CN114109425A - Debugging method of tunneling and anchoring machine - Google Patents

Debugging method of tunneling and anchoring machine Download PDF

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Publication number
CN114109425A
CN114109425A CN202111315921.3A CN202111315921A CN114109425A CN 114109425 A CN114109425 A CN 114109425A CN 202111315921 A CN202111315921 A CN 202111315921A CN 114109425 A CN114109425 A CN 114109425A
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China
Prior art keywords
cutting
assembly
anchor
anchoring
cylinder
Prior art date
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Granted
Application number
CN202111315921.3A
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Chinese (zh)
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CN114109425B (en
Inventor
贾建伟
张小峰
王佃武
乔彦华
李发泉
呼守信
杨勇
马强
王宁宁
刘峰
徐森
谢戈辉
赵媛媛
宋栋
桑盛远
杨杰
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
Original Assignee
Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Application filed by Taiyuan Institute of China Coal Technology and Engineering Group, Shanxi Tiandi Coal Mining Machinery Co Ltd filed Critical Taiyuan Institute of China Coal Technology and Engineering Group
Priority to CN202111315921.3A priority Critical patent/CN114109425B/en
Publication of CN114109425A publication Critical patent/CN114109425A/en
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Publication of CN114109425B publication Critical patent/CN114109425B/en
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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
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • 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
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • 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
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • 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
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • E21D9/126—Loading devices or installations

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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)
  • Environmental & Geological Engineering (AREA)
  • Structural Engineering (AREA)
  • Earth Drilling (AREA)

Abstract

The application provides a debugging method of an anchor driving machine, which comprises the following steps: switching the tunneling and anchoring machine to be in a cutting mode, detecting the actions of the cutting assembly and the cutting auxiliary assembly, and enabling the anchoring assembly and the walking assembly not to act; switching the tunneling and anchoring machine to be in an anchoring mode, detecting the action of the anchoring assembly, and enabling the cutting assembly, the cutting auxiliary assembly and the walking assembly not to act; switch and dig anchor machine and be walking mode to detect walking assembly's action, and cutting assembly and anchor subassembly can not move, and this application compares the advantage that has with prior art and is: the problem of mutual interference during operation of the driving and anchoring machine is avoided, the operation efficiency of the driving and anchoring machine is improved, and the safe operation of the driving and anchoring machine is ensured; the anchoring operation of the tunneling and anchoring machine can adapt to different roof conditions in a roadway, the operation capacity of the tunneling and anchoring machine is effectively improved, and the safe operation of the tunneling and anchoring machine is ensured.

Description

Debugging method of tunneling and anchoring machine
Technical Field
The application relates to the technical field of driving and anchoring machines, in particular to a debugging method of a driving and anchoring machine.
Background
The excavator is excavating equipment capable of realizing excavation and anchoring protection, in order to avoid misoperation, the whole excavator needs to be electrified and debugged before leaving a factory to detect whether a cutting assembly, an anchoring assembly and a walking assembly in the excavator are interlocked or not and whether each component normally acts or not, so that the factory quality of the excavator is ensured.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the application aims to provide a debugging method of the driving and anchoring machine.
In order to achieve the above object, the present application provides a method for debugging an anchor driving machine, including: resetting a cutting assembly, a cutting auxiliary assembly, an anchoring assembly and a walking assembly of the tunneling and anchoring machine; switching the tunneling and anchoring machine to be in a cutting mode, detecting the actions of the cutting assembly and the cutting auxiliary assembly, and enabling the anchoring assembly and the walking assembly not to act; switching the tunneling and anchoring machine to be in an anchoring mode, detecting the action of the anchoring assembly, and enabling the cutting assembly, the cutting auxiliary assembly and the walking assembly not to act; switching the tunneling and anchoring machine to be in a walking mode, detecting the action of the walking assembly, and enabling the cutting assembly and the anchoring assembly not to act; wherein the anchor assembly comprises an operating platform, the act of detecting the anchor assembly comprises: detecting a first operating condition, the detecting the first operating condition comprising: the operating platform moves forwards, and the moving distance is less than 450 mm; detecting a second operating condition, the detecting the second operating condition comprising: the operating platform moves forwards, and the moving distance is 450mm-1350 mm; detecting a third operating condition, the detecting the third operating condition comprising: the operation platform moves forwards, and the moving distance is larger than 1350 mm.
The anchoring assembly further comprises an upper stabilizing device, a lower stabilizing device, a turning plate, a top anchoring part and a side anchoring part, wherein the upper stabilizing device, the lower stabilizing device, the turning plate, the top anchoring part and the side anchoring part are all arranged on the operating platform.
The detecting a first operating condition further comprises: the height of the operating platform is adjusted, and the height of the operating platform is not less than 340 mm; the upper stabilizing device extends out, the turning plate extends out, and the lower stabilizing device cannot extend out; the top anchor part and the upper anchor part act; the top anchor part and the upper anchor part are reset; the upper stabilizing device resets, and the turning plate resets; and resetting the operating platform.
Detecting the second operating condition further comprises: the height of the operating platform is adjusted, and the height of the operating platform is not less than 340 mm; the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is abutted against the cutting auxiliary assembly; the top anchor part and the upper anchor part act; the top anchor part and the upper anchor part are reset; the upper stabilizing device resets, the lower stabilizing device resets, and the turnover plate resets; and resetting the operating platform.
Detecting a third operating condition further comprises: adjusting the height of the operating platform; the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is abutted against the cutting arm; the top anchor part and the upper anchor part act; the top anchor part and the upper anchor part are reset; the upper stabilizing device resets, the lower stabilizing device resets, and the turnover plate resets; and resetting the operating platform.
The cutting auxiliary assembly comprises a shovel plate and a cutting arm, and the shovel plate and the cutting arm are both arranged on the walking assembly.
The cutting assembly comprises a side stabilizing device, a conveying part, a rake claw part and a cutting drum part, wherein the conveying part and the side stabilizing device are arranged on the walking assembly, the rake claw part is arranged on the shovel plate, and the cutting drum part is arranged on the cutting arm.
The detecting the actions of the cutting assembly and the cutting auxiliary assembly comprises: the side stabilizing device extends out; the cutting arm is lifted to the highest point; the transportation part acts; the rake claw part acts; the cutting drum part acts; the cutting arm is lowered; the cutting arm is lifted to the highest point; the cutting arm moves forwards; the cutting arm is lowered; the cutting drum part stops acting; the claw part stops operating, and the transportation part stops operating; the cutting arm is lifted; the cutting arm moves backwards; the cutting arm is reset; the side stabilizing device is reset.
The walking assembly comprises a crawler frame and a crawler chassis, and the crawler frame is arranged on the crawler chassis.
The act of detecting the walking assembly comprises: the cutting arm is lifted; the shovel plate is lifted; the crawler chassis acts; the crawler chassis stops acting; resetting the shovel plate; the cutting arm is reset.
After adopting above-mentioned technical scheme, this application compares advantage that has with prior art:
through the interlocking detection among the cutting assembly, the cutting auxiliary assembly, the anchoring assembly and the walking assembly, the problem of mutual interference during the operation of the tunneling and anchoring machine is avoided, the operation efficiency of the tunneling and anchoring machine is improved, and the safe operation of the tunneling and anchoring machine is ensured;
by detecting three working conditions of the anchoring assembly, the anchoring operation of the tunneling and anchoring machine can adapt to different roof conditions in a roadway, the operation capability of the tunneling and anchoring machine is effectively improved, and the safe operation of the tunneling and anchoring machine is ensured.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an excavator according to an embodiment of the present application;
figure 2 is a schematic structural view of a walking assembly of the excavator according to an embodiment of the present application;
figure 3 is a schematic illustration of a structure at an anchoring assembly in an excavator according to an embodiment of the present application;
figure 4 is a schematic structural diagram of a top anchor part in the excavator according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of the middle upper anchoring part of the tunneling and anchoring machine according to an embodiment of the application;
fig. 6 is a schematic structural diagram of a cutting auxiliary assembly in an excavator according to an embodiment of the present application;
figure 7 is a schematic view of a structure at a transport portion of an excavator according to an embodiment of the present application;
as shown in the figure:
1. a walking component 11, a crawler frame 12 and an intermediate frame;
2. an anchoring component 201, a platform lifting oil cylinder 202, an operation platform 203, an upper stabilizing device 2031, a stabilizing transverse moving seat 2032, a backing plate 2033, an upper stabilizing oil cylinder 204, a lower stabilizing device 2041, an outer cylinder 2042, an inner cylinder 2043, a lower stabilizing oil cylinder 2044, a pressing block 205, a turning plate 206, a top anchor part 2061, a top anchor transverse moving oil cylinder 2062, a top anchor left-right swinging oil cylinder 2063, top anchor forward and backward swing oil cylinder, 2064, top anchor motor, 2065, top anchor propulsion oil cylinder, 2066, top anchor drill rod, 207, side anchor part, 2071, side anchor first left and right swing oil cylinder, 2072, side anchor telescopic oil cylinder, 2073, side anchor lifting oil cylinder, 2074, side anchor second left and right swing oil cylinder, 2075, side anchor motor, 2076, side anchor propulsion oil cylinder, 2077, side anchor drill rod, 208, first connecting rod, 209, second connecting rod, 210, lower base, 211, upper base, 212, platform telescopic oil cylinder;
3. the cutting auxiliary assembly comprises a cutting auxiliary assembly 31, a shovel plate 32, a cutting arm 33, a sliding support 34 and a cutting telescopic oil cylinder;
4. cutting assembly, 41, side stabilizer, 42, transportation part, 421, fuselage, 422, transportation lift cylinder, 423, tail, 424, tail swing cylinder, 425, transportation motor, 43, rake claw part, 44, cutting drum part.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. On the contrary, the embodiments of the application include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
As shown in fig. 1, the embodiment of the present application provides an anchor driving machine, which includes a cutting assembly 4, a cutting auxiliary assembly 3, an anchoring assembly 2, and a walking assembly 1.
In some embodiments, a control system is disposed on the tunneling and anchoring machine, the control system is electrically connected to the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1, and the control system controls the actions of the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1.
As shown in fig. 2, in some embodiments, the walking assembly 1 includes a track frame 11 and a track chassis, on which the track frame 11 is disposed, and walking of the walking assembly 1 is achieved through the track chassis.
In some embodiments, the track frame 11 is fixedly arranged on a carrier platform of the track chassis, and the rear end of the track frame 11 is fixedly provided with an intermediate frame 12.
As shown in fig. 3, in some embodiments, the anchor assembly 2 includes an operations platform 202, an upper stabilizer 203, a lower stabilizer 204, a flap 205, a top anchor 206, and an upper anchor 207, the upper stabilizer 203, the lower stabilizer 204, the flap 205, the top anchor 206, and the upper anchor 207, and the upper stabilizer 203, the lower stabilizer 204, the flap 205, the top anchor 206, and the upper anchor 207 are all disposed on the operations platform 202.
In some embodiments, a lower base 210 is fixedly disposed at the front end of the track frame 11, an upper base 211 is disposed on the lower base 210, a first connecting rod 208 and a second connecting rod 209 which are parallel to each other are hinged between the upper base 211 and the lower base 210, the rear end of the first connecting rod 208 is higher than the rear end of the second connecting rod 209, and the front end of the first connecting rod 208 is higher than the front end of the second connecting rod 209, so that the upper base 211 can move up and down relative to the lower base 210 through the first connecting rod 208 and the second connecting rod 209.
Moreover, a platform lifting cylinder 201 is hinged to the lower base 210, one end, far away from the lower base 210, of the platform lifting cylinder 201 is hinged to the first connecting rod 208, and hinged shafts of the platform lifting cylinder 201, the first connecting rod 208 and the second connecting rod 209 are located in the left and right directions of the excavator, so that when the platform lifting cylinder 201 stretches, the first connecting rod 208 and the second connecting rod 209 can be driven to synchronously rotate, and the upper base 211 can move up and down relative to the lower base 210.
Meanwhile, the operation platform 202 is slidably disposed on the upper base 211 along the front-back direction of the excavator, so that the operation platform 202 can move back and forth relative to the upper base 211, in some embodiments, a sliding groove is fixedly disposed on the upper base 211 along the front-back direction of the excavator, and a guide rail is fixedly disposed at the bottom of the operation platform 202, and the guide rail is slidably disposed in the sliding groove, thereby achieving the sliding disposition of the operation platform 202 on the upper base 211.
Moreover, a platform telescopic cylinder 212 is hinged to the lower base 210, one end, far away from the lower base 210, of the platform telescopic cylinder 212 is hinged to the operating platform 202, and a hinged shaft of the platform telescopic cylinder 212 is located in the left and right directions of the excavator, so that when the platform telescopic cylinder 212 is telescopic, the operating platform 202 can be driven to synchronously move, and therefore the operating platform 202 can move back and forth relative to the upper base 211.
Therefore, the operation platform 202 can move back and forth and up and down on the excavator through the matching of the platform lifting oil cylinder 201 and the platform telescopic oil cylinder 212.
It should be noted that, in the initial state, both the platform lift cylinder 201 and the platform retraction cylinder 212 are in the retracted state, that is, the operation platform 202 is at the lowest position in the up-down moving path and at the last position in the back-forth moving path.
As shown in FIG. 3, in some embodiments, the upper stabilizing device 203 includes a stabilizing traversing shoe 2031, a stabilizing traversing block, a stabilizing traversing cylinder, a cross beam, a backing plate 2032, and an upper stabilizing cylinder 2033.
The stabilizing transverse moving seat 2031 is fixedly arranged on the operation platform 202, and the stabilizing transverse moving block is arranged on the stabilizing transverse moving seat 2031 in a sliding manner along the left-right direction of the tunneling and anchoring machine, so that the stabilizing transverse moving block can move left and right on the stabilizing transverse moving seat 2031, one end of the stabilizing transverse moving oil cylinder is hinged to the stabilizing transverse moving seat 2031, and the other end of the stabilizing transverse moving oil cylinder is hinged to the stabilizing transverse moving block, therefore, when the stabilizing transverse moving oil cylinder stretches out and draws back, the stabilizing transverse moving block can be driven to move synchronously, and therefore the left and right movement of the stabilizing transverse moving block on the operation platform 202 is achieved.
In some embodiments, the steady traverse support 2031 is provided with a sliding groove along the left and right direction of the driving and anchoring machine, and the steady traverse block is slidably disposed in the sliding groove, so as to realize the sliding arrangement of the steady traverse block on the steady traverse support 2031.
The crossbeam slides along the upper and lower direction of tunneling and anchoring machine and sets up on stabilizing the sideslip piece, backing plate 2032 is fixed to be set up the upper end at the crossbeam, from this, make backing plate 2032 can reciprocate on operation platform 202, the fixed setting of one end of going up stabilizing oil cylinder 2033 is on stabilizing the sideslip piece, its other end and crossbeam fixed connection, from this, when going up stabilizing oil cylinder 2033's flexible, it can drive the crossbeam and remove, thereby make backing plate 2032 stretch out and draw back the action from top to bottom along with the crossbeam, when backing plate 2032 top is tight on the tunnel roof, can realize operation platform 202 last stable support.
In some embodiments, the two ends of the cross beam are hinged with sliding columns, a sliding barrel is fixedly arranged on the stable transverse moving block, and the sliding columns are arranged in the sliding barrel in a sliding mode, so that the sliding arrangement of the cross beam on the transverse moving block is realized through the matching of the sliding columns and the sliding barrel.
From this, through the cooperation of stabilizing the sideslip hydro-cylinder and going up stabilizing the hydro-cylinder 2033, realize that backing plate 2032 moves about and reciprocates on operation platform 202 to make and go up stabilising arrangement 203 can adapt to the roof structure of difference in the tunnel, guarantee the last stable stay to operation platform 202.
It should be noted that, in the initial state, the stabilizing traversing cylinder is in a half-extended state, that is, the pad 2032 is at the middle position in the left-right moving path thereof, and the upper stabilizing cylinder 2033 is in a contracted state, that is, the pad 2032 is at the highest position in the up-down moving path thereof.
As shown in fig. 3, in some embodiments, the lower stabilizing device 204 includes an outer cylinder 2041, an inner cylinder 2042, a lower stabilizing cylinder 2043, and a pressure block 2044.
The outer cylinder 2041 is fixedly arranged on the stable transverse moving block, the inner cylinder 2042 is arranged in the outer cylinder 2041 in a sliding mode along the vertical direction of the tunneling and anchoring machine, and therefore the inner cylinder 2042 can move up and down relative to the outer cylinder 2041, one end of the lower stabilizing oil cylinder 2043 is hinged to the outer cylinder 2041, the other end of the lower stabilizing oil cylinder is hinged to the inner cylinder 2042, and therefore when the lower stabilizing oil cylinder 2043 stretches, the lower stabilizing oil cylinder can drive the inner cylinder 2042 to move synchronously, so that the inner cylinder 2042 can move up and down relative to the outer cylinder 2041, meanwhile, when the stable transverse moving oil cylinder stretches, the inner cylinder 2042 can be driven to move synchronously, and therefore the inner cylinder 2042 can move left and right relative to the operating platform 202.
The pressing block 2044 is hinged to the lower end of the inner cylinder 2042 and used for abutting against the cutting arm 32, and the hinge structure of the pressing block 2044 and the inner cylinder 2042 can adapt to the inclination angle of the cutting arm 32.
Therefore, the pressing block 2044 moves left and right and up and down on the operating platform 202 through the cooperation of the stabilizing and transverse moving oil cylinder and the lower stabilizing oil cylinder 2043, so that the lower stabilizing device 204 can adapt to the inclination of the cutting arm 32, and the lower stable support of the operating platform 202 is ensured.
Note that, in the initial state, the lower stabilization cylinder 2043 is in the contracted state, that is, the pressing block 2044 is at the lowest position in the up-and-down movement path thereof.
As shown in fig. 1, in some embodiments, the turning plate 205 is hinged to the operating platform 202, wherein a hinge shaft of the turning plate 205 is located in a front-back direction of the excavator, so that the turning plate 205 can rotate relative to the operating platform 202, and a turning plate 205 cylinder is hinged to the operating platform 202, and an end of the turning plate 205 cylinder, which is far away from the operating platform 202, is hinged to the turning plate 205, so that when the turning plate 205 cylinder extends and retracts, the turning plate 205 can be driven to rotate, thereby extending and retracting the turning plate 205 on the operating platform 202.
When the turning plate 205 is retracted on the operating platform 202, it is located in the up-down direction of the excavator so as not to affect the action of the cutting assembly 4, and when the turning plate 205 is extended on the operating platform 202, it is located in the horizontal direction of the excavator so that an operator can stand on the turning plate 205 to operate the anchor rod.
It should be noted that in the initial state, the flap 205 cylinder is in a retracted state, i.e., the flap 205 is in a vertical position in its rotational path.
As shown in fig. 4, in some embodiments, the roof bolt portion 206 includes a roof bolt traverse shoe, a roof bolt traverse block, a roof bolt traverse cylinder 2061, a roof bolt wobble plate, a roof bolt yaw cylinder 2062, a roof anchor shoe, a roof bolt pitch and yaw cylinder 2063, a roof bolt motor 2064, a roof bolt thrust cylinder 2065, and a roof bolt boring bar 2066.
The top anchor transverse moving seat is fixedly arranged on the operating platform 202, and the top anchor transverse moving block is arranged on the top anchor transverse moving seat in a sliding mode along the left-right direction of the tunneling and anchoring machine, so that the top anchor transverse moving block can move left and right relative to the operating platform 202, one end of the top anchor transverse moving oil cylinder 2061 is hinged to the top anchor transverse moving seat, and the other end of the top anchor transverse moving oil cylinder is hinged to the top anchor transverse moving block, so that when the top anchor transverse moving oil cylinder 2061 stretches out and draws back, the top anchor transverse moving block can be driven to move synchronously, and therefore the top anchor transverse moving block can move left and right on the operating platform 202.
In some embodiments, the top anchor transverse moving seat is provided with a sliding groove along the left and right directions of the heading and anchoring machine, and the top anchor transverse moving block is arranged in the sliding groove in a sliding mode, so that the sliding arrangement of the top anchor transverse moving block on the top anchor transverse moving seat is realized.
The top anchor swing plate is rotatably arranged on the top anchor transverse moving block, and a rotating shaft of the top anchor swing plate is located in the front-rear direction of the tunneling and anchoring machine, so that the top anchor swing plate can swing left and right relative to the operating platform 202, one end of the top anchor left and right swing oil cylinder 2062 is hinged to the top anchor transverse moving block, and the other end of the top anchor left and right swing oil cylinder 2062 is hinged to the top anchor swing plate, so that when the top anchor left and right swing oil cylinder 2062 stretches out and draws back, the top anchor swing plate can be driven to rotate, and left and right swing of the top anchor swing plate on the top anchor transverse moving block is achieved.
The top anchor seat is rotatably arranged on the top anchor swinging plate, and the rotating shaft of the top anchor seat is positioned on the left and right directions of the tunneling and anchoring machine, so that the top anchor seat can rotate relative to the top anchor swinging plate, one end of the top anchor front and back swinging oil cylinder 2063 is hinged with the top anchor swinging plate, and the other end of the top anchor front and back swinging oil cylinder 2063 is hinged with the top anchor seat.
The top anchor motor 2064 is slidably disposed on the top anchor base along the length direction of the top anchor base, so that the top anchor motor 2064 can move relative to the top anchor base, and one end of the top anchor propulsion cylinder 2065 is hinged to the top anchor base, and the other end of the top anchor propulsion cylinder 2065 is hinged to the top anchor motor 2064, so that when the top anchor propulsion cylinder 2065 stretches out and draws back, the top anchor propulsion cylinder 2064 can drive the top anchor motor 2064 to move, and therefore the top anchor motor 2064 can move on the top anchor base.
In some embodiments, a guide rail is fixedly disposed on the top anchor block along the length direction thereof, and a sliding groove is disposed on the top anchor motor 2064, wherein the guide rail is slidably disposed in the sliding groove, thereby achieving the sliding disposition of the top anchor motor 2064 on the top anchor block.
The top anchor drill rod 2066 is fixedly arranged on the output shaft of the top anchor motor 2064, so that when the output shaft of the top anchor motor 2064 rotates, the top anchor drill rod 2066 can be driven to synchronously rotate, and the drilling operation on the roadway top plate is realized.
Therefore, the top anchor transverse moving oil cylinder 2061, the top anchor left-right swinging oil cylinder 2062, the top anchor front-back swinging oil cylinder 2063, the top anchor pushing oil cylinder 2065 and the top anchor motor 2064 are used for realizing the left-right movement, the front-back movement, the up-down movement and the rotation of the top anchor drill rod 2066 on the operation platform 202, so that the drilling operation at different angles and different positions can be carried out, and the anchoring efficiency is effectively improved.
It should be noted that, in the initial state, the top anchor transverse moving cylinder 2061, the top anchor left-right swinging cylinder 2062, and the top anchor front-rear swinging cylinder 2063 are all in the half-extended state, that is, the top anchor drill rod 2066 is located at the middle position in the left-right moving path thereof, at the middle position in the left-right swinging path thereof, and at the middle position in the front-rear swinging path thereof, the top anchor propelling cylinder 2065 is in the contracted state, that is, the top anchor drill rod 2066 is located at the lowest position in the up-down moving path thereof.
In some embodiments, the operation platform 202 and the components thereon can be arranged in two groups and respectively arranged at the left and right positions of the excavator.
As shown in FIG. 5, in some embodiments, the upper anchor portion 207 includes an upper anchor telescopic seat, an upper anchor first yaw ram 2071, an upper anchor telescopic column, an upper anchor telescopic ram 2072, an upper anchor lift seat, an upper anchor lift block, an upper anchor lift ram 2073, an upper anchor seat, an upper anchor second yaw ram 2074, an upper anchor motor 2075, an upper anchor thrust ram 2076 and an upper anchor drill rod 2077.
The upper anchor telescopic seat is hinged to the rear end of the middle frame 12, and a hinged shaft of the upper anchor telescopic seat is located in the vertical direction of the tunneling and anchoring machine, so that the upper anchor telescopic seat can swing left and right relative to the middle frame 12, one end of the first left-right swinging oil cylinder 2071 of the upper anchor is hinged to the upper anchor telescopic seat, and the other end of the first left-right swinging oil cylinder is hinged to the rear end of the middle frame 12, so that when the first left-right swinging oil cylinder 2071 of the upper anchor is stretched, the first left-right swinging oil cylinder can drive the upper anchor telescopic seat to rotate, and the left-right swinging of the upper anchor telescopic seat on the middle frame 12 is achieved.
The group anchor telescopic column is arranged on the group anchor telescopic seat in a sliding mode along the front-back direction of the tunneling and anchoring machine, so that the group anchor telescopic column can move back and forth relative to the group anchor telescopic seat, one end of the group anchor telescopic oil cylinder 2072 is hinged to the rear end of the middle frame 12, the other end of the group anchor telescopic oil cylinder is hinged to the group anchor telescopic column, the hinged shaft of the group anchor telescopic oil cylinder 2072 and the middle frame 12 is located on the hinged shaft of the group anchor telescopic seat and the middle frame 12, and therefore when the group anchor telescopic oil cylinder 2072 is telescopic, the group anchor telescopic column can be driven to synchronously move, and therefore the back and forth movement of the group anchor telescopic column on the group anchor telescopic seat is achieved.
In some embodiments, the rear end of the upper anchor telescopic seat is provided with a telescopic groove, and the upper anchor telescopic column is slidably arranged in the telescopic groove, so that the upper anchor telescopic column is slidably arranged on the upper anchor telescopic seat.
The group anchor lifting seat is fixedly arranged on the group anchor telescopic column, the group anchor lifting block is arranged on the group anchor lifting column in a sliding mode along the length direction of the group anchor lifting seat, therefore, the group anchor lifting block can move relative to the group anchor lifting seat, one end of the group anchor lifting oil cylinder 2073 is hinged with the group anchor lifting column, and the other end of the group anchor lifting oil cylinder is hinged with the group anchor lifting block, therefore, when the group anchor lifting oil cylinder 2073 stretches out and draws back, the group anchor lifting oil cylinder can drive the group anchor lifting block to move synchronously, and therefore the group anchor lifting block can move up and down on the group anchor lifting seat.
In some embodiments, a sliding column is fixedly arranged on the upper anchor lifting seat along the vertical direction of the excavator, a sliding barrel is fixedly arranged on the upper anchor lifting block, and the sliding barrel is slidably sleeved on the sliding column, so that the upper anchor lifting block is slidably arranged on the upper anchor lifting seat.
The group anchor seat is rotatably arranged on the group anchor lifting block, and the rotating shaft of the group anchor seat is positioned in the front-back direction of the tunneling and anchoring machine, so that the group anchor seat can swing left and right relative to the group anchor lifting block, one end of the first left-right swinging oil cylinder 2071 of the group anchor is hinged with the group anchor lifting block, and the other end of the first left-right swinging oil cylinder 2071 of the group anchor is hinged with the group anchor seat, so that when the first left-right swinging oil cylinder 2071 of the group anchor stretches out and draws back, the first left-right swinging oil cylinder can drive the group anchor seat to rotate, and the left-right swinging of the group anchor seat on the group anchor lifting block is realized.
The group anchor motor 2075 slides along the length direction of the group anchor base and is arranged on the group anchor base, so that the group anchor motor 2075 can move relative to the group anchor base, one end of the group anchor propulsion cylinder 2076 is hinged with the group anchor base, and the other end of the group anchor propulsion cylinder is hinged with the group anchor motor 2075, therefore, when the group anchor propulsion cylinder 2076 stretches out and draws back, the group anchor propulsion cylinder can drive the group anchor motor 2075 to move synchronously, and the group anchor motor 2075 can move on the group anchor base.
In some embodiments, a track is fixedly disposed on the upper anchor seat along the length thereof, and a sliding slot is disposed on the upper anchor motor 2075, wherein the track is slidably disposed within the sliding slot, thereby achieving a sliding disposition of the upper anchor motor 2075 on the upper anchor seat.
The fixed output shaft that sets up at group anchor motor 2075 of group anchor drilling rod 2077 when group anchor motor 2075's output shaft rotates, it can drive group anchor drilling rod 2077 synchronous rotation to realize the drilling operation on the tunnel curb plate.
Therefore, through the first left-right swing cylinder 2071 of the upper anchor, the telescopic cylinder 2072 of the upper anchor, the lifting cylinder 2073 of the upper anchor, the second left-right swing cylinder 2074 of the upper anchor, the push cylinder 2076 of the upper anchor and the motor 2075 of the upper anchor, the left-right swing, the front-back movement, the up-down movement, the left-right movement and the rotation of the upper anchor drill rod 2077 on the middle frame 12 are realized, thereby the drilling operation with different angles and different positions can be carried out, and the anchoring efficiency is effectively improved.
It should be noted that, in the initial state, the first left-right swing cylinder 2071 and the second left-right swing cylinder 2074 of the upper anchor are all in the half-extended state, that is, the upper anchor drill rod 2077 is located at the middle position in the left-right swing path thereof, and the telescopic cylinder 2072, the upper anchor lift cylinder 2073 and the upper anchor thrust cylinder 2076 are all in the retracted state, that is, the upper anchor drill rod 2077 is located at the last position in the front-back movement path thereof, is located at the lowest position in the up-down movement path thereof, and is located at the end closest to the inside of the excavator in the left-right movement path thereof.
As shown in fig. 6, in some embodiments, the cutting auxiliary assembly 3 includes a blade 31 and a cutting arm 32, and both the blade 31 and the cutting arm 32 are disposed on the walking assembly 1.
In some embodiments, the rear end of blade 31 is slidably disposed at the front end of track frame 11 along the up-down direction of the excavator, so that blade 31 can move up and down relative to track frame 11, and the front end of track frame 11 is hinged with a blade lift cylinder, and the end of blade lift cylinder far away from track frame 11 is hinged with blade 31, so that when blade lift cylinder extends and retracts, it can drive blade 31 to move synchronously, thereby realizing the up-down movement of blade 31 on track frame 11.
In some embodiments, the rear end of blade 31 is fixedly provided with a guide rail, and the front end of track frame 11 is provided with a sliding slot along the vertical direction of the excavator, and the guide rail is slidably arranged in the sliding slot, so as to realize the sliding arrangement of blade 31 on track frame 11.
It should be noted that, in the initial state, the blade lift cylinder is in the contracted state, that is, the blade 31 is at the lowest position in the up-and-down movement path thereof.
In some embodiments, a sliding bracket 33 is slidably disposed on the track frame 11 along the front-back direction of the excavator, the rear end of the cutting arm 32 is hinged to the sliding bracket 33, so that the cutting arm 32 can move back and forth relative to the track frame 11, and a cutting telescopic cylinder 34 is hinged to the track frame 11, and one end of the cutting telescopic cylinder 34, which is far away from the track frame 11, is hinged to the sliding bracket 33, so that when the cutting telescopic cylinder 34 is telescopic, it can drive the cutting arm 32 to move synchronously, thereby realizing the back and forth movement of the cutting arm 32 on the track frame 11.
Meanwhile, a cutting lifting oil cylinder is hinged to the sliding support 33, and one end, far away from the sliding support 33, of the cutting lifting oil cylinder is hinged to the cutting arm 32, so that when the cutting lifting oil cylinder stretches, the cutting lifting oil cylinder can drive the cutting arm 32 to rotate, and therefore the up-and-down movement of the front end of the cutting arm 32 on the sliding support 33 is achieved.
Therefore, the cutting arm 32 moves back and forth and up and down on the track frame 11 through the cutting telescopic cylinder 34 and the cutting lifting cylinder, so that the cutting drum can cut at different positions.
It should be noted that, in the initial state, the cutting telescopic cylinder 34 and the cutting lift cylinder are both in the retracted state, that is, the cutting drum is located at the last position in the forward and backward moving path and at the lowest position in the upward and downward moving path.
In some embodiments, the cutting assembly 4 includes a side stabilizer 41, a transport section 42, rake sections 43, and cutting drum sections 44, the transport section 42 and the side stabilizer 41 being disposed on the walking assembly 1, the rake sections 43 being disposed on the blade 31, and the cutting drum sections 44 being disposed on the cutting arm 32.
As shown in fig. 7, in some embodiments, the side stabilizing device 41 includes a supporting leg and a supporting leg lift cylinder, the supporting leg is slidably disposed at the rear end of the middle frame 12 along the vertical direction of the excavator so that the supporting leg can move up and down relative to the middle frame 12, and one end of the supporting leg lift cylinder is hinged to the middle frame 12 and the other end thereof is hinged to the supporting leg, so that when the supporting leg lift cylinder extends and retracts, it can drive the supporting leg to move synchronously, thereby realizing the up and down movement of the supporting leg on the middle frame 12, and the excavator can have higher stability during the excavation and anchoring operation through the side stabilizing device 41.
It should be noted that, in the initial state, the leg lift cylinder is in a contracted state, that is, the leg is at the highest position in the upper and lower moving paths.
In some embodiments, a sliding sleeve is fixedly disposed at the rear end of the intermediate frame 12, and the upper end of the leg is slidably inserted into the sliding sleeve, so as to achieve the sliding arrangement of the leg on the intermediate frame 12.
As shown in fig. 7, in some embodiments, the transport section 42 includes a body 421, a transport lift cylinder 422, a tail 423, a tail swing cylinder 424, a transport motor 425, a drive sprocket, a conveyor belt, and a plurality of driven sprockets.
The main body 421 is hinged on the middle frame 12, wherein the hinged shaft of the main body 421 is located on the left and right direction of the excavator so that the main body 421 can rotate relative to the middle frame 12, and one end of the transportation lifting cylinder 422 is hinged on the main body 421, and the other end is hinged on the middle frame 12, therefore, when the transportation lifting cylinder 422 extends and retracts, the transportation lifting cylinder can drive the main body 421 to rotate, thereby realizing the up-and-down movement of the front end and the rear end of the main body 421 on the middle frame 12.
The front end of the tail 423 is hinged to the rear end of the machine body 421, wherein a hinged shaft of the tail 423 is located in the vertical direction of a bearing surface of the machine body 421, so that the tail 423 can swing relative to the machine body 421, moreover, one end of the tail swing oil cylinder 424 is hinged to the machine body 421, and the other end of the tail swing oil cylinder is hinged to the tail 423, so that when the tail swing oil cylinder 424 stretches out and draws back, the tail swing oil cylinder can drive the tail 423 to rotate, and therefore the left and right swinging of the tail 423 on the machine body 421 is achieved.
The transportation motor 425 is fixedly arranged on the machine tail 423, the driving chain wheel is rotatably arranged on the machine tail 423, the wheel shaft of the driving chain wheel is positioned on the left and right directions of the excavator, and the output shaft of the transportation motor 425 is in transmission connection with the wheel shaft of the driving chain wheel, so that when the output shaft of the transportation motor 425 rotates, the driving chain wheel can be driven to rotate, and the rotation of the chain wheel on the machine tail 423 is realized.
The driven sprocket rotates and sets up on fuselage 421, and wherein, the shaft of driven sprocket is parallel with the shaft of drive sprocket, and the conveyer belt is connected with drive sprocket and driven sprocket transmission through scraping the scraper chain, from this, rotates through the output shaft of transportation motor 425, realizes the rotation of conveyer belt on fuselage 421 and tail 423.
Therefore, the transportation lifting oil cylinder 422, the tail swing oil cylinder 424 and the transportation motor 425 realize the up-and-down movement, the left-and-right swing and the transportation of the transportation part 42 on the middle frame 12, so that the cut coal can be output to the rear end of the driving and anchoring machine.
It should be noted that, in the initial state, the tail swing cylinder 424 is in a half-extended state, that is, the tail 423 is at the middle position in the rotation path thereof, and the transportation lift cylinder 422 is in a contracted state, that is, the front end of the body 421 is at the lowest position in the up-down movement path thereof.
As shown in fig. 1, in some embodiments, the claw portion 43 includes a claw rotatably disposed on the shovel plate 31 and a loading motor fixedly disposed on the shovel plate 31 and having an output shaft in transmission connection with a rotating shaft of the claw, so that when the output shaft of the loading motor rotates, the loading motor can drive the claw to rotate, thereby rotating the claw on the shovel plate 31 to ensure that the cut coal can enter the transportation portion 42.
As shown in fig. 6, in some embodiments, the cutting drum portion 44 includes a cutting drum and a cutting motor, the cutting drum is rotatably disposed at the front end of the cutting arm 32, the cutting motor is fixedly disposed at the front end of the cutting arm 32, and the output shaft of the cutting motor is in transmission connection with the rotating shaft of the cutting drum, so that when the output shaft of the cutting motor rotates, the cutting drum can be driven to rotate, thereby realizing the rotation of the cutting drum on the cutting arm 32 to ensure the cutting of the coal material.
In some embodiments, the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1 can be electrically connected through an interlocking circuit, and the interlocking circuit is electrically connected with the control system, so that the cutting operation, the anchoring operation and the walking operation of the excavator can be guaranteed to be not influenced mutually.
For example: when the cutting assembly 4 and the cutting auxiliary assembly 3 are actuated, neither the anchoring assembly 2 nor the walking assembly 1 can actuate, for example: during cutting operation, one or more of the shovel plate lifting cylinder, the cutting telescopic cylinder 34, the cutting lifting cylinder, the support lifting cylinder, the transportation lifting cylinder 422, the tail swing cylinder 424, the transportation motor 425, the loading motor and the cutting motor act, the platform lifting cylinder 201, the platform telescopic cylinder 212, the stable transverse moving cylinder, the upper stable cylinder 2033, the lower stable cylinder 2043, the flap 205 cylinder, the top anchor transverse moving cylinder 2061, the top anchor left-right swing cylinder 2, the top anchor front-back swing cylinder 2063, the top anchor propulsion cylinder 2065, the top anchor motor 2064, the first left-right swing cylinder 2071 of the side anchors, the side anchor telescopic cylinder 2, the side anchor lifting cylinder 2073, the second left-right swing cylinder 2074 of the side anchors, the side anchor propulsion cylinder 2076, the side anchor motor 2075 and the shovel plate lifting cylinder in the anchoring assembly 2 do not act, and the crawler chassis in the walking assembly 1 does not act;
when the anchoring assembly 2 is in action, the cutting assembly 4, the cutting auxiliary assembly 3 and the walking assembly 1 can not act, when in anchoring operation, the platform lifting cylinder 201, the platform telescopic cylinder 212, the stabilizing transverse cylinder, the upper stabilizing cylinder 2033, the lower stabilizing cylinder 2043, the flap 205 cylinder, the roof anchor transverse cylinder 2061, the roof anchor left-right swinging cylinder 2062, the roof anchor front-back swinging cylinder 2063, the roof anchor propelling cylinder 2065, the roof anchor motor 2064, the upper anchor first left-right swinging cylinder 2071, the upper anchor telescopic cylinder 2072, the upper anchor lifting cylinder 2073, the upper anchor second left-right swinging cylinder 2074, the upper anchor propelling cylinder 2076, the upper anchor motor 5 and the blade lifting cylinder can not act, the blade lifting cylinder, the cutting telescopic cylinder 34 and the cutting lifting cylinder in the cutting auxiliary assembly 3 can not act, the supporting leg lifting cylinder, the transportation lifting cylinder 422, the tail swinging cylinder 424 and the cutting lifting cylinder 422 in the cutting assembly 4 can not act, The transport motor 425, the loading motor and the cutting motor can not act, and the crawler chassis in the walking assembly 1 can not act;
when the walking assembly 1 is in motion, the cutting assembly 4 and the anchoring assembly 2 can not move, when the walking assembly 1 is in walking operation, the crawler chassis moves, the supporting leg lifting cylinder, the transportation lifting cylinder 422, the tail swing cylinder 424, the transportation motor 425, the loading motor and the cutting motor in the cutting assembly 4 can not move, the platform lifting cylinder 201, the platform telescopic cylinder 212, the stable transverse moving cylinder, the upper stable cylinder 2033, the lower stable cylinder 2043, the flap 205 cylinder, the top anchor transverse moving cylinder 2061, the top anchor left and right swing cylinder 2062, the top anchor front and back swing cylinder 2063, the top anchor thrust cylinder 2065, the top anchor motor 2064, the first left and right swing cylinder 1 of the side anchor, the side anchor telescopic cylinder 2072, the side anchor lifting cylinder 2073, the second left and right swing cylinder 2074 of the side anchor, the side anchor thrust cylinder 2076, the side anchor motor 2075 and the shovel plate lifting cylinder in the cutting auxiliary assembly 3 can not move, and simultaneously, the shovel plate lifting cylinder, the cutting assembly 3, the transportation lifting cylinder, the transportation cylinder, The cutting telescopic cylinder 34 and the cutting lifting cylinder can act.
Therefore, the tunneling and anchoring machine is prevented from being influenced during cutting operation, anchoring operation and walking operation independently, stable action of each part of the tunneling and anchoring machine is guaranteed, and safety of the tunneling and anchoring machine is improved.
According to the tunneling and anchoring machine, the embodiment of the application provides a debugging method of the tunneling and anchoring machine, which comprises the following steps:
s1: and resetting the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1 of the tunneling and anchoring machine so that the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1 are in an initial state, thereby ensuring the accurate debugging of the tunneling and anchoring machine.
In some embodiments, the electrical components in the cutting assembly 4, the cutting assistance assembly 3, the anchoring assembly 2 and the walking assembly 1 are controlled by the control system to bring the components to an initial state.
S2: the tunneling and anchoring machine is switched to be in a cutting mode, the actions of the cutting assembly 4 and the cutting auxiliary assembly 3 are detected, and the anchoring assembly 2 and the walking assembly 1 cannot act, so that cutting operation can be safely and reliably carried out when the tunneling and anchoring machine is actually operated, and the anchoring assembly 2 and the walking assembly 1 are prevented from being influenced.
In some embodiments, detecting the actions of the cutting assembly 4 and the cutting assistance assembly 3 comprises the steps of:
s201: the side stabilizing device 41 extends, namely, the leg lifting oil cylinder is controlled to extend, so that the legs descend, whether the extending action of the side stabilizing device 41 is normal or not is detected, and the side stabilizing device 41 can play a role in stabilizing and supporting during the actual operation of the excavator.
S202: the cutting arm 32 is lifted to the highest point, namely the cutting lifting oil cylinder is controlled to extend out, so that the cutting arm 32 is lifted, whether the lifting action of the cutting arm 32 is normal or not is detected, and the cutting arm 32 is ensured to lift the cutting drum during the actual operation of the anchor driving machine.
S203: the transportation part 42 acts, namely, the transportation motor 425 is controlled to rotate the conveying belt, so that whether the transportation action of the transportation part 42 is normal or not is detected, the transportation part 42 can be ensured to play a transportation role in the actual operation of the excavator, meanwhile, the transportation lifting oil cylinder 422 and the tail swing oil cylinder 424 are controlled to stretch and retract, the transportation part 42 is integrally lifted and swings, the tail 423 of the transportation part 42 is swung, whether the adjustment action of the transportation part 42 is normal or not is detected, and the transportation part 42 can meet the coal conveying requirements of different positions and different angles.
S204: the harrow claw part 43 acts, namely the loading motor is controlled to rotate, so that the harrow claw rotates, whether the material shifting action of the harrow claw part 43 is normal or not is detected, and the harrow claw part 43 can play a role in material shifting during the actual operation of the excavator.
S205: the cutting drum part 44 acts, namely, the cutting motor is controlled to rotate, so that the cutting drum rotates, whether the cutting action of the cutting drum part 44 is normal or not is detected, and the cutting drum part 44 can play a role of cutting coal materials when the excavator is actually operated.
S206: the cutting arm 32 is lowered, namely, the cutting lifting oil cylinder is controlled to retract, so that the cutting arm 32 is lowered, whether the lowering action of the cutting arm 32 is normal or not is detected, and the cutting arm 32 is ensured to be capable of lowering the cutting drum during the actual operation of the excavator.
Therefore, the cooperation of the steps S202 to S206 enables the excavator to safely and reliably cut the coal material from top to bottom in sequence during actual operation, and the cut coal material can be conveyed out towards the rear end of the excavator.
S207: the cutting arm 32 is lifted to the highest point, that is, the cutting lifting oil cylinder is controlled to extend out, so that the cutting arm 32 is lifted.
S208: the cutting arm 32 moves forwards, namely the cutting telescopic oil cylinder 34 is controlled to extend, so that the cutting arm 32 moves forwards, whether the movement action of the cutting arm 32 in the forward direction is normal or not is detected, and the cutting arm 32 can ensure that the cutting drum can be extended forwards when the excavator works actually.
S209: the cutting arm 32 is lowered, that is, the cutting lift cylinder is controlled to retract, so that the cutting arm 32 is lowered.
S210: the cutting drum part 44 stops moving, namely the cutting motor is controlled to stop rotating, so that the cutting drum stops rotating, whether the stopping movement of the cutting drum part 44 is normal or not is detected, and the cutting drum part 44 can be normally closed during the actual operation of the excavator.
S211: the harrow jaw part 43 stops acting, namely the loading motor is controlled to stop rotating so as to stop rotating the harrow jaw; the transportation unit 42 stops, i.e., controls the transportation motor 425 to stop rotating, so as to stop the transportation belt. Therefore, whether the stopping action of the harrow claw part 43 and the transportation part 42 is normal or not is detected, and the harrow claw part 43 and the transportation part 42 can be normally closed during the actual operation of the excavator.
S212: the cutting arm 32 is lifted, that is, the cutting lift cylinder is controlled to extend, so that the cutting arm 32 is lifted.
S213: the cutting arm 32 moves backwards, namely the cutting telescopic oil cylinder 34 is controlled to contract, so that the cutting arm 32 moves backwards, whether the movement of the cutting arm 32 in the backward direction is normal or not is detected, and the cutting arm 32 can retract the cutting drum backwards during the actual operation of the excavator;
therefore, through the matching of the steps 207 to 2013, the excavator can safely and reliably cut coal materials from top to bottom and can also cut the coal materials from back to front in sequence during actual operation.
S214: the cutting arm 32 resets, controls cutting lift cylinder to shrink promptly, makes the cutting arm 32 reduce, and until the cutting drum butt subaerial, the cutting arm 32 resets the back, can reduce the pressure that walking subassembly 1 bore, prolongs walking subassembly 1's life.
S215: the side stabilizing device 41 is reset, namely the supporting leg lifting cylinder is controlled to contract, so that the supporting leg is lifted, whether the contraction action of the side stabilizing device 41 is normal or not is detected, and the side stabilizing device 41 can be ensured to be normally contracted into the excavator during the actual operation of the excavator.
It should be noted that, in the steps S201 to S215, it should be detected whether the anchoring assembly 2 and the walking assembly 1 are inoperable to ensure the safety of the cutting operation of the excavator, and other components in the cutting assembly 4 should be detected one by one.
S3: the tunneling and anchoring machine is switched to be in an anchoring mode, the action of the anchoring assembly 2 is detected, and the cutting assembly 4, the cutting auxiliary assembly 3 and the walking assembly 1 cannot act, so that the safe and reliable anchoring operation can be guaranteed during the actual operation of the tunneling and anchoring machine, and the cutting assembly 4, the cutting auxiliary assembly 3 and the walking assembly 1 are prevented from being influenced.
In some embodiments, based on different conditions of the tunnel roof during actual operation of the driving and anchoring machine, when the roof condition is poor, anchoring operation needs to be performed after tunneling for a short distance to avoid collapse of the roof, and when the roof condition is good, anchoring operation can be performed after tunneling for a long distance, so that the actions of the anchoring assembly 2 need to be detected under the following three working conditions.
The action of detecting the anchoring assembly 2 comprises the following steps:
s31: detecting a first operating condition, wherein detecting the first operating condition comprises:
s311: the operation platform 202 moves forwards, that is, the platform telescopic oil cylinder 212 is controlled to extend out, so that the operation platform 202 moves forwards, whether the forward movement action of the operation platform 202 is normal is detected, and the operation platform 202 can drive the top anchor part 206, the upper stabilizing device 203 and other components to move forwards in the actual operation of the excavator.
Furthermore, the distance that the operation platform 202 moves forward is less than 450mm, which is suitable for the anchoring operation of the excavator in the case of poor roadway roof conditions.
In some embodiments, detecting the first operating condition further comprises:
s312: the height of the operating platform 202 is adjusted, that is, the platform lifting cylinder 201 is controlled to lift the operating platform 202, so that whether the lifting action of the operating platform 202 is normal is detected, and the operating platform 202 can drive the top anchor part 206, the upper stabilizing device 203 and other parts to move upwards in the actual operation of the excavator.
Moreover, the height of the operation platform 202 is not less than 340mm, that is, the height of the operation platform 202 is not less than 340mm when being lifted, so as to avoid collision between the top anchor part 206 and other parts on the excavator and the like on the operation platform 202.
S313: the upper stabilizing device 203 extends out, namely the upper stabilizing oil cylinder 2033 is controlled to enable the backing plate 2032 to move upwards, so that whether the upward movement action of the top plate is normal or not is detected, and the backing plate 2032 can be ensured to stably support the operating platform 202 during the actual operation of the excavator; the turning plate 205 is extended, namely, the oil cylinder of the turning plate 205 is controlled to extend, so that the turning plate 205 is extended, whether the extending action of the turning plate 205 is normal is detected, and the turning plate 205 is ensured to provide a stable standing platform for an operator during the actual operation of the excavator.
Moreover, the lower stabilizing device 204 cannot extend, i.e., the lower stabilizing cylinder 2043 cannot operate, so as to prevent the pressing block 2044 from colliding with other components on the excavator.
S314: the top anchor part 206 acts, namely, the top anchor thrust cylinder 2065 is controlled to extend out, so that the top anchor drill rod 2066 moves upwards, whether the extending action of the top anchor drill rod 2066 is normal or not is detected, and the top anchor drill rod 2066 can be used for top plate drilling during the actual operation of the excavator; the top anchor transverse moving oil cylinder 2061, the top anchor left-right swinging oil cylinder 2062 and the top anchor front-back swinging oil cylinder 2063 are controlled to stretch and retract so that the top anchor drill rod 2066 moves left and right, left and right and front-back, and therefore whether the adjustment action of the top anchor drill rod 2066 is normal or not is detected, and the drilling angle and the drilling position of the top anchor drill rod 2066 can be adjusted during the actual operation of the excavator; the rotation of the top anchor motor 2064 is controlled to rotate the top anchor drill rod 2066, so that whether the drilling action of the top anchor drill rod 2066 is normal or not is detected, and the top anchor drill rod 2066 can be used for top plate drilling during the actual operation of the excavator.
The anchor part 207 is controlled to extend, namely the anchor telescopic oil cylinder 2072 is controlled to extend, so that the anchor drill rod 2077 moves forwards, whether the extension action of the anchor drill rod 2077 is normal or not is detected, and the anchor drill rod 2077 can be drilled on the side surface during the actual operation of the excavator; controlling the anchor lifting cylinder 2073 to extend out, so that whether the lifting action of the anchor rod 2077 is normal or not is ensured, and the position of the anchor rod 2077 can be adjusted during the actual operation of the excavator; controlling the anchor pushing cylinder 2076 to extend the anchor rod 2077 to the outside of the excavator in the left-right direction, so as to detect whether the outward extension action of the anchor rod 2077 is normal or not and ensure that the anchor rod 2077 can be drilled on the side surface during actual operation; the first left-right swinging oil cylinder 2071 and the second left-right swinging oil cylinder 2074 of the upper anchor are controlled to stretch and retract so as to enable the upper anchor drill rod 2077 to swing left and right, so that whether the swinging action of the upper anchor drill rod 2077 is normal or not is detected, and the angle of the upper anchor drill rod 2077 can be adjusted during the actual action of the excavator; the anchor motor 2075 is controlled to rotate the anchor rod 2077, so as to detect whether the drilling action of the anchor rod 2077 is normal or not, and ensure that the anchor rod 2077 can perform lateral drilling during the actual operation of the excavator.
S315: the top anchor part 206 and the upper anchor part 207 are reset, that is, the top anchor propulsion cylinder 2065, the upper anchor telescopic cylinder 2072, the upper anchor lifting cylinder 2073 and the upper anchor propulsion cylinder 2076 are controlled to contract, and the top anchor motor 2064 and the upper anchor motor 2075 are controlled to stop.
Thus, the mating of steps S314 to S315 enables the anchor driving machine to perform the anchor pushing work and the anchor assisting work safely and reliably during the actual work.
S316: the upper stabilizing device 203 is reset, namely the upper stabilizing oil cylinder 2033 is controlled to enable the backing plate 2032 to move downwards, so that whether the downward movement action of the top plate is normal or not is detected, and the backing plate 2032 can be retracted into the excavator during the actual operation of the excavator; the turning plate 205 is reset, namely, the oil cylinder of the turning plate 205 is controlled to contract so as to contract the turning plate 205, so that whether the contraction action of the turning plate 205 is normal or not is detected, and the turning plate 205 is ensured to be contracted to a vertical state during the actual operation of the excavator.
Thus, the combination of step S313 and step S316 enables the excavator to be supported stably in a safe and reliable manner during actual work.
S317: the operation platform 202 is reset, namely the platform telescopic oil cylinder 212 is controlled to contract to enable the operation platform 202 to move backwards, so that whether the backward movement action of the operation platform 202 is normal is detected, and the operation platform 202 can drive the top anchor part 206, the upper stabilizing device 203 and other components to move backwards in the actual operation of the excavator; the platform lifting cylinder 201 is controlled to enable the operating platform 202 to be lowered, so that whether the lowering action of the operating platform 202 is normal or not is detected, and the operating platform 202 is guaranteed to be capable of driving the top anchor part 206, the upper stabilizing device 203 and other components to move downwards in the actual operation of the excavator.
Thus, the adjustment of the bolting position can be performed safely and reliably by the combination of the step S311, the step S312 and the step S317 at the time of the actual operation of the excavator.
S32: detecting a second operating condition, the detecting the second operating condition comprising:
s321: the operation platform 202 moves forwards and moves by 450mm-1350mm, which is suitable for the anchoring operation of the excavator under the condition of the roadway roof.
In some embodiments, detecting the second operating condition further comprises:
s322: the height of the operating platform 202 is adjusted, and the height of the operating platform 202 is not less than 340 mm.
S323: the upper stabilizing device 203 extends, the turning plate 205 extends, and the lower stabilizing device 204 extends, that is, the lower stabilizing cylinder 2043 is controlled to extend, so that the pressing block 2044 is lowered, whether the lowering action of the pressing block 2044 is normal or not is detected, and the pressing block 2044 can stably support the operating platform 202 during the actual operation of the excavator.
Also the lower stabilizing device 204 abuts the cutting assistance assembly 3, in some embodiments the lower stabilizing device 204 abuts the cutting arm 32 to ensure stable support of the lower stabilizing device 204 to the operating platform 202.
S324: the top anchor portion 206 and the upper anchor portion 207 operate.
S325: the top anchor portion 206 and the upper anchor portion 207 are repositioned.
S326: the upper stabilizing device 203 is reset, the turning plate 205 is reset, and the lower stabilizing device 204 is reset, namely, the lower stabilizing oil cylinder 2043 is controlled to shrink so as to lift the pressing block 2044, so that whether the lifting action of the pressing block 2044 is normal or not is detected, and the pressing block 2044 can be guaranteed to shrink in the anchor driving machine during the actual operation of the anchor driving machine.
Thus, the combination of step S323 and step S326 enables the excavator to be stably supported safely and reliably during actual work.
S327: the operating platform 202 is reset.
It should be noted that the principle and the function of the step S32 repeated with the step S31 are the same, and are not repeated herein.
S33: detecting a third operating condition, the detecting the third operating condition comprising:
s331: the operation platform 202 moves forward by a distance larger than 1350mm, and the distance is suitable for the anchoring operation of the excavator under the condition of a roadway roof.
In some embodiments, detecting the third operating condition further comprises:
s332: the height of the operation platform 202 is adjusted, and the operation platform 202 moves far, so that the components such as the top anchor part 206 on the operation platform 202 and other components on the excavator cannot collide with each other, and therefore the height of the operation platform 202 is not limited and can be freely moved up and down.
S333: the upper stabilizer 203 is extended, the lower stabilizer 204 is extended, the flap 205 is extended, and the lower stabilizer 204 abuts the cutting arm 32.
S334: the top anchor portion 206 and the upper anchor portion 207 operate.
S335: the top anchor portion 206 and the upper anchor portion 207 are repositioned.
S336: the upper stabilizing device 203 resets, the lower stabilizing device 204 resets, and the flap 205 resets.
S337: the operating platform 202 is reset.
It should be noted that the principle and the function of the step S33 repeated with the step S32 are the same, and are not repeated herein.
Meanwhile, in the steps S31 to S33, it should be detected whether the cutting assembly 4, the cutting auxiliary assembly 3 and the walking assembly 1 are disabled to ensure the safety of the driving and anchoring machine during the anchoring operation, and other components in the anchoring assembly 2 should be detected one by one.
S4: the tunneling and anchoring machine is switched to be in a walking mode, the action of the walking assembly 1 is detected, and the cutting assembly 4 and the anchoring assembly 2 cannot act, so that the walking operation can be safely and reliably carried out during the actual operation of the tunneling and anchoring machine, and the influence of the cutting assembly 4 and the anchoring assembly 2 is avoided.
In some embodiments, detecting the action of the walking assembly 1 comprises the steps of:
s41: the cutting arm 32 is raised.
S42: shovel plate 31 is lifted, that is, the extension of a shovel plate lift cylinder is controlled to lift shovel plate 31, so that whether the lifting action of shovel plate 31 is normal or not is detected, and it is ensured that shovel plate 31 can be lifted and adjusted during the actual operation of the excavator.
Thereby, the cutting arm 32 and the shovel plate 31 are separated from the ground, and the walking of the crawler chassis is facilitated.
S43: the crawler chassis acts, namely the crawler chassis is controlled to move so as to walk the tunneling and anchoring machine;
s44: stopping the crawler chassis;
s45: resetting shovel plate 31, i.e. controlling the shovel plate lifting cylinder to retract so as to lower shovel plate 31, thereby detecting whether the lowering action of shovel plate 31 is normal or not and ensuring that shovel plate 31 can be lowered and adjusted during the actual operation of the excavator;
s46: the cutting arm 32 is reset.
Thus, the walking operation of the excavator can be safely and reliably performed during the actual operation by the cooperation of the steps S41 to S46.
It should be noted that, in the description of the present application, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. A debugging method of an anchor driving machine is characterized by comprising the following steps:
resetting a cutting assembly, a cutting auxiliary assembly, an anchoring assembly and a walking assembly of the tunneling and anchoring machine;
switching the tunneling and anchoring machine to be in a cutting mode, detecting the actions of the cutting assembly and the cutting auxiliary assembly, and enabling the anchoring assembly and the walking assembly not to act;
switching the tunneling and anchoring machine to be in an anchoring mode, detecting the action of the anchoring assembly, and enabling the cutting assembly, the cutting auxiliary assembly and the walking assembly not to act;
switching the tunneling and anchoring machine to be in a walking mode, detecting the action of the walking assembly, and enabling the cutting assembly and the anchoring assembly not to act;
wherein the anchor assembly comprises an operating platform, the act of detecting the anchor assembly comprises:
detecting a first operating condition, the detecting the first operating condition comprising: the operating platform moves forwards, and the moving distance is less than 450 mm;
detecting a second operating condition, the detecting the second operating condition comprising: the operating platform moves forwards, and the moving distance is 450mm-1350 mm;
detecting a third operating condition, the detecting the third operating condition comprising: the operation platform moves forwards, and the moving distance is larger than 1350 mm.
2. The method of commissioning an anchor driving machine of claim 1, wherein said anchoring assembly further comprises an upper stabilizing device, a lower stabilizing device, a flap, a top anchor portion and a top anchor portion, said upper stabilizing device, lower stabilizing device, flap, top anchor portion and top anchor portion all being disposed on said operating platform.
3. The method of commissioning an excavator of claim 2 wherein said detecting a first condition further comprises:
the height of the operating platform is adjusted, and the height of the operating platform is not less than 340 mm;
the upper stabilizing device extends out, the turning plate extends out, and the lower stabilizing device cannot extend out;
the top anchor part and the upper anchor part act;
the top anchor part and the upper anchor part are reset;
the upper stabilizing device resets, and the turning plate resets;
and resetting the operating platform.
4. The method of commissioning an excavator of claim 2 wherein said detecting a second condition further comprises:
the height of the operating platform is adjusted, and the height of the operating platform is not less than 340 mm;
the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is abutted against the cutting auxiliary assembly;
the top anchor part and the upper anchor part act;
the top anchor part and the upper anchor part are reset;
the upper stabilizing device resets, the lower stabilizing device resets, and the turnover plate resets;
and resetting the operating platform.
5. The method of commissioning an excavator of claim 2 wherein said detecting a third condition further comprises:
adjusting the height of the operating platform;
the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is abutted against the cutting arm;
the top anchor part and the upper anchor part act;
the top anchor part and the upper anchor part are reset;
the upper stabilizing device resets, the lower stabilizing device resets, and the turnover plate resets;
and resetting the operating platform.
6. The method of adjusting an excavator according to claim 1 wherein the cutting assist assembly comprises a blade and a cutting arm, the blade and the cutting arm being disposed on the traveling assembly.
7. The method of commissioning an excavator according to claim 6 wherein said cutting assembly comprises a side stabilizing means, a transport portion, a rake claw portion and a cutting drum portion, said transport portion and said side stabilizing means each being provided on a walking assembly, said rake claw portion being provided on said blade, said cutting drum portion being provided on said cutting arm.
8. The method of commissioning a machine according to claim 7, wherein said act of detecting said cutting assembly and said cutting assist assembly comprises:
the side stabilizing device extends out;
the cutting arm is lifted to the highest point;
the transportation part acts;
the rake claw part acts;
the cutting drum part acts;
the cutting arm is lowered;
the cutting arm is lifted to the highest point;
the cutting arm moves forwards;
the cutting arm is lowered;
the cutting drum part stops acting;
the claw part stops operating, and the transportation part stops operating;
the cutting arm is lifted;
the cutting arm moves backwards;
the cutting arm is reset;
the side stabilizing device is reset.
9. The method of commissioning an excavator according to claim 1 wherein said travel assembly comprises a track frame and a track chassis, said track frame being disposed on said track chassis.
10. The method of commissioning a machine of claim 9, wherein said act of detecting said walking assembly comprises:
the cutting arm is lifted;
the shovel plate is lifted;
the crawler chassis acts;
the crawler chassis stops acting;
resetting the shovel plate;
the cutting arm is reset.
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