CN114109425B - Debugging method of anchor digging machine - Google Patents

Debugging method of anchor digging machine Download PDF

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Publication number
CN114109425B
CN114109425B CN202111315921.3A CN202111315921A CN114109425B CN 114109425 B CN114109425 B CN 114109425B CN 202111315921 A CN202111315921 A CN 202111315921A CN 114109425 B CN114109425 B CN 114109425B
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CN
China
Prior art keywords
anchor
cutting
assembly
cylinder
anchoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111315921.3A
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Chinese (zh)
Other versions
CN114109425A (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
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
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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Publication date
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
Application granted granted Critical
Publication of CN114109425B publication Critical patent/CN114109425B/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1086—Drives or transmissions specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D20/00—Setting anchoring-bolts
    • E21D20/003—Machines for drilling anchor holes and setting anchor bolts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
    • E21D9/126—Loading devices or installations

Abstract

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

Description

Debugging method of anchor digging machine
Technical Field
The application relates to the technical field of digging and anchoring machines, in particular to a debugging method of a digging and anchoring machine.
Background
The tunneling and anchoring machine is a tunneling device capable of realizing tunneling and anchoring, and in order to avoid misoperation, the tunneling and anchoring machine is required to be electrified and debugged before delivery so as to detect whether a cutting assembly, an anchoring assembly and a traveling assembly in the tunneling and anchoring machine are interlocked or not, and whether all the parts act normally or not, so that the delivery quality of the tunneling and anchoring machine is ensured, but the tunneling and anchoring machine cannot be comprehensively detected by the original debugging method along with continuous improvement and upgrading of the tunneling and anchoring machine, the application degree is poor, and the tunneling and anchoring machine is easy to cause problems during operation.
Disclosure of Invention
The present application aims to solve, at least to some extent, one of the technical problems in the related art.
Therefore, the purpose of the application is to provide a debugging method of an excavating and anchoring machine.
In order to achieve the above purpose, the method for debugging the anchor driving machine provided by the present application includes: resetting a cutting assembly, a cutting auxiliary assembly, an anchoring assembly and a walking assembly of the digging and anchoring machine; switching the tunneling and anchoring machine into a cutting mode, detecting the actions of the cutting assembly and the cutting auxiliary assembly, wherein the anchoring assembly and the walking assembly cannot act; switching the tunneling and anchoring machine into an anchoring mode, detecting the action of the anchoring assembly, and preventing the cutting assembly, the cutting auxiliary assembly and the walking assembly from acting; switching the tunneling and anchoring machine to a walking mode, detecting the action of the walking assembly, and preventing the cutting assembly and the anchoring assembly from acting; wherein the anchor assembly includes an operating platform, and the act of detecting the anchor assembly includes: detecting a first operating condition, the detecting the first operating condition comprising: the operation platform moves forwards, and the moving distance is less than 450mm; detecting a second operating condition, the detecting the second operating condition comprising: the operation platform moves forwards, and the moving distance is 450mm-1350mm; detecting a third operating condition, the detecting the third operating condition comprising: the operation platform moves forward, and the moving distance is more than 1350mm.
The anchoring assembly further comprises an upper stabilizing device, a lower stabilizing device, a turning plate, a top anchoring portion and an upper anchoring portion, wherein the upper stabilizing device, the lower stabilizing device, the turning plate, the top anchoring portion and the upper anchoring portion are all arranged on the operation platform.
The detecting the first working condition further includes: the height of the operation platform is adjusted, and the height of the operation platform is not less than 340mm; 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 is reset, and the turning plate is reset; and resetting the operation platform.
The detecting the second operating condition further includes: the height of the operation platform is adjusted, and the height of the operation platform is not less than 340mm; the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is in abutting connection with 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 is reset, the lower stabilizing device is reset, and the turning plate is reset; and resetting the operation platform.
The detecting the third operating condition further includes: the height of the operation platform is adjusted; the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is in abutting connection with 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 is reset, the lower stabilizing device is reset, and the turning plate is reset; and resetting the operation platform.
The auxiliary cutting 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 harrow claw part and a cutting roller part, wherein the conveying part and the side stabilizing device are arranged on the walking assembly, the harrow claw part is arranged on the shovel plate, and the cutting roller part is arranged on the cutting arm.
The act of detecting the cutting assembly and the cutting assistance assembly includes: the side stabilizing device extends out; the cutting arm is lifted to the highest point; the transport part acts; the 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 forward; the cutting arm is lowered; the cutting drum part stops acting; the claw part stops acting, and the conveying part stops acting; the cutting arm is lifted; the cutting arm moves backwards; resetting the cutting arm; the side stabilizing apparatus 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 includes: the cutting arm is lifted; the shovel plate is lifted; the crawler chassis acts; the crawler chassis stops acting; the shovel plate is reset; the cutting arm is reset.
After adopting above-mentioned technical scheme, this application compares the advantage that has with prior art and is:
the interlocking detection among the cutting assembly, the cutting auxiliary assembly, the anchoring assembly and the traveling assembly is adopted, so that the problem of mutual interference during the operation of the anchor digger is avoided, the operation efficiency of the anchor digger is improved, and the safety operation of the anchor digger 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 capacity of the tunneling and anchoring machine is effectively improved, and the safety operation of the tunneling and anchoring machine is ensured.
Additional aspects and advantages of the 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 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, in which:
FIG. 1 is a schematic diagram of an anchor machine according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a construction of a travel assembly of an anchor machine according to one embodiment of the present disclosure;
FIG. 3 is a schematic view of an anchor assembly in an excavator according to one embodiment of the present disclosure;
FIG. 4 is a schematic view of a structure of an anchor head of an anchor machine according to an embodiment of the present disclosure;
FIG. 5 is a schematic view of a structure of an anchor portion of an anchor machine according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of a cutting assistance assembly of an anchor mining machine according to an embodiment of the present disclosure;
FIG. 7 is a schematic view of a structure of a transport portion of an anchor machine according to an embodiment of the present disclosure;
as shown in the figure:
1. the walking assembly, 11, the crawler frame, 12 and the middle frame;
2. an anchor assembly 201, a platform lift cylinder 202, an operating platform 203, an upper stabilizing device 2031, a stable traversing seat 2032, a backing plate 2033, an upper stabilizing cylinder 204, a lower stabilizing device 2041, an outer cylinder 2042, an inner cylinder 2043, a lower stabilizing cylinder 2044, a briquetting 205, a flap 206, a top anchor portion 2061, a top anchor traversing cylinder 2062, a top anchor left and right swing cylinder 2063, a top anchor back and forth swing cylinder 2064, a top anchor motor 2065, a top anchor pushing cylinder 2066, a top anchor drill pipe 207, a top anchor portion 2071, a top anchor first left and right swing cylinder 2072, an anchor telescoping cylinder 2073, a top anchor lift cylinder 2074, a top anchor second left and right swing cylinder 2075, a top anchor motor 2076, a top anchor pushing cylinder 2077, a top anchor drill pipe 208, a first link, a top anchor portion 209, a second link 210, a lower base 211, an upper base 212, a platform telescoping cylinder;
3. The cutting auxiliary assembly 31, the shovel plate 32, the cutting arm 33, the sliding bracket 34 and the cutting telescopic oil cylinder;
4. the cutting assembly, 41, side stabilizing device, 42, transportation portion, 421, fuselage, 422, transportation lift cylinder, 423, tail, 424, tail swing cylinder, 425, transportation motor, 43, harrow portion, 44, cutting drum portion.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring 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 present application include all alternatives, modifications, and equivalents as may be included within the spirit and scope of the appended claims.
As shown in fig. 1, an embodiment of the present application proposes an anchor-digger, which includes a cutting assembly 4, a cutting auxiliary assembly 3, an anchor assembly 2, and a traveling assembly 1.
In some embodiments, a control system is arranged on the anchor digger, and the control system is electrically connected with the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1, and controls the actions of the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the walking assembly 1 through the control system.
As shown in fig. 2, in some embodiments, the walking assembly 1 includes a track frame 11 and a track chassis, and the track frame 11 is disposed on the track chassis, through which walking of the walking assembly 1 is achieved.
In some embodiments, the track frame 11 is fixedly disposed on a carrier platform of the track chassis, and a center frame 12 is fixedly disposed at a rear end of the track frame 11.
As shown in fig. 3, in some embodiments, the anchor assembly 2 includes an operating platform 202, an upper stabilization device 203, a lower stabilization device 204, a flap 205, a roof anchor 206, and a wall anchor 207, the upper stabilization device 203, the lower stabilization device 204, the flap 205, the roof anchor 206, and the wall anchor 207 are all disposed on the operating platform 202.
In some embodiments, the front end of the track frame 11 is fixedly provided with a lower base 210, an upper base 211 is provided on the lower base 210, a first connecting rod 208 and a second connecting rod 209 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, the lower base 210 is hinged with a platform lifting cylinder 201, one end, far away from the lower base 210, of the platform lifting cylinder 201 is hinged with a first connecting rod 208, and hinge shafts of the platform lifting cylinder 201, the first connecting rod 208 and a second connecting rod 209 are all located in the left-right direction of the anchor digger, so that when the platform lifting cylinder 201 stretches and contracts, the first connecting rod 208 and the second connecting rod 209 can be driven to synchronously rotate, and the upper base 211 moves up and down relative to the lower base 210.
Meanwhile, the operation platform 202 is slidably disposed on the upper base 211 in the front-rear direction of the anchor machine so that the operation platform 202 can move back and forth with respect to the upper base 211, and in some embodiments, a chute is fixedly disposed on the upper base 211 in the front-rear direction of the anchor machine, and a guide rail is fixedly disposed at the bottom of the operation platform 202 and slidably disposed in the chute, whereby the sliding disposition of the operation platform 202 on the upper base 211 is achieved.
Moreover, a platform telescopic cylinder 212 is hinged on the lower base 210, one end, far away from the lower base 210, of the platform telescopic cylinder 212 is hinged with the operation platform 202, and a hinge shaft of the platform telescopic cylinder 212 is positioned in the left-right direction of the tunneling and anchoring machine, so that when the platform telescopic cylinder 212 stretches and contracts, the operation platform 202 can be driven to synchronously move, and the operation platform 202 can move forwards and backwards relative to the upper base 211.
Thus, the platform lifting cylinder 201 and the platform telescopic cylinder 212 are matched to realize the forward and backward movement and the up and down movement of the operation platform 202 on the anchor driving machine.
In the initial state, the platform lift cylinder 201 and the platform telescopic cylinder 212 are both in the contracted state, i.e., the operation platform 202 is at the lowest position in the up-down movement path and at the last position in the forward-backward movement path.
As shown in fig. 3, in some embodiments, the upper stabilization device 203 includes a stabilizing traversing seat 2031, a stabilizing traversing block, a stabilizing traversing cylinder, a cross beam, a backing plate 2032, and an upper stabilizing cylinder 2033.
The stable traversing seat 2031 is fixedly arranged on the operation platform 202, and the stable traversing block is arranged on the stable traversing seat 2031 in a sliding manner along the left-right direction of the tunneling and anchoring machine, so that the stable traversing block can move left and right on the stable traversing seat 2031, one end of the stable traversing cylinder is hinged with the stable traversing seat 2031, and the other end of the stable traversing cylinder is hinged with the stable traversing block, so that the stable traversing block can be driven to synchronously move when the stable traversing cylinder stretches and stretches, and the left-right movement of the stable traversing block on the operation platform 202 is realized.
In some embodiments, a sliding groove is disposed on the stable traversing seat 2031 along the left-right direction of the anchor driving machine, and the stable traversing block is slidably disposed in the sliding groove, so as to realize the sliding arrangement of the stable traversing block on the stable traversing seat 2031.
The crossbeam slides along the vertical direction of tunneling and anchoring machine and sets up on stable sideslip piece, and backing plate 2032 is fixed to be set up in the upper end of crossbeam, from this, makes backing plate 2032 can reciprocate on operation platform 202, and the one end of going up stable hydro-cylinder 2033 is fixed to be set up on stable sideslip piece, and its other end and crossbeam fixed connection, from this, and when the flexible of going up stable hydro-cylinder 2033, it can drive the crossbeam and remove to make backing plate 2032 carry out the flexible action from top to bottom along with the crossbeam, backing plate 2032 pushes up when tightly on the tunnel roof, can realize the upper stable support of operation platform 202.
In some embodiments, the two ends of the cross beam are hinged with sliding columns, the sliding cylinders are fixedly arranged on the stable transverse moving blocks, and the sliding columns are arranged in the sliding cylinders in a sliding manner, so that the cross beam is arranged on the transverse moving blocks in a sliding manner through the cooperation of the sliding columns and the sliding cylinders.
Therefore, through the cooperation of the stable transverse moving oil cylinder and the upper stable oil cylinder 2033, the left-right movement and the up-down movement of the backing plate 2032 on the operation platform 202 are realized, so that the upper stabilizing device 203 can adapt to different roof structures in a roadway, and the upper stable support of the operation platform 202 is ensured.
In the initial state, the stabilizer and traversing cylinder is in a semi-extended state, i.e., the pad 2032 is at a middle position in the left and right movement path, and the upper stabilizer cylinder 2033 is in a contracted state, i.e., the pad 2032 is at the highest position in the up and down movement path.
As shown in FIG. 3, in some embodiments, the lower stabilization device 204 includes an outer barrel 2041, an inner barrel 2042, a lower stabilization cylinder 2043, and a compact 2044.
The outer cylinder 2041 is fixedly arranged on a stable transverse moving block, the inner cylinder 2042 is arranged in the outer cylinder 2041 in a sliding manner along the up-down direction of the anchor driving machine, so that the inner cylinder 2042 can move up and down relative to the outer cylinder 2041, one end of the lower stable cylinder 2043 is hinged with the outer cylinder 2041, the other end of the lower stable cylinder 2043 is hinged with the inner cylinder 2042, when the lower stable cylinder 2043 stretches and contracts, the lower stable cylinder 2043 can drive the inner cylinder 2042 to move synchronously, and accordingly the inner cylinder 2042 moves up and down relative to the outer cylinder 2041, and when the stable transverse moving cylinder stretches and contracts, the lower stable cylinder 2042 can drive the inner cylinder 2042 to move synchronously, and accordingly the inner cylinder 2042 moves left and right relative to the operation platform 202.
The pressing block 2044 is hinged to the lower end of the inner cylinder 2042 and is used for being abutted 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.
Thus, by the cooperation of the stabilizing and traversing cylinder and the lower stabilizing cylinder 2043, the press block 2044 moves left and right and up and down on the operation platform 202, so that the lower stabilizing device 204 can adapt to the inclination of the cutting arm 32, and the lower stable support of the operation platform 202 is ensured.
In the initial state, the lower stabilizer cylinder 2043 is in the contracted state, i.e., the compact 2044 is at the lowest position in the up-down movement path.
As shown in fig. 1, in some embodiments, the flap 205 is hinged to the operation platform 202, where the hinge axis of the flap 205 is located in the front-rear direction of the anchor driving machine, so that the flap 205 can rotate relative to the operation platform 202, and a flap 205 cylinder is hinged to the operation platform 202, and one end of the flap 205 cylinder away from the operation platform 202 is hinged to the flap 205, so that when the flap 205 cylinder stretches, it can drive the flap 205 to rotate, so as to implement extension and retraction of the flap 205 on the operation platform 202.
Wherein, when the turning plate 205 is contracted on the operation platform 202, it is located in the up-down direction of the anchor digger so as not to influence the action of the cutting assembly 4, and when the turning plate 205 is extended on the operation platform 202, it is located in the horizontal direction of the anchor digger, so that an operator can stand on the turning plate 205 to operate the anchor rod.
In the initial state, the oil cylinder of the flap 205 is in a contracted state, that is, the flap 205 is in a vertical position in the rotation path.
As shown in FIG. 4, in some embodiments, the roof bolt portion 206 includes a roof bolt traversing seat, a roof bolt traversing block, a roof bolt traversing cylinder 2061, a roof bolt swinging plate, a roof bolt swinging cylinder 2062, a roof bolt seat, a roof bolt back and forth swinging cylinder 2063, a roof bolt motor 2064, a roof bolt pushing cylinder 2065, and a roof bolt drill pipe 2066.
The roof bolt sideslip seat is fixedly arranged on the operation platform 202, and the roof bolt sideslip block is arranged on the roof bolt sideslip seat in a sliding manner along the left-right direction of the tunneling machine, so that the roof bolt sideslip block can move left and right relative to the operation platform 202, one end of the roof bolt sideslip cylinder 2061 is hinged with the roof bolt sideslip seat, and the other end of the roof bolt sideslip cylinder 2061 is hinged with the roof bolt sideslip block, so that the roof bolt sideslip cylinder 2061 can drive the roof bolt sideslip block to synchronously move when stretching and contracting, thereby realizing the left-right movement of the roof bolt sideslip block on the operation platform 202.
In some embodiments, a sliding groove is arranged on the top anchor transverse moving seat along the left-right direction of the anchor digging machine, and the top anchor transverse moving block is arranged in the sliding groove in a sliding manner, so that the sliding arrangement of the top anchor transverse moving block on the top anchor transverse moving seat is realized.
The roof bolt swinging plate is rotatably arranged on the roof bolt swinging block, and the rotation shaft of the roof bolt swinging plate is positioned in the front-back direction of the tunneling machine, so that the roof bolt swinging plate can swing left and right relative to the operation platform 202, one end of the roof bolt swinging oil cylinder 2062 is hinged with the roof bolt swinging block, and the other end of the roof bolt swinging oil cylinder 2062 is hinged with the roof bolt swinging plate, and therefore, when the roof bolt swinging oil cylinder 2062 stretches and contracts, the roof bolt swinging plate can be driven to rotate, and the roof bolt swinging plate can swing left and right on the roof bolt swinging block.
The top anchor seat is rotatably arranged on the top anchor swinging plate, and the rotation shaft of the top anchor seat is positioned in the left-right direction 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-back swinging oil cylinder 2063 is hinged with the top anchor swinging plate, and the other end of the top anchor front-back swinging oil cylinder 2063 is hinged with the top anchor seat, so that the top anchor seat can be driven to rotate when the top anchor front-back swinging oil cylinder 2063 stretches and contracts, and the front-back swinging of the top anchor seat on the top anchor swinging plate is realized.
The roof bolt motor 2064 is slidably disposed on the roof bolt along the length direction of the roof bolt, thereby enabling the roof bolt motor 2064 to move relative to the roof bolt, and one end of the roof bolt pushing cylinder 2065 is hinged to the roof bolt, and the other end is hinged to the roof bolt motor 2064, whereby, when the roof bolt pushing cylinder 2065 expands and contracts, it can drive the roof bolt motor 2064 to move, thereby realizing the movement of the roof bolt motor 2064 on the roof bolt.
In some embodiments, a rail is fixedly disposed on the top anchor along its length, a runner is disposed on the top anchor motor 2064, and the rail is slidably disposed within the runner to thereby effect a sliding arrangement of the top anchor motor 2064 on the top anchor.
The roof bolt drill rod 2066 is fixedly arranged on the output shaft of the roof bolt motor 2064, so that when the output shaft of the roof bolt motor 2064 rotates, the roof bolt drill rod 2066 can be driven to synchronously rotate, and the drilling operation on the roadway roof is realized.
Accordingly, the anchor rod 2066 is moved left and right, swung back and forth, moved up and down and rotated on the operation platform 202 by the anchor transverse moving cylinder 2061, the anchor swinging cylinder 2062, the anchor swinging cylinder 2063, the anchor pushing cylinder 2065 and the anchor motor 2064, so that drilling operations of different angles and positions can be performed, and the anchoring efficiency is effectively improved.
In the initial state, the anchor transverse moving cylinder 2061, the anchor left-right swinging cylinder 2062, and the anchor back-and-forth swinging cylinder 2063 are in the semi-extended state, that is, the anchor rod 2066 is at the middle position in the left-right moving path, at the middle position in the left-right swinging path, and at the middle position in the back-and-forth swinging path, and the anchor pushing cylinder 2065 is in the contracted state, that is, the anchor rod 2066 is at the lowest position in the up-and-down moving path.
In some embodiments, the operator platform 202 and its various components may be provided in two sets and disposed at left and right locations of the anchor handling machine, respectively.
As shown in fig. 5, in some embodiments, the upper anchor portion 207 includes an upper anchor telescoping block, an upper anchor first side-to-side swing cylinder 2071, an upper anchor telescoping column, an upper anchor telescoping cylinder 2072, an upper anchor lifting block, an upper anchor lifting cylinder 2073, an upper anchor block, an upper anchor second side-to-side swing cylinder 2074, an upper anchor motor 2075, an upper anchor pushing cylinder 2076, and an upper anchor drill pipe 2077.
The side anchor telescopic seat is hinged at the rear end of the middle frame 12, and the hinge shaft of the side anchor telescopic seat is positioned in the up-down direction of the tunneling and anchoring machine, so that the side anchor telescopic seat can swing left and right relative to the middle frame 12, one end of the side anchor first left and right swinging oil cylinder 2071 is hinged with the side anchor telescopic seat, and the other end of the side anchor first left and right swinging oil cylinder 2071 is hinged with the rear end of the middle frame 12, so that the side anchor first left and right swinging oil cylinder 2071 can drive the side anchor telescopic seat to rotate when stretching, and the side anchor telescopic seat can swing left and right on the middle frame 12.
The side anchor telescopic column is slidably arranged on the side anchor telescopic seat along the front-back direction of the tunneling and anchoring machine, so that the side anchor telescopic column can move back and forth relative to the side anchor telescopic seat, one end of the side anchor telescopic cylinder 2072 is hinged with the rear end of the middle frame 12, the other end of the side anchor telescopic cylinder 2072 is hinged with the side anchor telescopic column, wherein the hinge shaft of the side anchor telescopic cylinder 2072 and the middle frame 12 is positioned on the hinge shaft of the side anchor telescopic seat and the middle frame 12, and therefore, when the side anchor telescopic cylinder 2072 stretches, the side anchor telescopic cylinder can be driven to synchronously move, and the side anchor telescopic column can move back and forth on the side anchor telescopic seat.
In some embodiments, the rear end of the upper anchor telescoping seat is provided with a telescoping slot, and the upper anchor telescoping post is slidably disposed within the telescoping slot, thereby effecting a sliding arrangement of the upper anchor telescoping post on the upper anchor telescoping seat.
The group anchor lifting seat is fixedly arranged on the group anchor telescopic column, and the group anchor lifting block is slidably arranged on the group anchor lifting column along the length direction of the group anchor lifting seat, so that the group anchor lifting block can move relative to the group anchor lifting seat, one end of the group anchor lifting cylinder 2073 is hinged with the group anchor lifting column, the other end of the group anchor lifting cylinder 2073 is hinged with the group anchor lifting block, and therefore, when the group anchor lifting cylinder 2073 stretches and contracts, the group anchor lifting block can be driven to synchronously move, and the upward and downward movement of the group anchor lifting block on the group anchor lifting seat is realized.
In some embodiments, a sliding column is fixedly arranged on the upper anchor lifting seat along the up-down direction of the anchor tunneling machine, and a sliding cylinder is fixedly arranged on the upper anchor lifting block and is sleeved on the sliding column in a sliding manner, so that the sliding arrangement of the upper anchor lifting block on the upper anchor lifting seat is realized.
The upper anchor seat is rotatably arranged on the upper anchor lifting block, and the rotating shaft of the upper anchor seat is positioned in the front-rear direction of the tunneling and anchoring machine, so that the upper anchor seat can swing left and right relative to the upper anchor lifting block, one end of the upper anchor first left and right swinging oil cylinder 2071 is hinged with the upper anchor lifting block, and the other end of the upper anchor first left and right swinging oil cylinder 2071 is hinged with the upper anchor seat, and therefore, when the upper anchor first left and right swinging oil cylinder 2071 stretches and contracts, the upper anchor seat can be driven to rotate, and the left and right swinging of the upper anchor seat on the upper anchor lifting block is realized.
The upper anchor motor 2075 is slidably disposed on the upper anchor along the length direction of the upper anchor, thereby enabling the upper anchor motor 2075 to move relative to the upper anchor, and one end of the upper anchor pushing cylinder 2076 is hinged to the upper anchor, while the other end is hinged to the upper anchor motor 2075, thereby enabling the upper anchor pushing cylinder 2076 to drive the upper anchor motor 2075 to synchronously move when the upper anchor pushing cylinder 2076 stretches, thereby realizing the movement of the upper anchor motor 2075 on the upper anchor.
In some embodiments, a rail is fixedly disposed on the upper anchor along its length, and a chute is disposed on the upper anchor motor 2075, the rail being slidably disposed within the chute to thereby effect a sliding arrangement of the upper anchor motor 2075 on the upper anchor.
The anchor assisting drill rod 2077 is fixedly arranged on the output shaft of the anchor assisting motor 2075, and when the output shaft of the anchor assisting motor 2075 rotates, the anchor assisting drill rod 2077 can be driven to synchronously rotate, so that drilling operation on a roadway side plate is realized.
Therefore, the side anchor drill rod 2077 swings left and right, moves back and forth, moves up and down, moves left and right and rotates on the middle frame 12 through the side anchor first left and right swinging oil cylinder 2071, the side anchor telescopic oil cylinder 2072, the side anchor lifting oil cylinder 2073, the side anchor second left and right swinging oil cylinder 2074, the side anchor pushing oil cylinder 2076 and the side anchor motor 2075, so that drilling operations with different angles and different positions can be performed, and the anchoring efficiency is effectively improved.
In the initial state, the side anchor first left-right swinging cylinder 2071 and the side anchor second left-right swinging cylinder 2074 are in a semi-extended state, that is, the side anchor drill pipe 2077 is at a middle position in the left-right swinging path, and the side anchor telescopic cylinder 2072, the side anchor lifting cylinder 2073 and the side anchor pushing cylinder 2076 are in a contracted state, that is, the side anchor drill pipe 2077 is at a final position in the front-back moving path, at the lowest position in the up-down moving path, and at one end closest to the inside of the anchor excavator in the left-right moving path.
As shown in fig. 6, in some embodiments, the cutting assistance assembly 3 includes a blade 31 and a cutting arm 32, and the blade 31 and the cutting arm 32 are disposed on the traveling assembly 1.
In some embodiments, the rear end of the shovel 31 is slidably disposed at the front end of the track frame 11 along the up-down direction of the anchor machine, so that the shovel 31 can move up and down relative to the track frame 11, and the front end of the track frame 11 is hinged with a shovel lifting cylinder, and one end of the shovel lifting cylinder far away from the track frame 11 is hinged with the shovel 31, so that when the shovel lifting cylinder stretches and contracts, the shovel lifting cylinder can drive the shovel 31 to move synchronously, thereby realizing up-down movement of the shovel 31 on the track frame 11.
In some embodiments, a guide rail is fixedly provided at the rear end of the shovel 31, and a slide groove is provided at the front end of the track frame 11 in the up-down direction of the anchor digger, and the guide rail is slidably provided in the slide groove, so that the shovel 31 is slidably provided on the track frame 11.
In the initial state, the blade lift cylinder is in a contracted state, i.e., the blade 31 is at the lowest position in the up-down movement path.
In some embodiments, a sliding support 33 is slidably arranged on the track frame 11 along the front-rear direction of the anchor driving machine, the rear end of the cutting arm 32 is hinged on the sliding support 33, so that the cutting arm 32 can move forwards and backwards relative to the track frame 11, moreover, a cutting telescopic cylinder 34 is hinged on the track frame 11, and one end, far away from the track frame 11, of the cutting telescopic cylinder 34 is hinged with the sliding support 33, so that when the cutting telescopic cylinder 34 stretches and contracts, the cutting arm 32 can be driven to move synchronously, and the front-rear movement of the cutting arm 32 on the track frame 11 is realized.
Meanwhile, a cutting lifting oil cylinder is hinged to the sliding support 33, one end, far away from the sliding support 33, of the cutting lifting oil cylinder is hinged to the cutting arm 32, and therefore when the cutting lifting oil cylinder stretches, the cutting lifting oil cylinder can drive the cutting arm 32 to rotate, and the front end of the cutting arm 32 moves up and down on the sliding support 33.
Thus, the cutting arm 32 moves back and forth and up and down on the crawler frame 11 by the cutting telescopic cylinder 34 and the cutting lift cylinder, so that the cutting drum can cut at different positions.
In the initial state, the cutting expansion cylinder 34 and the cutting lift cylinder are both in a contracted state, that is, the cutting drum is at the final position in the forward and backward movement path thereof, and at the lowest position in the upward and downward movement path thereof.
In some embodiments, the cutting assembly 4 includes a side stabilizer 41, a transport portion 42, a rake portion 43, and a cutting drum portion 44, the transport portion 42 and the side stabilizer 41 are both disposed on the travel assembly 1, the rake portion 43 is disposed on the blade 31, and the cutting drum portion 44 is disposed on the cutting arm 32.
As shown in fig. 7, in some embodiments, the side stabilizer 41 includes a leg and a leg lift cylinder, the leg is slidably disposed at a rear end of the intermediate frame 12 along an up-down direction of the anchor driving machine, so that the leg can move up-down relative to the intermediate frame 12, and one end of the leg lift cylinder is hinged to the intermediate frame 12, and the other end of the leg lift cylinder is hinged to the leg, so that when the leg lift cylinder stretches and contracts, the leg can be driven to move synchronously, thereby realizing the up-down movement of the leg on the intermediate frame 12, and the stability of the anchor driving machine in the anchor driving operation is higher through the side stabilizer 41.
In the initial state, the leg lifting cylinder is in a contracted state, i.e. the leg is at the highest position in the upper and lower movable paths.
In some embodiments, the rear end of the intermediate frame 12 is fixedly provided with a sliding sleeve, and the upper ends of the legs are slidably inserted into the sliding sleeve, thereby realizing the sliding arrangement of the legs on the intermediate frame 12.
As shown in fig. 7, in some embodiments, the transport section 42 includes a fuselage 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 body 421 is hinged to the middle frame 12, wherein the hinge shaft of the body 421 is located in the left-right direction of the anchor tunneling machine, so that the body 421 can rotate relative to the middle frame 12, and one end of the transporting lift cylinder 422 is hinged to the body 421, while the other end is hinged to the middle frame 12, therefore, when the transporting lift cylinder 422 stretches and contracts, the transporting lift cylinder 422 can drive the body 421 to rotate, and the front end and the rear end of the body 421 can move up and down on the middle frame 12.
The front end of the tail 423 is hinged to the rear end of the body 421, wherein the hinge shaft of the tail 423 is located in the vertical direction of the bearing surface of the body 421, so that the tail 423 can swing relative to the body 421, moreover, one end of the tail swing cylinder 424 is hinged to the body 421, and the other end of the tail swing cylinder 424 is hinged to the tail 423, so that when the tail swing cylinder 424 stretches and contracts, the tail 423 can be driven to rotate, and the left-right swing of the tail 423 on the body 421 is realized.
The transportation motor 425 is fixedly arranged on the tail 423, the driving sprocket is rotationally arranged on the tail 423, wherein the wheel shaft of the driving sprocket is positioned in the left-right direction of the tunneling and anchoring machine, and the output shaft of the transportation motor 425 is in transmission connection with the wheel shaft of the driving sprocket, so that the driving sprocket can be driven to rotate when the output shaft of the transportation motor 425 rotates, and the rotation of the sprocket on the tail 423 is realized.
The driven sprocket rotates and sets up on fuselage 421, and wherein, driven sprocket's shaft is parallel with the shaft of driving sprocket, and the conveyer belt passes through the scraper chain and is connected with driving sprocket and driven sprocket transmission, from this, through the output shaft rotation of transport motor 425, realizes the rotation of conveyer belt on fuselage 421 and tail 423.
Thus, the transport unit 42 is moved up and down, swung left and right, and transported on the intermediate frame 12 by the transport lift cylinder 422, the tail swing cylinder 424, and the transport motor 425, so that the cut coal can be output to the rear end of the anchor machine.
In the initial state, the tail swing cylinder 424 is in a semi-extended state, i.e., the tail 423 is at a middle position in the rotation path, and the transporting lift cylinder 422 is in a retracted state, i.e., the front end of the body 421 is at the lowest position in the up-down movement path.
As shown in fig. 1, in some embodiments, the claw portion 43 includes a claw and a loading motor, the claw is rotatably disposed on the shovel plate 31, the loading motor is fixedly disposed on the shovel plate 31, and an output shaft of the loading motor is 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 realizing the rotation of the claw on the shovel plate 31, so as to ensure that the cut coal can enter the conveying 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 an output shaft thereof is in driving connection with a rotation shaft of the cutting drum, so that when the output shaft of the cutting motor rotates, it can drive the cutting drum to rotate, thereby realizing the rotation of the cutting drum on the cutting arm 32, so as to ensure the cutting of the coal.
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 a control system, so that the cutting operation, the anchoring operation and the walking operation of the anchor digger are not influenced.
For example: when the cutting unit 4 and the cutting auxiliary unit 3 are operated, neither the anchor unit 2 nor the traveling unit 1 can be operated, for example: during cutting operation, one or more of the shovel lifting cylinder, the cutting telescopic cylinder 34, the cutting lifting cylinder, the supporting leg lifting cylinder, the transporting lifting cylinder 422, the tail swinging cylinder 424, the transporting 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 turning plate 205 cylinder, the top anchor transverse moving cylinder 2061, the top anchor left-right swinging cylinder 2062, the top anchor front-back swinging cylinder 2063, the top anchor pushing cylinder 2065, the top 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 pushing cylinder 2076, the upper anchor motor 2075 and the shovel lifting cylinder cannot act, and the crawler chassis in the walking assembly 1 cannot act;
the anchor assembly 2 is not operated when the cutting assembly 4, the cutting auxiliary assembly 3 and the traveling assembly 1 are operated, one or more of the platform lift cylinder 201, the platform extension cylinder 212, the stable traversing cylinder, the upper stable cylinder 2033, the lower stable cylinder 2043, the flap 205 cylinder, the top anchor traversing cylinder 2061, the top anchor left-right swinging cylinder 2062, the top anchor back-and-forth swinging cylinder 2063, the top anchor pushing cylinder 2065, the top anchor motor 2064, the upper anchor first left-right swinging cylinder 2071, the upper anchor extension cylinder 2072, the upper anchor lift cylinder 2073, the upper anchor second left-right swinging cylinder 2074, the upper anchor pushing cylinder 2076, the upper anchor motor 2075 and the shovel plate lift cylinder are not operated when the anchor assembly is anchored, the shovel plate lift cylinder, the cutting extension cylinder 34 and the cutting lift cylinder are not operated when the support leg lift cylinder, the transport lift cylinder 422, the tail swinging cylinder 424, the transport motor 425, the loading motor and the cutting motor in the traveling assembly 1 are not operated when the crawler in the cutting assembly 4 is not operated;
When the walking assembly 1 is operated, the cutting assembly 4 and the anchoring assembly 2 cannot be operated, when the walking operation is performed, the crawler chassis is operated, the supporting leg lifting cylinder, the transporting lifting cylinder 422, the tail swinging cylinder 424, the transporting motor 425, the loading motor and the cutting motor in the cutting assembly 4 cannot be operated, 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 turning plate 205 cylinder, the top anchor transverse moving cylinder 2061, the top anchor left and right swinging cylinder 2062, the top anchor front and back swinging cylinder 2063, the top anchor pushing cylinder 2065, the top anchor motor 2064, the side anchor first left and right swinging cylinder 2071, the side anchor telescopic cylinder 2072, the side anchor lifting cylinder 2073, the side anchor second left and right swinging cylinder 2074, the side anchor pushing cylinder 2076, the side anchor motor 2075 and the shovel plate lifting cylinder in the cutting auxiliary assembly 3 cannot be operated, and the cutting lifting cylinder can be operated.
Therefore, the independent influence of the tunneling and anchoring machine in cutting operation, anchoring operation and walking operation is avoided, the stable action of each part of the tunneling and anchoring machine is ensured, and the safety of the tunneling and anchoring machine is improved.
According to the above-mentioned anchor machine, an embodiment of the present application provides a method for debugging an anchor machine, including:
s1: the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the traveling assembly 1 of the anchor digger are reset, so that the cutting assembly 4, the cutting auxiliary assembly 3, the anchoring assembly 2 and the traveling assembly 1 are in an initial state, and accurate debugging of the anchor digger is ensured.
In some embodiments, the electrical components in the cutting assembly 4, the cutting assistance assembly 3, the anchor assembly 2, and the walking assembly 1 are controlled by a control system to bring the components to an initial state.
S2: the cutting mode of the tunneling and anchoring machine is switched, 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 the cutting operation can be safely and reliably performed when the tunneling and anchoring machine is in actual operation, and the influence of the anchoring assembly 2 and the walking assembly 1 is avoided.
In some embodiments, detecting the action of the cutting assembly 4 and the cutting assistance assembly 3 comprises the steps of:
s201: the side stabilizer 41 stretches out, namely the supporting leg lifting oil cylinder is controlled to stretch out, so that the supporting leg descends, whether the stretching action of the side stabilizer 41 is normal or not is detected, and the side stabilizer 41 can play a role in stabilizing and supporting when the anchor driving machine is actually operated.
S202: the cutting arm 32 is lifted to the highest point, namely the cutting lifting oil cylinder is controlled to extend to enable the cutting arm 32 to be lifted, so that whether the lifting action of the cutting arm 32 is normal or not is detected, and the cutting arm 32 can lift the cutting roller when the anchor driving machine actually works is ensured.
S203: the conveying part 42 acts, namely, the conveying motor 425 is controlled to rotate the conveying belt, so that whether the conveying action of the conveying part 42 is normal or not is detected, the conveying part 42 is guaranteed to play a role in conveying when the tunneling and anchoring machine actually works, meanwhile, the conveying lifting oil cylinder 422 and the tail swing oil cylinder 424 are controlled to stretch and retract, the conveying part 42 integrally lifts and swings the tail 423 of the conveying part 42, whether the adjusting action of the conveying part 42 is normal or not is detected, and the conveying part 42 is guaranteed to adapt to coal conveying requirements of different angles at different positions.
S204: the claw part 43 acts, namely, the loading motor is controlled to rotate, so that the claw rotates, thereby detecting whether the stirring action of the claw part 43 is normal, and ensuring that the claw part 43 can play a stirring role when the anchor extractor actually works.
S205: the cutting drum portion 44 is operated, that is, the cutting motor is controlled to rotate, so that the cutting drum is rotated, whether the cutting operation of the cutting drum portion 44 is normal or not is detected, and the cutting drum portion 44 can play a role in cutting coal during actual operation of the anchor cutting machine.
S206: the cutting arm 32 is lowered, namely, the cutting lifting oil cylinder is controlled to be contracted, 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 can be guaranteed to lower the cutting roller during actual operation of the anchor driving machine.
Thus, in the cooperation of step S202 to step S206, the coal can be cut from top to bottom safely and reliably in the actual operation of the anchor machine, and the cut coal can be conveyed toward the rear end of the anchor machine.
S207: the cutting arm 32 is lifted to the highest point, i.e. the cutting lifting cylinder is controlled to extend, so that the cutting arm 32 is lifted.
S208: the cutting arm 32 moves forward, namely, the extension of the cutting telescopic oil cylinder 34 is controlled to enable the cutting arm 32 to move forward, so that whether the movement of the cutting arm 32 in the forward direction is normal or not is detected, and the cutting arm 32 can extend the cutting roller forward during actual operation of the anchor digger.
S209: the cutting arm 32 is lowered, i.e., the cutting lift cylinder is controlled to retract, causing the cutting arm 32 to be lowered.
S210: the cutting drum portion 44 stops operating, that is, the cutting motor is controlled to stop rotating, so that the cutting drum stops rotating, thereby detecting whether the stopping operation of the cutting drum portion 44 is normal, and ensuring that the cutting drum portion 44 can be normally closed when the anchor driving machine is actually operated.
S211: the claw 43 stops, i.e. the loading motor is controlled to stop rotating, so that the claw stops rotating; the transport section 42 stops, i.e., controls the transport motor 425 to stop rotating, so that the conveyor belt stops. Thereby, whether the stopping actions of the claw part 43 and the transporting part 42 are normal or not is detected, and the claw part 43 and the transporting part 42 can be ensured to be normally closed when the anchor driving machine actually works.
S212: the cutting arm 32 is lifted, i.e. the cutting lifting cylinder is controlled to extend, so that the cutting arm 32 is lifted.
S213: the cutting arm 32 moves backwards, namely the shrinkage of the cutting telescopic oil cylinder 34 is controlled, 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 roller backwards when the anchor digger works actually is ensured;
therefore, through the cooperation of the steps 207 to 2013, the coal can be safely and reliably cut from top to bottom in sequence and from back to front in sequence during actual operation of the anchor digger.
S214: the cutting arm 32 resets, controls the cutting lift cylinder to shrink promptly, makes cutting arm 32 reduce, until cutting cylinder butt is subaerial, and cutting arm 32 resets the back, can reduce the pressure that walking subassembly 1 bore, extension walking subassembly 1's life.
S215: the side stabilizing device 41 is reset, namely the supporting leg lifting oil cylinder is controlled to shrink, so that the supporting leg is lifted, thereby detecting whether the shrinkage action of the side stabilizing device 41 is normal or not, and ensuring that the side stabilizing device 41 can be normally shrunk into the anchor driving machine when the anchor driving machine actually works.
In the execution of steps S201 to 215, it should be detected whether the anchor assembly 2 and the traveling assembly 1 cannot operate, so as to ensure the safety of the cutting operation of the anchor digger, and other components in the cutting assembly 4 should be detected one by one.
S3: the anchor digger is switched to be in an anchoring mode, the action of the anchoring component 2 is detected, and the cutting component 4, the cutting auxiliary component 3 and the walking component 1 cannot act, so that the anchor digger can safely and reliably perform anchoring operation when in actual operation, and the influence of the cutting component 4, the cutting auxiliary component 3 and the walking component 1 is avoided.
In some embodiments, based on different conditions of the tunnel roof during actual operation of the anchor driving machine, for poor conditions of the roof, the anchoring operation needs to be performed after a short distance of driving to avoid collapse of the roof, and for good conditions of the roof, the anchoring operation needs to be performed after a long distance of driving, so that the following three operations of the anchoring assembly 2 need to be detected.
Detecting the action of the anchor assembly 2 comprises the steps of:
s31: detecting a first operating condition, wherein detecting the first operating condition comprises the steps of:
s311: the operation platform 202 moves forward, that is, the control platform telescopic cylinder 212 extends out, so that the operation platform 202 moves forward, thereby detecting whether the forward movement of the operation platform 202 is normal, and ensuring that the operation platform 202 can drive the top anchor part 206, the upper stabilizing device 203 and other parts to move forward in the actual operation of the anchor digger.
Moreover, the forward travel distance of the operating platform 202 is less than 450mm, which is suitable for anchoring operations of the heading and anchoring machine when the roadway roof conditions are poor.
In some embodiments, detecting the first operating condition further includes the steps of:
s312: the height of the operation platform 202 is adjusted, namely, the platform lifting oil cylinder 201 is controlled, so that the operation platform 202 is lifted, whether the lifting action of the operation platform 202 is normal or not is detected, and the operation 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 anchor digger.
Moreover, the height of the operation platform 202 is not less than 340mm, that is, the difference between the height of the operation platform 202 when lifted and the height of the operation platform in the initial state is not less than 340mm, so as to avoid collision between the parts such as the top anchor 206 on the operation platform 202 and other parts on the anchor driving machine.
S313: the upper stabilizing device 203 extends out, namely, the upper stabilizing cylinder 2033 is controlled to enable the base plate 2032 to move upwards, so that whether the upward movement of the top plate is normal or not is detected, and the base plate 2032 can be ensured to stably support the operation platform 202 during actual operation of the anchor driving machine; the turning plate 205 stretches out, namely the turning plate 205 oil cylinder is controlled to stretch out, so that the turning plate 205 stretches out, whether the stretching action of the turning plate 205 is normal or not is detected, and the turning plate 205 can provide a stable standing platform for operators during actual operation of the anchor driving machine.
Moreover, the lower stabilizer 204 cannot extend, i.e., the lower stabilizer cylinder 2043 cannot be actuated, to avoid the compact 2044 from colliding with other components on the anchor machine.
S314: the action of the roof bolt 206, namely, the extension of the roof bolt pushing cylinder 2065 is controlled to enable the roof bolt 2066 to move upwards, so that whether the extension action of the roof bolt 2066 is normal or not is detected, and the roof bolt 2066 can be drilled when the anchor driving machine is actually operated is ensured; the anchor pushing and transverse moving oil cylinder 2061, the anchor pushing and transverse swinging oil cylinder 2062 and the anchor pushing and transverse swinging oil cylinder 2063 are controlled to stretch so as to enable the anchor pushing and transverse moving drill rod 2066 to move left and right, swing left and right and swing back and forth, thereby detecting whether the adjusting action of the anchor pushing and transverse moving drill rod 2066 is normal or not and ensuring that the drilling angle and the drilling position of the anchor pushing and transverse moving drill rod 2066 can be adjusted when the anchor driving machine is in actual operation; the rotation of the roof bolt motor 2064 is controlled to rotate the roof bolt drill rod 2066, thereby detecting whether the drilling action of the roof bolt drill rod 2066 is normal or not, and ensuring that the roof bolt drill rod 2066 can drill a roof when the anchor driving machine is actually operated.
The anchor assisting part 207 acts, namely the extension of the anchor assisting telescopic cylinder 2072 is controlled, so that the anchor assisting drill pipe 2077 moves forwards, whether the extension of the anchor assisting drill pipe 2077 is normal or not is detected, and the anchor assisting drill pipe 2077 can be drilled on the side surface during actual operation of the anchor digger; the upper anchor lifting cylinder 2073 is controlled to extend so as to ensure whether the lifting action of the upper anchor drill rod 2077 is normal or not and ensure that the upper anchor drill rod 2077 can be adjusted in position during actual operation of the anchor driving machine; the auxiliary anchor pushing cylinder 2076 is controlled to enable the auxiliary anchor drill rod 2077 to extend out of the anchor driving machine in the left-right direction, so that whether the outward extending action of the auxiliary anchor drill rod 2077 is normal or not is detected, and the auxiliary anchor drill rod 2077 can be drilled on the side surface in actual operation; the first left-right swinging oil cylinder 2071 of the upper anchor and the second left-right swinging oil cylinder 2074 of the upper anchor are controlled to stretch so as to enable the drill rod 2077 of the upper anchor to swing left and right, thereby detecting whether the swinging action of the drill rod 2077 of the upper anchor is normal or not and ensuring that the drill rod 2077 of the upper anchor can adjust the angle when the anchor digger is actually operated; the anchor assisting motor 2075 is controlled to rotate so as to enable the anchor assisting drill stem 2077 to rotate, thereby detecting whether the drilling action of the anchor assisting drill stem 2077 is normal or not and ensuring that the anchor assisting drill stem 2077 can drill laterally during actual operation of the anchor driving machine.
S315: the top anchor 206 and the side anchor 207 are reset, that is, the top anchor pushing cylinder 2065, the side anchor telescoping cylinder 2072, the side anchor lifting cylinder 2073 and the side anchor pushing cylinder 2076 are controlled to retract, and the top anchor motor 2064 and the side anchor motor 2075 are controlled to stop.
Thus, by the cooperation of step S314 to step S315, the anchor jack can perform the anchor setting operation and the anchor assisting operation safely and reliably during the actual operation.
S316: the upper stabilizing device 203 is reset, namely the upper stabilizing cylinder 2033 is controlled to enable the backing plate 2032 to move downwards, thereby detecting whether the downward movement of the top plate is normal or not, and ensuring that the backing plate 2032 can be contracted in the anchor driving machine when the anchor driving machine actually works; the turning plate 205 is reset, namely the oil cylinder of the turning plate 205 is controlled to shrink, so that the turning plate 205 is shrunk, whether the shrinking action of the turning plate 205 is normal or not is detected, and the turning plate 205 can be shrunk to a vertical state during actual operation of the anchor driving machine is ensured.
Thus, by the cooperation of step S313 and step S316, the excavator can be stably supported safely and reliably during actual operation.
S317: the operation platform 202 is reset, namely the control platform telescopic cylinder 212 is contracted to enable the operation platform 202 to move backwards, so that whether the backward movement of the operation platform 202 is normal or not is detected, and the operation platform 202 can drive parts such as the top anchor part 206, the upper stabilizing device 203 and the like to move backwards in the actual operation of the anchor digger; the platform lifting cylinder 201 is controlled to lower the operation platform 202, so that whether the lowering action of the operation platform 202 is normal or not is detected, and the operation platform 202 can drive the parts such as the top anchor part 206, the upper stabilizing device 203 and the like to move downwards in the actual operation of the tunneling and anchoring machine.
Thus, by the cooperation of step S311, step S312 and step S317, the anchor position of the anchor machine can be safely and reliably adjusted during the actual work.
S32: detecting a second condition, the detecting the second condition comprising the steps of:
s321: the operating platform 202 moves forward and the distance of movement is 450mm-1350mm, which is suitable for the anchoring operation of the tunnel roof under normal tunnel roof conditions.
In some embodiments, detecting the second operating condition further includes the steps of:
s322: the height of the operation platform 202 is adjusted, and the height of the operation platform 202 is not less than 340mm.
S323: the upper stabilizing device 203 stretches out, the turning plate 205 stretches out, the lower stabilizing device 204 stretches out, namely the lower stabilizing cylinder 2043 is controlled to stretch out, 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 is ensured to stably support the operation platform 202 during actual operation of the anchor driving machine.
Also, the lower stabilization device 204 abuts the cutting assistance assembly 3, and in some embodiments, the lower stabilization device 204 abuts the cutting arm 32 to ensure stable support of the lower stabilization device 204 to the operator platform 202.
S324: the top anchor 206 and the upper anchor 207 operate.
S325: roof anchor 206 and upper anchor 207 are reset.
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 cylinder 2043 is controlled to shrink so as to enable the pressing block 2044 to be lifted, thereby detecting whether the lifting action of the pressing block 2044 is normal or not, and ensuring that the pressing block 2044 can shrink in the anchor digging machine when the anchor digging machine actually works.
Thus, by the cooperation of step S323 and step S326, the anchor-digger can be stably supported safely and reliably during actual operation.
S327: the operating platform 202 is reset.
It should be noted that, the principle and the function of the steps repeated in step S32 and step S31 are the same, and are not described herein.
S33: detecting a third operating condition, the detecting the third operating condition comprising the steps of:
s331: the operation platform 202 moves forward, and the moving distance is greater than 1350mm, and the distance is suitable for anchoring operation of the tunnel roof when the tunnel roof condition is good.
In some embodiments, detecting the third operating condition further includes the steps of:
s332: the height of the operation platform 202 is adjusted, and since the operation platform 202 moves far, the parts such as the top anchor part 206 on the operation platform 202 cannot collide with other parts on the excavator, and therefore the height of the operation platform 202 is not limited and can move up and down at will.
S333: the upper stabilizer 203 extends, the lower stabilizer 204 extends, the flap 205 extends, and the lower stabilizer 204 abuts the cutting arm 32.
S334: the top anchor 206 and the upper anchor 207 operate.
S335: roof anchor 206 and upper anchor 207 are reset.
S336: the upper stabilizing device 203 is reset, the lower stabilizing device 204 is reset, and the turning plate 205 is reset.
S337: the operating platform 202 is reset.
It should be noted that, the principle and the function of the steps repeated in step S33 and step S32 are the same, and are not described herein.
Meanwhile, in executing steps S31 to S33, it should be detected whether the cutting assembly 4, the cutting auxiliary assembly 3 and the traveling assembly 1 cannot operate, so as to ensure the safety of the anchoring operation of the anchor digger, 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 performed when the tunneling and anchoring machine is actually operated, and the influence of the cutting assembly 4 and the anchoring assembly 2 is avoided.
In some embodiments, detecting the motion of the walking assembly 1 comprises the steps of:
s41: the cutting arm 32 is raised.
S42: the shovel 31 is lifted, namely the shovel lifting oil cylinder is controlled to extend out, so that the shovel 31 is lifted, whether the lifting action of the shovel 31 is normal or not is detected, and the shovel 31 can be lifted and adjusted during actual operation of the anchor digging machine.
Thereby, the cutting arm 32 and the blade 31 are separated from the ground, and the crawler chassis can travel easily.
S43: the crawler chassis acts, namely the crawler chassis is controlled to move so as to walk of the tunneling and anchoring machine;
s44: the crawler chassis stops acting;
s45: the shovel 31 is reset, namely the shovel lifting cylinder is controlled to shrink so as to enable the shovel 31 to be lowered, thereby detecting whether the lowering action of the shovel 31 is normal or not, and ensuring that the shovel 31 can be lowered and adjusted during the actual operation of the anchor driving machine;
s46: the cutting arm 32 is reset.
Thus, by the cooperation of step S41 to step S46, the excavator can safely and reliably perform the traveling operation during the actual operation.
It should be noted that in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
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 further implementations are included within the scope of the preferred embodiment of the present application 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 embodiments of the present application.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. 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 will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. The method for debugging the anchor digging machine is characterized by comprising the following steps of:
resetting a cutting assembly, a cutting auxiliary assembly, an anchoring assembly and a walking assembly of the digging and anchoring machine;
switching the tunneling and anchoring machine into a cutting mode, detecting the actions of the cutting assembly and the cutting auxiliary assembly, wherein the anchoring assembly and the walking assembly cannot act;
Switching the tunneling and anchoring machine into an anchoring mode, detecting the action of the anchoring assembly, and preventing the cutting assembly, the cutting auxiliary assembly and the walking assembly from acting;
switching the tunneling and anchoring machine to a walking mode, detecting the action of the walking assembly, and preventing the cutting assembly and the anchoring assembly from acting;
wherein the anchor assembly includes an operating platform, and the act of detecting the anchor assembly includes:
detecting a first operating condition, the detecting the first operating condition comprising: the operation platform moves forwards, and the moving distance is less than 450mm;
detecting a second operating condition, the detecting the second operating condition comprising: the operation platform moves forwards, and the moving distance is 450mm-1350mm;
detecting a third operating condition, the detecting the third operating condition comprising: the operation platform moves forward, and the moving distance is more than 1350mm.
2. The method according to claim 1, wherein the anchor assembly further comprises an upper stabilizer, a lower stabilizer, a flap, a top anchor and a side anchor, all of which are disposed on the operating platform.
3. The method for debugging an anchor machine as defined in claim 2, wherein detecting the first operating condition further comprises:
the height of the operation platform is adjusted, and the height of the operation platform is not less than 340mm;
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 is reset, and the turning plate is reset;
and resetting the operation platform.
4. The method for debugging an anchor machine according to claim 2, wherein said detecting the second working condition further comprises:
the height of the operation platform is adjusted, and the height of the operation platform is not less than 340mm;
the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is in abutting connection with 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 is reset, the lower stabilizing device is reset, and the turning plate is reset;
and resetting the operation platform.
5. The method for debugging the heading and anchoring machine according to claim 2, wherein the detecting the third working condition further comprises:
The height of the operation platform is adjusted;
the upper stabilizing device extends out, the lower stabilizing device extends out, the turning plate extends out, and the lower stabilizing device is in abutting connection with 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 is reset, the lower stabilizing device is reset, and the turning plate is reset;
and resetting the operation platform.
6. The method of debugging a heading and anchoring machine of claim 1, wherein the cutting assistance assembly comprises a shovel and a cutting arm, both of which are disposed on the travel assembly.
7. The method of commissioning a machine of claim 6, wherein said cutting assembly comprises a side stabilizer, a transport portion, a rake portion and a cutting drum portion, said transport portion and said side stabilizer are both disposed on a travel assembly, said rake portion is disposed on said blade, and said cutting drum portion is disposed on said cutting arm.
8. The method of commissioning a machine of claim 7, wherein said act of detecting said cutting assembly and said cutting assistance assembly comprises:
the side stabilizing device extends out;
The cutting arm is lifted to the highest point;
the transport part acts;
the 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 forward;
the cutting arm is lowered;
the cutting drum part stops acting;
the claw part stops acting, and the conveying part stops acting;
the cutting arm is lifted;
the cutting arm moves backwards;
resetting the cutting arm;
the side stabilizing apparatus is reset.
9. The method of commissioning a machine of claim 1, wherein said traveling 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 detecting said traveling assembly comprises:
lifting a cutting arm;
lifting the shovel plate;
the crawler chassis acts;
the crawler chassis stops acting;
the shovel plate is reset;
the cutting arm is reset.
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CN114017021B (en) * 2021-11-08 2024-04-05 中国煤炭科工集团太原研究院有限公司 Tunneling and anchoring machine and tunneling system

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