CN114909147A - Large-inclination-angle small-turning-radius full-face tunneling machine - Google Patents
Large-inclination-angle small-turning-radius full-face tunneling machine Download PDFInfo
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- CN114909147A CN114909147A CN202210758185.7A CN202210758185A CN114909147A CN 114909147 A CN114909147 A CN 114909147A CN 202210758185 A CN202210758185 A CN 202210758185A CN 114909147 A CN114909147 A CN 114909147A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000005553 drilling Methods 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 239000011435 rock Substances 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 claims 1
- 239000003245 coal Substances 0.000 abstract description 32
- 239000003921 oil Substances 0.000 description 14
- 238000005065 mining Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/006—Equipment transport systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Environmental & Geological Engineering (AREA)
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a large-inclination-angle small-turning-radius full-face tunneling machine, which comprises a cutter head, wherein a front cutter head is arranged at the front end of the cutter head, a cutter head driving device is connected at the rear end of the cutter head, a propelling mechanism is sleeved outside the cutter head driving device, the rear end of the cutter head is connected with a shield body through the propelling mechanism, a supporting mechanism and a tubular belt conveyor are correspondingly arranged in the shield body, a plurality of carrying vehicles are correspondingly connected at the rear end of the shield body, a detection drilling machine and a roof bolter are arranged on the carrying vehicles, a linear belt conveyor is arranged in the carrying vehicles, the linear belt conveyor is connected with the tubular belt conveyor through turning conveying carrier rollers, the propelling mechanism comprises 12 groups of hinged oil cylinders which are integrally distributed in a Stewart platform X parallel mode, a plurality of grounding wheels capable of transversely moving are arranged at the bottoms of the carrying vehicles, the invention can finish the conveying of coal in a small turning radius, the tunneling efficiency of the whole machine and the conveying capacity with small turning radius are improved.
Description
Technical Field
The invention relates to the technical field of full-face tunneling machines, in particular to a full-face tunneling machine with a large inclination angle and a small turning radius.
Background
Since the 21 st century, with the continuous development of national economy and science, the demand for coal resources is increasing, so that the use demand of domestic coal mines for development machines is always kept at a higher level, and in addition, the urgent demands of the replacement of new and old equipment and the whole coal industry for automatic excavation equipment are added, so that underground equipment is promoted to be developed along the direction with higher working efficiency and higher automation degree.
The TBM full-face tunneling machine is a high-mechanization and automatic large-scale tunnel excavation lining complete equipment integrating the technologies of machinery, electronics, hydraulic pressure, laser, control and the like, and can realize automatic operation in the whole processes of propulsion, coal mining, measurement guiding deviation correction, coal production transportation and the like. The TBM full-face tunneling machine has the advantages of high automation degree, high construction speed, labor saving, safety, economy, small influence on ground buildings and the like. The mining device is widely applied to the construction of coal mine roadways as a key excavating device.
The demand of China for mineral energy in economy and industry is gradually increased, so that coal mine construction projects are gradually increased. The excavation conditions of different mining area resources are different, the roadway construction working conditions are more and more complex, large-inclination-angle engineering and small-turning engineering are gradually increased, and when the climbing excavation of the existing excavator exceeds 15 degrees, the whole full-face excavator still possibly slides downwards after overcoming the friction force under the action of the gravity component force, so that the overall braking effect is poor. The heading machine is influenced by the self structure and has large turning radius. The bottleneck problems encountered in the tunneling engineering with ultra-small turning and large inclination angle provide new requirements for the tunneling machine, and further promote the continuous development and progress of the tunneling machine technology.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a full-face heading machine with a large inclination angle and a small turning radius.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a large-inclination-angle small-turning-radius full-face tunneling machine which comprises a cutter head, wherein a front cutter head is installed at the front end of the cutter head, a cutter head driving device is connected to the rear end of the cutter head, a propelling mechanism is sleeved outside the cutter head driving device, the rear end of the cutter head is connected with a shield body through the propelling mechanism, a supporting mechanism and a tubular belt conveyor are correspondingly installed in the shield body, a plurality of carrying vehicles are correspondingly connected to the rear end of the shield body, a detection drilling machine and an anchor drilling machine are installed on the carrying vehicles, a linear belt conveyor is installed in each carrying vehicle, the linear belt conveyor is connected with the tubular belt conveyor through a turning conveying carrier roller, each propelling mechanism comprises 12 groups of hinged oil cylinders which can enable the cutter head to move in 6 degrees of freedom and are integrally distributed in a Stewart platform X parallel mode, a plurality of grounding wheels capable of transversely moving are installed at the bottom of each carrying vehicle, the ground wheels can be always kept in contact with the ground along with different gradients of the roadway.
Preferably, advancing mechanism includes middle support frame, 12 wherein 6 both ends of group's articulated hydro-cylinder of group are connected with the rear end of blade disc and the front end of middle support frame respectively through the hemisphere spherical pair, and 6 both ends of group's articulated hydro-cylinder are connected with the rear end of middle support frame, shield body 3 respectively through the hemisphere spherical pair in addition, lie in middle support frame and be Stewart platform V parallel form distribution arrangement between two liang of articulated hydro-cylinders of 6 groups with one side.
Preferably, the hemisphere is vice including placing the base, with place the lower hemisphere pair that the base formed a spherical pair structure, it is vice to weld the hemisphere in the hemisphere pair down, the hemisphere is vice to be welded with last the welding down and is gone up the face of being connected between the hemisphere pair and place the upper surface formation contained angle of base, it has rotatory stopper to go up the vice welding of hemisphere, place the welding on the base and have the spacing post that corresponds with the hemisphere pair of upper, be provided with the spacing groove that corresponds with rotatory stopper on the spacing post.
Preferably, the supporting mechanism comprises a supporting shoe which can extend out of the shield body and is used for applying pressure to the surrounding rock, and the supporting shoe is connected with a hydraulic oil cylinder arranged in the shield body.
Preferably, the tubular belt conveyor comprises a tubular belt conveyor front end mechanism, a tubular belt conveyor rear end mechanism, and a tubular belt conveyor middle end mechanism for connecting the tubular belt conveyor front end mechanism and the tubular belt conveyor rear end mechanism, the tubular belt conveyor middle end mechanism comprises a plurality of conveying roller supports connected through chains, a conveying roller I with an O-shaped cross section is mounted in the conveying roller support I, a plurality of conveying rollers II corresponding to the conveying rollers I and belt driving rollers I corresponding to the conveying rollers II are arranged on the tubular belt conveyor front end mechanism, a plurality of conveying rollers III corresponding to the conveying rollers I, belt driving rollers II corresponding to the conveying rollers II and a conveying motor for driving the belt driving rollers II are arranged on the tubular belt conveyor rear end mechanism, the belt driving rollers I, the belt driving rollers II and the conveying motor are arranged on the tubular belt conveyor rear end mechanism, and the belt driving rollers I, the belt driving rollers II and the belt driving rollers II are arranged on the conveying roller supports, And a conveying belt which sequentially passes through the first belt driving roller, the second conveying roller, the first conveying roller, the third conveying roller and the second belt driving roller is arranged on the second belt driving roller.
Preferably, turn the transportation bearing roller include with tubular belt conveyor or sharp belt conveyor articulated support frame, the upper portion setting of support frame is provided with side fender roller and cell type bearing roller, the side fender roller includes two bracing edgers that are used for the centre gripping conveyer belt along support frame central line symmetrical arrangement, the slope ground wheel is installed to the support frame lower part, the bottom surface of slope ground wheel is higher than the bottom surface of ground wheel.
Preferably, the carrier vehicle comprises an inner support frame for mounting the linear belt conveyor and an outer support frame for mounting the detection drilling machine and the anchor rod drilling machine, and the grounding wheel is mounted at the bottom of the outer support frame.
Preferably, the ground engaging wheels comprise 6 moving wheels capable of moving transversely, the outer 4 moving wheels are supported by springs to keep the ground engaging, the inner 2 moving wheels are supported by springs and have a bottom surface higher than that of the outer 4 moving wheels, and the outer moving wheels and the inner moving wheels are connected through connecting rods.
The invention has the beneficial effects that:
1. according to the invention, the Stewart platform X parallel type propelling mechanism and the hemispherical hinged spherical pair are utilized, so that a front cutter head of the tunneling machine can realize turning propulsion with a larger turning angle within a small turning radius, the Stewart platform X parallel type propelling mechanism has higher rigidity than a traditional Stewart parallel type propelling mechanism, the defect that all hydraulic cylinders are stressed unevenly when the traditional Stewart parallel type propelling mechanism works under a laterally placed condition can be overcome, and the Stewart platform X parallel type propelling mechanism has the characteristics of high utilization rate of internal space and compact structure, and is suitable for a small full-section tunneling machine; the hydraulic cylinders in the Stewart platform V parallel connection form a Stewart platform X parallel connection form a propulsion mechanism, so that the interference phenomenon possibly occurring between the adjacent hydraulic cylinders of the heading machine under the working condition of small turning radius is avoided, and the internal space of the propulsion mechanism of the heading machine is increased.
2. According to the invention, the plurality of carrier vehicles are connected behind the shield body of the full-face tunneling machine, and are always kept in contact with the ground along with the gradient change of the roadway, so that a supporting force is provided for the tunneling of the full-face tunneling machine under the working condition of a large inclination angle; a plurality of groups of grounding wheels are obliquely arranged on the carrier loader, so that the springs of the grounding wheels can apply pressure to the grounding wheels under the condition of large inclination angle while the carrier loader is adapted to the ground of the cylindrical roadway to be tunneled, and the springs can keep contact with the ground; but use lateral shifting's removal wheel, make things convenient for the carrier loader to remove in little turning radius tunnel, through the combined action of multiunit ground pulley and a plurality of carrier loader, can avoid the entry driving machine to take place to retreat the slip.
3. According to the invention, the coal cut by the cutter head is received by the tubular belt conveyor, the curved ore conveying is realized under a smaller turning radius, the inclination of the coal during turning conveying can be reduced by the tubular conveyor belt at the turning section, and the conveying efficiency is high.
4. The full-face heading machine can complete heading under the conditions of large inclination angle and small turning according to requirements, greatly improves the coal mining efficiency, has simple and compact integral mechanism, high space utilization rate, high degree of freedom of a propelling mechanism, more flexibility during heading, high whole machine heading efficiency and conveying efficiency, low specific energy consumption and wide practicability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a full face tunnel boring machine according to the present invention;
FIG. 2 is a schematic perspective view of the full face tunnel boring machine of the present invention;
FIG. 3 is a schematic view of the structure of the propelling mechanism of the full face tunnel boring machine of the present invention;
FIG. 4 is a schematic structural diagram of a hemispherical ball pair according to the present invention;
FIG. 5 is a schematic perspective view of a cart according to the present invention;
FIG. 6 is a schematic structural view of the ground wheel of the carrying vehicle of the present invention
FIG. 7 is a perspective view of the conveying mechanism of the present invention;
FIG. 8 is a schematic view of a carrier roller structure of the tubular belt conveyor of the present invention;
description of reference numerals:
1. a cutter head, 2, a propelling mechanism, 3, a shield body, 4, a supporting mechanism, 401, a supporting shoe, 5, a detection drilling machine, 6, a jumbolter, 7, a carrying vehicle, 8, a turning conveying idler, 9, a linear belt conveyor, 10, a tubular belt conveyor, 11, a cutter head driving device, 12, a front cutter head, 21, a hinged oil cylinder, 22, a middle supporting frame, 23, a hemispherical ball pair, 71, a grounding wheel, 72, an inner supporting frame, 73, an outer supporting frame, 101, a front end mechanism of the tubular belt conveyor, 102, a middle end mechanism of the tubular belt conveyor, 103, a rear end mechanism of the tubular belt conveyor, 104, a first conveying roller bracket, 105, a first conveying roller, 106, a second conveying roller, 107, a first belt driving roller, 108, a third conveying roller, 109, a second belt driving roller, 110, a conveying motor, 111, a conveying belt, 231, a placing base, 232 and a lower hemispherical pair, 233. an upper hemispherical pair; 234. a rotation limiting block 235, a limiting column 236 and a limiting groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 8, the present embodiment provides a full-face tunneling machine with a large inclination angle and a small turning radius, which includes a cutter head 1, and a front cutter head 12 mounted at the front end of the cutter head 1; the cutter driving device 11 is arranged at the rear end of the cutter 1, and the propelling mechanism 2 is connected with the cutter 1 and the shield body 3; the supporting mechanism 4 and the tubular belt conveyor 10 are arranged and installed inside the shield body 3; the carrier loader 7 is connected with the rear end of the shield body 3 of the full-face tunneling machine; a linear belt conveyor 9 is fixedly installed inside the carrying vehicle 7, a detection drilling machine 5 and an anchor drilling machine 6 are fixedly installed on the upper portion of the carrying vehicle 7, and the linear belt conveyor 9 is connected with a tubular belt conveyor 10 through a turning conveying carrier roller 8.
Referring to fig. 3, the propulsion mechanism 2 includes 12 sets of articulated oil cylinders 21, wherein 6 sets of articulated oil cylinders 21 use hemispherical ball pairs 23 to connect the cutterhead 1 and the middle support frame 22, and the other 6 sets of articulated oil cylinders 21 use hemispherical ball pairs 23 to connect the middle support frame 22 and the shield body 3; 6 groups of hinged oil cylinders positioned on the same side of the middle support frame 22 are distributed and arranged in a Stewart platform V parallel mode; the hinged oil cylinder combination of the two Stewart platforms V in parallel is relatively fixed through the middle support frame 22, so that the hinged oil cylinders 21 of the propelling mechanism are integrally distributed in a Stewart platform X in parallel, and the heading machine can move in 6 degrees of freedom by controlling the stroke of each hinged oil cylinder 21, thereby completing the digging, turning and advancing of the heading machine.
The supporting mechanism 4 comprises a supporting shoe 401 which can extend out of the shield body 3 and is used for applying pressure to surrounding rocks, and the supporting shoe 401 is connected with a hydraulic oil cylinder arranged in the shield body 3.
Referring to fig. 4, the hemispherical ball pair 23 includes a lower hemispherical pair 232 disposed on a base 231 and forming a ball pair structure with the base 231, an upper hemispherical pair 233 is welded on the lower hemispherical pair 232, an included angle is formed between a connecting surface between the upper hemispherical pair 233 and the upper hemispherical pair 232 and the upper surface of the base 231, a rotation limiting block 234 is welded on the upper hemispherical pair 233, a limiting column 235 corresponding to the upper hemispherical pair 233 is welded on the base 231, a limiting groove 236 corresponding to the rotation limiting block 234 is arranged on the limiting column 235, and the hinge cylinder can rotate with multiple degrees of freedom through the hemispherical ball pair.
Referring to fig. 5 and 6, the carrier loader 7 of the present embodiment is mainly responsible for installing the fixed detection drilling machine 5, the anchor drilling machine 6, the linear belt conveyor 9 and other supporting equipment of the full face tunnel boring machine; the carrier vehicle 7 comprises an inner support frame 72 for mounting the linear belt conveyor 9 and an outer support frame 73 for mounting the detection drilling machine 5 and the anchor drilling machine 6, and the grounding wheel 71 is mounted at the bottom of the outer support frame 73; the ground wheels 71 comprise 6 movable wheels capable of moving transversely, the outer 4 movable wheels are supported by springs to be kept grounded, the inner 2 movable wheels are supported by springs, the bottom surfaces of the movable wheels are higher than the bottom surfaces of the outer 4 movable wheels, the outer movable wheels and the inner movable wheels are connected through connecting rods, and multiple groups of ground wheels and multiple carrying vehicles are used for tunneling under the working condition of a large inclination angle of the full-face tunneling machine to play a role in resistance-increasing support.
Referring to fig. 6, the conveying mechanism of this embodiment is mainly responsible for conveying the coal blocks cut by the front end of the cutter head out of the roadway of the mining area, and the coal blocks cut by the cutter head 1 fall into the front end mechanism 101 of the tubular belt conveyor in the shield body 3, and the front end mechanism 101 of the tubular belt conveyor is connected with the middle end mechanism 102 of the tubular belt conveyor through a variable angle hinge; the middle end mechanism 102 of the tubular belt conveyor is composed of a plurality of groups of carrier rollers capable of curling a belt into a tubular shape, is a turning part of the tubular belt conveyor, wraps coal blocks in the transportation process in the tubular belt, and achieves non-falling transportation of the coal blocks. The middle end mechanism 102 of the tubular belt conveyor is connected with the tail end mechanism 103 of the tubular belt conveyor through a variable angle hinge; the middle end mechanism 102 of the tubular belt conveyor comprises a plurality of first conveying roller supports 104 connected through a chain, a first conveying roller 105 with an O-shaped cross section is installed in the first conveying roller support 104, a plurality of second conveying rollers 106 corresponding to the first conveying rollers 105 and a first belt driving roller 107 corresponding to the second conveying rollers 106 are arranged on the front end mechanism 101 of the tubular belt conveyor, a plurality of third conveying rollers 108 corresponding to the first conveying rollers 105, a second belt driving roller 109 corresponding to the third conveying rollers 108 and a conveying motor 110 for driving the second belt driving roller 109 are arranged on the rear end mechanism 103 of the tubular belt conveyor, a conveying belt 111 which sequentially passes through the first belt driving roller 107, the second conveying rollers 106, the first conveying rollers 105, the third conveying rollers 108 and the second belt driving roller 109 is installed on the first belt driving roller 107 and the second belt driving roller 109, and cut coal blocks pass through the tubular belt conveyor 10, and the coal blocks are conveyed to a turning conveying carrier roller 8, the turning conveying carrier roller 8 is formed by connecting a plurality of independent flexible carrier rollers through a flexible mechanism, and the coal blocks are conveyed to a subsequent linear belt conveyor 9 after being conveyed by the turning conveying carrier roller 8. Then the coal blocks are transported out of the roadway of the mining area after passing through a group of turning transport rollers 8 and a linear belt conveyor 9. The turning conveying carrier roller 8 comprises a supporting frame 801 hinged with a tubular belt conveyor 10 or a linear belt conveyor 9, a side blocking roller 802 and a groove-shaped carrier roller 803 are arranged at the upper part of the supporting frame 801, the side blocking roller 802 comprises two inclined supporting vertical rollers which are symmetrically arranged along the central line of the supporting frame 801 and used for clamping a conveying belt, an inclined grounding wheel 804 is installed at the lower part of the supporting frame 801, and the bottom surface of the inclined grounding wheel 804 is higher than the bottom surface of the grounding wheel 71; the middle end mechanism 102 and the two groups of turning conveying carrier rollers 8 of the tubular belt conveyor are mainly responsible for bending the conveying mechanism of the heading machine during turning work with a large inclination angle and a small turning radius, so that efficient and uninterrupted coal conveying work is realized.
The cutter head 1, the propelling mechanism 2, the shield body 3, the supporting mechanism 4, the supporting shoe 401, the hydraulic cylinder, the chain, the detecting drill 5, the anchor rod drill 6, the carrying vehicle 7, the turning conveying idler 8, the supporting frame 801, the side baffle roller 802, the groove-shaped idler 803, the inclined grounding wheel 804, the linear belt conveyor 9, the tubular belt conveyor 10, the cutter head driving device 11, the front cutter head 12, the hinged oil cylinder 21, the middle supporting frame 22, the hemispherical ball pair 23, the grounding wheel 71, the inner supporting frame 72, the outer supporting frame 73, the front end mechanism 101 of the tubular belt conveyor, the middle end mechanism 102 of the tubular belt conveyor, the rear end mechanism 103 of the tubular belt conveyor, the first conveying roller bracket 104, the first conveying roller 105, the second conveying roller 106, the first belt driving roller 107, the third conveying roller 108, the second belt driving roller 109, the conveying belt 110, the placing base 231, the lower hemispherical pair 232, the upper hemispherical pair 233, the lower hemispherical pair, The rotation limiting block 234, the limiting post 235 and the limiting groove 236 are all of conventional structures or products known to those skilled in the art, and the connection or control manner therebetween is also known to those skilled in the art, and will not be described in detail herein.
The working principle is as follows:
when the full-face tunneling machine tunnels, the supporting mechanism 4 is driven by the hydraulic cylinder to extend out of the shield body 3, the friction force between the tunneling machine and surrounding rocks is increased in the process of contacting with the surrounding rocks of the roadway, and the tunneling efficiency of the tunneling machine is increased. Meanwhile, the hinged oil cylinder 21 in the propelling mechanism 2 moves for different strokes, so that the mining, propelling, turning and other works of the cutter head 1 are realized.
After the cutter head 1 finishes working and reaches a target position for propulsion or steering, the supporting mechanism 4 is retracted into the shield body 3, and the shield body 3 is not fixed on the surrounding rock of the roadway any more. The hinged oil cylinder 21 in the propelling mechanism 2 contracts forwards by a stroke, the shield body 3 is contracted and pulled by the hinged oil cylinder 21 to finish advancing, and the steering or advancing movement of the shield body 3 is finished by controlling the hinged oil cylinder 21 to contract by different strokes.
The propulsion mechanism 2 is connected with the cutter head 1 and the shield body 3 by the hemispherical ball pair 23 while using a Stewart platform X form, so that the propulsion mechanism 2 can rotate by a larger angle, a larger working space is provided for the cutter head 1 of the heading machine, and the heading machine can turn at a small turning radius.
The carrier vehicles 7 with indefinite number are always kept in contact with the ground along with different gradients of the roadway, so that the friction force between the tunneling machine and surrounding rocks is increased, and a certain support is provided for the tunneling machine. The ground wheels 71 are used to keep the multiple wheels in contact with the ground, so as to provide support for the operation of the heading machine. The grounding wheel is composed of wheels capable of moving transversely, so that the carrier loader 7 can conveniently turn and move in a roadway with a small turning radius, and the full-face tunneling machine can tunnel under the working condition of a large inclination angle. A detection drilling machine 5 and an anchor rod drilling machine 6 are installed on the upper portion of the carrier vehicle 7, the front geological condition of the heading machine is detected, and an anchor rod is driven into a roadway after heading by the heading machine to provide support guarantee.
The coal conveying mechanism of the development machine of the embodiment adopts a mode that a tubular belt conveyor 10, a turning conveying carrier roller 8 and a linear belt conveyor 9 are combined and connected to convey coal; coal blocks cut by the cutter head 1 fall to a front end mechanism 101 of the tubular belt conveyor in the shield body 3 through a conveying port behind the cutter head 1, a belt is curled into a tubular shape through a carrier roller of a middle end mechanism 102 of the tubular belt conveyor, the coal blocks in the conveying process are wrapped in the tubular belt, and the coal blocks are used as a turning part of the tubular belt conveyor to realize non-falling conveying of the coal blocks in the turning process; then, the coal is conveyed to a turning conveying carrier roller 8 through a tubular belt conveyor tail end mechanism 103, the turning conveying carrier roller 8 is formed by connecting a plurality of independent flexible carrier rollers through flexible mechanisms, and the coal can be conveyed in a bending mode in the turning process of the tunneling machine; the coal blocks are conveyed to a linear belt conveyor 9 connected behind the coal blocks after passing through a turning conveying carrier roller 8, and then are conveyed out of a roadway of a mining area after passing through a group of turning conveying carrier rollers and the linear belt conveyor 9; the conveying mechanism of the embodiment can well realize the uninterrupted coal conveying of the heading machine in the turning heading process, and the pipe-type belt conveyor 10 effectively prevents the coal blocks of the conveyor from falling off in the large-inclination-angle work.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. The full-face tunneling machine with the large inclination angle and the small turning radius is characterized by comprising a cutter head (1), wherein a front-end cutter head (12) is installed at the front end of the cutter head (1), a cutter head driving device (11) is connected to the rear end of the cutter head (1), a propelling mechanism (2) is sleeved outside the cutter head driving device (11), the rear end of the cutter head (1) is connected with a shield body (3) through the propelling mechanism (2), a supporting mechanism (4) and a tubular belt conveyor (10) are correspondingly installed in the shield body (3), a plurality of carrier vehicles (7) are correspondingly connected to the rear end of the shield body (3), detection drilling machines (5) and anchor drilling machines (6) are installed on the carrier vehicles (7), linear belt conveyors (9) are installed in the carrier vehicles (7), and the linear belt conveyors (9) are connected with the tubular belt conveyor (10) through turning carrier rollers (8), propulsion mechanism (2) are including 12 groups of articulated hydro-cylinders (21) that can make blade disc (1) carry out the whole that 6 degrees of freedom motions are the parallel form distribution of Stewart platform X, but a plurality of lateral shifting's ground connection wheel (71) are installed to carrier loader (7) bottom, ground connection wheel (71) can be different along with the tunnel slope, remain throughout with the contact on ground.
2. The full-face tunneling machine with large inclination angle and small turning radius according to claim 1, characterized in that said propelling mechanism (2) comprises an intermediate support frame (22), two ends of 6 groups of articulated cylinders (21) of said 12 groups of articulated cylinders (21) are respectively connected with the rear end of the cutterhead (1) and the front end of the intermediate support frame (22) through hemispherical ball pairs (23), two ends of the other 6 groups of articulated cylinders (21) are respectively connected with the rear end of the intermediate support frame (22) and the shield body 3 through hemispherical ball pairs (23), and 6 groups of articulated cylinders (21) on the same side of the intermediate support frame (22) are distributed and arranged in a Stewart platform V parallel connection mode between each two.
3. The full-face tunneling machine with the large inclination angle and the small turning radius according to claim 2, characterized in that the hemispherical ball pair (23) comprises a placing base (231) and a lower hemispherical pair (232) forming a ball pair structure with the placing base (231), the lower hemispherical pair (232) is welded with an upper hemispherical pair (233), the connecting surface between the lower hemispherical pair (232) and the upper hemispherical pair (233) is welded with an upper surface of the placing base (231) to form an included angle, the upper hemispherical pair (233) is welded with a rotating limiting block (234), the placing base (231) is welded with a limiting column (235) corresponding to the upper hemispherical pair (233), and the limiting column (235) is provided with a limiting groove (236) corresponding to the rotating limiting block (234).
4. A high-inclination small-turning-radius full-face tunneling machine according to claim 1, wherein said supporting means (4) comprises a shoe (401) capable of being extended outside the shield body (3) for applying pressure to the surrounding rock, said shoe (401) being connected to a hydraulic cylinder installed in the shield body (3).
5. The full-face tunneling machine with large inclination angle and small turning radius according to claim 1, characterized in that said tubular belt conveyor (10) comprises a tubular belt conveyor front end mechanism (101), a tubular belt conveyor rear end mechanism (103), a tubular belt conveyor middle end mechanism (102) for connecting the tubular belt conveyor front end mechanism (101) and the tubular belt conveyor rear end mechanism (103), said tubular belt conveyor middle end mechanism (102) comprises a plurality of conveying roller supports (104) connected by chains, a conveying roller (105) with an O-shaped cross section is installed in said conveying roller support (104), a plurality of conveying rollers (106) corresponding to the conveying roller (105) and a belt driving roller (107) corresponding to the conveying roller (106) are installed on the tubular belt conveyor front end mechanism (101), the rear end mechanism (103) of the tubular belt conveyor is provided with a plurality of conveying rollers III (108) corresponding to the conveying rollers I (105), a belt driving roller II (109) corresponding to the conveying rollers III (108) and a conveying motor (110) for driving the belt driving roller II (109), and conveying belts (111) which sequentially pass through the belt driving roller I (107), the conveying rollers II (106), the conveying rollers I (105), the conveying rollers III (108) and the belt driving roller II (109) are installed on the belt driving roller I (107) and the belt driving roller II (109).
6. The full-face tunneling machine with the large inclination angle and the small turning radius according to claim 1, characterized in that the turning transportation idler (8) comprises a support frame (801) hinged with a tubular belt conveyor (10) or a linear belt conveyor (9), a side blocking roller (802) and a groove-shaped idler (803) are arranged at the upper part of the support frame (801), the side blocking roller (802) comprises two inclined supporting vertical rollers which are symmetrically arranged along the center line of the support frame (801) and used for clamping a conveying belt, an inclined grounding wheel (804) is installed at the lower part of the support frame (801), and the bottom surface of the inclined grounding wheel (804) is higher than the bottom surface of the grounding wheel (71).
7. A large-inclination small-turning-radius full-face heading machine according to claim 1, wherein the carrier vehicle (7) comprises an inner support frame (72) for mounting the linear belt conveyor (9), an outer support frame (73) for mounting the probe drilling machine (5) and the anchor drilling machine (6), and the ground engaging wheels (71) are mounted at the bottom of the outer support frame (73).
8. A large-inclination small-turning-radius full-face tunneling machine according to claim 7 characterized in that said ground engaging wheels (71) comprise 6 laterally movable moving wheels, the outer 4 moving wheels are supported by springs and kept grounded, the inner 2 moving wheels are supported by springs and have a bottom surface higher than the bottom surfaces of the outer 4 moving wheels, and the outer moving wheels and the inner moving wheels are connected by connecting rods.
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| CN202210758185.7A CN114909147B (en) | 2022-06-29 | 2022-06-29 | Full-face tunneling machine with large dip angle and small turning radius |
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| CN202210758185.7A CN114909147B (en) | 2022-06-29 | 2022-06-29 | Full-face tunneling machine with large dip angle and small turning radius |
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| CN114909147B CN114909147B (en) | 2023-07-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115853428A (en) * | 2023-02-09 | 2023-03-28 | 浙大城市学院 | Propelling posture adjusting device for drilling hard rock stratum |
| CN115949422A (en) * | 2022-12-30 | 2023-04-11 | 中国矿业大学 | Large-inclination-angle small-turning-radius circular full-section modular heading machine |
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| CN104196538A (en) * | 2014-09-05 | 2014-12-10 | 中船重工（青岛）轨道交通装备有限公司 | Combined type double-shield tunneling machine |
| CN113048173A (en) * | 2021-03-05 | 2021-06-29 | 上海大学 | Stewart vibration isolation platform of piezoelectric fiber sheet and control method thereof |
| CN114109415A (en) * | 2021-11-30 | 2022-03-01 | 新疆额尔齐斯河流域开发工程建设管理局 | Construction method for disassembling tunnel of shield machine of non-expanding excavation chamber |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104196538A (en) * | 2014-09-05 | 2014-12-10 | 中船重工（青岛）轨道交通装备有限公司 | Combined type double-shield tunneling machine |
| CN113048173A (en) * | 2021-03-05 | 2021-06-29 | 上海大学 | Stewart vibration isolation platform of piezoelectric fiber sheet and control method thereof |
| CN114109415A (en) * | 2021-11-30 | 2022-03-01 | 新疆额尔齐斯河流域开发工程建设管理局 | Construction method for disassembling tunnel of shield machine of non-expanding excavation chamber |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115949422A (en) * | 2022-12-30 | 2023-04-11 | 中国矿业大学 | Large-inclination-angle small-turning-radius circular full-section modular heading machine |
| CN115853428A (en) * | 2023-02-09 | 2023-03-28 | 浙大城市学院 | Propelling posture adjusting device for drilling hard rock stratum |
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| Publication number | Publication date |
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| CN114909147B (en) | 2023-07-28 |
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