CN116146225A - Tunneling, supporting and anchoring integrated tunneling equipment and working method thereof - Google Patents

Abstract

The invention relates to the technical field of coal mine roadway tunneling equipment, in particular to tunneling, supporting and anchoring integrated tunneling equipment and a working method thereof. The tunneling equipment comprises a traveling system, a tunneling system, an anchoring system and a supporting system; the support system comprises a main support bottom plate, a secondary support bottom plate, a main support top plate, a secondary support top plate, a main lifting upright post, a secondary lifting upright post, a crawler travelling mechanism and a driving mechanism; the anchoring system comprises an anchoring main body, an anchor rod mechanism, an anchor rope mechanism and a supporting mechanism, wherein the supporting mechanism is used for separating the anchoring main body from the travelling crane system. The tunneling operation process of the tunneling system, the temporary support process of the support system and the permanent support process of the anchoring system are mutually independent, so that the tunneling process, the temporary support process and the permanent support process can be synchronously carried out, the time balance of the tunneling and support is guaranteed, and the tunneling efficiency is improved. The supporting mechanism can separate the anchoring main body from the driving system, and interference of the tunneling process to the permanent supporting process is avoided.

Description

Tunneling, supporting and anchoring integrated tunneling equipment and working method thereof

Technical Field

The invention relates to the technical field of coal mine roadway tunneling equipment, in particular to tunneling, supporting and anchoring integrated tunneling equipment and a working method thereof.

Background

The tunneling equipment is important equipment for tunneling coal mine tunnels, the tunneling system is used for tunneling tunnels, the driving system is used for driving the tunneling system to move, after tunneling for a certain distance, hydraulic supports and the like are used for supporting the tunnel roof and the tunnel side wall respectively for temporary support, and anchor rod trolleys and the like are used for driving anchor rods to permanently support the tunnel roof and the tunnel side wall. In the process, the tunneling process, the temporary supporting process and the permanent supporting process are difficult to synchronously carry out, so that the tunneling efficiency is greatly influenced.

Meanwhile, when the hydraulic support is used for supporting the roadway roof, the tunneling system tunnels forwards, the hydraulic support also moves forwards in a following way, repeated rolling can be carried out on the roadway roof for a plurality of times, the roof is easy to break, and normal tunneling of the roadway is affected.

In addition, in some tunneling equipment in which permanent support and tunneling processes are performed synchronously, when an anchor system is used for bolting the top plate and the side wall of a roadway, the tunneling system keeps tunneling the roadway, at this time, vibration generated by the tunneling system can be transmitted to the anchor system through a driving system, the stability of the anchor system for bolting can be affected, and the normal tunneling of the roadway can be affected.

Disclosure of Invention

The present invention is directed to solving at least one of the above-mentioned problems.

In order to solve the problems, the invention provides tunneling, supporting and anchoring integrated tunneling equipment which comprises a driving system, a tunneling system, an anchoring system and a supporting system, wherein the tunneling system, the anchoring system and the supporting system are all arranged on the driving system;

the supporting system comprises a main supporting bottom plate, a secondary supporting bottom plate, a main supporting top plate, a secondary supporting top plate, a main lifting upright post, a secondary lifting upright post, a crawler running mechanism and a driving mechanism, wherein one end of the main lifting upright post is fixedly connected with the main supporting bottom plate, the other end of the main lifting upright post is fixedly connected with the main supporting top plate, one end of the secondary lifting upright post is fixedly connected with the secondary supporting bottom plate, the other end of the secondary lifting upright post is fixedly connected with the secondary supporting top plate, the main supporting bottom plate and the secondary supporting bottom plate are both supported by the roadway bottom plate, the main supporting bottom plate and the secondary supporting bottom plate are in transmission connection through the driving mechanism, the crawler running mechanism is arranged on the main supporting bottom plate, the main lifting upright post is used for driving the main supporting top plate to support the roadway top plate, and the secondary lifting upright post is used for driving the secondary supporting top plate to support the roadway top plate;

the anchoring system comprises an anchoring main body, an anchoring mechanism and a supporting mechanism, wherein the anchoring main body is arranged on the driving system, the anchoring mechanism is arranged on the anchoring main body and is used for anchoring the roadway top plate and the roadway side wall, and the supporting mechanism is arranged on the anchoring main body and is used for supporting the roadway bottom plate so as to separate the anchoring main body from the driving system.

The invention has the technical effects that: when the tunneling system performs tunneling operation, the main supporting top plate is driven by the main lifting upright post to support the tunnel top plate, meanwhile, the crawler travelling mechanism is arranged to drive the main supporting bottom plate, the main lifting upright post and the main supporting top plate to follow the tunneling system, the driving mechanism is arranged to drive the auxiliary supporting bottom plate, the auxiliary lifting upright post and the auxiliary supporting bottom plate to follow the main supporting bottom plate, the main supporting bottom plate and the auxiliary supporting bottom plate lifting upright post can alternately support the tunnel top plate to support, and then the tunneling operation process of the tunneling system and the temporary supporting process of the supporting system are mutually independent, so that the tunneling process and the temporary supporting process can be synchronously performed. Simultaneously, when the tunneling system is used for tunneling operation, the supporting mechanism is used for supporting the roadway bottom plate so as to separate the anchoring main body from the driving system, and the anchoring mechanism on the anchoring main body is used for anchoring the roadway top plate and the roadway side wall so as to realize permanent support; after the anchor is anchored, the supporting mechanism is retracted, the anchoring main body falls back onto the driving system under the action of gravity, the driving system can drive the anchoring main body to move, and the tunneling operation process of the tunneling system and the permanent supporting process of the anchoring system are mutually independent, so that the tunneling process and the permanent supporting process can be synchronously carried out. Therefore, the tunneling operation process of the tunneling system, the temporary support process of the support system and the permanent support process of the anchoring system are mutually independent, so that the tunneling process, the temporary support process and the permanent support process can be synchronously carried out, the time balance of the tunneling and support is guaranteed, and the tunneling efficiency is improved.

In the permanent supporting process, the supporting mechanism supports the roadway bottom plate to separate the anchoring main body from the driving system, so that vibration generated when the tunneling system performs tunneling operation is prevented from being transmitted to the anchoring main body and the anchoring mechanism, interference of the tunneling process to the permanent supporting process can be prevented, and the tunneling process and the permanent supporting process can be further guaranteed to be performed synchronously. And in the running process, the supporting mechanism is retracted, the running system can be utilized to drive the anchoring system to move, a running device is not required to be arranged for the anchoring system independently, and the mechanism of the tunneling, supporting and anchoring integrated tunneling device is simplified.

Optionally, the supporting mechanism includes anchor base and a plurality of landing leg hydro-cylinder, the anchor base with anchor main part fixed connection, a plurality of the one end of landing leg hydro-cylinder with anchor base fixed connection, the other end is used for supporting the tunnel bottom plate, a plurality of landing leg hydro-cylinder evenly distributed is in on the anchor base.

Optionally, the driving system includes preceding driving, hinge mechanism, back driving, tunneling system with support system all sets up on the preceding driving, anchor main part fixed connection is in on the hinge mechanism, hinge mechanism's front end with preceding driving articulates, hinge mechanism's rear end with back driving articulates.

Optionally, the hinge mechanism comprises a hinge main body, a circumference turnover mechanism, a left-right swing mechanism and an up-down turnover mechanism, wherein the circumference turnover mechanism is rotationally connected with the hinge main body, the left-right swing mechanism is arranged on the circumference turnover mechanism, and the front travelling crane is rotationally connected with the circumference turnover mechanism through the left-right swing mechanism; the rear travelling crane is rotationally connected with the hinging mechanism through the up-down overturning mechanism.

Optionally, the hinge system further includes a positioning mechanism, the positioning mechanism is disposed on the hinge main body, and the anchoring system includes a limiting mechanism, the limiting mechanism is disposed at the lower end of the anchoring main body, and the limiting mechanism is used for being connected with the positioning mechanism to position the anchoring mechanism.

Optionally, the driving mechanism comprises a lifting oil cylinder, the lifting oil cylinder is arranged on the main supporting bottom plate, the lifting oil cylinder is in transmission connection with the auxiliary supporting bottom plate and is used for driving the auxiliary supporting bottom plate to move along the vertical direction.

Optionally, the actuating mechanism still includes and draws and moves hydro-cylinder, mount pad, guide rail, the mount pad with the movable rod fixed connection of lift cylinder, and extend along fore-and-aft direction and set up, draw and move the hydro-cylinder setting and be in on the main support bottom plate with vice support bottom plate transmission is connected, and is used for the drive vice support bottom plate moves along fore-and-aft direction, the guide rail setting is in on the vice support bottom plate, and sliding connection in the mount pad.

Optionally, the driving mechanism further comprises a roller, and the roller is rotatably connected to the mounting seat and used for rolling relative to the guide rail.

Optionally, the tunneling system includes cutting part and shovel board, cutting part with the shovel board sets up respectively the upper and lower both ends of preceding driving, cutting part is located preceding driving's middle part, the shovel board includes shovel board body, left harrow claw and right harrow claw, the shovel board body sets up preceding driving is last, left harrow claw with right harrow claw sets up respectively the left and right ends of shovel board body.

The invention also provides a working method of the tunneling, supporting and anchoring integrated tunneling device, which is applied to the tunneling, supporting and anchoring integrated tunneling device and comprises the following steps:

the tunneling system performs tunneling operation, a supporting mechanism is used for supporting a roadway bottom plate so as to separate the anchoring main body from the traveling system, an anchoring mechanism on the anchoring main body is used for anchoring a roadway top plate and the side wall of the roadway respectively, after anchoring is finished, the supporting mechanism is retracted from the roadway bottom plate, a main lifting upright post is used for driving a main supporting top plate to support the roadway top plate, and an auxiliary lifting upright post is used for driving an auxiliary supporting top plate to release the support of the roadway top plate;

after tunneling operation is finished, the auxiliary supporting top plate is driven by the auxiliary lifting upright post to support the roadway top plate, the main supporting top plate is driven by the main lifting upright post to release the support of the roadway top plate, the tunneling system is driven by the traveling system to move, and the main supporting bottom plate is driven by the crawler travelling mechanism to move so that the main supporting bottom plate follows the tunneling system;

the main supporting top plate is driven by the main lifting upright post to support the roadway top plate, the auxiliary supporting top plate is driven by the auxiliary lifting upright post to release the support of the roadway top plate, and the auxiliary supporting bottom plate is driven by the driving mechanism to move so that the auxiliary supporting bottom plate follows the main supporting bottom plate.

The invention has the technical effects that: when the tunneling system performs tunneling operation, the temporary support can be performed by using the support system at the same time, and the permanent support can be performed by using the anchoring system, so that the simultaneous proceeding of the tunneling, supporting and anchoring processes is ensured. Meanwhile, when the tunneling system and the anchoring system stop working, the driving system drives the tunneling system to advance, the crawler travelling mechanism drives the main supporting bottom plate to advance, and the driving mechanism drives the auxiliary supporting bottom plate to move forward, so that the supporting system can be ensured to be always positioned above the tunneling system to support the tunnel top plate, and the protection function of the tunneling system is realized.

Drawings

FIG. 1 is a schematic structural view of an excavating, supporting and anchoring integrated excavating device;

FIG. 2 is a schematic view of a part of the tunneling machine with the integrated tunneling and supporting functions;

FIG. 3 is a schematic view of an anchoring system according to the present invention;

FIG. 4 is a schematic view of another perspective structure of the anchoring system of the present invention;

FIG. 5 is a front view of the anchoring system of the present invention;

FIG. 6 is a view of the anchoring system of the present invention in use;

FIG. 7 is a schematic view of the articulation system of the present invention;

FIG. 8 is a schematic view of the construction of the support system of the present invention;

FIG. 9 is a schematic view of a portion of the construction of the support system of the present invention;

FIG. 10 is a schematic diagram of a driving mechanism according to the present invention;

FIG. 11 is a schematic view of the structure of the blade mechanism of the present invention;

FIG. 12 is a schematic view of the structure of the support part of the present invention;

fig. 13 is a schematic structural view of the rear body of the present invention.

Reference numerals:

1. a travelling crane system; 11. front travelling crane; 111. a front body; 112. a front crawler travel mechanism; 113. a front side transport mechanism; 12. a hinge mechanism; 121. a hinge body; 122. a circumference overturning mechanism; 123. a left-right swinging mechanism; 124. an up-down overturning mechanism; 125. a positioning mechanism; 13. driving after; 131. a rear body; 1311. a platform stand; 1312. a support frame; 1313. a slewing bearing; 1314. a rear mounting rack; 132. a rear track running mechanism; 133. a rear transport mechanism; 2. a tunneling system; 21. a cutting section; 22. a shovel plate mechanism; 221. a first mounting hinge lug; 222. a second mounting hinge lug; 223. lifting hinge lugs; 23. a support part; 231. a shovel plate lifting oil cylinder; 232. a rear leg cylinder; 233. a rear leg; 224. a support frame; 3. an anchoring system; 31. an anchor body; 321. anchoring the drilling machine; 322. a side anchor drilling machine; 33. an anchor rope drilling machine; 34. a landing leg oil cylinder; 35. a limiting mechanism; 36. an anchoring base; 4. a support system; 411. a main support base plate; 412. a main support top plate; 42. a sub-support base plate; 43. a circulating support sleeve; 44. a main lifting column; 45. a crawler belt travelling mechanism; 46. a driving mechanism; 461. a lifting cylinder; 462. pulling and moving the oil cylinder; 463. a mounting base; 464. a guide rail; 465. a roller; 47. a side support; 5. a hydraulic system; 6. an electrical system.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.

In this embodiment, an XYZ axis coordinate system is established, the X axis forward direction is forward, the X axis backward direction is backward, the Y axis forward direction is left, the Y axis backward direction is right, the Z axis forward direction is upward, and the Z axis backward direction is downward.

In order to solve the above problems, as shown in fig. 1-6 and fig. 8 and 9, the tunneling, supporting and anchoring integrated tunneling device according to the embodiment of the invention comprises a traveling system 1, a tunneling system 2, an anchoring system 3 and a supporting system 4, wherein the tunneling system 2, the anchoring system 3 and the supporting system 4 are all arranged on the traveling system 1;

the support system 4 comprises a main support bottom plate 411, a secondary support bottom plate 42, a main support top plate 412, a secondary support top plate, a main lifting upright post 44, a secondary lifting upright post, a track running mechanism 45 and a driving mechanism 46, wherein one end of the main lifting upright post 44 is fixedly connected with the main support bottom plate 411, the other end of the main lifting upright post is fixedly connected with the main support top plate 412, one end of the secondary lifting upright post is fixedly connected with the secondary support bottom plate 42, the other end of the secondary lifting upright post is fixedly connected with the secondary support top plate, the main support bottom plate 411 and the secondary support bottom plate 42 are both supported by the roadway bottom plate, the main support bottom plate 411 and the secondary support bottom plate 42 are in transmission connection through the driving mechanism 46, the track running mechanism 45 is arranged on the main support bottom plate 411, the main lifting upright post 44 is used for driving the main support top plate 412 to support the roadway top plate, and the secondary lifting upright post is used for driving the secondary support top plate to support the roadway top plate;

the anchoring system 3 comprises an anchoring main body 31, an anchoring mechanism and a supporting mechanism, wherein the anchoring main body 31 is arranged on the driving system 1, the anchoring mechanism is arranged on the anchoring main body 31, and the supporting mechanism is arranged on the anchoring main body 31 and is used for supporting a roadway bottom plate so as to separate the anchoring main body 31 from the driving system 1.

In this embodiment, the primary and secondary support roof panels 412, 412 each include transverse and longitudinal beams, with the transverse and longitudinal beams within the primary and secondary support roof panels 412, 412 each being staggered. The support system 4 further comprises side supports 47, two main support bottom plates 411 are arranged and are respectively positioned at the left side and the right side of the travelling system 1, four main lifting upright posts 44 are arranged, and two main lifting upright posts are arranged on each main support bottom plate 411; similarly, two auxiliary supporting bottom plates 42 are arranged and are respectively positioned at the left side and the right side of the travelling crane system 1, four auxiliary lifting upright posts are arranged, and two auxiliary lifting upright posts are arranged on each auxiliary supporting bottom plate. A group of side supports 47 are arranged on the two main lifting upright posts 44 positioned on the same side, a group of side supports 47 are also arranged on the two auxiliary lifting upright posts positioned on the same side, and the side supports 47 on the main lifting upright posts 44 and the auxiliary lifting upright posts are distributed in a staggered manner.

The main lifting upright post 44 comprises a main lifting inner cylinder, a main lifting outer cylinder and a main lifting oil cylinder which are all vertically arranged, wherein the lower end of the main lifting inner cylinder is arranged in the main lifting outer cylinder and is in sliding connection with the main lifting outer cylinder, the upper end of the main lifting inner cylinder is fixedly connected with a main supporting top plate 412, the lower end of the main lifting outer cylinder is fixedly connected with a main supporting bottom plate 411, the body of the main lifting oil cylinder is fixedly connected with the main lifting outer cylinder, and the cylinder rod of the main lifting oil cylinder is fixedly connected with the main lifting inner cylinder; similarly, the auxiliary lifting upright post comprises an auxiliary lifting inner cylinder, an auxiliary lifting outer cylinder and an auxiliary lifting oil cylinder which are all vertically arranged, wherein the lower end of the auxiliary lifting inner cylinder is arranged in the auxiliary lifting outer cylinder and is in sliding connection with the auxiliary lifting outer cylinder, the upper end of the auxiliary lifting inner cylinder is fixedly connected with an auxiliary supporting top plate, the lower end of the auxiliary lifting outer cylinder is fixedly connected with an auxiliary supporting bottom plate, the cylinder body of the auxiliary lifting oil cylinder is fixedly connected with the auxiliary lifting outer cylinder, and the cylinder rod of the auxiliary lifting oil cylinder is fixedly connected with the auxiliary lifting inner cylinder.

The driving system 1 continuously advances in the use process of the tunneling and supporting and anchoring integrated tunneling equipment, the tunneling system 2 can continuously tunnel, the anchoring system 3 can be synchronously used for anchoring the tunnel roof and the tunnel side wall to carry out permanent support in the tunneling process, and the support system 4 is simultaneously used for temporary support. Specifically, when the tunneling system 2 performs tunneling operation, the supporting mechanism is used to support the roadway floor, the anchoring body 31 is lifted up until the anchoring body 31 and the traveling system 1 are separated, the anchoring mechanism on the anchoring body 31 is used to anchor the roadway roof and the roadway side wall respectively, the main lifting upright 44 is used to drive the main supporting roof 412 to support the roadway roof, and the auxiliary lifting upright is used to drive the auxiliary supporting roof to release the support of the roadway roof. When the anchoring operation and the tunneling operation are finished, the supporting mechanism is retracted from the roadway bottom plate, under the influence of gravity, the anchoring main body 31 falls back to the driving system 1 again, meanwhile, the auxiliary lifting upright post is used for driving the auxiliary supporting top plate to support the roadway top plate, the main lifting upright post 44 is used for driving the main supporting top plate 412 to release the support of the roadway top plate, the driving system 1 drives the tunneling system 2 to advance for a certain distance, and the crawler belt travelling mechanism 45 is used for driving the main supporting bottom plate 41 to advance so that the main supporting bottom plate 411, the main lifting upright post 44 and the main supporting top plate 412 follow the tunneling system 2; the main supporting top plate 412 is driven by the main lifting upright 44 to support the roadway top plate, the auxiliary supporting top plate is driven by the auxiliary lifting upright to release the support of the roadway top plate, and the auxiliary supporting bottom plate 42 is driven by the driving mechanism to advance so that the auxiliary supporting bottom plate 42, the auxiliary lifting upright and the auxiliary supporting bottom plate follow the main supporting bottom plate 411. The whole tunneling, temporary support and permanent support operation are completed at this time, and then the whole tunneling work of the tunnel is completed by continuous circulation.

To sum up, when the tunneling system 2 performs tunneling operation, the main lifting upright 44 is used to drive the main supporting top plate 412 to support the tunnel top plate, meanwhile, the crawler belt travelling mechanism 45 is arranged to drive the main supporting bottom plate 411, the main lifting upright 44 and the main supporting top plate 412 to follow the tunneling system 2, the driving mechanism is arranged to drive the auxiliary supporting bottom plate 42, the auxiliary lifting upright and the auxiliary supporting bottom plate to follow the main supporting bottom plate, the main supporting top plate 412 and the auxiliary supporting bottom plate can alternately support the tunnel top plate, and then the tunneling operation process of the tunneling system 2 and the temporary supporting process of the supporting system 4 are mutually independent, so that the tunneling process and the temporary supporting process can be synchronously performed. Meanwhile, when the tunneling system 2 is used for tunneling operation, the supporting mechanism is used for supporting the roadway bottom plate to separate the anchoring main body 31 from the driving system 1, and the anchoring mechanism on the anchoring main body 31 is used for anchoring the roadway top plate and the roadway side wall to realize permanent support; after the anchor is anchored, the supporting mechanism is retracted, the anchoring main body 31 falls back onto the driving system 1 under the action of gravity, the driving system 1 can drive the anchoring main body 31 to move, and the tunneling operation process of the tunneling system 2 and the permanent supporting process of the anchoring system 3 are mutually independent, so that the tunneling process and the permanent supporting process can be synchronously carried out. Therefore, the tunneling operation process of the tunneling system 2, the temporary supporting process of the supporting system 4 and the permanent supporting process of the anchoring system 3 are mutually independent, so that the tunneling process, the temporary supporting process and the permanent supporting process can be synchronously carried out, the tunneling time balance is guaranteed, and the tunneling efficiency is improved.

Meanwhile, in the permanent supporting process (anchoring process), the supporting mechanism supports the roadway bottom plate to separate the anchoring main body 31 from the driving system 1, so that vibration generated when the tunneling system 2 performs tunneling operation is prevented from being transmitted to the anchoring main body 31 and the anchoring mechanism, interference of the tunneling process to the permanent supporting process can be prevented, and synchronous implementation of the tunneling process and the permanent supporting process is further guaranteed. And in the running process, the supporting mechanism is retracted, the running system 1 can be utilized to drive the anchoring system 3 to move, a running device is not required to be arranged for the anchoring system 3 independently, and the structure of the tunneling, supporting and anchoring integrated tunneling device is simplified.

Optionally, the support system 4 further comprises an endless support sleeve 43, the endless support sleeve 43 being arranged in a crawler-type configuration, the main support roof 412 and the secondary support roof being located within the endless support sleeve 43. In the process of alternately supporting the roadway top plate by the main supporting top plate 412 and the auxiliary supporting top plate, the auxiliary supporting top plate can be driven by the auxiliary lifting upright post to support the circulating supporting sleeve 43, the upper end of the circulating supporting sleeve 43 supports the roadway top plate, the upper end of the main lifting upright post 44 descends to release the support of the roadway top plate, the main supporting bottom plate 41 is driven by the crawler travel mechanism 45 to move, the main lifting upright post 44 and the main supporting top plate 412 can be synchronously driven to move, wherein the auxiliary supporting top plate can only support and fix part of the structure of the circulating supporting sleeve 43 due to the fact that the circulating supporting sleeve 43 is arranged into the crawler type structure, and the rest part of the circulating supporting sleeve 43 can be driven to move when the main supporting top plate 412 moves; similarly, the main lifting stand column 44 drives the main supporting top plate 412 to support the circulating supporting sleeve 43, the driving mechanism drives the auxiliary supporting bottom plate to move, the auxiliary lifting stand column and the auxiliary supporting top plate can be synchronously driven to move, the main supporting top plate 412 can only support and fix part of the structure of the circulating supporting sleeve 43, and the auxiliary supporting top plate can drive the rest part of the circulating supporting sleeve 43 to move when moving.

From this, set up circulation support cover 43, support circulation support cover 43 through main support roof 412, vice support roof, recycle circulation support cover 43 supports the tunnel roof, and circulation support cover 43 can realize not having repeated the rolling support to the tunnel roof, avoids the tunnel roof to be broken to can promote the temporary support effect of support system 4.

Optionally, the supporting mechanism includes an anchoring base 36 and a plurality of leg cylinders 34, the anchoring base 36 is fixedly connected with the anchoring main body 31, one end of each of the plurality of leg cylinders 34 is fixedly connected with the anchoring base 36, the other end is used for supporting the roadway floor, and the plurality of leg cylinders 34 are uniformly distributed on the anchoring base 36.

In the present embodiment, the upper end of the leg cylinder 34 is illustratively connected to the anchor body 31, and the lower end of the leg cylinder 34 is adapted to be supported with the roadway floor. In the anchoring process, the supporting leg oil cylinder 34 stretches until the lower end of the supporting leg oil cylinder 34 is supported by the roadway bottom plate, and at this time, the anchoring system 3 is supported by the supporting leg oil cylinder 34 and separated from the driving system 1. When the anchoring system 3 is used for anchoring, vibration generated by the tunneling system 2 is not transmitted to the anchoring system 3 through the traveling system 1, so that the stability of the working state of the anchoring system 3 is ensured. Meanwhile, after anchoring, the supporting leg oil cylinders 34 are retracted, at this time, the anchoring main body 31 falls back onto the driving system 1, and the driving system 1 can drive the anchoring system 3 to move in the driving process, so that a running gear is not required to be arranged for the anchoring system 3 independently, and the whole mechanism of tunneling equipment is simplified. Meanwhile, the anchor base 36 is arranged, so that the installation space of the anchor main body 31 is enlarged, a plurality of support leg oil cylinders 34 are arranged, and the support stability of the anchor main body 31 can be ensured by supporting the support leg oil cylinders 34. In addition, the plurality of support leg oil cylinders 34 are uniformly distributed on the anchoring base 36, and when the plurality of support leg oil cylinders 34 are used for supporting, the stress of each part of the structure of the anchoring main body 31 is the same, so that the stability of the plurality of support leg oil cylinders 34 for supporting the anchoring main body 31 can be improved.

Alternatively, as shown in fig. 3, the bolting mechanism comprises a bolting mechanism comprising four sets of roof-bolters 321 and two sets of side-bolters 322, and an anchor rope mechanism comprising two sets of anchor rope rigs 33.

In the embodiment, the anchor driving mechanism is arranged as the anchor rod mechanism and the anchor rope mechanism, so that the anchor rod and the anchor rope can be driven to the top plate and the side wall of the roadway by the anchor driving mechanism at the same time, the time of permanent support can be reduced, and the balance of the digging and supporting is maintained. Meanwhile, the anchor rod mechanism is arranged into four groups of anchor supporting drilling machines 321 and two groups of side anchor drilling machines 322, and the anchor rope mechanism is arranged into two groups of anchor rope drilling machines 33, so that anchor rods and anchor ropes can be drilled on the top plate and the side wall of the roadway at one time, the time of permanent support is further reduced, and the digging and supporting balance is further kept.

Alternatively, as shown in fig. 2, the driving system 1 includes a front driving 11, a hinge mechanism 12, and a rear driving 13, the tunneling system 2 and the support system 4 are both disposed on the front driving 11, the anchor body 31 is connected to the hinge mechanism 12, the front end of the hinge mechanism 12 is hinged to the front driving 11, and the rear end of the hinge mechanism 12 is hinged to the rear driving 13.

In this embodiment, the driving system 1 is set as the front driving 11 and the rear driving 13, and the hinge mechanism 12 is used to connect the front driving 11 and the rear driving 13, when the vehicle walks in a roadway with poor road conditions, the front driving 11 and the rear driving 13 can deviate to a certain extent according to the condition of the roadway bottom plate, so that the wheels of the front driving 11 and the wheels of the rear driving 13 can fall on the roadway bottom plate, and the stability of the driving system 1 in the driving process is ensured.

Alternatively, as shown in fig. 7, the hinge mechanism 12 includes a hinge body 121, a circumferential tilting mechanism 122, a left-right swinging mechanism 123, and an up-down tilting mechanism 124, the circumferential tilting mechanism 122 is rotatably connected to the hinge body 121, the left-right swinging mechanism 123 is disposed on the circumferential tilting mechanism 122, and the front crane 11 is rotatably connected to the circumferential tilting mechanism 122 through the left-right swinging mechanism 123; the rear trolley 13 is rotatably connected with the hinge mechanism 12 through the up-down turning mechanism 124.

In this embodiment, the front crane 11 is connected to the hinge body 121 through the left-right swinging mechanism 123 and the circumferential tilting mechanism 122, so that the hinge body 121 can swing in the left-right direction relative to the front crane 11, and at the same time, the hinge body 121 can perform circumferential rotation relative to the front crane 11 about the front-rear direction as an axis, thereby realizing the angle adjustment between the hinge body 121 and the front crane 11. Meanwhile, the rear traveling crane 13 is connected with the hinge body 121 through the up-down tilting mechanism 124, and the hinge body 121 can perform pitching motion relative to the rear traveling crane 13, thereby realizing angle adjustment between the hinge body 121 and the rear traveling crane 13. Therefore, by arranging the circumference turnover mechanism 122, the left-right swinging mechanism 123 and the up-down turnover mechanism 124, the angle adjustment between the front end and the rear end of the hinged main body 121 and the front travelling crane 11 and the rear travelling crane 13 can be realized, the travelling crane system 1 can be ensured to be capable of ascending and descending 6-degree slopes, the travelling crane system 1 can be suitable for an uneven roadway bottom plate, and the adaptability of the travelling crane system 1 is improved.

Optionally, as shown in fig. 5-7, the hinge system further includes a positioning mechanism 125, the positioning mechanism 125 is disposed on the hinge body 121, and the anchoring system 3 includes a limiting mechanism 35, the limiting mechanism 35 is disposed at a lower end of the anchoring body 31, and the limiting mechanism 35 is configured to be connected with the positioning mechanism 125 to position the anchoring mechanism.

In the present embodiment, the positioning mechanism 125 may be provided as two first cross members located on the hinge body 121, the two first cross members extending in the left-right direction, for example. The stopper mechanism 35 may be provided as two second cross members located on the anchor body 31, the two second cross members extending in the left-right direction. The two first beams are located between the two second beams. The anchoring system 3 is arranged on the hinged main body 121, and the anchoring main body 31 can fall on the hinged main body 121 due to the influence of gravity and is connected with the positioning mechanism 125 by utilizing the limiting mechanism 35, specifically, two first cross beams are positioned between two second cross beams, and then the two second cross beams can be clamped with the two first cross beams so as to connect the anchoring main body 31 with the hinged main body 121, thereby ensuring the stability of connection between the anchoring main body 31 and the hinged main body 121 and being beneficial to the driving system 1 to drive the anchoring system 3 to synchronously move.

Alternatively, as shown in fig. 9 and 10, the driving mechanism 46 includes a lift cylinder 461, the lift cylinder 461 is provided on the main support base plate 41, the lift cylinder 461 is in transmission connection with the sub support base plate 42, and is for driving the sub support base plate 42 to move in the vertical direction.

In this embodiment, when the driving mechanism drives the sub-supporting base plate 42 to follow the main supporting base plate 41, the sub-supporting base plate 42 supports the roadway base plate, and the friction between the sub-supporting base plate 42 and the roadway base plate affects the movement of the sub-supporting base plate 42. The lifting oil cylinders 461 are arranged on the main supporting bottom plate 41, the auxiliary supporting bottom plate 42 is driven to move upwards along the vertical direction by the aid of the lifting oil cylinders 461 so as to separate the auxiliary supporting bottom plate 42 from the roadway bottom plate, friction force between the auxiliary supporting bottom plate 42 and the roadway bottom plate can be reduced or even eliminated, and the auxiliary supporting bottom plate 42 is driven by the driving mechanism to follow the main supporting bottom plate 41.

Optionally, as shown in fig. 10, the driving mechanism 46 further includes a pulling cylinder 462, a mounting seat 463, and a guide rail 464, where the mounting seat 463 is fixedly connected with a movable rod of the lifting cylinder 461 and extends in the front-rear direction, the pulling cylinder 462 is disposed on the main supporting base plate 41 and is in driving connection with the sub supporting base plate 42, and is used for driving the sub supporting base plate 42 to move in the front-rear direction, and the guide rail 464 is disposed on the sub supporting base plate 42 and is slidably connected to the mounting seat 463.

In this embodiment, after the crawler belt running mechanism 45 drives the main supporting base plate 41 to move forward for a certain distance, the auxiliary supporting base plate 42 is retracted by using the pulling and moving cylinder 462 to drive the auxiliary supporting base plate 42 to move forward, and the auxiliary supporting base plate 42 can move forward along the mounting base 463 by using the guide rail 464 by arranging the guide rail 464 at the lower end of the lifting cylinder 461 and extending the mounting base 463 in the front-rear direction, so that the auxiliary supporting base plate 42 can be ensured to move accurately and stably, and the auxiliary supporting base plate 42 can be ensured to move to a designated position.

Optionally, as shown in fig. 10, the driving mechanism 46 further includes a roller 465, and the roller 465 is rotatably connected to the mount 463 and is configured to be slidably connected to the guide rail 464.

In the present embodiment, the roller 465 is exemplarily provided at the lower end of the mount 463. Set up gyro wheel 465 in mount pad 463, when the forward motion of pair supporting baseplate 42 relative main supporting baseplate 41, the guide rail 464 of pair supporting baseplate 42 upper end can slide with gyro wheel 465 relatively, and gyro wheel 465 rotates relatively with mount pad 463 simultaneously, can change the sliding friction between guide rail 464 and the mount pad 463 into rolling friction to reduce the frictional force between guide rail 464 and the mount pad 463, be favorable to using to draw to move hydro-cylinder 462 and drive pair supporting baseplate 42 and move.

Alternatively, as shown in fig. 2, the tunneling system 2 includes a cutting part 21 and a shovel plate mechanism 22, the cutting part 21 and the shovel plate mechanism 22 are respectively disposed at the upper and lower ends of the front crane 11, the cutting part 21 is located in the middle of the front crane 11, the shovel plate mechanism 22 includes a shovel plate body, a left claw and a right claw, the shovel plate body is disposed on the front crane 11, and the left claw and the right claw are respectively disposed at the left and right ends of the shovel plate body.

In this embodiment, the blade body is illustratively disposed in the middle of the roadway. Meanwhile, as shown in fig. 2, the front traveling crane 11 includes a front body 111, a front crawler traveling mechanism 112, and a front side transport mechanism 113, the rear traveling crane 13 includes a rear body 131, a rear crawler traveling mechanism 132, and a rear side transport mechanism 133, the front crawler traveling mechanism 112 is disposed at a lower end of the front body 111, the front side transport mechanism 113 is disposed at an upper end of the front body 111, the rear crawler traveling mechanism 132 is disposed at a lower end of the rear body 131, and the rear side transport mechanism 133 is disposed at an upper end of the rear body 131; the receiving port of the front side conveying mechanism 113 is communicated with the shovel body, the discharging port of the front side conveying mechanism 113 is located above the receiving port of the rear side conveying mechanism 133, the discharging port of the rear side conveying mechanism 133 is communicated with conveying mechanisms such as a mine car, and the cutting part 21 and the shovel mechanism 22 are respectively arranged at the upper end and the lower end of the front body 111.

During tunneling, the front crawler belt traveling mechanism 112 drives the front body 111 to move forward and drags the rear crawler belt traveling mechanism 132 and the rear body 131 at the same time. Since the cutting portion 21 and the blade mechanism 22 are both provided on the front body 111, the cutting portion 21 and the blade mechanism 22 can be driven to advance synchronously. Coal seam is cut by using the cutting part 21, and coal mine stones fall onto the shovel plate body and are sequentially transmitted to the front side conveying mechanism 113, the rear side conveying mechanism 133 and other conveying mechanisms through the shovel plate body so as to be conveyed out of the mine. Meanwhile, the left rake claw and the right rake claw are arranged on the shovel plate body, the shovel plate body is arranged in the middle of a roadway, the left rake claw and the right rake claw can enlarge the material collecting range of the shovel plate body, coal mine stones at the edge of the shovel plate body are collected on the shovel plate body, on one hand, full-section material collection can be achieved, energy waste is reduced, on the other hand, the shovel plate body does not need to be driven to move left and right in the coal mining process, the coal mining operation process is simplified, and the coal mining efficiency is improved.

Optionally, as shown in fig. 1, 2 and 13, the tunneling and bolting integrated tunneling apparatus further includes a hydraulic system 5 and an electrical system 6, the rear body 131 includes a platform frame 1311, a support frame 1312, a slewing bearing 1313, and a rear mounting frame 1314, the platform frame 1311 is hinged to the support frame 1312, the support frame 1312 is fixedly mounted on the slewing bearing 1313, the slewing bearing 1313 is fixedly connected to the rear mounting frame 1314, and the hydraulic system 5 and the electrical system 6 are both disposed on the rear mounting frame 1314.

Optionally, as shown in fig. 2 and 12, the tunneling system 2 further includes a supporting portion 23, where the supporting portion 23 includes a shovel lifting cylinder 231, a rear leg cylinder 232, a rear leg 233, and a supporting frame 224, the shovel further includes a first mounting hinge ear 221, a second mounting hinge ear 222, and a lifting hinge ear 223, where the first mounting hinge ear 221 and the second mounting hinge ear 222 are fixedly connected to the shovel body and are respectively used to hinge with the front ends of the traveling system 1 and the supporting frame 224, the rear end of the supporting frame 224 is hinged with the front end of the rear leg cylinder 232, the rear end of the rear leg cylinder 232 is hinged with the rear end of the rear leg 233, the front end of the rear leg 233 is hinged with the middle of the supporting frame 224, one end of the shovel lifting cylinder 231 is hinged with the middle of the supporting frame 224, and the other end is hinged with the lifting hinge ear 223.

In the present embodiment, when the cutting portion 21 is used to cut the coal seam, the front end of the shovel body is driven to abut against the roadway floor by using the shovel lifting cylinder 231, and the rear end of the rear leg 233 is driven to abut against the roadway floor by using the rear leg cylinder 232. Therefore, the shovel plate body is abutted with the roadway bottom plate, the rear supporting leg 233 is abutted with the roadway bottom plate, the front body 111 can be supported, the stability of the front body 111 is prevented from being affected by vibration generated by the cutting part 21, the stability in the coal seam cutting process is guaranteed, and the normal tunneling process is guaranteed.

The working method of the tunneling, supporting and anchoring integrated tunneling device according to the other embodiment of the invention is characterized by comprising the following steps of:

the tunneling system 2 performs tunneling operation, supports a roadway bottom plate by using a supporting mechanism to separate an anchoring main body 31 from the traveling system 1, anchors a roadway top plate and a roadway side wall by using an anchor beating mechanism on the anchoring main body 31 respectively, retracts the supporting mechanism from the roadway bottom plate after anchor beating is finished, supports the roadway top plate by using a main lifting upright post 44 to drive a main supporting top plate 412, and releases the support to the roadway top plate by using an auxiliary lifting upright post to drive an auxiliary supporting top plate;

after the tunneling operation is finished, the auxiliary lifting upright post is used for driving the auxiliary supporting top plate to support the tunnel top plate, the main lifting upright post 44 is used for driving the main supporting top plate 412 to release the support of the tunnel top plate, the traveling system 1 is used for driving the tunneling system 2 to move, and the crawler traveling mechanism 45 is used for driving the main supporting bottom plate 411 to move so that the main supporting bottom plate 411 follows the tunneling system 2;

the main supporting top plate 412 is driven by the main lifting upright post 44 to support the roadway top plate, the auxiliary supporting top plate is driven by the auxiliary lifting upright post to release the support of the roadway top plate, and the auxiliary supporting bottom plate 42 is driven by the driving mechanism to move so that the auxiliary supporting bottom plate 42 follows the main supporting bottom plate 411.

In this embodiment, specifically, the driving system 1 may drive the tunneling system 2 to move forward along the roadway, and simultaneously, the crawler belt running mechanism 45 may drive the main supporting base plate 411, the main lifting stand column 44 and the main supporting top plate 412 to move forward synchronously in the forward movement process of the main supporting base plate 411, and in addition, the driving mechanism may drive the auxiliary supporting base plate, the auxiliary lifting stand column and the auxiliary supporting top plate to move forward synchronously in the forward movement process of the auxiliary supporting base plate. Therefore, the tunneling process, the temporary support process and the permanent support process are mutually independent, and when the tunneling system 2 is used for tunneling operation, the temporary support can be carried out by using the support system 4 at the same time, and the permanent support can be carried out by using the anchoring system 3, so that the synchronous proceeding of the tunneling process, the supporting process and the anchoring process is ensured. Meanwhile, when the tunneling system 2 and the anchoring system 3 stop working, the driving system 1 drives the tunneling system 2 to advance, the crawler belt travelling mechanism 45 drives the main supporting bottom plate 411 and the main lifting upright post 44 to advance, and the driving mechanism drives the auxiliary supporting bottom plate and the auxiliary lifting upright post to move forward, so that the supporting system 4 can be ensured to be always positioned above the tunneling system 2 to support a tunnel roof, and the protection function of the tunneling system 2 is realized.

Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.

Claims (10)

1. The tunneling, supporting and anchoring integrated tunneling device is characterized by comprising a driving system (1), a tunneling system (2), an anchoring system (3) and a supporting system (4), wherein the tunneling system (2), the anchoring system (3) and the supporting system (4) are arranged on the driving system (1);

the supporting system (4) comprises a main supporting bottom plate (411), a secondary supporting bottom plate (42), a main supporting top plate (412), a secondary supporting top plate, a main lifting upright (44), a secondary lifting upright, a crawler traveling mechanism (45) and a driving mechanism (46), one end of the main lifting upright (44) is fixedly connected with the main supporting bottom plate (411), the other end of the main lifting upright is fixedly connected with the main supporting top plate (412), one end of the secondary lifting upright is fixedly connected with the secondary supporting bottom plate (42), the other end of the secondary lifting upright is fixedly connected with the secondary supporting top plate, the main supporting bottom plate (411) and the secondary supporting bottom plate (42) are all in driving connection with a roadway bottom plate, the main supporting bottom plate (411) and the secondary supporting bottom plate (42) are arranged on the main supporting bottom plate (411), the main lifting upright (44) is used for driving the main supporting top plate (412) to support the roadway top plate, and the secondary lifting upright is used for driving the secondary supporting top plate to support the roadway top plate.

The anchoring system (3) comprises an anchoring main body (31), an anchoring mechanism and a supporting mechanism, wherein the anchoring main body (31) is arranged on the driving system (1), the anchoring mechanism is arranged on the anchoring main body (31) and is used for anchoring the roadway roof and the roadway side wall, and the supporting mechanism is arranged on the anchoring main body (31) and is used for supporting the roadway floor so as to separate the anchoring main body (31) from the driving system (1).

2. The tunneling and bolting integrated tunneling device according to claim 1, wherein said supporting mechanism comprises an anchoring base (36) and a plurality of leg cylinders (34), said anchoring base (36) is fixedly connected with said anchoring body (31), one end of a plurality of said leg cylinders (34) is fixedly connected with said anchoring base (36), the other end is used for supporting a roadway floor, and a plurality of said leg cylinders (34) are uniformly distributed on said anchoring base (36).

3. The tunneling and supporting and anchoring integrated tunneling device according to claim 1, wherein the tunneling system (1) comprises a front traveling crane (11), a hinging mechanism (12) and a rear traveling crane (13), the tunneling system (2) is arranged on the front traveling crane (11), the anchoring main body (31) is arranged on the hinging mechanism (12), the front end of the hinging mechanism (12) is hinged with the front traveling crane (11), and the rear end of the hinging mechanism (12) is hinged with the rear traveling crane (13).

4. A tunneling and bolting integrated tunneling apparatus according to claim 3, characterized in that said hinge mechanism (12) comprises a hinge body (121), a circumferential tilting mechanism (122), a left-right swinging mechanism (123), an up-down tilting mechanism (124), said circumferential tilting mechanism (122) being rotatably connected to said hinge body (121), said left-right swinging mechanism (123) being provided on said circumferential tilting mechanism (122), said front truck (11) being rotatably connected to said circumferential tilting mechanism (122) by said left-right swinging mechanism (123); the rear travelling crane (13) is rotatably connected with the hinging mechanism (12) through the up-down overturning mechanism (124).

5. The tunneling, supporting and anchoring integrated tunneling device according to claim 4, wherein said hinging system further comprises a positioning mechanism (125), said positioning mechanism (125) is disposed on said hinging body (121), said anchoring system (3) further comprises a limiting mechanism (35), said limiting mechanism (35) is disposed at a lower end of said anchoring body (31), said limiting mechanism (35) is configured to be connected with said positioning mechanism (125) to position said anchoring body (31).

6. The excavating, supporting and anchoring integrated tunneling apparatus according to claim 1, wherein said driving mechanism (46) includes a lift cylinder (461), said lift cylinder (461) being provided on said main supporting base plate (411), said lift cylinder (461) being in driving connection with said sub supporting base plate (42) and for driving said sub supporting base plate (42) to move in a vertical direction.

7. The tunneling and bolting integrated tunneling apparatus according to claim 6, wherein said driving mechanism (46) further comprises a pulling cylinder (462), a mounting base (463), and a guide rail (464), said mounting base (463) is fixedly connected with a movable rod of said lifting cylinder (461) and extends in a front-rear direction, said pulling cylinder (462) is disposed on said main support base plate (411) and is in transmission connection with said sub support base plate (42), said pulling cylinder (462) is used for driving said sub support base plate (42) to move in a front-rear direction relative to said main support base plate (411), said guide rail (464) is fixed on said sub support base plate (42), and is slidably connected to said mounting base (463).

8. The tunneling and bolting integrated tunneling apparatus according to claim 7, wherein said driving mechanism (46) further comprises a roller (465), said roller (465) rotatably coupled to said mount (463) for abutting said guide rail (464).

9. A tunneling and bolting integrated tunneling apparatus according to claim 3, wherein said tunneling system (2) comprises a cutting part (21) and a shovel plate mechanism (22), said cutting part (21) and said shovel plate mechanism (22) are respectively disposed at upper and lower ends of said front traveling vehicle (11), said cutting part (21) is disposed in a middle portion of said front traveling vehicle (11), said shovel plate mechanism (22) comprises a shovel plate body, a left claw and a right claw, said shovel plate body is disposed on said front traveling vehicle (11), and said left claw and said right claw are respectively disposed at left and right ends of said shovel plate body.

10. A working method of an excavating and anchoring integrated excavating equipment, characterized in that the working method of the excavating and anchoring integrated excavating equipment applied to any one of claims 1 to 9 comprises the following steps:

the tunneling system (2) performs tunneling operation, a supporting mechanism is used for supporting a roadway bottom plate so as to separate an anchoring main body (31) from a traveling system (1), an anchoring mechanism on the anchoring main body (31) is used for anchoring a roadway top plate and a roadway side wall respectively, after anchoring is finished, the supporting mechanism is retracted from the roadway bottom plate, a main supporting top plate (412) is driven by a main lifting upright post (44) to support the roadway top plate, and a sub supporting top plate is driven by a sub lifting upright post to release the support of the roadway top plate;

after tunneling operation is finished, the auxiliary supporting top plate is driven by the auxiliary lifting upright post to support the roadway top plate, the main supporting top plate (412) is driven by the main lifting upright post (44) to release the support of the roadway top plate, the tunneling system (2) is driven by the traveling system (1) to move, and the main supporting bottom plate (411) is driven by the crawler traveling mechanism (45) to move so that the main supporting bottom plate (411) follows the tunneling system (2);

the main supporting top plate (412) is driven by the main lifting upright post (44) to support the roadway top plate, the auxiliary supporting top plate is driven by the auxiliary lifting upright post to release the support of the roadway top plate, and the auxiliary supporting bottom plate (42) is driven by the driving mechanism to move so that the auxiliary supporting bottom plate (42) follows the main supporting bottom plate (411).

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