylinder (209) continuously extend to enable the top beam (206) to support a roadway top plate; the first side protection plate oil cylinder (201) and the third side protection plate oil cylinder (212), the second side protection plate oil cylinder (210) and the fourth side protection plate oil cylinder (213) extend out, so that the first side protection plate (202) and the second side protection plate (211) rotate towards the center side far away from the temporary support bracket and support the side of the roadway, and the temporary support bracket is carried;
step 3: retracting the vertical manipulator support cylinder (405) to enable the vertical manipulator (404) to rotate to be in a horizontal direction with the heading machine, then fully retracting the pushing cylinder (302) to enable the pin tooth supporting seat to retract, starting the hydraulic motor (314) to drive the pin tooth (304) to rotate on the pin row (307) so that the manipulator is positioned under the last temporary support bracket at the tail of the heading machine (1), and finally extending the vertical manipulator support cylinder (405) to enable the vertical manipulator (404) to rotate to a vertical direction;
step 4: and (3) circularly repeating the steps 1 to 3, and forming a plurality of permanent supporting spaces formed by the temporary supporting brackets (2) on the outer side of the heading machine (1) along with the propulsion of the heading machine (1) until the tunneling and supporting work of the tunnel is completed.
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| CN202111362758.6A CN114087004B (en) | 2021-11-17 | 2021-11-17 | Temporary support carrying device for realizing parallel operation of digging and supporting and working method |
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| CN202111362758.6A CN114087004B (en) | 2021-11-17 | 2021-11-17 | Temporary support carrying device for realizing parallel operation of digging and supporting and working method |
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| CN114087004A (en) | 2022-02-25 |
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