CN114909147B - Full-face tunneling machine with large dip angle and small turning radius - Google Patents
Full-face tunneling machine with large dip angle and small turning radius Download PDFInfo
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- CN114909147B CN114909147B CN202210758185.7A CN202210758185A CN114909147B CN 114909147 B CN114909147 B CN 114909147B CN 202210758185 A CN202210758185 A CN 202210758185A CN 114909147 B CN114909147 B CN 114909147B
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- belt conveyor
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- 230000005641 tunneling Effects 0.000 title abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 238000011161 development Methods 0.000 claims 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
- 238000005553 drilling Methods 0.000 abstract description 13
- 239000003245 coal Substances 0.000 description 30
- 238000005065 mining Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 238000005516 engineering process 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
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect 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
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009415 formwork Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- 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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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a full-face tunneling machine with a large dip angle and a small turning radius, which comprises a cutterhead, wherein the front end of the cutterhead is provided with a front cutterhead, the rear end of the cutterhead is connected with a cutterhead driving device, a propelling mechanism is sleeved outside the cutterhead driving device, the rear end of the cutterhead 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, the rear end of the shield body is correspondingly connected with a plurality of carrier vehicles, a probing drilling machine and an anchor rod drilling machine are arranged on the carrier vehicles, a linear belt conveyor is arranged in the carrier vehicles, the linear belt conveyor is connected with the tubular belt conveyor through turning conveying carrier rollers, the propelling mechanism comprises 12 groups of articulated cylinders which are integrally distributed in a Stewart platform X parallel connection mode, and a plurality of grounding wheels capable of transversely moving are arranged at the bottom of the carrier vehicles.
Description
Technical Field
The invention relates to the technical field of full-face heading machines, in particular to a full-face heading machine with a large dip angle and a small turning radius.
Background
In the 21 st century, along with the continuous development of national economy and science and technology, the demand for coal resources is continuously increased, so that the use demand of domestic coal mines for development machines is always kept at a higher level, and in addition, the replacement of new and old equipment and the urgent demand of the whole coal industry for automatic mining equipment are adopted, so that underground equipment is promoted to develop along the direction with higher working efficiency and higher degree of automation.
The TBM full-face heading machine is a highly mechanized and automatic large tunnel excavation lining complete set of equipment integrating mechanical, electronic, hydraulic, laser, control and other technologies, and can realize automatic operation in the whole processes of propulsion, coal mining, measurement, guiding and correction, coal discharging transportation and the like. The TBM full-face heading machine has the advantages of high automation degree, high construction speed, labor saving, safety, economy, small influence on ground construction and the like. As a key excavating equipment, it is widely used in coal mine roadway construction.
The demand of the economy and industry in China for mineral energy is gradually increased, so that the coal mine construction projects are gradually increased. The mining conditions of different mining area resources are different, the tunnel construction working condition is more and more complex, the large-dip angle engineering and the small-turn engineering are gradually increased, when the climbing tunneling of the existing heading machine exceeds 15 degrees, the whole full-face heading machine still can slide downwards under the action of the gravity component force after the friction force is overcome, and the whole braking effect is poor. The heading machine has large turning radius due to the influence of the structure of the heading machine. These bottleneck problems encountered in ultra-small turning and large inclination angle tunneling engineering bring new demands to 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 dip angle and a small turning radius.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a full-face heading machine with a large dip angle and a small turning radius, which comprises a cutterhead, wherein the front end of the cutterhead is provided with a front cutterhead, the rear end of the cutterhead is connected with a cutterhead driving device, a pushing mechanism is sleeved outside the cutterhead driving device, the rear end of the cutterhead is connected with a shield body through the pushing mechanism, a supporting mechanism and a tubular belt conveyor are correspondingly arranged in the shield body, the rear end of the shield body is correspondingly connected with a plurality of carrier vehicles, a detection drilling machine and an anchor rod drilling machine are arranged on the carrier vehicles, a linear belt conveyor is arranged in the carrier vehicles, the linear belt conveyor is connected with the tubular belt conveyor through turning conveying carrier rollers, the pushing mechanism comprises 12 groups of articulated cylinders which can enable the cutterhead to move in 6 degrees of freedom and are distributed in a parallel mode of a Stewart platform X, and a plurality of transversely movable grounding wheels are arranged at the bottom of the carrier vehicles and can always keep contact with the ground along with different tunnel slopes.
Preferably, the propelling mechanism comprises an intermediate support frame, two ends of 6 groups of the hinged oil cylinders of the 12 groups of hinged oil cylinders are respectively connected with the rear end of the cutterhead and the front end of the intermediate support frame through hemispherical ball pairs, two ends of 6 groups of hinged oil cylinders are respectively connected with the rear end of the intermediate support frame and the shield body 3 through hemispherical ball pairs, and the 6 groups of hinged oil cylinders positioned on the same side of the intermediate support frame are distributed in a parallel connection mode of the Stewart platform V.
Preferably, the hemispherical ball pair comprises a lower hemispherical ball pair which is used for placing a base and forming a spherical ball pair structure with the base, an upper hemispherical ball pair is welded on the lower hemispherical ball pair, an included angle is formed between a connecting surface between the lower hemispherical ball pair and the upper surface of the base, a rotary limiting block is welded on the upper hemispherical ball pair, a limiting column corresponding to the upper hemispherical ball pair is welded on the base, and a limiting groove corresponding to the rotary limiting block is formed in the limiting column.
Preferably, the supporting mechanism comprises a supporting shoe which can extend out of the shield body and is used for applying pressure to surrounding rock, and the supporting shoe is connected with a hydraulic 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, 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 I connected through chains, conveying rollers I with sections in O-shaped structures are arranged in the conveying roller supports 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, a belt driving roller II corresponding to the conveying rollers III and a conveying motor for driving the belt driving rollers II are arranged on the tubular belt conveyor rear end mechanism, and conveying belts sequentially passing through the belt driving rollers I, the conveying rollers II, the conveying rollers III and the belt driving rollers II are arranged on the belt driving rollers I and II.
Preferably, the turning transportation carrier roller comprises a support frame hinged with the tubular belt conveyor or the linear belt conveyor, a side blocking roller and a groove carrier roller are arranged on the upper portion of the support frame, the side blocking roller comprises two diagonal bracing vertical rollers symmetrically arranged along the center line of the support frame and used for clamping the conveying belt, an inclined grounding wheel is arranged on the lower portion of the support frame, and the bottom surface of the inclined grounding wheel is higher than that of the grounding wheel.
Preferably, the carrier loader comprises an inner supporting frame for installing the linear belt conveyor and an outer supporting frame for installing the detection drilling machine and the jumbolter, and the grounding wheel is installed at the bottom of the outer supporting frame.
Preferably, the grounding wheel comprises 6 movable wheels capable of moving transversely, the outer 4 movable wheels are supported by springs to be grounded, the inner 2 movable wheels are supported by springs, the bottom surface of each movable wheel is higher than the bottom surface of each movable wheel, and the outer movable wheels are connected with the inner movable wheels through connecting rods.
The invention has the beneficial effects that:
1. the invention utilizes the propulsion mechanism of the Stewart platform X parallel connection form and the hemispherical hinged ball pair to ensure that the cutter head at the front part of the development machine can realize turning propulsion with larger turning angle in small turning radius, compared with the traditional propulsion mechanism of the Stewart parallel connection form, the propulsion mechanism of the Stewart platform X parallel connection form has larger rigidity, can overcome the defect of uneven stress of each hydraulic cylinder when the traditional propulsion mechanism of the Stewart parallel connection form works under the lateral placement condition, and the propulsion mechanism of the Stewart platform X parallel connection form has the characteristics of high internal space utilization rate and compact structure and is suitable for a small-sized full-face development machine; the hydraulic cylinders in the parallel connection mode of the Stewart platform V are relatively installed and fixed to form the propulsion mechanism in the parallel connection mode of the Stewart platform X, so that interference phenomena possibly occurring between adjacent hydraulic cylinders of the heading machine under the working condition of small turning radius are 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 heading machine, and the plurality of carrier vehicles always keep contact with the ground along with the gradient change of the roadway, so that the supporting force is provided for the heading of the full-face heading machine under the working condition of a large inclination angle; the plurality of groups of grounding wheels are obliquely arranged under the carrier vehicle, so that the spring of the grounding wheels can be driven to apply pressure to the grounding wheels under the condition of large inclination angles while the spring is adapted to the ground of a tunneled cylindrical roadway, and the spring is kept in contact with the ground; the movable wheels capable of transversely moving are used, so that the carrier vehicles can conveniently move in the small turning radius roadway, and the combined action of the plurality of groups of grounding wheels and the plurality of carrier vehicles can prevent the heading machine from retreating and sliding.
3. According to the invention, the tubular belt conveyor is used for receiving coal cut by the cutter head, the curved conveying of ore is realized under a smaller turning radius, and the tubular conveyor belt at the turning section can reduce the tilting and sprinkling during the turning conveying of coal, so that the conveying efficiency is high.
4. The full-face tunneling machine can finish tunneling under the conditions of large inclination angle and small turning according to requirements, so that the coal mining efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a full face heading machine of the present invention;
FIG. 2 is a schematic perspective view of the full face heading machine of the present invention;
FIG. 3 is a schematic view of the propulsion mechanism of the full face heading machine of the present invention;
FIG. 4 is a schematic view of the structure of the hemispherical suspension of the present invention;
FIG. 5 is a schematic perspective view of a vehicle according to the present invention;
FIG. 6 is a schematic view of the ground wheel of the carrier loader according to the present invention
FIG. 7 is a schematic perspective view of a conveying mechanism according to the present invention;
fig. 8 is a schematic diagram of a carrier roller structure of the tubular belt conveyor of the present invention;
reference numerals illustrate:
1. cutterhead, 2, a propelling mechanism, 3, a shield body, 4, a supporting mechanism, 401, a supporting shoe, 5, a probing drilling machine, 6, an anchor drilling machine, 7, a carrier vehicle, 8, a turning conveying carrier roller, 9, a linear belt conveyor, 10, a tubular belt conveyor, 11, a cutterhead driving device, 12, a front cutterhead, 21, a hinged oil cylinder, 22, an intermediate supporting frame, 23, a hemispherical ball pair, 71, a grounding wheel, 72, an inner supporting frame, 73, an outer supporting frame, 101, a tubular belt conveyor front end mechanism, 102, a tubular belt conveyor middle end mechanism, 103, a tubular belt conveyor rear end mechanism, 104, a conveying roller bracket I, 105, a conveying roller I, 106, a conveying roller II, 107, a belt driving roller I, 108, a conveying roller III, 109, a belt driving roller II, 110, a conveying motor, 111, a conveying belt, 231, a placement base, 232, a lower hemispherical pair, 233 and an upper hemispherical pair; 234. the limiting blocks are rotated, 235, limiting columns, 236 and limiting grooves.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 8, the present embodiment provides a full-face heading machine with a large inclination angle and a small turning radius, which comprises a cutterhead 1, and a front cutterhead 12 is installed at the front end of the cutterhead 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 vehicle 7 is connected with the rear end of the shield body 3 of the full-face heading machine; the inside of the carrier vehicle 7 is fixedly provided with a linear belt conveyor 9, the upper part of the carrier vehicle 7 is fixedly provided with a detection drilling machine 5 and an anchor drilling machine 6, 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 groups of articulated cylinders 21, wherein 6 groups of articulated cylinders 21 use hemispherical ball pairs 23 to connect the cutterhead 1 with the middle support frame 22, and the rest 6 groups of articulated cylinders 21 use hemispherical ball pairs 23 to connect the middle support frame 22 with the shield body 3; the 6 groups of articulated cylinders positioned on the same side of the middle support frame 22 are distributed and arranged in parallel by using a Stewart platform V; the two hinge oil cylinder combinations in the parallel connection mode of the Stewart platform V are relatively fixed through the middle support frame 22, so that the whole hinge oil cylinders 21 of the propelling mechanism are distributed in the parallel connection mode of the Stewart platform X, and the development, turning and advancing of the development machine are completed by controlling the stroke of each hinge oil cylinder 21 to realize the movement of the development machine with 6 degrees of freedom.
The supporting mechanism 4 comprises supporting shoes 401 which can extend out of the shield body 3 and are used for applying pressure to surrounding rock, and the supporting shoes 401 are connected with hydraulic cylinders arranged in the shield body 3.
Referring to fig. 4, the hemispherical ball pair 23 includes a placement base 231, a lower hemispherical pair 232 forming a ball pair structure with the placement base 231, an upper hemispherical pair 233 is welded on the lower hemispherical pair 232, an included angle is formed between a connection surface between the lower hemispherical pair 232 and the upper hemispherical pair 233 welded on the upper surface of the placement 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 placement base 231, a limiting groove 236 corresponding to the rotation limiting block 234 is provided on the limiting column 235, and multiple degrees of freedom rotation of the hinged oil cylinder can be achieved 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 jumbolter 6, the linear belt conveyor 9 and other supporting equipment of the full-face tunneling machine; the carrier vehicle 7 comprises an inner supporting frame 72 for mounting the linear belt conveyor 9, and an outer supporting frame 73 for mounting the detection drilling machine 5 and the jumbolter 6, and the grounding wheel 71 is mounted at the bottom of the outer supporting frame 73; the grounding wheels 71 comprise 6 movable wheels capable of transversely moving, the outer 4 movable wheels are supported by springs to be grounded, the inner 2 movable wheels are supported by springs, the bottom surface of each movable wheel is higher than that of the outer 4 movable wheels, the outer movable wheels are connected with the inner movable wheels through connecting rods, and multiple groups of grounding wheels and multiple carrier 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 the embodiment is mainly responsible for conveying the coal blocks cut by the front end of the cutter head out of the mining area roadway, the coal blocks cut by the cutter head 1 fall to 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 which can curl the belt into a tubular shape, and is a turning part of the tubular belt conveyor, and the coal blocks in the conveying process are wrapped in the tubular belt, so that the coal blocks can be conveyed without dropping. 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 first conveying roller bracket 104 connected through a chain, a first conveying roller 105 with an O-shaped section is arranged in the first conveying roller bracket 104, a second conveying roller 106 corresponding to the first conveying roller 105 and a first belt driving roller 107 corresponding to the second conveying roller 106 are arranged on the front end mechanism 101 of the tubular belt conveyor, a third conveying roller 108 corresponding to the first conveying roller 105, a second belt driving roller 109 corresponding to the third conveying roller 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, the first belt driving roller 107 and the second belt driving roller 109 are provided with a conveying belt 111 with a section of O-shaped section, the cut coal blocks pass through the first belt conveyor 10 and are conveyed into the turning conveying roller 8, the conveying roller 8 is formed by connecting a plurality of independent flexible rollers through a flexible mechanism, and the coal blocks are conveyed onto the straight line conveyor 9 after passing through the turning conveying roller 8. After passing through a set of turning conveying carrier rollers 8 and a linear belt conveyor 9, the coal blocks are conveyed out of the mining area roadway. The turning conveying carrier roller 8 comprises a supporting frame 801 hinged with the tubular belt conveyor 10 or the linear belt conveyor 9, a side baffle roller 802 and a groove carrier roller 803 are arranged on the upper portion of the supporting frame 801, the side baffle roller 802 comprises two diagonal bracing vertical rollers symmetrically arranged along the center line of the supporting frame 801 and used for clamping a conveying belt, a diagonal grounding wheel 804 is arranged on the lower portion of the supporting frame 801, and the bottom surface of the diagonal 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 when the heading machine of the invention realizes turning work with large dip angle and small turning radius, thereby realizing efficient uninterrupted coal conveying work.
The cutterhead 1, the propulsion mechanism 2, the shield body 3, the supporting mechanism 4, the supporting shoe 401, the hydraulic cylinder, the chain, the probing driller 5, the jumbolter 6, the carrier 7, the cornering carrier roller 8, the supporting frame 801, the side baffle roller 802, the trough carrier roller 803, the inclined grounding wheel 804, the linear belt conveyor 9, the tubular belt conveyor 10, the cutterhead driving device 11, the front cutterhead 12, the hinged 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 tubular belt conveyor front end mechanism 101, the tubular belt conveyor middle end mechanism 102, the tubular belt conveyor rear end mechanism 103, the conveying roller bracket one 104, the conveying roller one 105, the conveying roller two 106, the belt driving roller one 107, the conveying roller three 108, the belt driving roller two 109, the conveying belt 110, the placement base 231, the lower hemispherical pair 232, the upper hemispherical pair 233, the rotary limiting block 234, the limiting post 235 and the limiting groove 236 are all of the prior structures or products known to those skilled in the art, and the connection or control modes thereof are not described in detail in the prior art.
Working principle:
when the full-face tunneling machine is used for tunneling, the supporting mechanism 4 is driven by the hydraulic cylinder to extend out of the shield body 3, so that friction force between the tunneling machine and surrounding rock is increased in the process of contacting the surrounding rock of a roadway, and tunneling efficiency of the tunneling machine is improved. Meanwhile, the articulated oil cylinder 21 in the propulsion mechanism 2 advances in different strokes to realize the working of the cutterhead 1 such as mining, propulsion, turning and the like.
After the cutterhead 1 finishes working and reaches a target position for pushing 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. In the propulsion mechanism 2, the articulated cylinder 21 contracts forward for a stroke, the shield body 3 is contracted and pulled by the articulated cylinder 21 to finish the forward movement, and the steering or forward movement of the shield body 3 is finished by controlling the articulated cylinder 21 to contract different strokes.
The propulsion mechanism 2 uses a Stewart platform X form and simultaneously uses a hemispherical ball pair 23 to connect the cutterhead 1 and the shield body 3, so that the propulsion mechanism 2 can rotate for a larger angle, a larger working space is provided for the cutterhead 1 of the heading machine, and the small turning radius turning of the heading machine is realized.
The carrier vehicles 7 with different quantity are always kept in contact with the ground along with different tunnel slopes, so that the friction force between the heading machine and surrounding rock is increased, and a certain support is provided for the heading machine. The ground engaging wheels 71 are used to maintain the wheels in contact with the ground and provide support for the heading machine. The grounding wheel consists of a transversely movable wheel, so that the carrying vehicle 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. The upper part of the carrier loader 7 is provided with a detection drilling machine 5 and an anchor rod drilling machine 6, the geological condition of the front part of the tunneling machine is detected, and an anchor rod is driven into a tunnel after the tunneling machine is tunneled, so that support and guarantee are provided.
The coal conveying mechanism of the heading machine adopts a mode of combining and connecting a tubular belt conveyor 10, a turning conveying carrier roller 8 and a linear belt conveyor 9 to convey coal; 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 through a conveying port behind the cutter head 1, the belt is curled into a tubular shape through a carrier roller of the middle end mechanism 102 of the tubular belt conveyor, the coal blocks in the conveying process are wrapped in the tubular belt, and the part is used as a turning part of the tubular belt conveyor to realize the non-falling conveying of the coal blocks in the turning process; then, the coal is transported to the turning transportation carrier roller 8 through the tail end mechanism 103 of the tubular belt conveyor, the turning transportation carrier roller 8 is formed by connecting a plurality of independent flexible carrier rollers through a flexible mechanism, and the bending coal transportation of the heading machine in the turning process can be realized; after passing through the turning conveying carrier rollers 8, the coal blocks are conveyed to the linear belt conveyor 9 connected with the coal blocks, and then the coal blocks are conveyed out of the mining area roadway after passing through a group of turning conveying carrier rollers and the linear belt conveyor 9; the conveying mechanism of the embodiment can better realize uninterrupted coal transportation of the heading machine in the turning heading process, and the pipe-shaped belt conveyor 10 effectively prevents the coal blocks of the conveyor from falling off in the large-dip-angle work.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The utility model provides a full-face development machine with a large dip angle and a small turning radius, which is characterized by comprising a cutterhead (1), front end of cutterhead (1) is provided with a front cutterhead (12), rear end of cutterhead (1) is connected with a cutterhead driving device (11), the outside cover of cutterhead driving device (11) is equipped with propulsion mechanism (2), the rear end of cutterhead (1) is connected with a shield body (3) through propulsion mechanism (2), support mechanism (4) and tubular belt conveyor (10) are correspondingly installed in shield body (3), the rear end of shield body (3) is correspondingly connected with a plurality of carrier vehicle (7), install on carrier vehicle (7) and survey rig (5) and jumbo rig (6), install straight belt conveyor (9) in carrier vehicle (7), straight belt conveyor (9) are connected with tubular belt conveyor (8) through propulsion mechanism (2), the articulated mechanism (2) including can make cutterhead (1) carry out 6 degree of freedom motion in whole and be in the form of being that Stert (71) is connected with ground connection platform (71) all the time, can keep the mode that a plurality of carrier vehicle (71) are connected with ground connection platform (71) in parallel all the way along with the ground, the propelling mechanism (2) comprises an intermediate support frame (22), two ends of 6 groups of articulated oil cylinders (21) of the 12 groups of articulated oil 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 6 groups of articulated oil 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 the 6 groups of articulated oil cylinders (21) positioned on the same side of the intermediate support frame (22) are distributed in a parallel connection mode of a Stewart platform V.
2. The full-face heading machine with a large inclination angle and a small turning radius as claimed in claim 1, wherein the hemispherical ball pair (23) comprises a placing base (231), a lower hemispherical ball pair (232) which forms a ball pair structure with the placing base (231), an upper hemispherical ball pair (233) is welded on the lower hemispherical ball pair (232), an included angle is formed between a connecting surface between the lower hemispherical ball pair (232) and the upper hemispherical ball pair (233) and the upper surface of the placing base (231), a rotation limiting block (234) is welded on the upper hemispherical ball pair (233), a limiting column (235) corresponding to the upper hemispherical ball pair (233) is welded on the placing base (231), and a limiting groove (236) corresponding to the rotation limiting block (234) is formed in the limiting column (235).
3. A high rake small turning radius full face heading machine as claimed in claim 1 characterised in that the support means (4) comprises a support shoe (401) which can extend outside the shield body (3) for applying pressure to the surrounding rock, the support shoe (401) being connected to a hydraulic ram mounted in the shield body (3).
4. The full-face heading machine with a large inclination angle and a small turning radius as claimed in claim 1, wherein the 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), the tubular belt conveyor middle end mechanism (102) comprises a plurality of first conveying roller brackets (104) connected through chains, first conveying rollers (105) with O-shaped structures are arranged in the first conveying roller brackets (104), a plurality of second conveying rollers (106) corresponding to the first conveying rollers (105) are arranged on the tubular belt conveyor front end mechanism (101), a plurality of first belt driving rollers (107) corresponding to the second conveying rollers (106) are arranged on the tubular belt conveyor rear end mechanism (103), a plurality of third conveying rollers (108) corresponding to the first conveying rollers (105), a plurality of second conveying rollers (108) corresponding to the third conveying rollers (108) and a plurality of second belt driving motors (108) corresponding to the third conveying rollers (108), and a first belt driving rollers (109) and a second belt driving roller (109) which are arranged on the first conveying rollers (109) and the second belt driving rollers (109) in sequence And a conveyor belt (111) of the belt driving roller II (109).
5. A large-dip small-turning-radius full face heading machine as claimed in claim 1, wherein the turning transportation carrier roller (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 carrier roller (803) are arranged on the upper portion of the support frame (801), the side blocking roller (802) comprises two diagonal bracing vertical rollers symmetrically arranged along the central line of the support frame (801) and used for clamping a conveying belt, and an inclined grounding wheel (804) is arranged on the lower portion 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).
6. A large rake small turning radius full face heading machine as claimed in claim 1 wherein said carriage (7) includes an inner support frame (72) for mounting a linear belt conveyor (9), an outer support frame (73) for mounting a probing rig (5), a jumbolter (6), said ground wheels (71) being mounted at the bottom of the outer support frame (73).
7. A large rake small radius full face heading machine as claimed in claim 6 wherein the ground engaging wheel (71) includes 6 laterally movable moving wheels, the outer 4 moving wheels being held in ground engagement by spring supports, the inner 2 moving wheels being spring supported and having a bottom surface higher than the bottom surface of the outer 4 moving wheels, the outer moving wheels being connected to the inner moving wheels by connecting rods.
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| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN114909147A CN114909147A (en) | 2022-08-16 |
| CN114909147B true CN114909147B (en) | 2023-07-28 |
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| CN115949422B (en) * | 2022-12-30 | 2023-07-14 | 中国矿业大学 | Large-dip-angle small-turning-radius circular full-section modularized 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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| CN104196538B (en) * | 2014-09-05 | 2015-09-30 | 中船重工（青岛）轨道交通装备有限公司 | A kind of combined type Double shield TBM |
| CN113048173B (en) * | 2021-03-05 | 2022-04-08 | 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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