CN114483075A

CN114483075A - Slag removal device of heading machine and heading machine

Info

Publication number: CN114483075A
Application number: CN202111673289.XA
Authority: CN
Inventors: 卓兴建; 孙颜明; 原晓伟; 王一新; 李正道; 贾连辉; 姜礼杰; 张凯
Original assignee: China Railway Engineering Equipment Group Co Ltd CREG
Current assignee: China Railway Engineering Equipment Group Co Ltd CREG
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-05-13

Abstract

The invention belongs to the field of tunnel excavation equipment, and particularly relates to a slag removing device of a heading machine and the heading machine, wherein the heading machine comprises a cutter head, a main beam connected with the cutter head, an equipment bridge and a muck conveyor which are positioned at the rear side of the main beam, and the slag removing device comprises a slag removing mechanical arm and a slag removing hopper, the slag removing mechanical arm comprises a connecting seat connected with the main beam and/or the equipment bridge and a movable arm hinged on the connecting seat, the movable arm comprises at least two arm sections, driving devices for driving the corresponding arm sections to unfold and fold are arranged between the arm sections and between the arm sections, the slag removing hopper is connected on the arm section at the last stage and is an active slag removing hopper capable of actively taking slag under the driving of the slag removing mechanical arm, the slag removing hopper is provided with a slag discharging position of the muck conveyor for throwing the obtained slag into the main beam of the heading machine, a discharging door and a discharging driving device are arranged on the slag removing hopper, or a dumping driving device for driving the slag removing hopper to pour the slag material out the slag removing hopper is arranged between the slag removing mechanical arm and the slag removing mechanical arm, thus realizing automatic slag removal.

Description

Slag removal device of heading machine and heading machine

Technical Field

The invention belongs to the field of tunnel excavation equipment, and particularly relates to a slag removal device of a heading machine and the heading machine.

Background

At present, a heading machine becomes important equipment of tunnel construction engineering and is widely applied to the fields of water conservancy tunnels, urban rails, municipal traffic, railway tunnels and the like. The TBM (full-face hard rock tunnel boring machine) is a typical boring machine, and is often accompanied with phenomena of rock burst, top collapse and block falling and the like in the process of boring, so that slag accumulation at the bottom of a tunnel is serious, and if muck and stones are not cleaned in time, working procedures such as arch frame assembling, arch block pitching, track laying and the like are delayed, so that the construction progress is restricted, and the supporting quality is influenced.

At present, the cleaning mode of the accumulated slag at the bottom of the tunnel mainly has two types: the slag is collected by a shovel and a woven bag and bagged, the semi-automatic device is manually operated to collect slag, and finally the slag is transported out by a slag transport vehicle or is placed on a belt conveyor and transported out along with the belt conveyor. The semi-automatic equipment is disclosed in patent application publication numbers CN110552713A, patent application publication numbers CN209483367U, patent application publication numbers CN103266897A and patent

application publication numbers

2013, 8 and 28 respectively, wherein the patent application publication numbers are 12 and 10 days in 2019, and the patent application publication numbers are CN209483367U and 11 days in 2019 and 10 months in 2019.

The patent application publication number is CN110552713A, and the application publication date is 2019, 12 and 10, and discloses a device for cleaning accumulated slag at the bottom of a hard rock tunnel boring machine tunnel. The device comprises a slide rail, a mechanical arm, an end effector, a slide rail, a main beam and a slide rail oil cylinder. The mechanical arm is hung on the main beam through the horizontal sliding rail, one end of the sliding rail oil cylinder is hinged to the main beam, one end of the sliding rail oil cylinder is hinged to the mechanical arm base, the mechanical arm can be driven to translate along the tunneling direction, the base rotary oil cylinder can drive the whole mechanical arm to rotate, the shoulder joint pitching swing oil cylinder drives the large arm to rotate, the elbow joint pitching oil cylinder drives the small arm to rotate, the wrist joint pitching oil cylinder drives the end effector to rotate, and the end effector drives the swing oil cylinder to control the opening and closing of the end effector. The end effector can cover most of working conditions through opening and closing actions, and accumulated slag with different grain diameters is cleaned. During the use, the arm is taken the sediment stone and is transported and accomplish once scarfing cinder operation on the dolly of slagging tap of below behind the girder, follow-up continuous operation, and the clearance reaches TBM construction and lays the track and found the arch index until tunnel bottom sediment clearance.

The patent specification with the publication number of CN209483367U and the publication date of 2019, 10 and 11 discloses a multi-mode tunnel bottom slag removal robot suitable for TBM, the robot comprises a driving system and a tail end slag removal executing mechanism, and a mechanical arm is arranged between the driving system and the tail end slag removal executing mechanism; the driving system and the tail end slag removal executing mechanism are connected with the control system, the high-speed camera is further arranged and connected with the control system, the image acquisition system is connected with the control system, and the high-speed camera is arranged on the tail end slag removal executing mechanism. The tail end slag removal actuating mechanism comprises a hand grip, a spiral blade type bucket and a square bucket, and the hand grip, the spiral blade type bucket and the square bucket are uniformly arranged below the rotary table. When the slag removing device is used, the position of slag is identified and the type of the slag is judged through the image acquisition system, and then the mechanical arm is driven to drive one of the hand grip, the spiral blade type bucket and the square bucket to remove slag. However, no reference is made in this patent specification as to how the slag obtained is further processed.

Patent application publication No. CN103266897A, published as 2013, 8 and 28 disclose a slag turning hopper of a tunnel boring machine, wherein the slag turning hopper can transfer slag in the hopper to a belt conveyor on a main beam of the tunnel boring machine through the hopper, a rotating arm, a connecting rod assembly and the like, but the collection of the slag needs to be carried out manually.

In summary, the existing slag removal equipment does not realize full automation, usually needs secondary transportation, has the defects of high labor intensity, high slag removal labor cost, low automation degree and the like, and seriously restricts the rapid excavation of the tunnel.

Disclosure of Invention

The invention aims to provide a slag removing device of a heading machine, which aims to solve the technical problems of high slag removing labor intensity, high slag removing labor cost and low slag removing speed caused by manual matching when the heading machine slag removing device in the prior art works due to low automation degree. The invention also aims to provide the heading machine using the heading machine slag removal device, so as to solve the technical problem that the heading machine in the prior art is slow in excavation speed due to low automation degree of the slag removal device.

In order to achieve the purpose, the technical scheme of the slag removal device of the heading machine provided by the invention is as follows:

a slag removal device of a heading machine comprises a slag removal mechanical arm and a slag removal hopper, wherein the slag removal mechanical arm comprises a connecting seat used for being connected with a main beam and/or an equipment bridge and a movable arm hinged with the connecting seat, the movable arm comprises at least two arm sections which are sequentially hinged with each other, driving devices for driving the corresponding arm sections to unfold and fold are respectively arranged between the arm sections and the connecting seat and between the arm sections, the slag removing hopper is connected to the last-stage arm section and is an active slag removing hopper which can actively take slag under the driving of a slag removing mechanical arm, the slag removing hopper is provided with a slag discharging position which can put the obtained slag into a slag conveyer of the heading machine under the driving of a slag removing mechanical arm, the slag removing hopper is provided with a discharging door and a corresponding discharging driving device, or a material pouring driving device used for driving the slag removing hopper to pour out slag materials is arranged between the slag removing hopper and the slag removing mechanical arm.

The beneficial effects are that: the scarfing cinder fill is for can initiatively getting the active scarfing cinder fill of sediment under the drive of scarfing cinder arm, so when carrying out the scarfing cinder, the digging arm can move and drive the scarfing cinder fill under the drive of the drive arrangement who corresponds and dig the tunnel bottom to unloading the sediment position and remove, after removing to unloading the sediment position, corresponding drive arrangement drive is unloaded the bin gate and is opened or drive scarfing cinder fill and carry out the action of falling the material, pour the sediment material on the dregs conveyer, realize full automatic scarfing cinder, need not to rely on artificial assistance, when reducing scarfing cinder work amount, realize high-efficient scarfing cinder.

As a further improvement, the connecting seat is a rotating seat and is provided with a rotating driving device, the connecting seat comprises a connecting arm hinged with the movable arm, and when the connecting seat is installed on a main beam of the heading machine, the distance between the hinged point of the connecting arm and the movable arm and the rotating center of the connecting seat is greater than the distance between the side wall of the main beam and the rotating center of the connecting seat.

The beneficial effects are that: set up the linking arm on the connecting seat and connect the digging arm, compare in that the digging arm directly articulates on the connecting seat, can reduce the quantity of pin joint, simplify the structure of scarfing cinder arm, reduce the probability of breaking down, and then ensure that entry driving machine scarfing cinder device has reliable working property.

As a further improvement, the arm joint of the slag removing mechanical arm comprises a first arm joint hinged with the rotating seat and a second arm joint hinged at the tail end of the first arm joint, and at least one of the first arm joint and the second arm joint is a telescopic arm joint.

The beneficial effects are that: set up flexible arm section and make single section arm section can extend and shorten with adaptability, be in the retraction state when getting the sediment and guarantee that the clear sediment fill does not interfere with tunnel wall, stretch out when unloading the sediment and send the clear sediment fill to higher height, guarantee that the clear sediment fill can reach with simpler structure and control and unload the sediment position.

As a further improvement, one end of the first arm section close to the second arm section and/or one end of the second arm section close to the first arm section are/is provided with an elbow, so that the first arm section and the second arm section are hinged on the elbow to be capable of being completely folded.

The beneficial effects are that: the elbow is arranged at the end part of the arm section, so that two adjacent arms can be completely folded, and the phenomenon that the movable arm occupies too large space after being folded to influence the movement of the corresponding tunneling machine due to the fact that the included angle still exists after the two adjacent arm sections are folded is avoided.

As a further improvement, the telescopic boom section comprises a fixed section, a telescopic section and a driving cylinder for connecting the fixed section and the telescopic section, and the driving cylinder is arranged in an inner cavity formed after the telescopic section and the fixed section are inserted and combined.

The beneficial effects are that: the telescopic arm section adopts a telescopic structure driven by the driving cylinder, the driving cylinder providing telescopic power can be arranged in the arm section, the driving cylinder is protected, the slag falling in the slag removing process is prevented from damaging the telescopic cylinder of the arm section, the arm section is ensured to have better protective performance, and then the slag removing device of the heading machine can work reliably.

As a further improvement, a self-lubricating plate is arranged between wall surfaces of the splicing part between the fixed section and the telescopic section.

The beneficial effects are that: the self-lubricating plate is arranged to ensure that the fixed section and the telescopic section of the telescopic arm section can be smoothly adjusted in a telescopic mode.

As a further improvement, the self-lubricating plate is limited by a jackscrew arranged on one of the fixed section and the telescopic section and positioned on the outer layer.

The beneficial effects are that: carry on spacingly through the jackscrew, appear wearing and tearing back at the self-lubricating board, the position of self-lubricating board is adjusted in time to the volume of advancing soon of accessible adjustment jackscrew, improves the convenience of self-lubricating board position adjustment, meanwhile, sets up the jackscrew and lies in outer one in fixed section and flexible section for the adjustment that can directly carry out self-lubricating board position need not to disassemble the digging arm to the maintainer, improves the convenience that the digging arm overhauld.

As a further improvement, the tail end of the arm joint positioned at the last section in each arm joint is provided with a rotary seat capable of rotating around the axis of the arm joint and a driving mechanism configured for the rotary seat, the slag removing bucket is arranged on the rotary seat in a swinging mode, a driving device for driving the slag removing bucket to swing is arranged between the slag removing bucket and the rotary seat, and the swinging axis of the slag removing bucket at the position is parallel to the hinge axis between the two adjacent arm joints.

The beneficial effects are that: through set up the swivel mount and will clear the sediment fill setting on the swivel mount on last section arm section, will clear the sediment fill at the digging arm and lift to the highest position after rotate through the swivel mount and can be with the position adjustment of clear sediment fill to dregs conveyer position one side, so can realize clear sediment fill steady position adjustment, avoid clear sediment fill to vert when carrying out position adjustment and lead to the slag charge unrestrained.

As a further improvement, the slag removing bucket comprises a bucket seat and a bucket body, the bucket seat is connected to the rotary seat to realize the swinging installation of the slag removing bucket on the rotary seat, the bucket body and the bucket seat are in rotating fit and are provided with a driving mechanism for driving the bucket body to rotate, and the rotating axis of the bucket body is perpendicular to the swinging axis of the bucket seat.

The beneficial effects are that: after the slag removing hopper reaches the slag discharging position, the slag is dumped by driving the hopper body to rotate, and the slag can be reliably and thoroughly poured out.

As a further improvement, the connecting socket is provided with a track extending in the direction of travel of the heading machine.

The beneficial effects are that: the slag removing hopper can be adjusted in position relative to the heading machine by arranging the track extending along the advancing direction of the heading machine for the connecting seat while synchronously advancing along with the heading machine to clean slag at the bottom of the tunnel, namely, the position of the slag removing hopper can be adjusted in two stages in the advancing direction of the heading machine, so that the positions of the slag removing hopper and the slag removing mechanical arm can be adjusted in a targeted manner according to the actual accumulation position of slag at the bottom of the tunnel, and the use convenience of the slag removing device of the heading machine is improved.

As a further improvement, an image acquisition device for acquiring the condition of the slag accretion at the bottom of the tunnel is arranged on the connecting seat.

The beneficial effects are that: the image acquisition device is arranged to accurately determine the accumulation condition of the residue soil at the bottom of the tunnel in real time, so that the accumulated residue soil can be accurately removed.

As a further improvement, the slag removal device of the heading machine further comprises an automatic cleaning spray head for cleaning a transparent protective cover at the front end of the image acquisition device.

The beneficial effects are that: because operational environment is comparatively abominable in the tunnel, the dust volume is great, and dust deposits easily on the transparent protective cover of image acquisition device front end and influences the accuracy that image acquisition device gathered the image, sets up the self-cleaning shower nozzle to this, can clean transparent protection casing when appearing dust and depositing on transparent protective cover, guarantees that image acquisition device works steadily reliably for a long time.

In order to achieve the purpose, the technical scheme of the heading machine provided by the invention is as follows:

a heading machine comprises a cutter head, a main beam connected with the cutter head, an equipment bridge positioned at the rear side of the main beam, and a muck conveyor used for conveying muck dug out by the cutter head backwards, wherein the main beam and/or the equipment bridge are/is provided with a slag removing device which comprises a slag removing mechanical arm and a slag removing hopper, the slag removing mechanical arm comprises a connecting seat connected with the main beam and a movable arm hinged with the connecting seat, the movable arm comprises at least two arm sections which are sequentially hinged with each other, driving devices used for driving the corresponding arm sections to be unfolded and folded are respectively arranged between the arm sections and the connecting seat and between the arm sections, the slag removing hopper is connected on the arm section at the last stage and is an active slag removing hopper which can actively take slag under the driving of the slag removing mechanical arm, the slag removing hopper is provided with a slag removing position which can put obtained slag into the muck conveyor on the main beam of the heading machine under the driving of the slag removing mechanical arm, be equipped with the discharge door and the discharge drive device who corresponds on the scarfing cinder fill, perhaps be equipped with between scarfing cinder fill and the scarfing cinder arm and be used for ordering about the scarfing cinder fill and pour the material drive device of sediment material.

The beneficial effects are that: the scarfing cinder fill is for can initiatively getting the active scarfing cinder fill of sediment under the drive of scarfing cinder arm, so when carrying out the scarfing cinder, the digging arm can move and drive the scarfing cinder fill under the drive of the drive arrangement who corresponds and dig the tunnel bottom to unloading the sediment position and remove, after removing to unloading the sediment position, corresponding drive arrangement drive is unloaded the bin gate and is opened or drive scarfing cinder fill and carry out the action of falling the material, pour the sediment material on the dregs conveyer, realize full automatic scarfing cinder, need not to rely on artifical supplementary, when reducing scarfing cinder work amount, realize high-efficient scarfing cinder, avoid influencing the tunnelling speed and the engineering project duration in tunnel untimely because the scarfing cinder is not.

The beneficial effects are that: set up flexible arm festival and make single section arm festival extend and shorten with adaptability, be in the retraction state when getting the sediment and guarantee that the scarfing cinder fill does not interfere with tunnel wall, stretch out when unloading the sediment and send the scarfing cinder fill to higher height, guarantee that the scarfing cinder fill can reach with simpler structure and control and unload the sediment.

As a further improvement, the slag removing device also comprises an automatic cleaning spray head used for cleaning a transparent protective cover at the front end of the image acquisition device.

As a further improvement, a slag removing device is installed on the main beam, a slag throwing port is arranged on the side wall of the main beam, the height of the slag throwing port is higher than that of the slag conveyer, and a slag discharging position of a slag removing hopper of the slag removing device is located at the slag throwing port.

The beneficial effects are that: set up on the girder lateral wall and throw the cinder notch, it is lower to the high requirement of scarfing cinder fill when unloading the sediment position, and then lower to the length requirement of digging arm, guarantees that the digging arm has reliable structural strength.

As a further improvement, a slag chute used for guiding slag materials to the slag conveyor is arranged at the slag feeding port.

The beneficial effects are that: the slag chute is arranged to continue the slag removing hopper to guide slag materials to the slag conveyor, the slag removing hopper does not need to directly move right above the slag conveyor, the moving stroke of the movable arm and the slag removing hopper can be shortened, and the structure of the slag removing device is simpler.

Drawings

Fig. 1 is a schematic structural view of a part of the structure of a heading machine in embodiment 1 of the invention;

FIG. 2 is a schematic structural diagram of a part of a slag removal device of the embodiment 1 of the heading machine in the invention;

FIG. 3 is a schematic structural diagram of a connecting seat of the slag removal device of the heading machine in the embodiment 1 of the invention;

fig. 4 is a structural schematic diagram of a connecting seat of the slag removing device of the heading machine in the embodiment 1 of the invention from another view angle;

FIG. 5 is a schematic view of the state of the slag removal device of the heading machine in the embodiment 1 of the invention when retracted;

FIG. 6 is a right side view of FIG. 5;

FIG. 7 is a schematic cross-sectional structural view of a second arm section of the slag removal device of the heading machine in the embodiment 1 of the invention;

FIG. 8 is an enlarged view of a portion of FIG. 7 at B;

FIG. 9 is an enlarged view of a portion A of FIG. 1;

fig. 10 is a schematic structural diagram of an image acquisition device assembly of the heading machine in embodiment 1 of the invention;

FIG. 11 is a state diagram of a slag removing hopper of the slag removing device of the development machine embodiment 1 in the slag removing position;

FIG. 12 is a schematic block diagram of a slag removal device of the heading machine in the embodiment 1 of the invention;

description of reference numerals:

1. a cutter head; 2. a main beam; 3. a slag removal device; 4. a slag removal hopper; 5. a connecting seat; 6. a movable arm; 7. a hanging beam rail; 8. a driving wheel set; 9. a main mounting plate; 10. a travel driving motor; 11. an inner ring; 12. a rotary drive motor; 13. a drive gear; 14. an outer ring; 15. mounting a plate; 16. a connecting arm; 17. a first arm section; 18. a second arm section; 19. rotating; 20. a first rotary reduction gear; 21. a bucket seat; 22. a bucket body; 23. a second rotary reducer; 24. a fixed section; 25. a telescopic section; 26. a drive cylinder; 27. carrying out top thread; 28. an image acquisition device assembly; 29. a protective shell; 30. a transparent protective cover; 31. automatically cleaning the spray head; 32. a slag feeding port; 33. a slag chute; 34. a self-lubricating plate; 35. and (7) mounting a bracket.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that relational terms such as "first" and "second," and the like, which may be present, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, elements recited by the phrases "comprising an … …," or the like, do not exclude the presence of such elements, processes, or methods.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or a non-detachable connection. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from specific situations.

The present invention will be described in further detail with reference to examples.

The invention provides a specific embodiment 1 of a heading machine, wherein the heading machine is a TBM (full-face hard rock tunnel boring machine), and the specific structure of the heading machine is as follows:

the part of the structure of the heading machine provided by this embodiment is as shown in fig. 1, and includes a cutter head 1 and a main beam 2 arranged at the rear side of the cutter head 1, the main beam 2 is provided with a residue soil conveyor for conveying earth and stones excavated by the cutter head backward (defining the heading direction of the heading machine as forward), and the heading machine further includes a slag removing device 3 arranged on the main beam 2 in order to remove the earth and stones accumulated at the bottom of the tunnel to the residue soil conveyor. In this embodiment, the muck conveyor is a belt conveyor, and in other embodiments, the muck conveyor may also be a bucket conveyor. In addition, the heading machine further comprises an equipment bridge located at the rear side of the main beam 2.

The concrete structure of the slag removing device 3 is shown in fig. 2, and comprises a slag removing mechanical arm and a slag removing hopper 4, wherein the slag removing mechanical arm specifically comprises a connecting seat 5 and a movable arm 6 hinged with the connecting seat 5. The partial structure of the connecting seat 5 is shown in fig. 3 and 4, and includes a hanging beam rail 7 and a general mounting plate 9 movably hung on the lower side of the hanging beam rail 7 through a driving wheel set 8, and the hanging beam rail 7 and the driving wheel set 8 form a traveling mechanism. The hanging beam steel rail 7 is specifically of an I-steel-shaped structure and is arranged along the tunneling direction of the tunneling machine, the upper end of the hanging beam steel rail is used for being connected with the main beam 2, the rollers of the driving wheel set 8 are arranged in the grooves of the hanging beam steel rail 7 and matched with the wing plate at the lower side of the hanging beam steel rail 7 of the I-steel-shaped structure, and the main mounting plate 9 is provided with a walking driving motor 10 used for driving the driving wheel set 8 to rotate, so that the slag removing mechanical arm and the slag removing hopper can move along the tunneling direction in a long distance. In this embodiment, two suspension beam steel rails 7 are arranged in parallel, and correspondingly, two sets of driving wheel sets 8 and a walking driving motor 10 are arranged on a main mounting plate 9 to form an assembly.

A rotary support is fixed on the lower side of the main mounting plate 9, the rotary support is of a bearing type structure and is provided with an inner ring 11 and an outer ring 14 which can rotate relatively, the rotary support is fixed on the main mounting plate 9 through one of the inner ring 11 and the outer ring 14, in the embodiment, the rotary support is fixed on the lower side of the main mounting plate 9 through the outer ring 14, the inner ring 11 is of a gear ring-shaped structure with teeth on the inner peripheral surface, correspondingly, a rotary driving motor 12 is fixed on the upper plate surface of the main mounting plate 9, a driving gear 13 driven to rotate by the rotary driving motor 12 is arranged on the lower side of the main mounting plate 9, and the driving gear 13 is meshed with the inner ring 11 of the rotary support, so that the inner ring 11 of the rotary support can be driven to rotate through the rotary driving motor 12. An installation plate 15 is fixed on the lower side of the inner ring 11 of the rotary support. The rotary support, the rotary driving motor 12 and the driving gear 13 form a rotary mechanism.

As shown in fig. 2, the connecting base 5 further includes a connecting arm 16 fixedly connected to the mounting plate 15, the movable arm 6 is hinged to the connecting arm 16, and for the length of the connecting arm 16, the horizontal distance between the hinged point of the connecting arm 16 and the movable arm 6 and the center of the rotary support is larger than the horizontal distance between the side wall of the main beam 2 on the same side and the center of the rotary support. Specifically, the movable arm 6 includes a first arm section 17 as a large arm and a second arm section 18 as a small arm, one end of the first arm section 17 is hinged to the connecting arm 16, the hinge axis extends horizontally, and a driving device for driving the first arm section 17 to swing up and down relative to the connecting arm 16 is arranged at the hinged position of the first arm section 17 and the connecting arm 16, and the driving device is a large arm swing oil cylinder in this embodiment. The other end of the first arm section 17 is hinged to the second arm section 18, and a driving device for driving the second arm section 18 to swing up and down relative to the first arm section 17 is arranged at the hinged position of the first arm section and the second arm section, and the driving device is a small arm swing oil cylinder in the embodiment. The driving device for driving the large arm and the small arm to swing can also be a motor in other embodiments.

In this embodiment, in order to ensure that the slag removing device 3 does not occupy too much space when being retracted and not used, the end of the first arm segment 17 hinged to the second arm segment 18 has an elbow structure, so that the first arm segment 17 is integrally formed into an L-shaped structure, and thus the movable arm 6 is retracted to be in a completely retracted state as shown in fig. 5 and 6, so that the slag removing device 3 is prevented from occupying too much space when being retracted, and the transportation and laying operation of the subsequent tunnel bottom arch frame facing arch block is not affected. In other embodiments, the end of the second arm section connected to the first arm section may also be set as an elbow structure, and of course, both the end of the first arm section connected to the second arm section and the end of the second arm section connected to the first arm section may also be set as elbow structures.

As shown in fig. 2, a rotation seat 19 is disposed at an end of the second arm section 18 away from the connecting seat 5, the rotation seat 19 rotates around a central axis of the second arm section 18, and a driving mechanism, which is embodied as a wrist rotation reducer 20 in this embodiment, is disposed corresponding to the rotation seat 19 for driving the rotation seat 19 to rotate. In other embodiments, the driving mechanism may be any driving mechanism capable of driving the rotation base to rotate, such as a motor driving mechanism.

The slag removing bucket 4 comprises a bucket seat 21 and a bucket body 22, the bucket seat 21 is hinged on a rotary seat 19, the hinge axis is parallel to the hinge axis between the first arm section 17 and the second arm section 18, a driving device for driving the bucket seat 21 to swing is arranged between the bucket seat 21 and the rotary seat 19, the driving device is a hand swing cylinder in the embodiment, and in other embodiments, the driving device can also be a motor driving device. The bucket body 22 is rotatably mounted on the bucket seat 21, the rotation axis is perpendicular to the axis of the bucket seat 21 hinged on the rotary seat 19, and in order to drive the bucket body 22 to rotate, a driving mechanism is arranged corresponding to the bucket body 22, and the driving mechanism is a hand rotation speed reducer 23 in the embodiment. In other embodiments, the driving mechanism may be any driving mechanism capable of driving the bucket body to rotate relative to the bucket seat, such as a motor driving mechanism.

In order to guarantee to remove scarfing cinder fill 4 with movable arm 6 to the settlement position, set up second arm section 18 into flexible arm section in this embodiment, as shown in fig. 7 specifically, second arm section 18 includes canned paragraph 24 and flexible section 25, canned paragraph 24 is articulated with first arm section 17, flexible section 25 cartridge is in canned paragraph 24, and set up forearm telescopic cylinder 26 in the cavity that canned paragraph 24 and flexible section 25 enclose, forearm telescopic cylinder 26 one end is connected with the canned paragraph, the other end is connected with flexible section 25, the extension and the shrink through forearm telescopic cylinder 26 drive second arm section 18 extension and shorten. As shown in fig. 8, in order to ensure the smoothness of the extension and contraction of the second arm section 18, a self-lubricating plate 34 is provided at the insertion fitting position of the fixed section 24 and the telescopic section 25, and the self-lubricating plate 34 is limited by a jackscrew 27 screwed on the fixed section 24. In other embodiments, the fixing section may be inserted into the telescopic section, and at this time, the jackscrew is disposed on the telescopic section located on the outer side. Of course, the jackscrew may be disposed on the outer one of the fixed section and the telescopic section in the insertion fit.

As shown in fig. 9, in order to accurately know the accumulation condition of the slag at the bottom of the tunnel, the slag removing device further comprises a visual identification system, and the visual identification system comprises an image acquisition device assembly 28 arranged on the connecting seat. As shown in fig. 10, the image capturing device assembly 28 includes an image capturing device, and further includes a mounting bracket 35 for mounting the image capturing device on the connecting base, a protective shell 29 for protecting the rear side of the image capturing device, and a transparent protective cover 30 for protecting the front side of the image capturing device, wherein the transparent protective cover 30 is specifically glass in this embodiment. In addition, because the working environment is dusty, the automatic cleaning spray head 31 is integrated on the slag removal device 3, the automatic cleaning spray head 31 faces the transparent protective cover 30, and the transparent protective cover 30 is cleaned by spraying cleaning liquid at regular intervals or at any time according to instructions. In this embodiment, two self-cleaning nozzles 31 are provided, one for connecting to the liquid line and one for connecting to the high-pressure air. In this embodiment, the image capture device is an industrial camera. In addition, a sensor is arranged corresponding to each movable mechanism to identify the amount of movement of each movable mechanism.

In order to enable the slag removing device 3 to shovel slag materials onto the slag conveyor, as shown in fig. 1 and 11, a slag feeding port 32 is formed on the side wall of the main beam 2, and a slag chute 33 which is obliquely arranged is arranged at the slag feeding port 32.

The operation control principle block diagram of the slag removing device is shown in fig. 12, and the operation process during the specific work is as follows:

firstly, enabling the mechanical arm and the slag removal hopper to advance along the hanging beam steel rail 7 according to a set step length through a travelling mechanism, and after the mechanical arm and the slag removal hopper advance for the set step length each time, identifying whether slag accumulation exists at the bottom of the tunnel or not and identifying the slag accumulation condition through a visual identification system;

secondly, the revolving mechanism acts to enable the slag removing hopper 4 to reach a position aligned with the accumulated slag;

and thirdly, shoveling slag. Specifically, the large arm swing oil cylinder drives the first arm section 17 to move, so that the movable arm 6 drives the slag removing hopper 4 to shovel slag materials along the tunnel wall in the arc direction of the tunnel section, in the process, the hand swing cylinder synchronously adjusts the posture of the slag removing hopper 4, and the slag removing hopper 4 is gradually made to reach the posture that the hopper opening is in the horizontal position to shovel the slag materials. In the process, the slag removing hopper 4 is not freely hinged on the movable arm 6, but can move according to a set posture under the restraint and the drive of each mounting structure, the drive device and the drive mechanism, so that the slag removing hopper 4 is an active slag removing hopper, and the movable arm 6 can drive the slag removing hopper 4 to actively take slag through self action;

and fourthly, conveying the slag charge to a slag unloading position through the extension of the movable arm. Specifically, the second arm section 18 is driven by the small arm telescopic oil cylinder to expand relative to the first arm section 17, the slag removing hopper 4 is lifted upwards, and in the process, the hand swing cylinder synchronously adjusts the posture of the slag removing hopper 4, so that slag in the slag removing hopper 4 is prevented from falling; after the movable arm is extended upwards, the second arm section 18 is extended, as shown in fig. 11, after the slag removing hopper 4 is lifted to a position higher than the slag chute 33, the slag removing hopper 4 is positioned at one side of the movable arm 6 back to the main beam 2, and the hopper opening is upward;

and fifthly, transferring the slag to a slag unloading position. Specifically, the control system controls the wrist rotary speed reducer to act to drive the rotary seat 19 to rotate, so that the slag removing hopper 4 rotates to a position right above the slag chute 33 and reaches a slag discharging position;

and sixthly, deslagging. The control system controls the hand rotary speed reducer 23 to drive the hopper body 22 to rotate relative to the hopper base 21, so that slag materials are dumped on the slag slide 33 and slide to the slag conveyor along the slag slide 33.

And repeating the above actions in such a circulating way to finish the cleaning of the slag at the bottom of the tunnel.

In the embodiment, the structure and the working mode of the heading machine are described by taking a full-face hard rock tunnel heading machine as an example, and in other embodiments, the heading machine can be any heading machine which needs to clear slag at the bottom of a tunnel.

The specific embodiment 2 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in example 1, the slag removal hopper pours the slag charge out at the slag discharge position. In this embodiment, set up the discharge door in the bottom of the scarfing cinder fill to set up the drive arrangement who is used for driving the discharge door switching, after the scarfing cinder fill reachs the material discharge position, control system control drive arrangement drive discharge door was opened, realizes unloading.

The specific embodiment 3 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in embodiment 1, the connecting seat is a rotating seat which can rotate relative to the main beam for the part relative to the main beam fixing part, so that the position adjustment of the slag removing hopper is more flexible and convenient. In this embodiment, on the premise that the slag removing hopper of the slag removing device can be accurately moved to the position of the slag charge by moving along with the tunneling, the connecting seat may not be a rotating seat, i.e., the connecting seat is integrally of a fixed structure.

The specific embodiment 4 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in example 1, the movable arm was composed of two arm segments. In this embodiment, the movable arm is composed of three arm segments. Of course, in other embodiments, the number of arm segments of the movable arm may be greater than three.

The specific embodiment 5 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in embodiment 1, the movable arm is composed of two arm segments, wherein one arm segment is a telescopic arm segment. In this embodiment, the two arm sections of the movable arm are both telescopic. Of course, in other embodiments, each arm section of the movable arm may be a non-telescopic arm section on the premise that the slag removal bucket can take slag and move to the discharging position without stretching.

The specific embodiment 6 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in embodiment 1, the power for extending and retracting the telescopic arm section is provided by the driving cylinder. In this embodiment, set up tractive wire rope in the flexible arm section, through wire rope and corresponding drive arrangement cooperation drive flexible arm's extension and shorten, the flexible arm structure of crane among the prior art can be referred to its concrete structure.

The specific embodiment 7 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in the embodiment 1, the last section of the movable arm is provided with the swivel mount, the slag removing bucket is arranged on the swivel mount, and the slag removing bucket is moved to the slag discharging position through the rotation of the swivel mount. In this embodiment, the end of keeping away from the connecting seat at the digging arm sets up forked mounting structure, forked mounting structure has two front and back interval arrangement's vertical arm, and the setting of scarfing cinder fill is between two vertical arms and articulated with vertical arm, sets up drive arrangement between scarfing cinder fill and vertical arm, avoids the scarfing cinder to fight for vertical arm free rotation, can only rotate under drive arrangement's drive for the scarfing cinder is fought for active scarfing cinder, and can move to unloading the sediment position under drive arrangement's drive.

The specific embodiment 8 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in the embodiment 1, the slag feeding port is arranged on the side wall of the main beam, and the slag sliding plate is arranged corresponding to the slag feeding port. In the embodiment, the slag feeding port is arranged at the upper part of the main beam and is opposite to the slag conveyor, so that the arrangement of the slag sliding plate can be eliminated.

The specific embodiment 9 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in the embodiment 1, the slag feeding port is arranged on the side wall of the main beam, and the slag sliding plate is arranged corresponding to the slag feeding port. In this embodiment, the slag feeding port is arranged on the side wall of the main beam, but a slag chute is not arranged, and the slag removing hopper is directly moved to the inner side of the side wall of the main beam through rotation of the rotary seat and reaches right above the slag conveyor.

The specific embodiment 10 of the heading machine provided by the invention is mainly different from the embodiment 1 in that: in example 1, the slag removal device was placed on the main beam. In this embodiment, the slag removal device is disposed on the equipment bridge. Of course, in other embodiments, for a heading machine with only one slag removal device, the one slag removal device may be connected to both the main beam and the equipment bridge. Certainly, more than two slag removal devices can be arranged on one heading machine, at the moment, part of the slag removal devices can be arranged on the main beam, and part of the slag removal devices can be arranged on the equipment bridge.

The embodiment of the slag removing device of the heading machine comprises the following steps:

the embodiment of the slag removing device of the heading machine, that is, the slag removing device described in any one of embodiments 1 to 10 of the heading machine, will not be described in detail here.

Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and equivalents can be made in the technical solutions described in the foregoing embodiments without inventive effort, or some technical features of the present invention may be substituted with equivalents. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A slag removal device of a heading machine comprises a slag removal mechanical arm and a slag removal hopper (4), wherein the slag removal mechanical arm comprises a connecting seat (5) used for being connected with a main beam (2) and/or an equipment bridge and a movable arm (6) hinged with the connecting seat (5), the movable arm (6) comprises at least two arm sections which are sequentially hinged with each other, driving devices used for driving the corresponding arm sections to be unfolded and folded are respectively arranged between the arm sections and the connecting seat (5) and between the arm sections, the slag removal hopper (4) is connected to the arm section at the last stage and is an active slag removal hopper capable of actively taking slag under the driving of the slag removal mechanical arm, the slag removal hopper (4) is characterized in that the slag removal hopper is provided with a slag removal position of a slag conveyor of the heading machine under the driving of the slag removal mechanical arm, and the slag removal hopper is provided with a discharge door and a corresponding discharge driving device, or a material pouring driving device used for driving the slag removing hopper to pour out slag materials is arranged between the slag removing hopper and the slag removing mechanical arm.

2. The slag removing device of the heading machine according to claim 1, wherein the connecting base (5) is a rotating base and is provided with a rotating driving device, the connecting base comprises a connecting arm (16) hinged with the movable arm (6), and when the connecting base (5) is installed on the main beam (2) of the heading machine, the distance between the hinged point of the connecting arm (16) and the movable arm (6) and the rotating center of the connecting base (5) is larger than the distance between the side wall of the main beam (2) and the rotating center of the connecting base (5).

3. The heading machine slag removal device according to claim 2, wherein the arm sections of the slag removal mechanical arm comprise a first arm section (17) hinged to the rotary base and a second arm section (18) hinged to the end of the first arm section (17), and at least one of the first arm section (17) and the second arm section (18) is a telescopic arm section.

4. A heading machine slag removal device according to claim 3, characterized in that the end of the first arm segment (17) near the second arm segment (18) and/or the end of the second arm segment (18) near the first arm segment (17) is provided with an elbow so that the first arm segment (17) and the second arm segment (18) are hinged on the elbow to be able to fold completely.

5. The slag removal device of the heading machine according to claim 3 or 4, wherein the telescopic arm section fixing section (24), the telescopic section (25) and a driving cylinder (26) connecting the fixing section (24) and the telescopic section (25), the driving cylinder (26) is arranged in an inner cavity formed after the telescopic section (25) and the fixing section (26) are inserted and combined.

6. The slag removal device of the heading machine according to claim 5, wherein a self-lubricating plate (34) is arranged between wall surfaces of the insertion joint between the fixed section (24) and the telescopic section (25).

7. The slag removing device of the heading machine according to claim 6, wherein the self-lubricating plate (34) is retained by a jackscrew (27) mounted on one of the fixed section (24) and the telescopic section (25) which is located on the outer layer.

8. A slag removing device for a heading machine according to any one of claims 1 to 4, wherein the end of the arm section located at the last section of the arm sections is provided with a swivel base rotatable about the axis of the arm section and a driving mechanism configured for the swivel base, the slag removing bucket (4) is mounted on the swivel base (19) in a swinging manner, and a driving device for driving the slag removing bucket to swing is arranged between the swivel base (19) and the swivel base, and the swing axis of the slag removing bucket at the position is parallel to the hinge axis between two adjacent arm sections.

9. The heading machine slag removal device according to claim 8, wherein the slag removal bucket (4) comprises a bucket seat (21) and a bucket body (22), the bucket seat (21) is connected to the rotary seat (19) to achieve swinging installation of the slag removal bucket (4) on the rotary seat (19), the bucket body (22) and the bucket seat (21) are in rotating fit and are provided with a driving mechanism for driving the bucket body to rotate, and the rotating axis of the bucket body (22) is perpendicular to the swinging axis of the bucket seat (21).

10. A heading machine slag removal device according to any one of claims 1 to 4, wherein the connection mount is provided with a track extending in the direction of travel of the heading machine.

11. The heading machine slag removal device according to any one of claims 1 to 4, wherein an image acquisition device for acquiring the slag piling condition at the bottom of the tunnel is arranged on the connecting seat.

12. The slag removing device of the heading machine as claimed in claim 11, further comprising an automatic cleaning nozzle (31) for cleaning the transparent shield at the front end of the image acquisition device.

13. The utility model provides a heading machine, includes blade disc (1), connects in girder (2) of blade disc (1), is located the equipment bridge of the rear side of girder (2) to and be used for the dregs conveyer of carrying the dregs of digging out with blade disc (1) backward, install slag cleaning device (3) on girder (2) and/or the equipment bridge, its characterized in that, slag cleaning device (3) be any one of claim 1-12 the heading machine slag cleaning device.

14. The heading machine according to claim 13, wherein the main beam (2) is provided with a slag removing device (3), the side wall of the main beam is provided with a slag throwing port (32), the height of the slag throwing port (32) is higher than that of the muck conveyor, and the slag discharging position of a slag removing hopper (4) of the slag removing device (3) is positioned at the slag throwing port (32).

15. The heading machine according to claim 14, wherein a chute (33) is provided at the slag feed opening (32) for guiding slag towards the slag conveyor.