CN116025372A - Independent action device of double-support arm swinging oil cylinder and pitching oil cylinder for roller axis translation in transverse-axis heading machine and use method - Google Patents
Independent action device of double-support arm swinging oil cylinder and pitching oil cylinder for roller axis translation in transverse-axis heading machine and use method Download PDFInfo
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Abstract
The invention discloses a device for independently acting a double-support arm swinging oil cylinder and a pitching oil cylinder of cylinder axis translation in a transverse-axis heading machine and a use method thereof, wherein the device comprises a pair of parallelogram mechanisms with the same length and the same quantity, and the device comprises: the rear end of the double support arms is rotatably connected with the underframe; the cutting head assembly is arranged at the front end of the double support arms and is used for cutting; the pitching oil cylinder mechanism is used for driving the double support arms to drive the cutting head assembly to swing up and down; the swinging oil cylinder mechanism is used for driving the double support arms to drive the cutting head assembly to horizontally move; the telescopic oil cylinder mechanism is used for driving the cutting head assembly to stretch back and forth; the pitching oil cylinder mechanism and the telescopic oil cylinder mechanism cooperatively drive the double support arms so as to drive the axis of the cutting head assembly to vertically move up and down. The independent action device of the double-support arm swinging oil cylinder and the pitching oil cylinder for the axial translation of the roller in the transverse-axis heading machine enables the axial line of the cutting head assembly to vertically move up and down and horizontally move left and right.
Description
Technical Field
The invention relates to a heading machine, in particular to a device for independently acting a double-support arm swinging oil cylinder and a pitching oil cylinder of a roller axis translation in a transverse-axis heading machine and a use method thereof.
Background
The current tunneling machine is divided into a partial section tunneling machine and a full section tunneling machine, wherein the partial section tunneling machine is divided into a longitudinal axis type cantilever tunneling machine and a transverse axis type cantilever tunneling machine, and the full section tunneling machine is the shield tunneling machine. The longitudinal shaft type cantilever heading machine can open a required tunnel section but needs a plurality of left-right up-down cyclic swinging to complete full section cutting, and the heading efficiency is relatively low; the transverse shaft type cantilever heading machine can also open a required tunnel section, but the geometry of the rock cut in the tunnel advancing direction is a spherical crown which is approximately concave, the power consumption is long and the time is long relative to the path length of which the section shape is plane, and due to the fact that a shaft is adopted to support cutting heads on two sides, the rock to be crushed has only one free surface, the shear strength is not obviously weakened under the pressure effect of the rock above the rock to be crushed, the crushing speed is difficult to improve, and meanwhile, the cutting resistance moment is large, so that the working force of the support arm lifting oil cylinder is large and the structural size is large.
Disclosure of Invention
In order to solve the problems, the invention provides an independent action device of a double-support arm swinging oil cylinder and a pitching oil cylinder for translation of a roller axis in a transverse-axis heading machine and a use method thereof, so as to at least solve the problem that the geometry of a rock cut in the advancing direction of a roadway is a spherical crown similar to a concave shape.
In order to overcome the problems that cutting heads at two sides of the traditional transverse-axis cantilever heading machine are supported by the same shaft, the cutting heads are designed to be of a structure that the rotating speed of a left-section cutting head is the same as that of a right-section cutting head but the rotating directions of the left-section cutting head and the right-section cutting head are opposite, the axes of the cutting heads do translational motion during left-right transposition, the axes of the cutting heads do vertical motion during up-down cutting, the section shape of rock in the advancing direction of a roadway is a plane, in order to overcome the difficulty that a cutting pick of the traditional transverse-axis cantilever heading machine cuts only one free face rock, an advanced grooving cutting method is adopted, the advanced grooving is completed by a cutting tool, at the moment, the rock facing the cutting pick has three free faces, not only the shear strength of the cut rock is effectively weakened, but also the compressive strength is obviously weakened, and the heading speed is improved. When the axis of the cutting head moves vertically up and down, the geometric parameters of the swinging oil cylinder are set, the pitching oil cylinder moves linearly in a telescopic mode, the movement of the telescopic oil cylinder is a function of the movement of the pitching oil cylinder, the swinging oil cylinder and the pitching oil cylinder are connected in parallel in a movement relation and are independently controlled in a control mode, and therefore, the hydraulic servo control system is greatly simplified. Therefore, the invention discloses an independent action device of a double-support arm swinging oil cylinder and a pitching oil cylinder of the roller axis translation in a transverse-axis tunneling machine, which comprises a cutting head with alternate cutting grooves and cutting, a parallelogram mechanism type double-section support arm and telescopic oil cylinder mechanism, a left-right swinging oil cylinder mechanism of the double-section support arm, a pitching oil cylinder mechanism of the double-section support arm and a frame supporting structure, thereby providing a faster tunneling method for hard rock tunneling.
The invention adopts the following technical scheme:
the independent acting device of the double-support arm swinging oil cylinder and the pitching oil cylinder for the axial translation of the roller in the transverse-axis heading machine comprises a pair of parallelogram mechanisms with the same length change, and the independent acting device comprises the following components:
a pair of double support arms with the same length and changed side length, namely double support arms, and the rear end of the double support arms is rotatably connected with the underframe;
the cutting head assembly is arranged at the front end of the double support arms and is used for cutting rocks;
the pitching oil cylinder mechanism is used for driving the double support arms to drive the cutting head assembly to swing up and down;
the swinging oil cylinder mechanism is used for driving the double support arms to drive the cutting head assembly to do left-right translation;
the telescopic oil cylinder mechanism is used for changing the axial length of the double support arms, namely changing the axial length of the cutting head assembly;
the pitching oil cylinder mechanism is matched with the telescopic oil cylinder mechanism in displacement, so that the double support arms drive the axis of the cutting head assembly to do up-down linear translation.
Further, the cutting head assembly comprises a left Duan Jiege head and a right cutting head, and the left Duan Jiege head and the right cutting head are driven by a steel ball motor and a gear in a speed reducing manner and are reversely rotated.
Further, the cutting head component forms the front edge of the parallelogram mechanism, the double-joint support arm component forms the left and right edges of the parallelogram mechanism, the lower horizontal support shaft component forms the rear edge of the parallelogram mechanism, the front edge related parts of the parallelogram mechanism comprise a front support arm rear half end cover, an end cover left side connecting plate, an end cover right side connecting plate, an end cover upper connecting plate, a front support arm front end support, a front support shaft, a support shaft retaining ring, a support shaft O-shaped sealing ring, the left rear part of the front support arm rear half end cover is welded with the end cover left side connecting plate, the right rear part of the front support arm rear half end cover is welded with the end cover right side connecting plate, the upper rear part of the rear half end cover of the front support arm is welded with an upper connecting plate of the end cover, the front end support of the front support arm is welded with a left connecting plate of the end cover, a right connecting plate of the end cover and an upper connecting plate of the end cover respectively to form a front edge of the parallelogram mechanism, the front support arm front end support is formed into a revolute pair by a pair of front support shafts and a double-section support arm assembly, a support shaft check ring is used for positioning the front support shaft at the front end of the support arm, and a support shaft O-shaped sealing ring is used for sealing lubricating grease in the front support shaft and a front hole of the support arm; the left and right related parts of the parallelogram mechanism comprise a first support arm assembly and a second support arm assembly which are of the same structural symmetry and size, the first support arm assembly and the second support arm assembly form a moving pair, the related parts in the first support arm assembly comprise a first support arm top side plate, a first support arm bottom side plate, a first support arm left side plate, a first support arm right side plate, a first support arm front rib plate, a telescopic cylinder front left ear seat and a telescopic cylinder front right ear seat, the first support arm top side plate is welded on the tops of the first support arm left side plate and the first support arm right side plate, the first support arm bottom side plate is welded below the first support arm left side plate and the first support arm right side plate, and the telescopic cylinder front left ear seat and the telescopic cylinder front right ear seat are respectively welded on the inner sides of the first support arm top side plate and the first support arm bottom side plate; the related parts in the second section support arm assembly comprise a telescopic oil cylinder rear left lug seat, a telescopic oil cylinder rear right lug seat, a second section support arm top side plate, a second section support arm bottom side plate, a second section support arm left side plate, a second section support arm right side plate, a second section support arm bottom end upper support and a second section support arm bottom end lower support, wherein the second section support arm top side plate is welded on the tops of the second section support arm left side plate and the second section support arm right side plate, the second section support arm bottom side plate is welded under the bottoms of the second section support arm left side plate and the second section support arm right side plate, the telescopic oil cylinder rear left lug seat and the telescopic oil cylinder rear right lug seat are respectively welded on the inner sides of the second section support arm top side plate and the second section support arm bottom side plate, the second section support arm bottom end upper support is welded on the lower inner side of the second section support arm top side plate, and the second section support arm bottom end lower support is welded on the lower inner side of the second section support arm bottom side plate; the related parts in the lower horizontal fulcrum assembly comprise a lower horizontal fulcrum left support, a lower support O-shaped ring, a second section of lower support arm inner support, a support arm lower horizontal fulcrum, a support arm lower vertical fulcrum, a lower fulcrum limiting plate, a limiting plate screw, a lower horizontal fulcrum radial sleeve, a lower horizontal fulcrum key, a lower support arm O-shaped ring, wherein the support arm lower horizontal fulcrum and the left and right lower horizontal fulcrum radial sleeves form a revolute pair and are sealed through the left and right lower support arm O-shaped rings, the left and right lower horizontal fulcrum radial sleeves are in interference fit with the support seats of the left and right lower horizontal fulcrum respectively, the support arm lower horizontal fulcrum is fixedly connected with the second section of lower support arm inner support in the circumferential direction through the lower horizontal fulcrum key, the second section of lower support arm inner support is axially positioned with the support arm lower horizontal fulcrum through the upper and lower support arm lower vertical fulcrum respectively, the lower support arm lower vertical fulcrum limiting plate screw limits the support arm lower vertical fulcrum respectively, the axis of the lower horizontal fulcrum is mutually perpendicular to the support arm lower fulcrum through the lower fulcrum limiting plate screw, and the support arm lower fulcrum limiting shaft is mutually perpendicular, and the support arm vertical fulcrum axis belongs to the universal joint assembly, and the universal joint assembly can move in a universal mode.
Further, the swing cylinder mechanism comprises a left swing cylinder mechanism and a right swing cylinder mechanism which are arranged left and right relative to the rear parts of the double support arms;
the left swing cylinder mechanism comprises a swing cylinder, a swing cylinder piston rod fulcrum shaft, a swing cylinder fulcrum shaft retainer ring, a swing cylinder fulcrum shaft pin, a swing cylinder left front support, a swing cylinder right front support, a lower fulcrum shaft axial sleeve, a swing cylinder rear left support, a swing cylinder rear support pin shaft, a swing cylinder rear support tangential key, a rear support O-shaped ring, wherein the swing cylinder rear support is fixedly connected with a lower horizontal fulcrum shaft of a support arm in the circumferential direction through a pair of swing cylinder rear support tangential keys, the swing cylinder rear support is fixedly connected with the lower horizontal fulcrum shaft of the support arm in the axial direction through a pair of swing cylinder rear support tangential keys, a lower fulcrum shaft axial sleeve is arranged between a swing cylinder rear left support and the lower horizontal fulcrum shaft left support, the rear support O-shaped ring is arranged on the outer side of the lower horizontal fulcrum shaft left support, the cylinder body of the swing cylinder is in rotary connection with the fulcrum shaft of the swing cylinder rear left support, the piston rod of the swing cylinder is in rotary connection with the swing cylinder fulcrum shaft pin shaft, the swing cylinder piston rod fulcrum shaft of the swing cylinder is in rotary connection with the swing cylinder piston rod fulcrum shaft sleeve of the swing cylinder, the swing cylinder piston rod fulcrum shaft sleeve is in interference fit with the swing cylinder left front support arm, and the swing cylinder left front support arm is in the left side plate of the swing cylinder left side plate, and the swing cylinder left front support arm is in interference fit with the second joint left side plate;
The structure of the right swing oil cylinder mechanism is the same as that of the left swing oil cylinder mechanism.
Further, the pitching oil cylinder mechanism comprises a left pitching oil cylinder mechanism and a right pitching oil cylinder mechanism which are arranged left and right at the front part of the underframe;
the left pitching oil cylinder mechanism supports the left support arm, the right pitching oil cylinder mechanism supports the right support arm, and the left pitching oil cylinder mechanism respectively comprises a front Fang Qiumian pair of support arm connecting components and a rear universal joint and underframe connecting component, and is used for solving the problems of up-and-down cutting and action execution of cutting heads,
the front Fang Qiumian pair and support arm connecting assembly comprises a second support arm bottom side plate, an upper hemispherical seat baffle, an upper baffle screw, an upper baffle pin shaft, a pitching cylinder upper hemispherical seat, an upper hemispherical seat bolt, an upper hemispherical seat nut, a lower hemispherical seat of the pitching cylinder, a pitching cylinder upper supporting ball, an upper hemispherical seat pin shaft, a front upper support of the upper hemispherical seat, a rear upper support of the upper hemispherical seat, a ball seat oil filling hole screw, a pitching cylinder upper support shaft, a front upper support of the upper hemispherical seat with an L-shaped transverse section and a rear upper support of the upper hemispherical seat are welded on the bottom surface of the second support arm bottom side plate, the pitching cylinder upper hemispherical seat is arranged in an L-shaped groove and positioned by the upper baffle pin shaft, the upper hemispherical seat baffle and the upper baffle screw are fixed with the front upper support of the upper hemispherical seat and the rear upper support of the upper hemispherical seat, the upper hemispherical seat of the pitching cylinder and the lower hemispherical seat of the pitching cylinder form an inner spherical surface with the radius of SR, the upper hemispherical seat is positioned through the pin shaft of the upper hemispherical seat and the pin shaft of the lower hemispherical seat and fixedly connected with the nuts of the upper hemispherical seat and the lower hemispherical seat through the bolts of the upper hemispherical seat and the nuts of the lower hemispherical seat, the upper supporting ball of the pitching cylinder and the inner spherical surface form a spherical pair, the ball seat oil filling hole screw is used for filling lubricating grease between the spherical pair and sealing, the upper supporting shaft of the pitching cylinder and the upper supporting ball of the pitching cylinder form a revolute pair, the upper supporting shaft of the pitching cylinder and the upper supporting shaft of the pitching cylinder form a revolute pair, and the structure of the lower hemispherical seat of the pitching cylinder yields the space motion beta of the pitching cylinder zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb Required space, structural angle alpha b Is selected such that beta zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb To a minimum, the front Fang Qiumian pair bears the space force from the cutter head; the rear universal joint and underframe connecting assembly comprises a pitching oil cylinder, a pitching oil cylinder upper fulcrum, a pitching oil cylinder lower fulcrum sleeve, a lower fulcrum oil filling port screw, a pitching oil cylinder lower fulcrum baffle, a lower fulcrum baffle screw, a pitching oil cylinder upper support plate, a pitching oil cylinder upper vertical support, a pitching oil cylinder upper radial sleeve, a pitching oil cylinder upper vertical fulcrum, a pitching oil cylinder upper bearing bush, a pitching oil cylinder support upper plate and a pitching oil cylinder supportA frame inner side plate, a pitching oil cylinder bracket outer side plate, a pitching oil cylinder bracket lower plate, a pitching oil cylinder lower bracket, a pitching oil cylinder lower bearing bush, a pitching oil cylinder lower radial sleeve, a pitching oil cylinder lower vertical support shaft, a pitching oil cylinder lower vertical support, a pitching oil cylinder outer support plate, an outer upper rib plate, a pitching oil cylinder rear support plate, a pitching oil cylinder upper and lower rear rib, a pitching oil cylinder support plate bolt, a pitching oil cylinder support plate nut, a pitching oil cylinder support plate pin shaft, a support oil hole screw, a frame left vertical support plate, a left rear groove support plate, a left bottom support plate, a support plate positioning pin shaft, a bottom support plate connecting bolt, a bottom support plate connecting nut, a bottom plate of a pitching oil cylinder rear support plate, a right rear groove support plate, a pitching oil cylinder and a pitching oil cylinder lower support shaft rotary connection, a lower support shaft oil injection port screw for injecting lubricating grease into a revolute pair, positioning the pitching oil cylinder lower support shaft baffle plate and the lower support shaft baffle plate screw, the lower support shaft sleeve of the pitching oil cylinder is in interference fit with the lower support frame of the pitching oil cylinder, the lower support frame of the pitching oil cylinder is welded in the holes at the lower parts of the inner side plate of the pitching oil cylinder support and the outer side plate of the pitching oil cylinder support, the lower plate of the pitching oil cylinder is welded at the lower ends of the inner side plate of the pitching oil cylinder support and the outer side plate of the pitching oil cylinder support, the vertical support of the pitching oil cylinder is in interference fit with the lower radial support frame of the pitching oil cylinder, the lower radial support frame of the pitching oil cylinder is in interference fit with the lower vertical support frame of the pitching oil cylinder, the lower bearing bush of the pitching oil cylinder is arranged in the hole above the lower vertical support frame of the pitching oil cylinder, the oil hole screws of the support seat are used for oiling and sealing, the upper plate of the pitching oil cylinder support is welded at the upper ends of the inner side plate of the pitching oil cylinder support and the outer side plate of the pitching oil cylinder support, the vertical support shaft on the pitching oil cylinder is in interference fit with the upper plate of the pitching oil cylinder support, the vertical support shaft on the pitching oil cylinder is in clearance fit with the radial sleeve on the pitching oil cylinder, the radial sleeve on the pitching oil cylinder is in interference fit with the vertical support seat on the pitching oil cylinder, the vertical support seat on the pitching oil cylinder is in interference fit with the upper support plate of the pitching oil cylinder, the upper support plate of the pitching oil cylinder is welded on the outer support plate of the pitching oil cylinder, the upper bearing bush of the pitching oil cylinder is arranged in a hole below the vertical support seat on the pitching oil cylinder, the outer upper rib plate is welded with the upper support plate of the pitching oil cylinder and the outer support plate of the pitching oil cylinder, and the outer support plate of the pitching oil cylinder is welded The left back groove support plate is welded on the inner side of the left vertical support plate of the underframe, the outer support plate of the pitching cylinder is positioned on the left vertical support plate of the underframe through the pin shaft of the pitching cylinder support plate, the outer support plate of the pitching cylinder is fixedly connected on the left vertical support plate of the underframe through the pin shaft of the pitching cylinder support plate, the left bottom support plate is welded on the lower side of the left vertical support plate of the underframe through the pin shaft of the pitching cylinder support plate, the left bottom support plate is positioned on the chassis through the pin shaft of the support plate and the pin shaft of the pitching cylinder support plate, the double-support-arm swinging cylinder of the cylinder axis of a transverse shaft type tunneling machine is positioned on the chassis of the independent action device of the pitching cylinder support plate through the pin shaft of the support plate and the bottom support plate connection of the pitching cylinder support plate and is fixedly connected with the chassis of the X tunneling machine through the bottom support plate connection bolt and the bottom support plate connection nut, and the outer support plate of the pitching cylinder is fixedly connected on the chassis of the X tunneling machine 23 The axis performs pitching movement, and the pitching oil cylinder is related to Z 23 The shaft swings left and right, and the rear universal joint bears the space force from the cutting head;
The structure of the right pitching oil cylinder mechanism is the same as that of the left pitching oil cylinder mechanism.
Further, the telescopic oil cylinder mechanism is arranged in the first support arm and the second support arm, the piston rod is rotationally connected with the first support arm component, the cylinder body is rotationally connected with the second support arm component, and the telescopic oil cylinder mechanism is used for matching a pair of pitching oil cylinders to solve the problem that the cutting head moves vertically up and down so as to achieve the minimum cutting surface, and thus, the faster tunneling speed is obtained; the telescopic oil cylinder mechanism comprises a left telescopic oil cylinder mechanism and a right telescopic oil cylinder mechanism;
the left telescopic cylinder mechanism comprises a telescopic cylinder, a telescopic cylinder front support shaft, a telescopic cylinder front pin shaft, a telescopic cylinder rear support shaft, a telescopic cylinder rear pin shaft, a first section of support arm assembly and a second section of support arm assembly, wherein the telescopic cylinder forms a revolute pair with a telescopic cylinder front left lug seat and a telescopic cylinder front right lug seat through the telescopic cylinder front support shaft, the telescopic cylinder front support shaft is positioned between the telescopic cylinder front left lug seat and the telescopic cylinder front right lug seat through the telescopic cylinder front pin shaft, the telescopic cylinder forms a revolute pair with a telescopic cylinder rear left lug seat and a telescopic cylinder rear right lug seat through the telescopic cylinder rear support shaft, and the telescopic cylinder rear support shaft is positioned between the telescopic cylinder rear left lug seat and the telescopic cylinder rear right lug seat through the telescopic cylinder rear pin shaft;
The structure of the right telescopic oil cylinder mechanism is the same as that of the left telescopic oil cylinder mechanism.
Further, the cutting head assembly adopts a structure that a cutter and a cutting pick are axially arranged alternately and the cutter is radially arranged in advance, advanced cutting is carried out on the rock, then cutting is carried out, the cutting head assembly comprises a left-section cutting head, a middle-section supporting structure and a right-section cutting head, the rotating speeds of the left-section cutting head and the right-section cutting head are the same but the directions of the left-section cutting head and the right-section cutting head are opposite so as to minimize the thrust on a pitching oil cylinder, a telescopic oil cylinder and a swinging oil cylinder and relieve the stress on related components, the left-section cutting head comprises a left inner supporting sleeve, a cutting cutter, a bearing outer ring, a roller, a bearing inner ring and an outer end surface V D The steel ball motor is fixedly connected with a non-rotating left inner support sleeve through a motor connecting screw, the steel ball motor is fixedly connected with a left sleeve support and a right sleeve support through a spline pair, evenly distributed cutting tools are installed in conical holes of the left sleeve support and the right sleeve support and are positioned through cutting tool pin shafts, the left and right cutting picks are welded on the left sleeve support and the right sleeve support in a spiral shape, the left and right cutting pick rings are installed in conical holes of the left and right cutting pick seats and are positioned through left and right, interference fit is achieved with the left and right inner support sleeve, and the cutting pick bearings are matched with the left and right cutting pick bearings The support is in interference fit, four rows of rollers, the bearing inner ring and the bearing outer ring form a cylindrical roller bearing, a front half end cover of the front support arm and a rear half end cover of the front support arm are fixedly connected into a middle section of the cutting head through bolts of the front half end cover and the rear half end cover of the front support arm, and the outer end face V D The inner support seal on the left side realizes the axial seal of the middle support sleeve and the right inner support sleeve, the inner support check ring on the left side realizes the axial positioning of the middle support sleeve and the left inner support sleeve, the inner support check ring on the right side realizes the axial positioning of the middle support sleeve and the right inner support sleeve, the water supply pipe O-shaped ring is used for sealing a radial water supply hole on the water supply pipe and the left inner support sleeve, the outer plug of the water supply pipe seals the radial water supply hole on the left inner support sleeve, and the water supply pipe is connected with an external water supply pipeline;
the structure of the right section cutting head is the same as that of the left section cutting head.
Further, the frame supporting structure is used for supporting a lower horizontal fulcrum system component of a cantilever, supporting a pair of pitching oil cylinder mechanisms and being connected with a tunneling machine chassis, and comprises a lower horizontal fulcrum left support, a chassis left vertical support, a chassis left and right connecting plate, a chassis middle support, a side surface groove support, a left bottom support, a support plate positioning pin shaft, a bottom support connecting bolt, a bottom support connecting nut, a bottom plate of a pitching oil cylinder rear support, a rear groove support, a left rib plate of a rear support, a chassis rear support, a right bottom support, a right rib plate of a rear support, a chassis right vertical support and a lower horizontal fulcrum right support, wherein the lower horizontal fulcrum left support is welded on the upper part of the chassis left vertical support, the lower horizontal fulcrum right support is welded on the upper part of the chassis right vertical support, the chassis left and right connecting plate is welded between the chassis left vertical support and the chassis right vertical support, the chassis middle support is welded on the middle upper surface of the chassis left and right connecting plate, the top end of the bottom plate of the pitching cylinder back support plate is welded with the left and right connecting plates of the chassis, the bottom end of the bottom plate of the pitching cylinder back support plate is welded with the left bottom support plate and the bottom support plate, the left end of the bottom plate of the pitching cylinder back support plate is welded with the left vertical support plate of the chassis, the right end of the bottom plate of the pitching cylinder back support plate is welded with the right vertical support plate of the chassis, the left rib plate of the back support plate is welded with the bottom plate of the pitching cylinder back support plate and the back support plate of the chassis, the left bottom support plate is welded at the bottom end of the left vertical support plate of the chassis, the right bottom support plate is welded at the bottom end of the right vertical support plate of the chassis, the side groove support plate is welded at the inner lower part of the bottom plate of the left vertical support plate of the chassis, and the back groove support plate is welded at the inner lower part of the bottom plate of the back support plate of the pitching cylinder back support plate, and the middle lower space is a channel for conveying rock of the chassis of the scraper conveyor.
A method for using a double-support arm swinging oil cylinder and pitching oil cylinder independent action device for the axial translation of a roller in a transverse-axis heading machine comprises the following steps:
S 1 : controlling the cutting head assembly to cut corresponding L from top to bottom on the left side of a cut roadway gt1 Wherein L is 11 And L is equal to 12 For cutting and cutting zones, L z1 Is a non-broken rock area;
S 2 : control the rightward displacement L of the cutting head 11 Cutting and cutting from bottom to top;
S 3 : control the rightward displacement L of the cutting head gt1 -L cd Cutting and cutting from top to bottom, wherein L gt1 For the axial width of the pick on the drum when cutting the rock for the first time, L cd Is the overlap width of the cut;
S 4 : control the rightward displacement L of the cutting head 31 Cutting and cutting from bottom to top, L 31 The axial width of the left section of the roller is the axial width of the left section of the roller when the rock is cut for the third time, so that the rock breaking propulsion of a cutting depth of the section of the roadway is completed;
S 5 : repeating step S 1 -S 4 Breaking rock to advance the tunneling depth of the roadway; the swinging oil cylinder mechanism controls rightward displacement of the cutting head assembly, the pitching oil cylinder mechanism controls up-and-down motion of the cutting head assembly, and the telescopic oil cylinder mechanism controls the cutting head assembly to cut a plane-shaped section.
Further, the underframe of the heading machine is positioned in the middle of the width of the roadway, and O is used for the first time of cutting and cutting 3 Is positioned at the left side O of the roadway 31 ，O 31 The distance from the point to the middle surface of the roadway width is 0.5B xd -0.5L gt1 The method comprises the steps of carrying out a first treatment on the surface of the O at the time of secondary cutting and cutting 3 Is positioned at the left side O of the roadway 32 ，O 32 The distance from the point to the middle surface of the roadway width is 0.5B xd -L 11 -0.5L gt2 The method comprises the steps of carrying out a first treatment on the surface of the Tertiary cutting and cutting time O 3 The point is positioned at the right side O of the roadway 33 ，O 33 The distance from the point to the middle surface of the roadway width is 0.5B xd -L 42 -0.5L gt3 The method comprises the steps of carrying out a first treatment on the surface of the Fourth time cutting and cutting time O 3 The point is positioned at the right side O of the roadway 34 ，O 34 The distance from the point to the middle surface of the roadway width is 0.5B xd -0.5L gt4 ；
H 2 +H 3 ＝0.5H xd The horizontal median length from the axis of the cutting head to the rear supporting axis of the movable arm is L b0 The distance of the upward swing of the axis of the cutting head from the horizontal middle position is 0.5H xd -0.5D g -h g The method comprises the steps of carrying out a first treatment on the surface of the The distance of the downward swing of the axis of the cutting head from the horizontal middle position is 0.5H xd -0.5D g -h g ；
Maximum elevation angle beta of arm when cutting and cutting for the first time gfs Equal to the maximum depression angle beta gfx The pitch angle of the support arm is beta, beta gfx ≤β≤β gfs At O 1 In XYZ coordinate system, O 31 The coordinates of the points being [ -L b0 ，-(0.5B xd -0.5L gt1 )，L b0 tanβ]For this purpose, the displacement function S of the telescopic cylinder is used for the first cutting and cutting ss1 Is that
When cutting and cutting for the second time, at O 1 In XYZ coordinate system, O 32 The coordinates of the points being [ -L b0 ，-(0.5B xd -L 11 -0.5L gt2 )，L b0 tanβ]For this purpose, a second cut and a cuttingDisplacement function S of time-telescopic oil cylinder ss2 Is that
Displacement function S of telescopic cylinder during tertiary cutting and cutting ss3 ＝S ss2 Displacement function S of telescopic cylinder during fourth cutting and cutting ss4 ＝S ss1 ；
When cutting and cutting for the first time, the first left swing angle of the support arm is psi z1 When cutting and cutting for the second time, the second left swing angle of the support arm is psi z2 ，ψ z1 And psi is equal to z2 Respectively is
ψ z1 ＝arctan[(0.5B xd -0.5L gt1 )/L b0 ]
ψ z2 ＝arctan[(0.5B xd -L 11 -0.5L gt2 )/L b0 ]
When cutting and cutting for the third time, the first right swing angle of the support arm is psi y1 ＝ψ z2 When cutting and cutting for the fourth time, the second right swing angle of the support arm is psi y2 ＝ψ z1 ；
At O 1 In the XYZ coordinate system, when the support arm is in a horizontal position, the symmetrical center of the sphere centers of a pair of upper spherical pairs of the pitching oil cylinder is O 40 ，O 40 The coordinates of the points being [ -L zb ，0，-H 3 ]；
When cutting and cutting for the first time, the arm swings at the first left angle psi z1 Then swing from top to bottom, the swing angle is beta, beta gfs ≥β≥β gfx Dynamic point O 401 Coordinates (X) O401 ，Y O401 ，Z O401 ) Is the swing angle psi z1 Functions with beta, i.e. matrix expression as
The intersection point of the lower support axis of the pitching oil cylinder and the width symmetrical plane of the underframe is O 2 (0，0，-H 2 )，O 401 With O 2 The length between the two is the length S of the pitching oil cylinder fy1 ，S fy1 Is that
During the second cutting and cutting, the arm swings at the second left swing angle z2 Then swing from bottom to top, the swing angle is beta, beta gfx ≤β≤β gfs Dynamic point O 402 Coordinates (X) O402 ，Y O402 ，Z O402 ) Is the swing angle psi z2 Functions with beta, i.e. matrix expression as
The intersection point of the lower support axis of the pitching oil cylinder and the width symmetrical plane of the underframe is O 2 (0，0，-H 2 )，O 402 With O 2 The length between the two is the length S of the pitching oil cylinder fy2 ，S fy2 Is that
Length S of pitch cylinder during tertiary cutting fy3 ＝S fy2 Length S of pitch cylinder when cutting and cutting for the fourth time fy4 ＝S fy1 ；
The distance between the rear pivot of the left swinging oil cylinder and the rear pivot of the left support arm is (B) 4 -B 1 ) The axial length of the swing cylinder supported on the support arm is L bz The distance between the front support axle center of the swing oil cylinder and the symmetry axis of the support arm is B 5 ；
When cutting and cutting for the first time, the back pivot of the left swinging oil cylinder is taken as a reference point, and the phi is z1 The coordinate complex vector of the front fulcrum of the corresponding left swing oil cylinder is expressed as
Namely 0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z1 )+B 5 cos(π+ψ z1 )，L bz sin(π/2+ψ z1 )+B 5 sin(π+ψ z1 ) Thus ψ z1 Corresponding left swing cylinder length S bz1 Is that
When cutting and cutting for the first time, the rear pivot of the right swinging oil cylinder is taken as a reference point, and the phi is z1 The coordinate complex vector of the front fulcrum of the corresponding right swing oil cylinder is expressed as
Namely-0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z1 )+B 5 cosψ z1 ，L bz sin(π/2+ψ z1 )+B 5 sinψ z1 Thus ψ z1 Corresponding length S of right swing cylinder by1 Is that
When cutting and cutting for the second time, the back pivot of the left swinging oil cylinder is taken as a reference point, and the phi is z2 The coordinate complex vector of the front fulcrum of the corresponding left swing oil cylinder is expressed as
Namely 0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z2 )+B 5 cos(π+ψ z2 )，L bz sin(π/2+ψ z2 )+B 5 sin(π+ψ z2 ) Thus ψ z2 Corresponding left swing cylinder length S bz2 Is that
When cutting and cutting for the second time, the rear pivot of the right swinging oil cylinder is taken as a reference point, and the phi is z2 The coordinate complex vector of the front fulcrum of the corresponding right swing oil cylinder is expressed as
Namely-0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z2 )+B 5 cosψ z2 ，L bz sin(π/2+ψ z2 )+B 5 sinψ z2 Thus ψ z2 Corresponding length S of right swing cylinder by2 Is that
Length S of left swing cylinder during tertiary cutting bz3 ＝S by2 Length S of right swing cylinder by3 ＝S bz2 ；
Length S of left swing cylinder during fourth cutting and cutting bz4 ＝S by1 Length S of right swing cylinder by4 ＝S bz1 ；
Wherein O is 3 The point is the intersection point of the axis of the cutting head and the symmetrical plane of the axial width, B xd To the width of the section of the tunnel to be excavated, L gt1 For the axial width of the pick on the drum when cutting the rock for the first time, L gt2 For the axial width of the pick on the drum when cutting the rock for the second time, L 42 For the axial width of the right section of the drum when cutting the rock for the fourth time, L gt3 For the axial width of the pick on the drum when cutting the rock for the third time, L gt4 Axial width of cutting pick on the roller when cutting rock for the fourth time; h 2 The height from the lower supporting axis of the support arm to the lower horizontal supporting shaft of the pitching oil cylinder is H 3 The height from the lower horizontal support shaft of the pitching oil cylinder to the bottom surface of the roadway, H xd To the height of the section of the tunnel to be excavated, D g For the outer diameter of the cutting head, h g Is the cutting depth of the cutting pick; b (B) 1 Is the distance between the symmetry axes of the double support arms; b (B) 4 Is double-swingingDistance between support shafts on the rear support of the oil cylinder.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) The swinging oil cylinder independently acts to perform translational transposition of the cutting head, and the length of the swinging oil cylinder is kept unchanged during cutting and rock cutting of the cutting head, and the swinging oil cylinder moves along with the pitching motion of the support arm;
(2) The pitching oil cylinders independently act to execute the cutting head to swing up and down, so that the cutting head can cut and cut the rock;
(3) The telescopic oil cylinders are arranged in the first support arm and the second support arm, and the axes of the cutting heads do vertical movement instead of circular arc movement through controlling the telescopic amount of the telescopic oil cylinders, so that the cutting path is short under the condition of the same tunneling progress, and the tunneling speed is higher;
(4) The double support arms, the cutting head and the frame form a parallelogram mechanism in kinematics, so that the left-right translation transposition of the cutting head is realized instead of the swinging transposition;
(5) The upper end of the pitching oil cylinder is a spherical pair support, and the lower end of the pitching oil cylinder is a universal joint support, so that the geometric requirement of space movement of the cutting head is guaranteed, the space structures at different positions are fully utilized, and the requirement of bearing tens of tons of axial force is also guaranteed;
(6) The double support arms and the frame are supported by universal joints, so that geometric conditions are provided for the space movement of the cutting head;
(7) The double support arms and the cutting head adopt a support mode of a revolute pair and a simple support beam, so that the structure is simplified and the space force of tens of tons can be born;
(8) The advanced grooving and the cutting and rock breaking method are combined, so that the rock with one free surface is converted into the rock with three free surfaces only by adopting the cutting and rock breaking method at present, the difficulty of cutting and rock breaking is reduced, and the tunneling speed is improved;
(9) The cutting head is designed into a structure that the rotation speed of the left-section cutting head is the same as that of the right-section cutting head, but the rotation directions of the left-section cutting head and the right-section cutting head are opposite, so that the circumferential resistance of the rock to the cutting head is completely counteracted theoretically and practically largely counteracted, and the supporting force on the pitching oil cylinder is reduced.
Drawings
FIG. 1 is a left side view of such a cross-axle heading machine;
FIG. 2 is a front view of a pair of pitch ram support dual boom and undercarriage assemblies;
FIG. 3 is an expanded view of the connection of the pitch cylinder and the arm through a sphere and a pin, as viewed along the axial direction of the arm;
FIG. 4 is a left side view of the pitch cylinder and arm connected by a sphere to the pin;
FIG. 5 is a left side view of the pitch cylinder and boom secured laterally by a sphere;
FIG. 6 is a front view of the left pitch ram and chassis connection assembly;
FIG. 7 is a left side view of the left pitch ram and chassis connection assembly;
FIG. 8 is a top view of the left pitch ram and chassis connection assembly;
FIG. 9 is a top view of the swing cylinder and chassis assembly with the arm in the neutral position;
FIG. 10 is a left side view of the swing cylinder and arm and chassis assembly;
FIG. 11 is a front view of the swing cylinder rear mount;
FIG. 12 is a left side view of the swing cylinder rear mount;
FIG. 13 is a top view of the swing cylinder and chassis assembly with the boom on the left side of the tunnel;
FIG. 14 is a front view of the pitch ram support assembly connected to the undercarriage;
FIG. 15 is a left side view of the pitch ram support assembly connected to the undercarriage;
FIG. 16 is a top view of the pitch ram support assembly connected to the chassis;
FIG. 17 is a cut path plan view of a roadway section;
FIG. 18 is a cross-sectional view of the cutting head assembly;
FIG. 19 is a left side view of the second joint arm and lower horizontal fulcrum assembly;
FIG. 20 is a top view of the second joint arm and lower horizontal fulcrum assembly;
FIG. 21 is a lower horizontal fulcrum;
FIG. 22 is an axial view of the second joint arm;
FIG. 23 is a cross-sectional view A-A of FIG. 19;
FIG. 24 is a front view of the lower inner support of the arm;
FIG. 25 is a left side view of the lower inner support of the arm;
FIG. 26 is a top view of the telescopic ram and boom and cutting head assembly;
FIG. 27 is a left side view of the front and rear end cap connection assembly;
FIG. 28 is an axial view of the first arm section;
FIG. 29 is a partial front view of a left hand pick arrangement of the cutting head;
FIG. 30 is a partial left side view of a left side pick arrangement of the cutting head;
FIG. 31 is a partial front view of a right side pick arrangement of the cutting head;
FIG. 32 is a partial left side view of a right side pick arrangement of the cutting head;
FIG. 33 is a partial front view of a cutter head left side cutter arrangement;
FIG. 34 is a partial left side view of a cutter head left side cutter arrangement;
FIG. 35 is a partial front view of a cutter head right side cutter arrangement;
FIG. 36 is a partial left side view of the right side cutter arrangement of the cutter head;
FIG. 37 is a plan view of a cutter head cutting and cutting four times across the width of a roadway;
FIG. 38 is a simplified length calculation of a pitch and telescoping cylinders and a roll cylinder;
in the figure, 1 a left inner support sleeve; 2, cutting tools; 3, bearing outer ring; 4, a roller; 5, bearing inner rings; 6 outer end face V D A shape sealing ring; 7, sealing the waterway; 8, sealing the waterway outside; 9 front arm key; 10 an intermediate support sleeve; 11 a water supply pipe; 12 water supply pipe O-shaped ring; 13 an outer plug of the water supply pipe; 14 right inner support sleeve; 15, supporting and sealing in the inner part; 16 an inner support retainer ring;
a 100 left steel ball motor and a speed reduction transmission assembly; about 200 sleeve mount assemblies; about 300 picks assembly; 400 arm front end cap assembly; 500 front arm support assembly; 1700 a pair of arm assemblies; 1800 pairs of pitching oil cylinders and supporting components; 1900 a pair of telescopic cylinders and supporting components; 2000 double-arm lower support assembly; 2100 a pair of swing cylinders and support assemblies; 2200 chassis support assembly;
101 1QJM62-10 steel ball motor; 102 motor connecting screws; 103 an input shaft of the reducer; 104 left sleeve support screw; 105 output sleeve of the decelerator;
Left and right sleeve supports 201; 202 cutting a cutter pin shaft;
301 left and right cutting picks; 302 left and right pick clasps; 303 left and right pick boxes;
401 front half end cover of front support arm; 402 front and rear half end cap bolts;
501 the rear half end cover of the front support arm; 502 left connecting plate of end cover; 503 end cover right side connecting plate; 504 the upper connecting plate of the end cover; 505 front support arm front end support; 506 front end support fulcrum; 507 support fulcrum retainer rings; 508 support fulcrum O-ring;
701 a piston rod of a pitching oil cylinder; 702 a body of a pitch cylinder; 703 a pivot on the pitching cylinder; 704, a pin shaft on the pitching oil cylinder;
1701 a first arm top side plate; 1702 first arm bottom side plate; 1703 left side plate of first section support arm; 1704 a first arm right side plate; 1705 a first support arm front rib plate; 1706 a left front ear seat of a telescopic cylinder; 1707 a front right ear seat of the telescopic cylinder; 1708 a left ear seat behind the telescopic cylinder; 1709 a rear right ear seat of the telescopic cylinder; 1710 a second arm top side panel; 1711, a second section of support arm bottom side plate; 1712 a second leg left side plate; 1713 a second leg right side plate; 1714 upper hemispherical suspension baffle; 1715 upper baffle screws; 1716, a baffle pin shaft; 1717 upper tee of pitch cylinder; 1718 upper and lower hemispherical bolts; 1719 upper and lower hemispherical suspension nuts; 1720 pitch cylinder lower tee; 1721 ball supports on the pitching oil cylinder; 1722 upper and lower tee pins; 1723 a front upper seat for an upper tee; 1724 a rear upper support of the upper hemispherical seat; 1725 ball seat oil filler point screw; 1726 protective sheath upper half U-shaped plate; 1727 protective sleeve lower half U-shaped plate; 1728 protective sleeve holders; 1729 protective sleeve screws; 1730 protective sleeve gasket; 1731 the bottom end of the second section arm is provided with an upper support; 1732 a second arm bottom lower support;
1801 pitching oil cylinder; 1802 upper support shaft of pitching oil cylinder; 1803 pitching cylinder lower support shaft; 1804 a lower support shaft sleeve of a pitching oil cylinder; 1805 lower fulcrum oiling port screw; 1806 pitching cylinder lower support shaft baffle; 1807 lower fulcrum baffle screw;
1901 telescopic cylinder; 1902 telescopic cylinder front fulcrum; 1903, a front pin shaft of the telescopic oil cylinder; 1904 telescopic ram rear fulcrum; 1905, telescoping a rear pin shaft of the oil cylinder;
2001 second arm lower inner support; 2002 lower horizontal fulcrum of arm; 2003 lower arm vertical support shaft; 2004 lower fulcrum stop plate; 2005 limiting plate screw; 2006 lower horizontal fulcrum radial sleeve; 2007 lower horizontal spindle key; 2008 oilhole screw; 2009 lower fulcrum axial sleeve; 2010, swinging a rear left support of the oil cylinder; 2011, a rear support pin of the swing oil cylinder; 2012, swinging a tangential key of a rear support of the oil cylinder; 2013 rear support O-ring; 2014 lower support O-rings; 2015, swinging a rear right support of the oil cylinder;
2101, swinging an oil cylinder; 2102 swing cylinder piston rod fulcrum; 2103 swing cylinder piston rod support sleeve; 2104 swinging cylinder fulcrum retainer ring; 2105 swing cylinder fulcrum pin shafts; 2106 swing cylinder left front support; 2107 swing cylinder right front support;
2201 lower horizontal fulcrum left support; 2202 left vertical support plate of the underframe; 2203 chassis left and right connection plates; 2204 chassis middle support plate; 2205 side channel plates; 2206 left bottom support plate; 2207 support plate positioning pin shafts; 2208 bottom support plate connecting bolts; 2209 bottom support plate connecting nuts; 2210 pitching the bottom plate of the back support plate of the oil cylinder; 2211 rear trough support plate; 2212 left rib plate of the back support plate; 2213 chassis rear support plate; 2214 right bottom support plate; 2215 right rib plate of the back support plate; 2216 underframe right vertical support plate; 2217 lower horizontal fulcrum right support;
2301 upper support plate of pitch cylinder; 2302 vertical supports on the pitch cylinders; 2303 radial sleeves on pitch cylinders; 2304 vertical support shaft on pitch cylinder; 2305 pitch cylinder upper bearing; 2306 pitch ram support upper plate; 2307 an inner side plate of a pitch cylinder bracket; 2308 outer side plates of a pitching oil cylinder bracket; 2309 pitch ram support lower plate; 2310 pitching cylinder lower bracket; 2311 pitching the lower bearing bush of the oil cylinder; 2312 radial sleeves under the pitching oil cylinders; 2313 a vertical support shaft under the pitching oil cylinder; 2314 a lower vertical support of a pitching oil cylinder; 2315 pitching cylinder outer support plates; 2316, an outer rib plate is arranged; 2317, pitching an oil cylinder rear support plate; 2318 upper and lower rear rib plates of pitching oil cylinders; 2319 pitching oil cylinder support plate bolts; 2320 pitch cylinder support plate nuts; 2321 pitching oil cylinder support plate pin shafts; 2322 support oil filler hole screws;
the symbols in the drawings are as follows: (H) z1 ) The height from the lower support axis of the support arm to the bottom surface of the underframe; (H) 1 ) The height from the lower horizontal support shaft of the pitching oil cylinder to the bottom surface of the underframe; (H) 2 ) The height from the lower support axis of the cantilever to the lower horizontal support shaft of the pitching oil cylinder; (H) 3 ) The height from the lower horizontal support shaft of the pitching oil cylinder to the bottom surface of the roadway; (H) 4 ) The distance between the symmetry axis of the support arm and the center of the support on the pitching oil cylinder; (L) bz ) The axial length of the swing cylinder supported on the support arm; (L) b0 ) The horizontal middle position length from the axis of the cutting head to the rear supporting axis of the movable arm; (L) b1 ) The length from the cutting head axis to the front support axis of the movable arm; (D) g ) The outer diameter of the cutting head; (B) 1 ) The distance between the symmetry axes of the double support arms; (B) 2 ) The distance between the left support plate and the right support plate of the underframe; (B) 3 ) The distance between the rear supports of the double swinging cylinders; (B) 4 ) The distance between the support shafts on the rear support of the double swinging oil cylinder; (B) 5 ) The distance between the front support axle center of the swing oil cylinder and the symmetry axis of the support arm; (h) 1 ) The outer height of the second section of the support arm; (h) 2 ) The outer height of the first section of the support arm and the inner height of the second section of the support arm; (h) 3 ) The supporting height of the hemispherical seat on the pitching oil cylinder; (b) 1 ) The width of the second section of the support arm; (b) 2 ) The outer width of the first section of the support arm and the inner width of the second section of the support arm; (L) 17 ) The supporting length of the hemispherical seat on the pitching oil cylinder; (alpha) b ) The structural angle of the center of the upper support seat of the pitching oil cylinder relative to the axis of the support arm; (SR) spherical radius of the upper tee of the pitch cylinder; (S) bz ) The support length of the left swing cylinder; (S) by ) The supporting length of the right swing cylinder; (S) fy ) The support length of the pitching oil cylinder; (S) ss ) The support length of the telescopic oil cylinder; (X) a horizontal coordinate axis perpendicular to the Y axis; (Y) a horizontal axis on the lower pivot axis of the arm; (Z) a coordinate axis perpendicular to XY; (X) 23 ) A horizontal coordinate axis of a lower support axis of the pitching oil cylinder; (Y) 23 ) And X is 23 A horizontal axis with a vertical axis; (Z) 23 ) And X is 23 Y 23 A vertical coordinate axis; (O) 23 ) Coordinate system X 23 Y 23 Z 23 Origin of (2); (Y) 1 ) Left and right symmetry axes of the left and right cutting heads; (gamma) pitch cylinder with respect to O 1 Swing angle of XY horizontal plane; (delta) Pitch cylinder with respect to O 1 Swing angle of XZ vertical plane; (gamma) z ) The middle angle of the axis of the pitching oil cylinder; (gamma) xyb ) The relative elevation angle of the pitch cylinder axis relative to the mid-position angle; (gamma) xfb ) Relative depression angle of pitch cylinder axis with respect to neutral angle; (gamma) xym ) Maximum elevation angle of the axis of the pitching oil cylinder; (gamma) xfm ) Maximum depression angle of the pitch cylinder axis; (gamma) zm ) Pitch cylinder axis relative to O 1 Maximum left swing angle of XZ plane; (gamma) ym ) Pitch cylinder axis relative to O 1 Maximum right swing angle of XZ plane; (O) 1 ) The intersection point of the horizontal support axis under the support arm and the width symmetry plane of the underframe; (O) 2 ) The intersection point of the lower branch axis of the pitching oil cylinder and the width symmetry plane of the underframe; (O) 3 ) The intersection point of the axis of the cutting head and the axial width symmetry plane; (O) 4 ) The center of symmetry of the center of sphere of the pair of upper spherical pairs of the pitching oil cylinders; (A) 1 ) The upper spherical pair center of the left pitching oil cylinder; (A) 10 ) A at the level of the arm 1 ；(A 11 ) A at maximum elevation angle of support arm 1 ；(A 12 ) A at maximum depression angle of support arm 1 ；(D 1 ) The center of the lower universal joint of the left pitching oil cylinder; (C) 1 ) The right pitching oil cylinder is provided with an upper spherical pair center; (C) 10 ) C at arm level 1 ；(C 11 ) C at maximum elevation angle of support arm 1 ；(C 12 ) C at maximum angle of depression of the arm 1 ；(D 2 ) The center of the lower universal joint of the right pitching oil cylinder; (β) pitch angle of the pitch cylinder; (beta) zxb ) The left swing angle of the pitching oil cylinder relative to the support arm; (beta) yxb ) The right swing angle of the pitching oil cylinder relative to the support arm; (beta) gfs ) Maximum elevation angle of the support arm; (beta) gfx ) A maximum depression angle of the arm; left and right swing angles of the support arm (psi); (psi) z ) The left swing angle of the support arm; (psi) y ) The right swing angle of the support arm; (h) c ) Advanced cutting depth of the cutter relative to the pick; (h) g ) Cutting depth of the pick; (H) xd ) The height of the roadway; (B) xd ) The width of the roadway; (L) gt ) Axial width of cutting pick on the roller; (L) 1 ) The axial width of the left section of the roller; (L) 2 ) The axial width of the right section of the roller; (L) z ) The axial width of the middle section of the roller; (L) c1 ) The axial width of the first section pick; (L) c2 ) The axial width of the second section pick; (L) c3 ) The axial width of the third section pick; (L) q1 ) The axial width of the first handle cutter; (L) q2 ) The axial width of the second handle cutter; (n) z ) The rotation speed of the left half cutting head; (n) y ) The rotation speed of the right half cutting head; (L) gt1 ) The axial width of the cutting pick on the roller when cutting the rock for the first time; (L) 11 ) The axial width of the left section of the roller when cutting the rock for the first time; (L) z1 ) The axial width of the middle section of the roller when cutting the rock for the first time; (L) 12 ) The axial width of the right section of the roller when cutting the rock for the first time; (L) gt2 ) The axial width of the cutting pick on the roller when cutting the rock for the second time; (L) 21 ) The axial width of the left section of the roller when cutting the rock for the second time; (L) z2 ) The axial width of the middle section of the roller when cutting the rock for the second time; (L) 22 ) The axial width of the right section of the roller when cutting the rock for the second time; (L) gt3 ) The axial width of the cutting pick on the roller when cutting the rock for the third time; (L) 31 ) The axial width of the left section of the roller when cutting the rock for the third time; (L) z3 ) The axial width of the middle section of the roller when cutting the rock for the third time; (L) 32 ) The axial width of the right section of the roller when cutting the rock for the third time; (L) gt4 ) Axial width of cutting pick on the roller when cutting rock for the fourth time; (L) 41 ) The axial width of the left section of the roller when cutting the rock for the fourth time; (L) z4 ) The axial width of the middle section of the roller when cutting the rock for the fourth time; (L) 42 ) The axial width of the right section of the roller when cutting the rock for the fourth time; (L) cd ) Overlap width of the cuts.
Detailed Description
The invention is further described below in connection with specific embodiments and the accompanying drawings.
Referring to fig. 1 to 38, the present invention relates to the field of dual-arm support and drive cylinder arrangement and control of a support roller in a horizontal-arm type heading machine, which is different from the structure of the current single-arm type horizontal-arm type heading machine and the cutting mode of the single-arm type horizontal-arm type heading machine, wherein a cutting head of the single-arm type horizontal-arm type heading machine is used for horizontally swinging and cutting repeatedly, the area of single-swing cutting rock is relatively small, a cutting head of the dual-arm type horizontal-arm type heading machine is used for vertically and reciprocally and horizontally cutting, the area of single-vertically translating and cutting rock is relatively large, and the dual-arm swinging cylinder and a pitching cylinder independent action device of the roller axis in the horizontal-arm type heading machine has faster tunneling efficiency due to the small reciprocating times and shorter translation path than swinging.
The invention relates to an independent action device of a double-support arm swinging oil cylinder and a pitching oil cylinder of a roller axis translation in a transverse-axis type heading machine, and the design problems of a chassis of the heading machine, a hydraulic oil way which is not involved and a control system can be designed in an industry general way.
The invention discloses an independent action device of a double-support arm swinging oil cylinder and a pitching oil cylinder of a horizontal shaft type tunneling machine, wherein the front end of the double support arm supports a cutting head with cutting intervals, the rear end of the double support arm and a bottom frame form a universal joint structure, the double support arm and the cutting head and the bottom frame form a parallelogram mechanism, the swinging oil cylinder mechanism controls the vertical cutting position of the double support arm and the cutting head in a roadway, the pitching oil cylinder mechanism drives the double support arm and the cutting head to do up-down cutting action in the roadway, the tunneling efficiency of the horizontal shaft type single tunneling is relatively higher because the width of the horizontal shaft type single tunneling is far greater than that of the vertical shaft type single tunneling machine, the rock breaking efficiency is higher than that of a single cutting pick by adopting an advance cutting groove and alternate cutting structure, the rock breaking path is relatively shorter than that of the cutting head to do linear cutting motion instead of circular arc cutting, the rock breaking path is relatively shorter, the rock breaking efficiency is improved, the vertical cutting position of the double support arm and the cutting head is firstly cut downwards from the top of the left side of the roadway, the bottom of the double support arm and the cutting head is cut upwards after reaching the bottom, the double support arm and the cutting head are driven to do the transposition cutting action in the roadway, the horizontal shaft type single transposition operation is carried out, the tunneling machine is carried out, the time is greatly reduced by the time when the transposition operation is carried out, the depth of the bottom of the tunneling machine is longer than the bottom cutting machine is required to finish the cutting depth of the tunneling machine.
The invention is realized by the following technical scheme: a dual-support arm swinging oil cylinder and pitching oil cylinder independent action device of cylinder axis translation in a horizontal shaft heading machine designs a swinging oil cylinder mechanism with a dual-support arm for left and right transposition and a pitching oil cylinder mechanism with a dual-support arm for up and down action into independent action, simplifies the control of a hydraulic servo system, adopts a parallelogram mechanism type to support a cutting head and enables the cutting head to do translation rather than swing when the cutting head is transposed left and right in a roadway, utilizes a telescopic oil cylinder mechanism in the dual-support arm to enable the cutting head to do vertical motion rather than circular arc motion up and down so as to shorten a rock breaking path, and comprises a path planning and realization of roadway section cutting, a parallelogram mechanism type dual-support arm part, a pair of swinging oil cylinder mechanisms which are arranged left and right relative to the rear part of the dual-support arm, a pair of pitching oil cylinder mechanisms which are arranged left and right at the front part of a chassis, a telescopic oil cylinder mechanism which is arranged inside the dual-support arm, a combined cutting head assembly for cutting knife and cutting pick alternate cutting, and a chassis supporting assembly;
the path planning and implementation of the tunnel section cutting are used for explaining the action range and order of the cutting head in the device, and simultaneously correspond to the action ranges and orders of the pitching oil cylinder, the swinging oil cylinder and the telescopic oil cylinder, and the height of the cut tunnel section is H xd And a width of B xd The cutting head cuts back and forth four times from left to right, down and up (more than four times if the roadway is wider), and cuts corresponding L from left to right and from top to bottom for the first time gt1 Wherein L is 11 And L is equal to 12 For cutting and cutting zones, L z1 Is a non-broken rock area; the cutting head is displaced rightwards L at the second time 11 Cutting and cutting from bottom to top; the cutting head is displaced rightwards L again in the third time gt1 -L cd Cutting and cutting from top to bottom; the cutting head continues to shift rightwards at the fourth time 31 Cutting and cutting from bottom to top, so far, obtaining a cutting depth of rock breaking propulsion on the section of the roadway, repeating the process, and the rock breaking propulsion roadwayFour transposition of the cutting head is controlled by a swinging oil cylinder, four up-down actions of the cutting head are controlled by a pitching oil cylinder, a plane section is obtained instead of an arc shape or a sphere shape is controlled by a telescopic oil cylinder, and the cutting head is driven by a 1QJM62-10 steel ball motor after being decelerated;
the parallelogram mechanism type double-section support arm component is mainly described herein, the cutting head component forms a front edge of the parallelogram mechanism, the double-section support arm component forms left and right edges of the parallelogram mechanism, the lower horizontal support shaft component forms a rear edge of the parallelogram mechanism, for the front edge of the parallelogram mechanism, the left rear of the rear half end cover of the front support arm is welded with a left side connecting plate of the end cover, the right rear of the rear half end cover of the front support arm is welded with a right side connecting plate of the end cover, the upper rear part of the rear half end cover of the front support arm is welded with an upper connecting plate of the end cover, the front end support of the front support arm is welded with a left connecting plate of the end cover, a right connecting plate of the end cover and an upper connecting plate of the end cover respectively to form a front edge of the parallelogram mechanism, the front end support of the front support arm forms a revolute pair with a pair of support arm components through a pair of front support shafts, a support shaft retaining ring positions the front support shaft at the front end of the support arm, and a support shaft O-shaped sealing ring is used for sealing lubricating grease in the front support shaft and a front hole of the support arm; for the left side and the right side of the parallelogram mechanism with the same structural symmetry and size, a first support arm assembly and a second support arm assembly form a moving pair, a first support arm top side plate is welded on the tops of a first support arm left side plate and a first support arm right side plate, a first support arm bottom side plate is welded under the first support arm left side plate and the first support arm right side plate, and a telescopic cylinder front left lug seat and a telescopic cylinder front right lug seat are respectively welded on the inner sides of the first support arm top side plate and the first support arm bottom side plate; the second section support arm top side plate is welded on the tops of the second section support arm left side plate and the second section support arm right side plate, the second section support arm bottom side plate is welded under the second section support arm left side plate and the second section support arm right side plate, the telescopic cylinder rear left lug seat and the telescopic cylinder rear right lug seat are respectively welded on the inner sides of the second section support arm top side plate and the second section support arm bottom side plate, the second section support arm bottom end upper support is welded on the lower inner side of the second section support arm top side plate, and the second section support arm bottom end lower support is welded on the lower inner side of the second section support arm bottom side plate; for the lower horizontal support shaft assembly, the support arm lower horizontal support shaft and the left and right lower horizontal support shaft radial sleeves form a revolute pair and are sealed through a left and right lower support shaft O-shaped ring respectively, the left and right lower horizontal support shaft radial sleeves are in interference fit with the support seats of the left and right lower horizontal support shafts respectively, the support arm lower horizontal support shafts are fixedly connected with the second section of support arm lower inner support frames in the circumferential direction through lower horizontal support shaft keys, the second section of support arm lower inner support frames are axially positioned with the support arm lower horizontal support shafts through upper and lower support arm lower vertical support shafts respectively, the second section of support arm lower inner support frames and the upper and lower support arm lower vertical support shafts form a revolute pair, the lower support shaft limiting plates and the limiting plate screws limit the support arm lower vertical support shafts, and the axes of the support arm lower horizontal support shafts are mutually perpendicular to the axes of the support arm lower vertical support shafts, so that the support arm assemblies can perform universal movement relative to the frame in a universal joint type;
The left and right structure is the same, only the left swing cylinder mechanism is described, the swing cylinder rear support is fixedly connected with the lower horizontal support shaft of the support arm in the circumferential direction through a pair of tangential keys of the swing cylinder rear support, the swing cylinder rear support is fixedly connected with the lower horizontal support shaft of the support arm in the axial direction through a swing cylinder rear support pin shaft, a lower support shaft axial sleeve is arranged between the swing cylinder rear left support and the lower horizontal support shaft left support, a rear support shaft O-shaped ring is arranged on the outer side of the lower horizontal support shaft left support, the cylinder body of the swing cylinder is in rotary connection with a support shaft on the swing cylinder rear left support, a swing cylinder support shaft retainer ring is positioned with the swing cylinder support shaft pin shaft, a piston rod of the swing cylinder is in rotary connection with a swing cylinder piston rod support shaft sleeve, the swing cylinder piston rod support shaft sleeve is in rotary connection with a swing cylinder left front support seat, and the swing cylinder left front support seat is in interference fit with a second section support arm top side plate and a second section support arm left side plate;
At the bottomThe pitch cylinder mechanism on the left side supports a left support arm, the pitch cylinder mechanism on the right side supports a right support arm, the pitch cylinder mechanism is further divided into a front spherical pair and support arm connecting assembly and a rear universal joint and underframe connecting assembly, and is used for solving the problem of up-down cutting and action execution of cutting of a cutting head, because the left and right structures are the same, only the left part is described, the front Fang Qiumian pair and support arm connecting assembly is characterized in that a front upper support seat of an L-shaped upper half ball seat and a rear upper support seat of the upper half ball seat are welded on the bottom surface of a bottom side plate of a second support arm, the upper hemispherical seat of the pitch cylinder is arranged in an L-shaped groove and positioned through an upper baffle pin shaft, the upper hemispherical seat baffle and the upper baffle screw are fixed with the front upper support of the upper hemispherical seat and the rear upper support of the upper hemispherical seat, the upper hemispherical seat of the pitching cylinder and the lower hemispherical seat of the pitching cylinder form an inner spherical surface with the radius of SR, the upper hemispherical seat is positioned through the pin shaft of the upper hemispherical seat and the pin shaft of the lower hemispherical seat and fixedly connected with the nuts of the upper hemispherical seat and the lower hemispherical seat through the bolts of the upper hemispherical seat and the nuts of the lower hemispherical seat, the upper supporting ball of the pitching cylinder and the inner spherical surface form a spherical pair, the ball seat oil filling hole screw is used for filling lubricating grease between the spherical pair and sealing, the upper supporting shaft of the pitching cylinder and the upper supporting ball of the pitching cylinder form a revolute pair, the upper supporting shaft of the pitching cylinder and the upper supporting shaft of the pitching cylinder form a revolute pair, and the structure of the lower hemispherical seat of the pitching cylinder yields the space motion beta of the pitching cylinder zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb Required space, structural angle alpha b Is selected such that beta zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb To a minimum, the front Fang Qiumian pair bears more than 20 tons of space force from the cutter head;
the rear universal joint is connected with the underframe, the pitching oil cylinder is rotationally connected with a pitching oil cylinder lower support shaft, a lower support shaft oil filling port screw is used for sealing after lubricating grease is filled into the revolute pair, a pitching oil cylinder lower support shaft baffle and a lower support shaft baffle screw are used for positioning the pitching oil cylinder lower support shaft, a pitching oil cylinder lower support shaft sleeve is in interference fit with a pitching oil cylinder lower support, the pitching oil cylinder lower support is welded in holes in the lower parts of a pitching oil cylinder support inner side plate and a pitching oil cylinder support outer side plate, and a pitching oil cylinder support lower plate is welded in the pitching oil cylinder support inner side plate and the pitching oil cylinder support outer side plateThe lower end of the outer side plate of the pitching oil cylinder bracket is in interference fit with a lower plate of the pitching oil cylinder bracket, the lower vertical support of the pitching oil cylinder is in clearance fit with a lower radial support of the pitching oil cylinder, the lower radial support of the pitching oil cylinder is in interference fit with a lower vertical support of the pitching oil cylinder, the lower vertical support of the pitching oil cylinder is in interference fit with a left bottom support plate, a lower bearing bush of the pitching oil cylinder is arranged in a hole above the lower vertical support of the pitching oil cylinder, a support oil hole screw is used for oiling and sealing, an upper plate of the pitching oil cylinder bracket is welded at the upper end of the inner side plate of the pitching oil cylinder bracket and the outer side plate of the pitching oil cylinder bracket, an upper vertical support shaft of the pitching oil cylinder is in interference fit with an upper plate of the pitching oil cylinder bracket, an upper vertical support shaft of the pitching oil cylinder is in clearance fit with an upper radial sleeve of the pitching oil cylinder, an upper radial sleeve of the pitching oil cylinder is in interference fit with an upper vertical support of the pitching oil cylinder, the upper support plate of the pitching cylinder is welded on the outer support plate of the pitching cylinder, the upper bearing bush of the pitching cylinder is arranged in a hole below the vertical support of the upper bearing bush of the pitching cylinder, the outer upper rib plate is welded with the upper support plate of the pitching cylinder and the outer support plate of the pitching cylinder, the outer support plate of the pitching cylinder is inserted in the left back groove support plate, the upper and lower back ribs of the pitching cylinder are welded below the upper support plate of the pitching cylinder and welded on the inner side of the back support plate of the pitching cylinder, the back support plate of the pitching cylinder is inserted in the right back groove support plate, the back support plate of the pitching cylinder is positioned on the bottom plate of the back support plate of the pitching cylinder through the pin shaft of the pitching cylinder, the back support plate of the left back groove support plate is welded on the inner side of the left vertical support plate of the underframe, the outer support plate of the pitching cylinder is positioned on the left vertical support plate of the underframe through the pin shaft of the pitching cylinder, the outer support plate of the pitching oil cylinder is fixedly connected to the left vertical support plate of the underframe through the bolt of the support plate of the pitching oil cylinder and the nut of the support plate of the pitching oil cylinder, the left bottom support plate is welded below the left vertical support plate of the underframe, the left bottom support plate is positioned with the chassis of the heading machine through the support plate positioning pin shaft and is fixedly connected with the chassis of the heading machine through the connecting bolt of the bottom support plate and the connecting nut of the bottom support plate, and the pitching oil cylinder is related to X 23 The axis performs pitching movement, and the pitching oil cylinder is related to Z 23 The shaft swings left and right, and the rear universal joint bears the space force of more than 20 tons from the cutting head;
the telescopic cylinder mechanism is arranged in the double-section support arm and is used for matching a pair of pitching cylinders to realize vertical movement of a cutting head to the minimum cutting surface so as to obtain higher tunneling speed, the telescopic cylinder is a hydraulic cylinder for an HSG type engineering, the telescopic cylinder is used for realizing the telescopic quantity required by the movement through a hydraulic servo system, and because the left and right parts are the same in structure, only the left part is described, the telescopic cylinder forms a revolute pair through a telescopic cylinder front fulcrum shaft, a telescopic cylinder front left lug seat and a telescopic cylinder front right lug seat, the telescopic cylinder front fulcrum shaft is positioned between the telescopic cylinder front left lug seat and the telescopic cylinder front right lug seat through a telescopic cylinder front pin shaft, the telescopic cylinder forms a revolute pair through a telescopic cylinder rear fulcrum shaft, a telescopic cylinder rear left lug seat and a telescopic cylinder rear right lug seat, and the telescopic cylinder rear fulcrum shaft is positioned between the telescopic cylinder rear left lug seat and the telescopic cylinder rear right lug seat through a telescopic cylinder rear pin shaft;
the combined cutting head component for cutting the cutting teeth alternately with the cutting knife in advance adopts the structure that the cutting knife and the cutting tooth are axially arranged alternately and the cutting knife is radially arranged alternately with the cutting tooth in advance, the cutting head is formed by three sections, namely a left section cutting head, a middle section supporting structure and a right section cutting head, the rotating speeds of the left section cutting head and the right section cutting head are the same but the rotating directions are opposite to each other so as to minimize the thrust force on a pitching oil cylinder, a telescopic oil cylinder and a swinging oil cylinder and reduce the stress on related components, and because the cutting head is only one component in the device, the left-right structure is symmetrical and is not the content that the device needs to be mainly described, therefore, only the left part is briefly described, the 1QJM62-10 steel ball motor is fixedly connected with a non-rotating left inner support sleeve through a motor connecting screw, the 1QJM62-10 steel ball motor drives an input shaft of a speed reducer through a spline pair, an output sleeve of the speed reducer is fixedly connected with a left sleeve support and a right sleeve support through a left sleeve support screw, evenly distributed cutting tools are arranged in conical holes of the left sleeve support and the right sleeve support and positioned through cutting tool pin shafts, a left pick seat and a right pick seat are welded on the left sleeve support and the right sleeve support in a spiral distribution manner, evenly distributed left picks and right picks are arranged in conical holes of the left pick seat and positioned through left pick snap rings and right pick snap rings, and a bearing inner ring is connected with the left pick seat and the right pick seat The left inner support sleeve is in interference fit, the bearing outer ring is in interference fit with the left sleeve support and the right sleeve support, the four rows of rollers, the bearing inner ring and the bearing outer ring form a cylindrical roller bearing, the front half end cover of the front support arm and the rear half end cover of the front support arm are fixedly connected into the middle section of the cutting head through the front half end cover bolt and the rear half end cover of the front support arm, and the outer end face V D The inner support seal on the left side realizes the axial seal of the middle support sleeve and the right inner support sleeve, the inner support check ring on the left side realizes the axial positioning of the middle support sleeve and the left inner support sleeve, the inner support check ring on the right side realizes the axial positioning of the middle support sleeve and the right inner support sleeve, the water supply pipe O-shaped ring is used for sealing a radial water supply hole on the water supply pipe and the left inner support sleeve, the outer plug of the water supply pipe seals the radial water supply hole on the left inner support sleeve, and the water supply pipe is connected with an external water supply pipeline;
The lower horizontal support shaft left support is welded at the upper part of the chassis left vertical support plate, the lower horizontal support shaft right support is welded at the upper part of the chassis right vertical support plate, the chassis left vertical support plate and the chassis right vertical support plate are welded at the middle upper part of the chassis left vertical support plate and the chassis right vertical support plate, the chassis middle support plate is welded at the middle upper part of the chassis left vertical support plate and the right vertical support plate, the top end of the bottom plate of the pitching cylinder back support plate is welded with the chassis left vertical support plate and the bottom support plate, the left end of the bottom plate of the pitching cylinder back support plate is welded with the chassis left vertical support plate, the right end of the bottom plate of the pitching cylinder back support plate is welded with the chassis right vertical support plate, the left rib plate of the back support plate is welded with the bottom plate of the pitching cylinder back support plate and the chassis back support plate, the right bottom support plate is welded at the bottom end of the right vertical support plate of the chassis, the side groove support plate is welded at the bottom end of the chassis right vertical support plate, and the pitching cylinder back support plate is welded at the bottom of the inner bottom plate of the back groove of the chassis back support plate.
The embodiment of the invention provides path planning and implementation of tunnel section cutting, which is used for explaining the action range and order of the cutting head in the device, and simultaneously corresponds to the action ranges and orders of the pitching oil cylinder, the swinging oil cylinder and the telescopic oil cylinder, as shown in fig. 17, the height of the cut tunnel section is H xd And a width of B xd The cutting head cuts back and forth four times from left to right, down and up (more than four times if the roadway is wider), and cuts corresponding L from left to right and from top to bottom for the first time gt1 Wherein L is 11 And L is equal to 12 For cutting and cutting zones, L z1 Is a non-broken rock area; the cutting head is displaced rightwards L at the second time 11 Cutting and cutting from bottom to top; the cutting head is displaced rightwards L again in the third time gt1 -L cd Cutting and cutting from top to bottom; the cutting head continues to shift rightwards at the fourth time 31 Cutting and cutting from bottom to top, so that the section of the roadway is subjected to rock breaking propulsion with a cutting depth, the process is repeated, the rock breaking propulsion is performed on the tunneling depth of the roadway, four transposition of the cutting head is controlled by a swinging oil cylinder, four up-down actions of the cutting head are controlled by a pitching oil cylinder, a plane section is obtained instead of an arc shape or a spherical segment shape, the plane section is controlled by a telescopic oil cylinder, and the cutting head is driven by a 1QJM62-10 steel ball motor after being decelerated;
the described parallelogram mechanism type double-joint support arm component, as shown in fig. 1, 2, 9, 13, 18, 26 and 27, is mainly described herein that the parallelogram mechanism type structure is formed, the cutting head component forms a front edge of the parallelogram mechanism, the double-joint support arm component forms left and right edges of the parallelogram mechanism, the lower horizontal support shaft component forms a rear edge of the parallelogram mechanism, the front edge related parts of the parallelogram mechanism comprise a front support arm rear half end cover 501, an end cover left side connecting plate 502, an end cover right side connecting plate 503, an end cover upper connecting plate 504, a front support arm front end support 505, a front end support shaft 506, a support shaft retainer 507 and a support shaft O-shaped sealing ring 508, the left rear of the front support arm rear half end cover 501 is welded with an end cover left connecting plate 502, the right rear of the front support arm rear half end cover 501 is welded with an end cover right connecting plate 503, the upper rear of the front support arm rear half end cover 501 is welded with an end cover upper connecting plate 504, a front support arm front end support 505 is respectively welded with the end cover left connecting plate 502, the end cover right connecting plate 503 and the end cover upper connecting plate 504 into a whole, so as to form a front edge of the parallelogram mechanism, the front support arm front end support 505 forms a revolute pair with a pair of support arm assemblies through a pair of front support shafts 506, the support shaft check rings 507 position the front support shaft 506 at the front ends of the support arms, and support shaft O-shaped sealing rings 508 are used for sealing the front support shafts 506 and lubricating grease in front holes of the support arms; the left and right related parts of the parallelogram mechanism with the same structural symmetry size comprise a first support arm assembly and a second support arm assembly, the first support arm assembly and the second support arm assembly form a moving pair, the related parts in the first support arm assembly comprise a first support arm top side plate 1701, a first support arm bottom side plate 1702, a first support arm left side plate 1703, a first support arm right side plate 1704, a first support arm front rib plate 1705, a telescopic cylinder front left ear seat 1706 and a telescopic cylinder front right ear seat 1707, the first support arm top side plate 1701 is welded on the tops of the first support arm left side plate 1703 and the first support arm right side plate 1704, the first support arm bottom side plate 1702 is welded below the first support arm left side plate 1703 and the first support arm right side plate 1704, and the telescopic cylinder front left ear seat 1706 and the telescopic cylinder front right ear seat 1707 are respectively welded on the inner sides of the first support arm top side plate 1701 and the first support arm bottom side plate 1702; the related parts in the second support arm assembly comprise a telescopic cylinder rear left lug seat 1708, a telescopic cylinder rear right lug seat 1709, a second support arm top side plate 1710, a second support arm bottom side plate 1711, a second support arm left side plate 1712, a second support arm right side plate 1713, a second support arm bottom end upper support 1731, a second support arm bottom end lower support 1732, wherein the second support arm top side plate 1710 is welded on top of the second support arm left side plate 1712 and the second support arm right side plate 1713, the second support arm bottom side plate 1711 is welded under the second support arm left side plate 1712 and the second support arm right side plate 1713, the telescopic cylinder rear left lug seat 1708 and the telescopic cylinder rear right lug seat 1709 are respectively welded on the inner sides of the second support arm top side plate 1710 and the second support arm bottom side plate 1711, the second support arm bottom end support 1731 is welded on the lower inner sides of the second support arm top side plate 1710, and the second support arm bottom end lower support 1732 is welded on the lower inner sides of the second support arm bottom end 1711; the related parts in the lower horizontal fulcrum assembly comprise a lower horizontal fulcrum left support 2201, a lower support O-shaped ring 2014, a second section of support arm lower inner support 2001, a support arm lower horizontal fulcrum 2002, a support arm lower vertical fulcrum 2003, a lower fulcrum limiting plate 2004, a limiting plate screw 2005, a lower horizontal fulcrum radial sleeve 2006, a lower horizontal fulcrum key 2007 and a lower support arm O-shaped ring 2014, wherein the support arm lower horizontal fulcrum 2002 and the left and right lower horizontal fulcrum radial sleeves 2006 form a revolute pair and are sealed by the left and right lower support O-shaped rings 2014, the left and right lower horizontal fulcrum radial sleeves 2006 are in interference fit with the left and right lower horizontal fulcrum supports 2201, the lower support arm horizontal support shaft 2002 is fixedly connected with the second lower support arm inner support 2001 in the circumferential direction through a lower horizontal support shaft key 2007, the second lower support arm inner support 2001 is axially positioned with the lower support arm horizontal support shaft 2002 through an upper support arm lower vertical support shaft 2003 and a lower support arm lower vertical support shaft 2003 respectively, the second lower support arm inner support 2001 and the upper support arm lower vertical support shaft 2003 form a revolute pair, the lower support shaft limiting plate 2004 and the limiting plate screw 2005 limit the lower support arm vertical support shaft 2003, and as the axis of the lower support arm horizontal support shaft 2002 and the axis of the lower support arm vertical support shaft 2003 are mutually perpendicular, the support arm assemblies 1700 can do universal motion relative to the frame in a universal joint type connection mode;
The pair of swing cylinder mechanisms which are arranged left and right at the rear part of the double support arms are used for solving the problem of rock breaking force generated during cutting and cutting by the left and right transposition of the cutting head, and because the left and right structures are the same, only the left swing cylinder mechanism is described, as shown in figures 1, 9 and 10-13, the swing cylinder mechanism comprises a swing cylinder 2101, a swing cylinder piston rod support shaft 2102, a swing cylinder piston rod support shaft sleeve 2103, a swing cylinder support shaft check ring 2104, a swing cylinder support shaft pin 2105, a swing cylinder left front support 2106, a swing cylinder right front support 2107, a lower support shaft axial sleeve 2009, a swing cylinder rear support 2010, a swing cylinder rear support pin 2011, a swing cylinder rear support tangential key 2012 and a rear support O-shaped ring 2013, the swing cylinder rear support 2010 is fixedly connected with the lower horizontal support shaft 2002 in the circumferential direction through the pair of swing cylinder rear support tangential keys 2012, the swing cylinder rear support 2010 is axially and fixedly connected with a lower horizontal support shaft 2002 of the support arm through a swing cylinder rear support pin 2011, a lower support shaft axial sleeve 2009 is arranged between the swing cylinder rear support 2010 and a lower horizontal support shaft left support 2201, a rear support shaft O-shaped ring 2013 is arranged on the outer side of the lower horizontal support shaft left support 2201, a cylinder body of the swing cylinder 2101 is rotationally connected with a support shaft on the swing cylinder rear support 2010, a piston rod of the swing cylinder 2101 is rotationally connected with a swing cylinder piston rod support shaft 2102 through a swing cylinder support shaft retainer ring 2104 and a swing cylinder support shaft pin 2105, the swing cylinder piston rod support shaft 2102 is rotationally connected with a swing cylinder piston rod support shaft sleeve 2103, the swing cylinder piston rod support shaft sleeve 2103 is in interference fit with a swing cylinder left front support 2106, the swing cylinder left front support 2106 is welded with the second section support arm top side plate 1710 and the second section support arm left side plate 1712;
The pair of pitching cylinder mechanisms arranged left and right at the front part of the underframe, the left pitching cylinder mechanism supports a left support arm, the right pitching cylinder mechanism supports a right support arm, the pair of pitching cylinder mechanisms are further divided into a front spherical pair and support arm connecting assembly, a rear universal joint and underframe connecting assembly and are used for solving the problem of executing the actions of upper and lower cutting and cutting of the cutting head, and because of the same left and right structures, only the left part is described herein, as shown in fig. 1 to 8, as shown in fig. 19 to 21 and as shown in fig. 24 to 26, the front Fang Qiumian pair and support arm connecting assembly comprises a second support arm bottom side plate 1711, an upper hemispherical seat baffle 1714, an upper baffle screw 1715, an upper baffle pin 1716, a pitching cylinder upper hemispherical seat 1717, an upper hemispherical seat bolt 1718, an upper hemispherical seat nut 1719, a pitching cylinder lower hemispherical seat 1720, a pitching cylinder upper support ball 1721, an upper hemispherical seat pin shaft 1722, a front upper support 1723 of the upper hemispherical seat 1724, an oil seat 1725, an oil hole, an oil cylinder bottom plate 1711, an upper hemispherical seat 1711, a lower hemispherical seat 1714 and a lower hemispherical seat 1711, a lower hemispherical seat 1714 are welded on the bottom surface of the second support arm L, and the upper support arm L-shaped bottom plate L-shaped by the upper baffle plate 1716, then upper hemispherical seat baffle 1714 and upper baffle screw 1715 are fixed with front upper support 1723 of upper hemispherical seat and rear upper support 1724 of upper hemispherical seat, upper hemispherical seat 1717 of pitch cylinder and lower hemispherical seat 1720 of pitch cylinder form an inner sphere with radius SR, upper and lower hemispherical seat pin shaft 1722 are positioned and fixedly connected with upper and lower hemispherical seat screw 1718 and upper and lower hemispherical seat nut 1719, upper ball 1721 of pitch cylinder and inner sphere form a spherical pair, ball seat oil filler hole screw 1725 is used for injecting grease between spherical pairs and sealing, upper ball support 1802 of pitch cylinder and upper ball support 1721 of pitch cylinder form a revolute pair, pitch cylinder 1801 and upper ball support of pitch cylinder form a revolute pair, the structure of lower hemispherical seat 1720 of pitch cylinder yields space motion beta of pitch cylinder 1801 zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb Required space, structural angle alpha b Is selected such that beta zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb To a minimum, the front Fang Qiumian pair bears more than 20 tons of space force from the cutter head;
the rear universal joint and chassis connection assembly comprises a pitch cylinder 1801, a pitch cylinder upper fulcrum 1802, a pitch cylinder lower fulcrum 1803, a pitch cylinder lower fulcrum sleeve 1804, a lower fulcrum oiling port screw 1805, a pitch cylinder lower fulcrum baffle 1806, a lower fulcrum baffle screw 1807, a pitch cylinder upper fulcrum 2301, a pitch cylinder upper vertical support 2302, a pitch cylinder upper radial sleeve 2303, a pitch cylinder upper vertical fulcrum 2304, a pitch cylinder upper bushing 2305, a pitch cylinder bracket upper plate 2306, a pitch cylinder bracket inner plate 2307, a pitch cylinder bracket outer plate 2308, a pitch cylinder bracket lower plate 2309, pitching cylinder lower support 2310, pitching cylinder lower bearing bush 2311, pitching cylinder lower radial sleeve 2312, pitching cylinder lower vertical support shaft 2313, pitching cylinder lower vertical support 2314, pitching cylinder outer support 2315, outer upper rib plate 2316, pitching cylinder rear support 2317, pitching cylinder upper and lower rear rib 2318, pitching cylinder support bolt 2319, pitching cylinder support nut 2320, pitching cylinder support pin 2321, support oil hole screw 2322, chassis left vertical support 2202, left rear trough support 2205, left bottom support 2206, support plate positioning pin 2207, bottom support connecting bolt 2208, bottom support The plate connecting nut 2209, the bottom plate 2210 of the back support plate of the pitching cylinder and the right back groove support plate 2211 are formed, the pitching cylinder 1801 is rotationally connected with the lower support shaft 1803 of the pitching cylinder, the lower support shaft oil filling port screw 1805 is used for filling lubricating grease into the revolute pair and sealing the back, the lower support shaft baffle 1806 of the pitching cylinder and the lower support shaft baffle screw 1807 position the lower support shaft 1803 of the pitching cylinder, the lower support shaft sleeve 1804 of the pitching cylinder is in interference fit with the lower support 2310 of the pitching cylinder, the lower support 2310 of the pitching cylinder is welded in the holes of the inner side plate 2307 of the pitching cylinder and the outer side plate 2308 of the pitching cylinder, the lower support plate 2309 of the pitching cylinder is welded at the lower ends of the inner side plate 2307 of the pitching cylinder and the outer side plate 2308 of the pitching cylinder, the lower vertical support 2313 of the pitching cylinder is in interference fit with the lower support plate 2309 of the lower support shaft, the lower vertical support 2313 of the pitching cylinder is in interference fit with the lower radial support 2312 of the pitching cylinder, pitch ram lower radial support 2312 is in interference fit with pitch ram lower vertical support 2314, pitch ram lower vertical support 2314 is in interference fit with left bottom support 2206, pitch ram lower bearing 2311 is mounted in a hole above pitch ram lower vertical support 2314, support oil filler hole screws 2322 are used for oiling and sealing, pitch ram support upper plate 2306 is welded to upper ends of pitch ram support inner plate 2307 and pitch ram support outer plate 2308, pitch ram upper vertical support shaft 2304 is in interference fit with pitch ram support upper plate 2306, pitch ram upper vertical support shaft 2304 is in interference fit with pitch ram upper radial sleeve 2303, pitch ram upper radial sleeve 2303 is in interference fit with pitch ram upper vertical support 2302, pitch ram upper vertical support 2302 is in interference fit with pitch ram upper support plate 2301, pitch ram upper support plate 2301 is welded to pitch ram outer support plate 2315, the upper bearing bush 2305 of the pitching cylinder is arranged in a hole below the vertical support 2302 of the upper pitching cylinder, the outer upper rib plate 2316 is welded with the upper bearing plate 2301 of the pitching cylinder and the outer bearing plate 2315 of the pitching cylinder, the outer bearing plate 2315 of the pitching cylinder is inserted into the left back groove bearing plate 2205, the upper and lower rear ribs 2318 of the pitching cylinder are welded below the upper bearing plate 2301 of the pitching cylinder and welded on the inner side of the rear bearing plate 2317 of the pitching cylinder, the rear bearing plate 2317 of the pitching cylinder is inserted into the right back groove bearing plate 2211, and the rear bearing plate 2317 of the pitching cylinder is positioned on the rear bearing plate of the pitching cylinder through the pin shaft 2321 of the bearing plate of the pitching cylinder Is fixedly connected to the bottom plate 2210 of the back support plate of the pitching cylinder through a pitching cylinder support plate bolt 2319 and a pitching cylinder support plate nut 2320, a left back groove support plate 2205 is welded on the inner side of a left vertical support plate 2202 of the bottom frame, a pitching cylinder outer support plate 2315 is positioned on the left vertical support plate 2202 of the bottom frame through a pitching cylinder support plate pin 2321, the pitching cylinder outer support plate 2315 is fixedly connected to the left vertical support plate 2202 of the bottom frame through a pitching cylinder support plate bolt 2319 and a pitching cylinder support plate nut 2320, a left bottom support plate 2206 is welded below the left vertical support plate 2202 of the bottom frame, a left bottom support plate 2206 is positioned with the bottom plate of the tunneling machine through a support plate positioning pin 2207 and is fixedly connected with the bottom plate of the tunneling machine through a bottom support plate connecting bolt 2208 and a bottom support plate connecting nut 2209, and the pitching cylinder is related to X 23 The axis performs pitching movement, and the pitching oil cylinder is related to Z 23 The shaft swings left and right, and the rear universal joint bears the space force of more than 20 tons from the cutting head;
the telescopic cylinder mechanism arranged in the double-section support arm is used for matching a pair of pitching cylinders to realize vertical movement of a cutting head up and down to the minimum cutting surface so as to obtain a faster tunneling speed, the telescopic cylinder is a hydraulic cylinder for an HSG type engineering, the telescopic cylinder is realized by a hydraulic servo system, and the telescopic cylinder mechanism comprises a telescopic cylinder 1901, a telescopic cylinder front support shaft 1902, a telescopic cylinder front pin 1903, a telescopic cylinder rear support shaft 4, a telescopic cylinder rear pin 1905, a first section support arm assembly and a second section support arm assembly, wherein the telescopic cylinder 1901 forms a revolute pair with a telescopic cylinder front left ear seat 1706 and a telescopic cylinder front right ear seat 1707 through the telescopic cylinder front support shaft 1902, the telescopic cylinder front support shaft is positioned between the telescopic cylinder front left ear seat 1706 and the telescopic cylinder front right ear seat 1707 through the telescopic cylinder front pin 1903, the telescopic cylinder 1 forms a telescopic cylinder rear support shaft 1904 and a telescopic cylinder rear ear 1708 through the telescopic cylinder rear ear seat 1908 and a telescopic cylinder rear ear 1709, and the telescopic cylinder rear ear 1708 is positioned between the telescopic cylinder rear ear seat 1708 and the telescopic cylinder rear ear seat 1707 through the telescopic cylinder rear support shaft 1908;
The cutter advances the grooving and cutsThe combined cutting head component for cutting with inter-tooth space adopts the structure of axially inter-cutting knife and cutting pick arrangement and radially advanced cutting pick arrangement, and implements advanced cutting operation on rock, and then makes cutting operation on the rock, and the cutting head is formed from three sections, i.e. left-section cutting head, middle-section supporting structure and right-section cutting head, and the rotating speeds of the left-section cutting head and right-section cutting head are identical, but the rotating directions of the left-section cutting head and right-section cutting head are opposite so as to minimize the thrust force on the pitching oil cylinder, telescopic oil cylinder and swinging oil cylinder and reduce the stress on related components, and because the cutting head is only one component of the device, and the left-and-right structure is symmetrical, the device does not need to be mainly described, only briefly describes left-side portion, and is shown in fig. 1, 18, fig. 26, fig. 27, fig. 29-36, and includes left-inner supporting sleeve 1, cutting tool 2, bearing outer ring 3, roller 4, bearing inner ring 5 and outer end face V D The utility model comprises a shape sealing ring 6, a waterway inner seal 7, a waterway outer seal 8, a front support arm key 9, a middle support sleeve 10, a water supply pipe 11, a water supply pipe O-shaped ring 12, a water supply pipe outer plug 13, a right inner support sleeve 14, an inner support seal 15, an inner support retainer 16,1QJM62-10 steel ball motor 101, a motor connecting screw 102, an input shaft 103 of a speed reducer, a left sleeve support screw 104, an output sleeve 105 of the speed reducer, a left and right sleeve support 201, a cutter pin 202, left and right picks 301, left and right pick clasps 302, left and right pick seats 303, a front support arm front half end cover 401, a front and rear half end cover bolt 402 and a front support arm rear half end cover 501, wherein the 1QJM62-10 steel ball motor 101 is fixedly connected with the non-rotating left inner support sleeve 1 through the motor connecting screw 102, 1QJM62-10 steel ball motor 101 drives input shaft 103 of the speed reducer through spline pair, output sleeve 105 of the speed reducer is fixedly connected with left and right sleeve support 201 through left sleeve support screw 104, evenly distributed cutting tools 2 are installed in conical holes of left and right sleeve support 201 and positioned through cutting tool pin shafts 202, left and right pick boxes 303 are spirally distributed and welded on left and right sleeve support 201, evenly distributed left and right picks 301 are installed in conical holes of left and right pick boxes 303 and positioned through left and right pick snap rings 302, bearing inner ring 5 is in interference fit with left inner support sleeve 1, bearing outer ring 3 is in interference fit with left and right sleeve support 201, and four rows of rollers 4 form a cylindrical roller shaft with bearing inner ring 5 and bearing outer ring 3 The front half end cover 401 and the front half end cover 501 of the front support arm are fixedly connected into the middle section and the outer end surface V of the cutting head by the front half end cover bolt 402 and the rear half end cover bolt 402 D The shape sealing ring 6 is used as the inner axial seal of the left and right sleeve supports 201, the waterway inner seal 7 and the waterway outer seal 8 are used as the inner axial seal of the left inner support sleeve 1, the front support arm key 9 circumferentially fixes the left inner support sleeve 1 and the middle section of the cutting head, the middle support sleeve 10 is used as the inner support of the left inner support sleeve 1 and the right inner support sleeve 14, the left inner support seal 15 is used for realizing the axial seal of the middle support sleeve 10 and the left inner support sleeve 1, the right inner support seal 15 is used for realizing the axial seal of the middle support sleeve 10 and the right inner support sleeve 14, the left inner support retainer ring 16 is used for realizing the axial positioning of the middle support sleeve 10 and the right inner support sleeve 14, the water supply pipe O-shaped ring 12 is used for sealing the radial water supply hole on the water supply pipe 11 and the left inner support sleeve 1, the water supply pipe outer plug 13 is used for sealing the radial water supply hole on the left inner support sleeve 1, and the water supply pipe 11 is connected with an external water supply pipeline;
the frame support structure, as shown in fig. 1, 2, 9, 10, and 13-16, is used for supporting a lower horizontal support shaft system component of a support arm, supporting a pair of pitching cylinder mechanisms, and is connected with a chassis of a heading machine, and comprises a lower horizontal support shaft left support 2201, a lower horizontal support shaft left support 2202, a lower horizontal support shaft left support 2203, a lower middle support 2204, a side slot support 2205, a left bottom support 2206, a support plate positioning pin 2207, a bottom support plate connecting bolt 2208, a bottom support plate connecting nut 2209, a bottom plate 2210 of a pitching cylinder rear support plate, a rear slot support plate 2211, a left rib plate 2212 of a rear support plate, a lower horizontal support shaft rear support plate 2213, a right bottom support plate 2214, a right rib plate 2215 of a rear support plate, a lower horizontal support shaft right support 2216, a lower horizontal support shaft right support bracket 7, wherein the lower horizontal support shaft left support 2201 is welded at the upper part of the lower horizontal support shaft left support shaft 2202, and the lower horizontal support shaft right support bracket 7 is welded at the upper part of the right vertical support shaft 2216, the chassis left and right connection plates 2203 are welded between the chassis left vertical support plate 2202 and the chassis right vertical support plate 2216, the chassis middle support plate 2204 is welded on the middle upper surface of the chassis left and right connection plates 2203, the top end of the bottom plate 2210 of the pitch cylinder rear support plate is welded with the chassis left and right connection plates 2203, the bottom end of the bottom plate 2210 of the pitch cylinder rear support plate is welded with the left bottom support plate 2206 and the bottom support plate 2214, the left end of the bottom plate 2210 of the pitch cylinder rear support plate is welded with the chassis right vertical support plate 2216, the right end of the bottom plate 2210 of the pitch cylinder rear support plate is welded with the bottom plate 2210 of the pitch cylinder rear support plate and the chassis rear support plate 2213, the right rib plate 2215 of the rear support plate is welded with the bottom plate 2210 of the pitch cylinder rear support plate and the chassis rear support plate 2213, the left bottom support plate 2206 is welded at the bottom end of the chassis left vertical support plate 2202, the right bottom support plate 2214 is welded at the bottom end of the chassis right vertical support plate 2216, the side groove support plate 2205 is welded at the inner lower part of the left vertical support plate 2202 of the underframe, the rear groove support plate 2211 is welded at the inner lower part of the bottom plate 2210 of the rear support plate of the pitching cylinder, and the space at the middle lower part of the underframe is a channel for conveying rocks by the scraper conveyor.
The invention discloses a double-support arm swinging oil cylinder and pitching oil cylinder independent action device for the translation of a roller axis in a transverse-axis tunneling machine, which comprises path planning and realization of tunnel section cutting, a parallelogram mechanism type double-section cutting arm part, a pair of swinging oil cylinder mechanisms which are arranged left and right with respect to the rear part of the double-support arm, a pair of pitching oil cylinder mechanisms which are arranged left and right with respect to the front part of a chassis, a telescopic oil cylinder mechanism which is arranged inside the double-section cutting arm, a combined cutting head component for the advance grooving and cutting pick alternate cutting of a cutter, and a chassis supporting component.
The method for planning the path of tunnel section cutting and realizing the independent action device of the double-support arm swinging oil cylinder and the pitching oil cylinder capable of driving the roller axis in the transverse-axis type heading machine to execute the heading action comprises the following specific driving method:
The movement function of the three cylinders, e.gFig. 1, 9, 13, 26 and 37 show that the underframe of the heading machine is positioned in the middle of the roadway width, and as shown in fig. 37, O is used for the first cutting and cutting 3 Is positioned at the left side O of the roadway 31 ，O 31 The distance from the point to the middle surface of the roadway width is 0.5B xd -0.5L gt1 The method comprises the steps of carrying out a first treatment on the surface of the O at the time of secondary cutting and cutting 3 Is positioned at the left side O of the roadway 32 ，O 32 The distance from the point to the middle surface of the roadway width is 0.5B xd -L 11 -0.5L gt2 The method comprises the steps of carrying out a first treatment on the surface of the Tertiary cutting and cutting time O 3 The point is positioned at the right side O of the roadway 33 ，O 33 The distance from the point to the middle surface of the roadway width is 0.5B xd -L 42 -0.5L gt3 The method comprises the steps of carrying out a first treatment on the surface of the Fourth time cutting and cutting time O 3 The point is positioned at the right side O of the roadway 34 ，O 34 The distance from the point to the middle surface of the roadway width is 0.5B xd -0.5L gt4 ；
As shown in fig. 38, H 2 +H 3 ＝0.5H xd The horizontal median length from the axis of the cutting head to the rear supporting axis of the movable arm is L b0 The distance of the upward swing of the axis of the cutting head from the horizontal middle position is 0.5H xd -0.5D g -h g The method comprises the steps of carrying out a first treatment on the surface of the The distance of the downward swing of the axis of the cutting head from the horizontal middle position is 0.5H xd -0.5D g -h g ；
When cutting and cutting for the first time, elevation angle beta of the support arm gfs Equal to the depression angle beta gfx The pitch angle of the support arm is beta, beta gfx ≤β≤β gfs At O 1 In XYZ coordinate system, O 31 The coordinates of the points being [ -L b0 ，-(0.5B xd -0.5L gt1 )，L b0 tanβ]For this purpose, the displacement function S of the telescopic cylinder is used for the first cutting and cutting ss1 Is that
When cutting and cutting for the second time, at O 1 In XYZ coordinate system, O 32 The coordinates of the points being [ -L b0 ，-(0.5B xd -L 11 -0.5L gt2 )，L b0 tanβ]For this purpose, the displacement function S of the telescopic cylinder is used for the second cutting and cutting ss2 Is that
Displacement function S of telescopic cylinder during tertiary cutting and cutting ss3 ＝S ss2 Displacement function S of telescopic cylinder during fourth cutting and cutting ss4 ＝S ss1 ；
When cutting and cutting for the first time, the first left swing angle of the support arm is psi z1 When cutting and cutting for the second time, the second left swing angle of the support arm is psi z2 ，ψ z1 And psi is equal to z2 Respectively is
ψ z1 ＝arctan[(0.5B xd -0.5L gt1 )/L b0 ]
ψ z2 ＝arctan[(0.5B xd -L 11 -0.5L gt2 )/L b0 ]
When cutting and cutting for the third time, the first right swing angle of the support arm is psi y1 ＝ψ z2 When cutting and cutting for the fourth time, the second right swing angle of the support arm is psi y2 ＝ψ z1 ；
At O 1 In the XYZ coordinate system, when the support arm is in a horizontal position, the symmetrical center of the sphere centers of a pair of upper spherical pairs of the pitching oil cylinder is O 40 ，O 40 The coordinates of the points being [ -L zb ，0，-H 3 ]；
When cutting and cutting for the first time, the arm swings at the first left angle psi z1 Then swing from top to bottom, the swing angle is beta, beta gfs ≥β≥β gfx Dynamic point O 401 Coordinates (X) O401 ，Y O401 ，Z O401 ) Is the swing angle psi z1 Functions with beta, i.e. matrix expression as
Lower support axis of pitching oil cylinderThe intersection point of the width symmetry plane of the underframe is O 2 (0，0，-H 2 )，O 401 With O 2 The length between the two is the length S of the pitching oil cylinder fy1 ，S fy1 Is that
During the second cutting and cutting, the arm swings at the second left swing angle z2 Then swing from bottom to top, the swing angle is beta, beta gfx ≤β≤β gfs Dynamic point O 402 Coordinates (X) O402 ，Y O402 ，Z O402 ) Is the swing angle psi z2 Functions with beta, i.e. matrix expression as
The intersection point of the lower support axis of the pitching oil cylinder and the width symmetrical plane of the underframe is O 2 (0，0，-H 2 )，O 402 With O 2 The length between the two is the length S of the pitching oil cylinder fy2 ，S fy2 Is that
Length S of pitch cylinder during tertiary cutting fy3 ＝S fy2 Length S of pitch cylinder when cutting and cutting for the fourth time fy4 ＝S fy1 ；
The distance between the rear pivot of the left swinging oil cylinder and the rear pivot of the left support arm is (B) 4 -B 1 ) The axial length of the swing cylinder supported on the support arm is L bz The distance between the front support axle center of the swing oil cylinder and the symmetry axis of the support arm is B 5 ；
When cutting and cutting for the first time, the back pivot of the left swinging oil cylinder is taken as a reference point, and the phi is z1 The coordinate complex vector of the front fulcrum of the corresponding left swing oil cylinder is expressed as
Namely 0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z1 )+B 5 cos(π+ψ z1 )，L bz sin(π/2+ψ z1 )+B 5 sin(π+ψ z1 ) Thus ψ z1 Corresponding left swing cylinder length S bz1 Is that
When cutting and cutting for the first time, the rear pivot of the right swinging oil cylinder is taken as a reference point, and the phi is z1 The coordinate complex vector of the front fulcrum of the corresponding right swing oil cylinder is expressed as
Namely-0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z1 )+B 5 cosψ z1 ，L bz sin(π/2+ψ z1 )+B 5 sinψ z1 Thus ψ z1 Corresponding length S of right swing cylinder by1 Is that
When cutting and cutting for the second time, the back pivot of the left swinging oil cylinder is taken as a reference point, and the phi is z2 The coordinate complex vector of the front fulcrum of the corresponding left swing oil cylinder is expressed as
Namely 0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z2 )+B 5 cos(π+ψ z2 )，L bz sin(π/2+ψ z2 )+B 5 sin(π+ψ z2 ) Thus ψ z2 Corresponding left swing cylinder length S bz2 Is that
When cutting and cutting for the second time, the rear pivot of the right swinging oil cylinder is taken as a reference point, and the phi is z2 The coordinate complex vector of the front fulcrum of the corresponding right swing oil cylinder is expressed as
Namely-0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z2 )+B 5 cosψ z2 ，L bz sin(π/2+ψ z2 )+B 5 sinψ z2 Thus ψ z2 Corresponding length S of right swing cylinder by2 Is that
Length S of left swing cylinder during tertiary cutting bz3 ＝S by2 Length S of right swing cylinder by3 ＝S bz2 ；
Length S of left swing cylinder during fourth cutting and cutting bz4 ＝S by1 Length S of right swing cylinder by4 ＝S bz1 。
The examples of the present invention are merely for describing the preferred embodiments of the present invention, and are not intended to limit the spirit and scope of the present invention, and those skilled in the art should make various changes and modifications to the technical solution of the present invention without departing from the spirit of the present invention.
Claims (10)
1. The utility model provides a two support arm swing hydro-cylinders of cylinder axis translation and every single move hydro-cylinder independent action device in cross axle formula entry driving machine which characterized in that: comprising
A parallelogram mechanism of equal change in edge length comprising:
a pair of double support arms with the same length and changed side length, namely double support arms, and the rear end of the double support arms is rotatably connected with the underframe;
the cutting head assembly is arranged at the front ends of the double support arms and is used for cutting rocks;
The pitching oil cylinder mechanism is used for driving the double support arms to drive the cutting head assembly to swing up and down;
the swinging oil cylinder mechanism is used for driving the double support arms to drive the cutting head assembly to do left-right translation;
the telescopic oil cylinder mechanism is used for changing the axial length of the double support arms, namely changing the axial length of the cutting head assembly;
the pitching oil cylinder mechanism is matched with the telescopic oil cylinder mechanism in displacement, so that the double support arms drive the axis of the cutting head assembly to vertically translate.
2. The independent acting device for the double-support arm swinging oil cylinder and the pitching oil cylinder of the horizontal shaft type heading machine, which are used for carrying out the axial translation on the roller, according to the claim 1, is characterized in that: the cutting head assembly comprises a left Duan Jiege head and a right cutting head, and the left Duan Jiege head and the right cutting head are driven by a steel ball motor and a gear in a speed reducing manner and are reversely rotated.
3. The independent acting device for the double-support arm swinging oil cylinder and the pitching oil cylinder of the horizontal shaft type heading machine, which are used for carrying out the axial translation on the roller, according to the claim 1, is characterized in that: the cutting head assembly forms the front edge of the parallelogram mechanism, the double-joint support arm assembly (1700) forms the left side and the right side of the parallelogram mechanism, the lower horizontal support arm assembly forms the rear edge of the parallelogram mechanism, the front edge related parts of the parallelogram mechanism comprise a front support arm rear half end cover (501), an end cover left side connecting plate (502), an end cover right side connecting plate (503), an end cover upper connecting plate (504), a front support arm front end support (505), a front support arm support shaft (506), a support shaft retaining ring (507) and a support arm support shaft O-shaped sealing ring (508), the left rear side of the front support arm rear half end cover (501) is welded with the end cover left side connecting plate (502), the right rear side of the front support arm rear half end cover (501) is welded with the end cover right side connecting plate (503), a front support arm front support (505) is respectively welded with the end cover left side connecting plate (502) and the end cover right side connecting plate (503) into a whole, thereby forming a front edge of the parallelogram mechanism, the front support arm support shaft (506) rotates with the support arm support shaft (506) through the pair of support arm support shaft assembly, the support shaft O-shaped sealing ring (508) is used for sealing the grease in the front end support shaft (506) and the front hole of the support arm; the left and right related parts of the parallelogram mechanism comprise a first support arm component and a second support arm component which are of the same structural symmetry and size, the first support arm component and the second support arm component form a movable pair, the related parts in the first support arm component comprise a first support arm top side plate (1701), a first support arm bottom side plate (1702), a first support arm left side plate (1703), a first support arm right side plate (1704), a first support arm front rib plate (1705), a telescopic cylinder front left lug seat (1706) and a telescopic cylinder front right lug seat (1707), the first support arm top side plate (1701) is welded on the tops of the first support arm left side plate (1703) and the first support arm right side plate (1704), the first support arm bottom side plate (1702) is welded under the first support arm left side plate (1703) and the first support arm right side plate (1704), and the telescopic cylinder front left lug seat (1706) and the telescopic cylinder front right lug seat (1707) are respectively welded on the inner sides of the first support arm top (1701) and the first support arm bottom side plate (1702); related parts in the second support arm assembly comprise a telescopic cylinder rear left lug seat (1708), a telescopic cylinder rear right lug seat (1709), a second support arm top side plate (1710), a second support arm bottom side plate (1711), a second support arm left side plate (1712), a second support arm right side plate (1713), a second support arm bottom end upper support seat (1731), a second support arm bottom end lower support seat (1732), wherein the second support arm top side plate (1710) is welded on the top of the second support arm left side plate (1712) and the second support arm right side plate (1713), the second support arm bottom side plate (1711) is welded under the second support arm left side plate (1712) and the second support arm right side plate (1713), the telescopic cylinder rear left lug seat (1708) and the telescopic cylinder rear right lug seat (1709) are respectively welded on the inner sides of the second support arm top side plate (1710) and the second support arm bottom side plate (1711), the second support arm bottom end upper support seat (1) is welded on the inner side of the second support arm bottom end lower support seat (1732), and the second support arm bottom end lower support arm bottom end (1711) is welded on the inner side of the second support arm bottom end lower support seat (1732); the related parts in the lower horizontal fulcrum assembly comprise a lower horizontal fulcrum left support (2201), a lower support O-shaped ring (2014), a second section of support arm lower inner support (2001), a support arm lower horizontal fulcrum (2002), a support arm lower vertical fulcrum (2003), a lower fulcrum limiting plate (2004), a limiting plate screw (2005), a lower horizontal fulcrum radial sleeve (2006), a lower horizontal fulcrum key (2007) and a lower support O-shaped ring (2014), wherein the support arm lower horizontal fulcrum (2002) and a left lower horizontal fulcrum radial sleeve and a right lower horizontal fulcrum radial sleeve (2006) form a rotating pair and are sealed by the left lower support O-shaped ring (2014) and the right lower horizontal fulcrum radial sleeve (2006) and the left lower horizontal fulcrum support (2201) are in interference fit, the lower support arm horizontal support shaft (2002) is fixedly connected with the lower support arm lower inner support (2001) in the circumferential direction through a lower horizontal support shaft key (2007), the lower support arm lower inner support (2001) is axially positioned with the lower support arm horizontal support shaft (2002) through an upper support arm lower vertical support shaft (2003) and a lower support arm lower vertical support shaft (2003) respectively, the lower support shaft limiting plate (2004) and the limiting plate screw (2005) limit the lower support arm vertical support shaft (2003), the axis of the lower support arm horizontal support shaft (2002) is mutually perpendicular to the axis of the lower support arm vertical support shaft (2003), and the lower support arm lower horizontal support shaft (2001) and the upper support arm lower vertical support shaft (2003) belong to a universal joint type connecting mode, a pair of arm assemblies (1700) are gimbaled with respect to the frame.
4. A dual boom swing cylinder and pitch cylinder independent motion apparatus for cylinder axis translation in a cross-axis heading machine as defined in claim 3, wherein: the swinging oil cylinder mechanism comprises a left swinging oil cylinder mechanism and a right swinging oil cylinder mechanism which are arranged left and right relative to the rear parts of the double support arms;
the left swing cylinder mechanism comprises a swing cylinder (2101), a swing cylinder piston rod fulcrum (2102), a swing cylinder piston rod fulcrum shaft sleeve (2103), a swing cylinder fulcrum shaft check ring (2104), a swing cylinder fulcrum shaft pin (2105), a swing cylinder left front support (2106), a swing cylinder right front support (2107), a lower fulcrum shaft axial sleeve (2009), a swing cylinder rear left support (2010), a swing cylinder rear support pin (2011), a swing cylinder rear support tangential key (2012), a rear support O-shaped ring (2013), wherein the swing cylinder rear support (2010) is fixedly connected with a support arm lower horizontal fulcrum shaft (2002) in the circumferential direction through a pair of swing cylinder rear support tangential keys (2012), the swing cylinder rear support (2010) is fixedly connected with the support arm lower horizontal fulcrum shaft (2002) in the axial direction through the swing cylinder rear support pin (2011), a lower fulcrum shaft axial sleeve (2009) is arranged between the swing cylinder rear left support (2010) and the lower horizontal left support (2201), a rear support O-shaped ring (2013) is arranged on the outer side of the lower horizontal fulcrum shaft left support (2201), a cylinder body of the swing cylinder (2101) is connected with the swing cylinder piston rod (2101) in the rotary mode through the swing cylinder rear support pin shaft sleeve (2011) in the circumferential direction, the swing cylinder rear support (2010) is connected with the swing cylinder piston rod (2104) in the rotary mode, and is connected with the swing cylinder piston rod (2101), the swing cylinder piston rod fulcrum shaft (2102) is in rotary connection with the swing cylinder piston rod supporting shaft sleeve (2103), the swing cylinder piston rod supporting shaft sleeve (2103) is in interference fit with the swing cylinder left front support (2106), and the swing cylinder left front support (2106) is welded with the second section of support arm top side plate (1710) and the second section of support arm left side plate (1712);
The structure of the right swing oil cylinder mechanism is the same as that of the left swing oil cylinder mechanism.
5. The independent acting device for the double-support arm swinging oil cylinder and the pitching oil cylinder of the horizontal shaft type heading machine, which are used for carrying out the axial translation on the roller, is characterized in that: the pitching oil cylinder mechanism comprises a left pitching oil cylinder mechanism and a right pitching oil cylinder mechanism which are arranged left and right at the front part of the underframe;
the left pitching oil cylinder mechanism supports the left support arm, the right pitching oil cylinder mechanism supports the right support arm, and the left pitching oil cylinder mechanism respectively comprises a front Fang Qiumian pair of support arm connecting components and a rear universal joint and underframe connecting component, and is used for solving the problems of up-and-down cutting and action execution of cutting heads,
the front Fang Qiumian pair and support arm connecting assembly comprises a second section of support arm bottom side plate (1711), an upper hemispherical seat baffle (1714), an upper baffle screw (1715), an upper baffle pin shaft (1716), a pitching cylinder upper hemispherical seat (1717), an upper hemispherical seat bolt (1718), an upper hemispherical seat nut (1719), a pitching cylinder lower hemispherical seat (1720), a pitching cylinder upper supporting ball (1721) and an upper hemispherical seat pin shaft (1722)) The front upper support (1723) of the upper half ball seat, the rear upper support (1724) of the upper half ball seat, the ball seat oil injection hole screw (1725), the pitching cylinder (1801) and the pitching cylinder upper support shaft (1802), wherein the front upper support (1723) of the upper half ball seat and the rear upper support (1724) of the upper half ball seat with the transverse cross section of L shape are welded on the bottom surface of the bottom side plate (1711) of the second section support arm, the pitching cylinder upper half ball seat (1717) is arranged in an L-shaped groove and positioned by an upper baffle pin shaft (1716), and then is fixed with the front upper support (1723) of the upper half ball seat and the rear upper support (1724) of the upper half ball seat by an upper half ball seat baffle (1714) and an upper baffle screw (1715), the upper hemispherical seat (1717) and the lower hemispherical seat (1720) of the pitching cylinder form an inner spherical surface with the radius of SR, the inner spherical surface is positioned by an upper hemispherical seat pin shaft (1722) and fixedly connected by an upper hemispherical seat bolt (1718) and a lower hemispherical seat nut (1719), an upper supporting ball (1721) and the inner spherical surface of the pitching cylinder form a spherical pair, an oil hole screw (1725) of the ball seat is used for injecting lubricating grease between the spherical pairs and sealing the spherical pair, an upper supporting shaft (1802) of the pitching cylinder and the upper supporting ball (1721) of the pitching cylinder form a revolute pair, the upper supporting shaft (1802) of the pitching cylinder and the upper supporting shaft (1802) of the pitching cylinder form a revolute pair, and the structure of the lower semi-spherical seat (1720) of the pitching cylinder gives up the space motion beta of the pitching cylinder (1801) zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb Required space, structural angle alpha b Is selected such that beta zxb And beta yxb Gamma, gamma-ray xyb And gamma is equal to xfb To a minimum, the front Fang Qiumian pair bears the space force from the cutter head; the rear universal joint and underframe connecting assembly comprises a pitching oil cylinder (1801), a pitching oil cylinder upper support shaft (1802), a pitching oil cylinder lower support shaft (1803), a pitching oil cylinder lower support shaft sleeve (1804), a lower support shaft oil filling port screw (1805), a pitching oil cylinder lower support shaft baffle (1806), a lower support shaft baffle screw (1807), a pitching oil cylinder upper support plate (2301), a pitching oil cylinder upper vertical support (2302), a pitching oil cylinder upper radial sleeve (2303), a pitching oil cylinder upper vertical support shaft (2304), a pitching oil cylinder upper bearing bush 2305, a pitching oil cylinder support upper plate (2306), a pitching oil cylinder support inner plate (2307), a pitching oil cylinder support outer plate (2308), a pitching oil cylinder support lower plate (2309), a pitching oil cylinder lower support (2310), a pitching oil cylinder lower bearing bush (2311), a pitching oil cylinder lower radial sleeve (2312) and a pitching oil cylinder saggingA straight fulcrum (2313), a pitching cylinder lower vertical support (2314), a pitching cylinder outer support plate (2315), an outer upper rib plate (2316), a pitching cylinder rear support plate (2317), a pitching cylinder upper and lower rear rib plate (2318), a pitching cylinder support plate bolt (2319), a pitching cylinder support plate nut (2320), a pitching cylinder support plate pin (2321), a support oil hole screw 2322, a chassis left vertical support plate (2202), a left rear groove support plate (2205), a left bottom support plate (2206), a support plate positioning pin (2207), a bottom support plate connecting bolt (2208), a bottom support plate connecting nut (2209), a bottom plate (2210) of a pitching cylinder rear support plate, a right rear groove support plate (2211), a pitching cylinder (1801) and a pitching cylinder lower support plate (1803) are rotationally connected, a lower support shaft screw (1805) is used for injecting lubricating grease into a revolute pair, a pitching cylinder lower support plate (1806) and a lower support plate screw (1807) positions the pitching cylinder lower support plate (1803), an interference fit cylinder lower support plate (2310) and a pitching cylinder lower support plate (2308) is welded at the pitching cylinder lower support plate 2308, the pitching cylinder lower support plate (2308) is welded with the pitching cylinder lower support plate (2310) inner support plate inner side of the pitching cylinder lower support plate (2308), the vertical support (2313) of the pitching cylinder is in interference fit with the lower plate (2309) of the pitching cylinder support, the vertical support (2313) of the pitching cylinder is in clearance fit with the radial support (2312) of the pitching cylinder, the radial support (2312) of the pitching cylinder is in interference fit with the vertical support (2314) of the pitching cylinder, the vertical support (2314) of the pitching cylinder is in interference fit with the left bottom support plate (2206), the lower bearing bush (2311) of the pitching cylinder is arranged in a hole above the vertical support (2314) of the pitching cylinder, the oil hole screw 2322 of the support is used for sealing after oiling, the upper plate (2306) of the pitching cylinder support is welded at the upper end of the inner side plate (2307) of the pitching cylinder support and the upper plate (2308) of the pitching cylinder support, the vertical support (2304) of the pitching cylinder is in interference fit with the upper plate (2306) of the pitching cylinder support, the vertical support (2304) of the pitching cylinder is in clearance fit with the radial support (2303) of the upper support (2303) of the pitching cylinder, the radial support (2303) of the upper support (2302) of the pitching cylinder is in interference fit with the upper vertical support (2302) of the pitching cylinder, and the upper plate (2302) of the upper support (2301) of the pitching cylinder is welded at the upper plate (2301) The upper pitching cylinder upper bearing bush 2305 is arranged in a hole below a pitching cylinder upper vertical support saddle (2302), an outer upper rib plate (2316) is welded with a pitching cylinder upper support plate (2301) and a pitching cylinder outer support plate (2315), the pitching cylinder outer support plate (2315) is inserted in a left rear groove support plate (2205), the pitching cylinder upper and lower rear ribs (2318) are welded below the pitching cylinder upper support plate (2301) and are welded on the inner side of a pitching cylinder rear support plate (2317), the pitching cylinder rear support plate (2317) is inserted in a right rear groove support plate (2211), the pitching cylinder rear support plate (2317) is positioned on a bottom plate (2210) of the pitching cylinder rear support plate through a pitching cylinder support plate pin shaft (2321), the pitching cylinder outer support plate (2315) is fixedly connected on the bottom plate (2210) of the pitching cylinder rear support plate through a pitching cylinder support plate bolt (2319) and a pitching cylinder support plate nut (2320), the left rear groove support plate (2205) is welded on the inner side of the bottom plate (2315) through a pitching cylinder support plate (2316) and the pitching cylinder outer support plate (2202) is fixedly connected on the bottom plate (2202) of the bottom plate (2205) of the pitching cylinder rear support plate (2202) through a pitching cylinder support plate pin shaft (2321), the left bottom support plate (2206) is positioned with a double-support arm swinging oil cylinder and pitching oil cylinder independent action device chassis of the horizontal shaft type development machine through a support plate positioning pin shaft (2207), and is fixedly connected with the development machine chassis through a bottom support plate connecting bolt (2208) and a bottom support plate connecting nut (2209), and the pitching oil cylinder is related to X-shaped development machine chassis 23 The axis performs pitching movement, and the pitching oil cylinder is related to Z 23 The shaft swings left and right, and the rear universal joint bears the space force from the cutting head;
the structure of the right pitching oil cylinder mechanism is the same as that of the left pitching oil cylinder mechanism.
6. The independent acting device for the double-support arm swinging oil cylinder and the pitching oil cylinder of the horizontal shaft type heading machine, which are used for carrying out the axial translation on the roller, according to the claim 5, is characterized in that: the telescopic oil cylinder mechanism is used for matching a pair of pitching oil cylinders to solve the problem that the cutting head moves vertically up and down so as to reach the minimum cutting surface and further obtain a faster tunneling speed; the telescopic oil cylinder mechanism comprises a left telescopic oil cylinder mechanism and a right telescopic oil cylinder mechanism;
the left telescopic cylinder mechanism comprises a telescopic cylinder (1901), a telescopic cylinder front support shaft (1902), a telescopic cylinder front pin shaft (1903), a telescopic cylinder rear support shaft (1904), a telescopic cylinder rear pin shaft (1905), a first section support arm assembly and a second section support arm assembly, the telescopic cylinder (1901) and the telescopic cylinder front left ear seat (1706) and the telescopic cylinder front right ear seat (1707) form a revolute pair through the telescopic cylinder front support shaft (1902), the telescopic cylinder front support shaft (1902) is positioned between the telescopic cylinder front left ear seat (1706) and the telescopic cylinder front right ear seat (1707) through the telescopic cylinder front pin shaft (1903), the telescopic cylinder (1901) and the telescopic cylinder rear left ear seat (1708) and the telescopic cylinder rear right ear seat (1709) form a revolute pair, and the telescopic cylinder rear support shaft (1904) is positioned between the telescopic cylinder rear left ear seat (1708) and the telescopic cylinder rear right ear seat (1709) through the telescopic cylinder rear pin shaft (1905);
The structure of the right telescopic oil cylinder mechanism is the same as that of the left telescopic oil cylinder mechanism.
7. The independent acting device for the double-support arm swinging oil cylinder and the pitching oil cylinder of the horizontal shaft type heading machine, which are translated along the axis of the roller, according to claim 6, is characterized in that: the cutting head assembly adopts a structure that cutters are axially arranged at intervals with cutting teeth and cutters are radially arranged in advance with the cutting teeth, advanced grooving is carried out on the rock, then cutting operation is carried out, the cutting head assembly comprises a left-section cutting head, a middle-section supporting structure and a right-section cutting head, the rotating speeds of the left-section cutting head and the right-section cutting head are the same, but the rotating directions of the left-section cutting head and the right-section cutting head are opposite so as to minimize the thrust on a pitching oil cylinder, a telescopic oil cylinder and a swinging oil cylinder and relieve the stress on related components, the left-section cutting head comprises a left inner supporting sleeve (1), a cutting tool (2), a bearing outer ring (3), rollers (4), a bearing inner ring (5) and an outer end face V D Shape sealing washer (6), water route internal seal (7), water route external seal (8), preceding support arm key (9), middle support sleeve (10), delivery pipe (11), delivery pipe O shape circle (12), delivery pipe outer plug (13), right internal support sleeve (14), internal support seal 15, internal support retaining ring (16), steel ball motor (101), motor connecting screw (102), input shaft (103) of reduction gear, left sleeve support Screw (104), output sleeve (105) of reduction gear, left and right sleeve support (201), cutting tool round pin axle (202), left and right pick (301), left and right pick snap ring (302), left and right pick box (303), half end cover (401) before the front arm, half end cover bolt (402) before and after, half end cover (501) after the front arm, steel ball motor (101) link firmly with the interior support sleeve (1) of non-rotating through motor connecting screw (102), steel ball motor (101) drive input shaft (103) of reduction gear through the spline pair, output sleeve (105) of reduction gear link firmly with left and right sleeve support (201) through left sleeve support screw (104), evenly distributed cutting tool (2) are installed in the bell mouth of left and right sleeve support (201) and are fixed a position through cutting tool round pin axle (202), left and right pick box (303) are the spiral distribution welding on left and right sleeve support (201), evenly distributed left and right pick (301) install in the bell mouth of left and right sleeve support (303) and pass through left and right interference fit (302) and support sleeve (3) and roller bearing (3) and inner race (4) bearing sleeve bearing (3) and inner race 4 are formed with the bearing (3), the front half end cover (401) of the front support arm and the rear half end cover (501) of the front support arm are fixedly connected into the middle section of the cutting head by the front half end cover bolt (402) and the rear half end cover bolt (402), and the outer end surface V D The shape sealing ring (6) is used as the axial seal of the left and right sleeve supports (201), the waterway inner seal (7) and the waterway outer seal (8) are used as the axial seal of the left inner support sleeve (1), the front support arm key (9) enables the left inner support sleeve (1) to be circumferentially fixed with the middle section of the cutting head, the middle support sleeve (10) is used as the inner support of the left inner support sleeve (1) and the right inner support sleeve (14), the left inner support seal (15) is used for realizing the axial seal of the middle support sleeve (10) and the left inner support sleeve (1), the right inner support seal (15) is used for realizing the axial seal of the middle support sleeve (10) and the right inner support sleeve (14), the left inner support check ring (16) is used for realizing the axial positioning of the middle support sleeve (10) and the right inner support sleeve (14), the water supply pipe O-shaped ring (12) is used for sealing a radial water supply hole on the water supply pipe (11) and the left inner support sleeve (1), the right inner support sleeve (13) is used for sealing the radial water supply hole on the water supply pipe (1) and the outside of the water supply pipe (11)The water supply pipeline is connected;
the structure of the right section cutting head is the same as that of the left section cutting head.
8. The independent acting device for the double-support arm swinging oil cylinder and the pitching oil cylinder of the horizontal shaft type heading machine, which are used for carrying out the axial translation on the roller, according to the claim 7, is characterized in that: the frame supporting structure is used for supporting a lower horizontal support shaft system component of a support arm, supporting a pair of pitching oil cylinder mechanisms and being connected with a tunneling machine chassis, and comprises a lower horizontal support shaft left support (2201), a lower horizontal support shaft left support plate (2202), a lower horizontal support shaft right support plate (2203), a lower horizontal support shaft middle support plate (2204), a side surface groove support plate (2205), a left bottom support plate (2206), a support plate positioning pin (2207), a bottom support plate connecting bolt (2208), a bottom support plate connecting nut (2209), a bottom plate (2210) of a pitching oil cylinder rear support plate, a rear groove support plate (2211), a left rib plate (2212) of the rear support plate, a bottom frame rear support plate (2213), a right bottom support plate (2214), a right rib plate (2215) of the rear support plate, a bottom frame right vertical support plate (2206), a lower horizontal support plate (2217), the lower horizontal support shaft left support plate (2201) is welded at the upper part of the bottom frame left vertical support plate (2202), the lower horizontal support shaft right support shaft support plate (2217) is welded at the upper part of the right vertical support plate (2216), the bottom plate (2213) is welded with the bottom plate (2204) of the bottom support plate (2204) which is welded with the bottom plate (2204) of the bottom support plate (2204) at the middle support plate (2204), the left end of a bottom plate (2210) of a back support plate of a pitching cylinder is welded with a left vertical support plate (2202) of a chassis, the right end of the bottom plate (2210) of the back support plate of the pitching cylinder is welded with a right vertical support plate (2216) of the chassis, a left rib plate (2212) of the back support plate of the pitching cylinder is welded with the bottom plate (2210) of the back support plate of the pitching cylinder and the back support plate (2213) of the chassis, a right rib plate (2206) of the back support plate of the pitching cylinder is welded with the bottom plate (2210) of the back support plate of the chassis and the back support plate (2213), a right bottom support plate (2204) of the back support plate of the pitching cylinder is welded with the bottom end of the left vertical support plate (2202) of the chassis, a side groove support plate (2205) of the back support plate is welded with the inner lower part of the bottom plate (2210) of the back support plate of the chassis, and the middle lower space of the chassis is a rock channel conveyed by a scraper conveyor.
9. The method for using the independent acting device of the double-support arm swinging oil cylinder and the pitching oil cylinder for the axial translation of the roller in the transverse-axis heading machine according to the claim 1, is characterized in that: the method comprises the following steps:
S 1 : controlling the cutting head assembly to cut corresponding L from top to bottom on the left side of a cut roadway gt1 Wherein L is 11 And L is equal to 12 For cutting and cutting zones, L z1 Is a non-broken rock area;
S 2 : control the rightward displacement L of the cutting head 11 Cutting and cutting from bottom to top;
S 3 : control the rightward displacement L of the cutting head gt1 -L cd Cutting and cutting from top to bottom, wherein L gt1 For the axial width of the pick on the drum when cutting the rock for the first time, L cd Is the overlap width of the cut;
S 4 : control the rightward displacement L of the cutting head 31 Cutting and cutting from bottom to top, L 31 The axial width of the left section of the roller is the axial width of the left section of the roller when the rock is cut for the third time, so that the rock breaking propulsion of a cutting depth of the section of the roadway is completed;
S 5 : repeating step S 1 -S 4 Breaking rock to advance the tunneling depth of the roadway; the swinging oil cylinder mechanism controls rightward displacement of the cutting head assembly, the pitching oil cylinder mechanism controls up-and-down motion of the cutting head assembly, and the telescopic oil cylinder mechanism controls the cutting head assembly to cut a plane-shaped section.
10. The method for using the independent acting device of the double-support arm swinging oil cylinder and the pitching oil cylinder for the axial translation of the roller in the transverse-axis heading machine according to claim 9, wherein the method comprises the following steps:
The underframe of the heading machine is positioned in the middle of the width of the roadway, and O is used for the first time of cutting and cutting 3 Is positioned at the left side O of the roadway 31 ，O 31 Distance from point to middle surface of roadway widthFrom 0.5B xd -0.5L gt1 The method comprises the steps of carrying out a first treatment on the surface of the O at the time of secondary cutting and cutting 3 Is positioned at the left side O of the roadway 32 ，O 32 The distance from the point to the middle surface of the roadway width is 0.5B xd -L 11 -0.5L gt2 The method comprises the steps of carrying out a first treatment on the surface of the Tertiary cutting and cutting time O 3 The point is positioned at the right side O of the roadway 33 ，O 33 The distance from the point to the middle surface of the roadway width is 0.5B xd -L 42 -0.5L gt3 The method comprises the steps of carrying out a first treatment on the surface of the Fourth time cutting and cutting time O 3 The point is positioned at the right side O of the roadway 34 ，O 34 The distance from the point to the middle surface of the roadway width is 0.5B xd -0.5L gt4 ；
H 2 +H 3 ＝0.5H xd The horizontal median length from the axis of the cutting head to the rear supporting axis of the movable arm is L b0 The distance of the upward swing of the axis of the cutting head from the horizontal middle position is 0.5H xd -0.5D g -h g The method comprises the steps of carrying out a first treatment on the surface of the The distance of the downward swing of the axis of the cutting head from the horizontal middle position is 0.5H xd -0.5D g -h g ；
Maximum elevation angle beta of arm when cutting and cutting for the first time gfs Equal to the maximum depression angle beta gfx The pitch angle of the support arm is beta, beta gfx ≤β≤β gfs At O 1 In XYZ coordinate system, O 31 The coordinates of the points being [ -L b0 ，-(0.5B xd -0.5L gt1 )，L b0 tanβ]For this purpose, the displacement function S of the telescopic cylinder is used for the first cutting and cutting ss1 Is that
When cutting and cutting for the second time, at O 1 In XYZ coordinate system, O 32 The coordinates of the points being [ -L b0 ，-(0.5B xd -L 11 -0.5L gt2 )，L b0 tanβ]For this purpose, the displacement function S of the telescopic cylinder is used for the second cutting and cutting ss2 Is that
Displacement function S of telescopic cylinder during tertiary cutting and cutting ss3 ＝S ss2 Displacement function S of telescopic cylinder during fourth cutting and cutting ss4 ＝S ss1 ；
When cutting and cutting for the first time, the first left swing angle of the support arm is psi z1 When cutting and cutting for the second time, the second left swing angle of the support arm is psi z2 ，ψ z1 And psi is equal to z2 Respectively is
ψ z1 ＝arctan[(0.5B xd -0.5L gt1 )/L b0 ]
ψ z2 ＝arctan[(0.5B xd -L 11 -0.5L gt2 )/L b0 ]
When cutting and cutting for the third time, the first right swing angle of the support arm is psi y1 ＝ψ z2 When cutting and cutting for the fourth time, the second right swing angle of the support arm is psi y2 ＝ψ z1 ；
At O 1 In the XYZ coordinate system, when the support arm is in a horizontal position, the symmetrical center of the sphere centers of a pair of upper spherical pairs of the pitching oil cylinder is O 40 ，O 40 The coordinates of the points being [ -L zb ，0，-H 3 ]；
When cutting and cutting for the first time, the arm swings at the first left angle psi z1 Then swing from top to bottom, the swing angle is beta, beta gfs ≥β≥β gfx Dynamic point O 401 Coordinates (X) O401 ，Y O401 ，Z O401 ) Is the swing angle psi z1 Functions with beta, i.e. matrix expression as
The intersection point of the lower support axis of the pitching oil cylinder and the width symmetrical plane of the underframe is O 2 (0，0，-H 2 )，O 401 With O 2 The length between the two is the length S of the pitching oil cylinder fy1 ，S fy1 Is that
During the second cutting and cutting, the arm swings at the second left swing angle z2 Then swing from bottom to top, the swing angle is beta, beta gfx ≤β≤β gfs Dynamic point O 402 Coordinates (X) O402 ，Y O402 ，Z O402 ) Is the swing angle psi z2 Functions with beta, i.e. matrix expression as
The intersection point of the lower support axis of the pitching oil cylinder and the width symmetrical plane of the underframe is O 2 (0，0，-H 2 )，O 402 With O 2 The length between the two is the length S of the pitching oil cylinder fy2 ，S fy2 Is that
Length S of pitch cylinder during tertiary cutting fy3 ＝S fy2 Length S of pitch cylinder when cutting and cutting for the fourth time fy4 ＝S fy1 ；
The distance between the rear pivot of the left swinging oil cylinder and the rear pivot of the left support arm is (B) 4 -B 1 ) The axial length of the swing cylinder supported on the support arm is L bz The distance between the front support axle center of the swing oil cylinder and the symmetry axis of the support arm is B 5 ；
When cutting and cutting for the first time, the back pivot of the left swinging oil cylinder is taken as a reference point, and the phi is z1 The coordinate complex vector of the front fulcrum of the corresponding left swing oil cylinder is expressed as
Namely 0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z1 )+B 5 cos(π+ψ z1 )，L bz sin(π/2+ψ z1 )+B 5 sin(π+ψ z1 ) Thus ψ z1 Corresponding left swing cylinder length S bz1 Is that
When cutting and cutting for the first time, the rear pivot of the right swinging oil cylinder is taken as a reference point, and the phi is z1 The coordinate complex vector of the front fulcrum of the corresponding right swing oil cylinder is expressed as
Namely-0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z1 )+B 5 cosψ z1 ，L bz sin(π/2+ψ z1 )+B 5 sinψ z1 Thus ψ z1 Corresponding length S of right swing cylinder by1 Is that
When cutting and cutting for the second time, the back pivot of the left swinging oil cylinder is taken as a reference point, and the phi is z2 The coordinate complex vector of the front fulcrum of the corresponding left swing oil cylinder is expressed as
Namely 0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z2 )+B 5 cos(π+ψ z2 )，L bz sin(π/2+ψ z2 )+B 5 sin(π+ψ z2 ) Thus ψ z2 Corresponding left swing cylinder length S bz2 Is that
When cutting and cutting for the second time, the rear pivot of the right swinging oil cylinder is taken as a reference point, and the phi is z2 The coordinate complex vector of the front fulcrum of the corresponding right swing oil cylinder is expressed as 
Namely-0.5 (B) 4 -B 1 )+L bz cos(π/2+ψ z2 )+B 5 cosψ z2 ，L bz sin(π/2+ψ z2 )+B 5 sinψ z2 Thus ψ z2 Corresponding length S of right swing cylinder by2 Is that
Length S of left swing cylinder during tertiary cutting bz3 ＝S by2 Length S of right swing cylinder by3 ＝S bz2 ；
Length S of left swing cylinder during fourth cutting and cutting bz4 ＝S by1 Length S of right swing cylinder by4 ＝S bz1 ；
Wherein O is 3 The point is the intersection point of the axis of the cutting head and the symmetrical plane of the axial width, B xd To the width of the section of the tunnel to be excavated, L gt1 For the axial width of the pick on the drum when cutting the rock for the first time, L gt2 For the axial width of the pick on the drum when cutting the rock for the second time, L 42 For the axial width of the right section of the drum when cutting the rock for the fourth time, L gt3 For the axial width of the pick on the drum when cutting the rock for the third time, L gt4 Axial width of cutting pick on the roller when cutting rock for the fourth time; h 2 The height from the lower supporting axis of the support arm to the lower horizontal supporting shaft of the pitching oil cylinder is H 3 The height from the lower horizontal support shaft of the pitching oil cylinder to the bottom surface of the roadway, H xd To the height of the section of the tunnel to be excavated, D g For the outer diameter of the cutting head, h g Is the cutting depth of the cutting pick; b (B) 1 Is the distance between the symmetry axes of the double support arms; b (B) 4 Is arranged between the upper support shafts of the rear support of the double-swinging oil cylinderIs a distance of (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310238208.6A CN116025372A (en) | 2023-03-13 | 2023-03-13 | Independent action device of double-support arm swinging oil cylinder and pitching oil cylinder for roller axis translation in transverse-axis heading machine and use method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310238208.6A CN116025372A (en) | 2023-03-13 | 2023-03-13 | Independent action device of double-support arm swinging oil cylinder and pitching oil cylinder for roller axis translation in transverse-axis heading machine and use method |
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| CN202310238208.6A Pending CN116025372A (en) | 2023-03-13 | 2023-03-13 | Independent action device of double-support arm swinging oil cylinder and pitching oil cylinder for roller axis translation in transverse-axis heading machine and use method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116838360A (en) * | 2023-09-01 | 2023-10-03 | 山东星河工业科技有限公司 | Tunneling host and tunneling machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116838360A (en) * | 2023-09-01 | 2023-10-03 | 山东星河工业科技有限公司 | Tunneling host and tunneling machine |
| CN116838360B (en) * | 2023-09-01 | 2024-02-20 | 山东星河工业科技有限公司 | Tunneling host and tunneling machine |
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