CN201714390U - Hard rock hydraulic crushing type boring machine - Google Patents
Hard rock hydraulic crushing type boring machine Download PDFInfo
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- CN201714390U CN201714390U CN2010202076553U CN201020207655U CN201714390U CN 201714390 U CN201714390 U CN 201714390U CN 2010202076553 U CN2010202076553 U CN 2010202076553U CN 201020207655 U CN201020207655 U CN 201020207655U CN 201714390 U CN201714390 U CN 201714390U
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Abstract
The utility model relates to a hard rock boring device, in particular to a hard rock hydraulic crushing type boring machine which integrates drilling, rock breaking, material receiving, transporting, travelling, dedusting and other functions into a whole and can realize fast and high-efficient boring of whole rock laneways at f10 and above f10. The boring machine comprises a travelling part, a rear supporting part, a transporting part, a body part, a rock drilling part, a rock breaking part and a shovel plate part, wherein the body part is arranged on the travelling part, the rock drilling part, the rock breaking part and the shovel plate part are arranged at the front part of the body part, and the rear supporting part and the transporting part are arranged at the rear part of the body part. The hard rock hydraulic crushing type boring machine can solve the problems of low operation efficiency, harsh working environment and the like in the prior art. The whole device can realize the high-efficient, safe and high-quality fast boring of the hard rock whole laneways, and replace the borehole-blasting method with high risk and the comprehensive boring method with low hard rock boring efficiency which are commonly used for hard rock boring at present.
Description
Technical field
The utility model relates to the hard rock heading equipment, is specially a kind of hard rock hydraulic crushing formula development machine.It integrates functions such as boring, broken rock, rewinding, transportation, walking and dedusting, can realize quick, the efficient driving in the above total rock of f10 and f10 tunnel.
Background technology
In tunnel, tunnel and the underground engineering construction of China, middle hard rock construction accounts for significant proportion, and drilling and blasting method is the conventional construction method that hard rock tunnel and tunnel are dug, and up to now, still occupies main status in tunnel and the roadway construction at home and abroad; Comprehensive drivage method is tunnel and tunnelling another important means except that drilling and blasting method, is a kind of associating unit that can finish declined rock, loading and reprinting, transportation, spray for dust suppression and transfer walking simultaneously.
Mainly there is the deficiency of several aspects in drilling and blasting method: the one, and bore operation efficient is low, work under bad environment.The many pneumatic drilling machines of many people are executed rig simultaneously and are taken up room greatly; Efficient is low, and energy waste is serious; Rate of penetration is slow, and it is shallow to hole; The constructor is many, the labour intensity height; Working space is narrow, and construction environment is poor, and dust, noise and mist of oil serious harm constructor's is healthy; Drilling quality is poor, and blasting quality is difficult to control.The jumbo that adopts hydraulic gate involves great expense and purposes is single, and only is applicable to the bore operation in gallery or slight inclination tunnel, and the scope of application is very limited.The 2nd, poor stability very easily causes gas explosion and causes great casualties as misoperation.Simultaneously, drilling and blasting method is very big to the injury of roadway surrounding rock, serious accident such as easily cause gushing water, roof fall and cave in.The 3rd, the hard rock drivage efficiency is low, and the roadway forming quality is difficult to control, and backbreaking, it is serious to owe to dig.The 4th, need equipment such as rake cash machine, scraper plate machine, elevating conveyor to cooperate the tasks such as taking off the gangue, carry spoil of just finishing.
Comprehensive drivage method to the requirement in tunnel than higher, formation hardness≤f10, head-room must not be less than 3.0 meters, width must not if local formation hardness is too high, still need adopt the method for loosening moving big gun less than 5 meters, assists driving.In fact, all below f8, for the rock of hardness more than f8, not only cutting speed is slow, and the cut cost of unit drilling depth also is difficult to accept usually for the economic cut hardness of comprehensive drivage method.
In recent years, along with the frequent generation of tunnel safety accident and accident of mine disaster, government begins to make great efforts to reduce that the use and the big gun of drilling and blasting method are adopted, the work plane number of big gun pick and digging output, drilling depth proportion.Therefore, at hard rock tunnel or tunnelling, need a kind of revolutionary novel no blasting boreholes driving technology of exploitation and equipment badly.
Chinese invention patent application (application number: 200710158849.1) propose a kind of mine explosion-proof coal rock full hydraulic pulverizing development machine that is applicable to that light section coal petrography tunnel and mining excavation are used, it is simple in structure, can only realize the driving of light section, soft coal road and rock gangway, can not realize functions such as section boring, loading, transportation and dedusting, and adopt operation manually, efficient is very low, operating personnel's work under bad environment, and labour intensity is big.
The utility model content
In order to overcome the deficiency of drilling and blasting method and comprehensive drivage method, the utility model provides a kind of hard rock hydraulic crushing formula development machine, solves problems such as the operating efficiency that exists in the prior art is low, work under bad environment.This hard rock mole does not need to blow out to realize quick, the efficient driving in superhard total rock tunnel.
The technical scheme that its technical problem that solves the utility model adopts is:
A kind of hard rock hydraulic crushing formula development machine, this development machine comprises running part, support portion, back, a fortune portion, body, rock drilling portion, broken petrosa, shovel board portion, body is arranged on the running part, the front portion of body is provided with rock drilling portion, broken petrosa and shovel board portion, and the rear portion of body is provided with support portion, back, a fortune portion.
Described hard rock hydraulic crushing formula development machine, rock drilling portion is provided with rock drilling portion mount pad, rock drilling arm, hydraulic gate, propeller, one end of rock drilling arm is connected with rock drilling portion mount pad, and the other end of rock drilling arm is connected with propeller, and hydraulic gate is installed on the propeller.
Described hard rock hydraulic crushing formula development machine, broken petrosa is provided with brokenly rock arm Connection Block, broken rock arm, hydraulic breaking hammer, recovering hopper, water spray dust suppression device, one end of broken rock arm is connected with broken rock arm Connection Block, the other end of broken rock arm connects recovering hopper, on the broken rock arm hydraulic breaking hammer is installed, the front end of hydraulic breaking hammer is installed drill steel, and the next door of drill steel is provided with and the drill steel dust suppression device of spraying water accordingly.
Described hard rock hydraulic crushing formula development machine, back support portion is provided with support portion, back horizontal support, back support platform, back support and connection seat, support portion, back ground supports, back support platform both sides are provided with support portion, back horizontal support, back support platform front end is provided with back support and connection seat, and back support platform bottom is provided with support portion, back ground supports.
Described hard rock hydraulic crushing formula development machine, body is provided with body frame and slide unit, and slide unit is arranged in the body top, and slide unit is provided with at least one rock drilling arm installation site, on rock drilling arm installation site rock drilling portion is installed respectively; Also be provided with at least one broken rock arm installation site on the slide unit, broken petrosa is installed respectively on broken rock arm installation site.
Described hard rock hydraulic crushing formula development machine, the design of the both sides of leading portion has the body horizontal support in the body.
Described hard rock hydraulic crushing formula development machine, shovel board portion is provided with revolution star-wheel or crab claw, the terminal auxiliary material collecting device of broken rock arm.
Described hard rock hydraulic crushing formula development machine also comprises electric-control system, and the core of electric-control system is Industrial Personal Computer (IPC) and master controller, Industrial Personal Computer (IPC) is as host computer, master controller is as slave computer, and master controller adopts programmable logic controller PLC, and the I/O card is adopted in the communication between Industrial Personal Computer (IPC) and the master controller.
Described hard rock hydraulic crushing formula development machine, be respectively equipped with sensor in running part, support portion, back, a fortune portion, body, rock drilling portion, broken petrosa, the shovel board portion, sensor detects data and passes to separately master controller by the CAN bus, master controller is transferred to host computer by the CAN card, host computer is by after calculating, concrete motion control is required to be transferred to slave computer by the mode of instruction, and slave computer is controlled the motion of each degree of freedom and is realized the local closed loop of each degree of freedom.
Described hard rock hydraulic crushing formula development machine, also comprise hydraulic system, the oil sources of hydraulic system adopts two load-sensitive variable pumps, and one is connected with hydraulic impact hammer, another is connected with hydraulic actuator, and the control of hydraulic system is adopted and manually added electromagnetism proportional multi-path valve.
The beneficial effects of the utility model are:
1, the utility model integrates boring, broken rock, rewinding, transports, have functions such as walking and dedusting concurrently, can realize quick, the efficient driving in superhard total rock tunnel, replace present hard rock driving dangerous higher drilling and blasting method and the lower comprehensive drivage method of hard rock drivage efficiency commonly used.Simultaneously, this utility model can realize three kinds of patterns such as manual entirely, semi-automatic and full-automatic, and the client can be according to self needs, flexible customization, when controlling cost flexibly, reduce hard rock required miner's quantity of when driving largely, reduce miners' labour intensity.
2, the utility model whole machine installation rock drilling arm and broken rock arm, the driving mode of taking elder generation to hole and afterwards break rock, be equipped with perfect hydraulic pressure, electric-control system again, all the course of work realizes automation, thereby realize that hard rock total rock lane is efficient, safety, high-quality speedy drivage, replace present hard rock driving dangerous higher drilling and blasting method commonly used.Simultaneously, needed miner's quantity when significantly reducing the hard rock driving, and greatly improve miner's work under bad environment, reduce miners' labour intensity.
3, the utility model tunneling process can be realized increasingly automatedly, has greatly improved the safety of tunneling process and to the efficient of hard rock driving, has avoided the generation of major accident from root.
4, the utility model adopts the caterpillar belt self-walking type design, is equipped with the back to support and preceding shovel board, the rock excavation operation of going down the hill brokenly of going up a hill in the time of can satisfying inclination angle≤18 °; The car body top is furnished with a plurality of (1～3) rock drilling arm, can select all size hydraulic gate as required; Each rock drilling arm is controlled separately, can finish whole work of boring procedure entirely manual, semi or fully automaticly; Car body top is furnished with a plurality of (1～3) broken rock arm, and the hydraulic breaking hammer that can select different ballistic works as required is with the non-explosion speedy drivage that is fit to various hardness total rocks lane (economic fractured rock hardness 〉=f10); Each broken rock mechanical arm is controlled separately, can finish brokenly whole work of rock process entirely manual, semi or fully automaticly.Simultaneously, the utility model can be selected different rewinding modes such as star-wheel, crab claw or slusher as required, and the car body internal placement has drag conveyor, can finish functions such as the shipment of spoil and reprinting.At last, body top and broken rock arm front end can be selected dust pelletizing system as required, comprise spraying dust firing device, deduster air draught air duct, press wind air duct, air duct support etc., can effectively solve the dust that the broken rock process of boring produces.
Description of drawings
Fig. 1 is the structural representation of the utility model mechanical system; (a) figure is a front view; (b) figure is a vertical view.
Among Fig. 1,1 running part; Support portion, 2 back; 3 one fortune portions (first transporter); 4 bodies; 5 rock drilling portions; 6 broken petrosas; 7 shovel board portions.
Fig. 2 is a supporting structure schematic diagram behind the utility model; (a) figure is a front view; (b) figure is a vertical view.
Among Fig. 2, support portion, 2.1 back horizontal support; 2.2 back support platform; 2.3 back support and connection seat; 2.4 back support portion ground supports; 2.5 electric-control system; 2.6 hydraulic system.
Fig. 3 is the utility model body structural representation; Wherein, (a) figure is a front view; (b) figure is a vertical view.
Among Fig. 3,4.1 slide units; 4.2 operating desk; 4.3 protection top cover; 4.4 rock drilling arm installation site; 4.5 broken rock arm installation site; 4.6 body horizontal support; 4.7 body frame.
Fig. 4 is the utility model rock drilling portion structural representation;
Among Fig. 4,5.1 rock drilling portion mount pads; 5.2 rock drilling arm (drill boom); 5.3 hydraulic gate; 5.4 propeller.
Fig. 5 is the broken petrosa structural representation of the utility model;
Among Fig. 5,6.1 broken rock arm Connection Blocks; 6.2 broken rock arm (broken arm); 6.3 quartering hammer (jump bit); 6.4 recovering hopper; 6.5 dust suppression device; 6.6 drill steel.
Fig. 6 is drilling track planning schematic diagram; (a) boring distribution map; (b) drilling track planning chart.
Fig. 7 is operation display interface schematic diagram.
Fig. 8 is the workflow diagram of whole development machine.
Work schematic diagram when Fig. 9 holes for development machine; (a) figure is a front view; (b) figure is a vertical view.
Work schematic diagram when Figure 10 breaks rock for development machine; (a) figure is a front view; (b) figure is a vertical view.
Work schematic diagram when Figure 11 is the development machine rewinding; (a) figure is a front view; (b) figure is a vertical view.
Work schematic diagram when Figure 12 is the development machine bolt support; (a) figure is a front view; (b) figure is a vertical view.
Figure 13 is the principle schematic of the utility model hydraulic system;
Figure 14 is the principle schematic of the utility model electric-control system.
The specific embodiment
On function, can be divided into mechanical system, hydraulic system and electric-control system three parts as Fig. 1-14 the utility model, wherein:
As shown in Figure 1, mechanical system comprises several big parts such as running part 1, support portion 2, back, a fortune portion 3, body 4, rock drilling portion 5, broken petrosa 6, shovel board portion 7.Body 4 is arranged on the running part 1, and the front portion of body 4 is provided with rock drilling portion 5, broken petrosa 6 and shovel board portion 7, and the rear portion of body 4 is provided with support portion 2, back, a fortune portion 3.
As shown in Figure 2, back support portion 2 comprises support portion, back horizontal support 2.1, back support platform 2.2, back support and connection seat 2.3, support portion, back ground supports 2.4, electric-control system 2.5, hydraulic system 2.6 etc., back support platform 2.2 both sides are provided with support portion, back horizontal support 2.1, back support platform 2.2 tops are provided with electric-control system 2.5, hydraulic system 2.6, back support platform 2.2 front ends are provided with back support and connection seat 2.3, and back support platform 2.2 bottoms are provided with support portion, back ground supports 2.4.Horizontal support and ground supports device are installed in back support portion, can suppression equipment when work because lateral sliding and the front and back slippage that vibration produces, adopt high-strength bolt to pass through after support and connection seat 2.3 connect with body 4, safe and reliable.
As shown in Figure 3, body 4 comprises body frame 4.7 and slide unit 4.1 etc., slide unit 4.1 is arranged in body 4.7 tops, and slide unit 4.1 is provided with at least one rock drilling arm installation site 4.4 (present embodiment is 3), on rock drilling arm installation site 4.4 rock drilling portion 5 is installed respectively; Also be provided with at least one broken rock arm installation site 4.5 (present embodiment is 2) on the slide unit 4.1, broken petrosa 6 is installed respectively on broken rock arm installation site 4.5; Slippage before and after the slide unit can increase the scope and the efficient of rock drilling and broken rock.Also be provided with operating desk 4.2 on the slide unit 4.1, the top of operating desk 4.2 is provided with protection top cover 4.3.The design of the both sides of leading portion has body horizontal support 4.6 in the body, can prevent brokenly the swing in the horizontal direction of rock process fuselage.
In the utility model, the body horizontal support 4.6 on the body 4 cooperates the back support portion horizontal support 2.1 in the back support 2, can guarantee brokenly the stability of rock process standard of fuselage direction.
As shown in Figure 4, rock drilling portion 5 comprises rock drilling portion mount pad 5.1, rock drilling arm 5.2, hydraulic gate 5.3, propeller 5.4 etc., one end of rock drilling arm 5.2 is connected with rock drilling portion mount pad 5.1, and the other end of rock drilling arm 5.2 is connected with propeller 5.4, and hydraulic gate 5.3 is installed on the propeller 5.4.Rock drilling portion is provided with a plurality of degree-of-freedom joints (being no less than 6), can satisfy the attitude requirement of various bore positions such as lateral wall eye, end eye, top eye, and the flexible motion by each joint of rock drilling arm can realize omnibearing boring rock drilling work.
As shown in Figure 5, broken petrosa 6 comprises brokenly rock arm Connection Block 6.1, broken rock arm 6.2, hydraulic breaking hammer 6.3, recovering hopper 6.4, water spray dust suppression device 6.5 etc., one end of broken rock arm 6.2 is connected with broken rock arm Connection Block 6.1, the other end of broken rock arm 6.2 connects recovering hopper 6.4, on the broken rock arm 6.2 hydraulic breaking hammer 6.3 is installed, the front end of hydraulic breaking hammer 6.3 is installed drill steel 6.6, and the next door of drill steel 6.6 is provided with and drill steel 6.6 corresponding water spray dust suppression devices 6.5.
In the utility model, broken petrosa 6 is provided with a plurality of degree-of-freedom joints (being no less than 4), can realize the quick fragmentation to the above hard rock of f10.Broken rock arm 6.2 is terminal installs advanced, large-power hydraulic quartering hammer 6.3 and recovering hopper 6.4, can realize the work of omnibearing broken rock and auxiliary rewinding by the flexible motion in broken each joint of rock arm; Water spray dust suppression device 6.5 is installed around quartering hammer 6.3, is played the function of depositing dust, cooling, the wearing and tearing of alleviation drill steel in the broken rock process.
In the utility model, can assemble two revolution star-wheels or crab claw in the shovel board portion 7, the gyration of star-wheel drives by motor, and the coal cinder that the lifting of shovel board and the revolution of star-wheel can be got off fragmentation reclaims, and is transported to a fortune portion 3; One fortune portion 3 utilizes hydraulic motor to drive the rotation of chain rivet by the transport of chain drive realization material, and conveyer chain moves in the scraper plate cocycle, and the material that 7 transportations of shovel board portion are come passes to two fortune (second transporter); Running part 1 is connected with body 4 by high-strength bolt, and running part 1 can be full-closed structure, increases running part and is disliking the application life of omiting under the operating mode; The high power hydraulic motor drives sprocket wheel assurance development machine and is disliking the locomotor activity that omits under the operating mode, under the heavy grade situation.
In the utility model, broken rock arm end has also designed auxiliary material collecting device, cooperates star-wheel or crab claw on the shovel board, can realize fast clear cash fortune cash.
In the utility model, hydraulic system is provided with the variable pump (being no less than 2) of bringing onto load sensitive technology, and one of them pump is connected with hydraulic impact hammer, and being used for specially provides big-flow high-pressure power oil to the hydraulic pressure jump bit, operating pressure about 24MPa, i.e. the maximum working pressure (MWP) of hydraulic impact hammer; Another pump is connected with hydraulic actuator, is used for to other hydraulic actuator fuel feeding.The fuel tank volume of whole system is about 1500L.The main hydraulic actuator of hydraulic system is digital hydraulic cylinder or magnetostriction hydraulic cylinder and hydraulic motor, specifically comprises manipulator rotating hydraulic cylinder, manipulator one-level arm pitching hydraulic cylinder, manipulator secondary arm regulator solution cylinder pressure, arm end rotating hydraulic cylinder, charging hydraulic motor etc.The control of hydraulic system is adopted and is manually added electromagnetism proportional multi-path valve, is convenient to be connected with electric-control system, realizes the automatic control of whole boring and broken rock process hydraulic system, also can realize full manual operation in special circumstances.
As shown in figure 13, the principle of the utility model hydraulic system is as follows:
Present embodiment has three rock drilling arms and two broken arms, has more than 30 degree of freedom, adds the executive component of development machine itself, has more than 50 hydraulic actuator.The all hydraulic executive component of development machine is according to divide into groups (present embodiment are divided into nine groups) such as flow, pressure, action relationships, positions, and the total flow of every group of valve can not surpass 250L/min.Oil sources adopts two load sensitive pumps, and each load-sensitive mouth of organizing valve compares by shuttle valve, selects maximum load pressure and feeds back to oil pump, the quick response and the tracking of flow rate of hydraulic system when realizing load variations.
In the utility model, the core of electric-control system is that Industrial Personal Computer (IPC) adds PLC (programmable logic controller), wherein Industrial Personal Computer (IPC) is as host computer, main be responsible for according to the robot movement of building up in advance learn that model realizes that the planning of the automatic distribution of the automatic planning of the automatic placement of bore position, drilling track and optimization, hydraulic impact hammer impact position, the broken rock track of hydraulic impact hammer and optimization, the planning of robot movement track, robot movement control routine generate automatically, the real-time monitoring of system mode and with real-time communication of PLC or the like.PLC is as slave computer, is mainly used to realize to the collection of field control signal with to the driving of executive component.Communication between Industrial Personal Computer (IPC) and the PLC adopts the I/O card to realize.The sensor of control system mainly comprises the inclinator of arm end, the displacement detector of each hydraulic cylinder, angle of revolution checkout gear that each revolution is supported or the like.Wherein inclinator is mainly used to detect the attitude of arm end.
When system did not match PLC, the function of PLC was realized by other auxiliary integrated circuit board of Industrial Personal Computer (IPC).When system did not match Industrial Personal Computer (IPC), the control of entire equipment was realized that by PLC some advanced functions can't realize.If Industrial Personal Computer (IPC) and PLC do not select for use, then everything is all logical is manually controlled by manual electromagnetic proportional valve.All electrical control devices are installed in the intrinsic safety flame proof electric control box.
As shown in figure 14, the principle of present embodiment electric-control system is as follows:
Present embodiment adopts Industrial Personal Computer (IPC) as host computer, and small PLC has repertoires such as boring automation, automatic anticollision as slave computer and action implementation controller.Be respectively equipped with sensor in running part, support portion, back, a fortune portion, body, rock drilling portion, broken petrosa, the shovel board portion, for each degree of freedom of realize holing automation and each mechanical arm automatic anticollision, rock drilling arm and broken rock arm all has corresponding sensor to detect, sensor detects data and passes to separately master controller PLC (slave computer: controller U1, controller U2, controller U3, controller U4 and controller U5) by the CAN bus, is transferred to host computer by PLC by the CAN card again.Host computer requires concrete motion control to be transferred to slave computer PLC by the mode of instruction by after calculating, PLC from main control separately by the motion of degree and realize the local closed loop of each degree of freedom.
In the utility model, development machine can be realized three kinds of operation formats such as manual entirely, semi-automatic and full-automatic, and concrete hardware system differs greatly, and can carry out flexible configuration according to customer demand.
Be example with the fully automatic working pattern below, the concrete course of work of this equipment is introduced.The semi-automatic work pattern is the automatic placement of rejecting bore position on the basis of fully automatic working pattern, the automatic planning and the advanced functions such as optimization, the automatic location of bore position, the planning of breaking the broken rock track of rock arm and optimization of drilling track, but the functions such as real-time monitoring of reservation rock drilling arm automatic anti-blocking pricker and fast return, automatic anticollision, system mode.Full manual mode is on the basis of semi-automatic work pattern, eliminating system status real time monitor and automatic anti-blocking pricker and fast return function again, but keep the automatic anticollision function.
The A preparatory stage
The development machine transportation puts in place, and hydraulic system 2.6, electric-control system 2.5 all start and carry out self check, and detection, monitoring and warning device are all opened.
By tunnel interior orientation laser is detected, and the detection computations result fed back to the Industrial Personal Computer (IPC) of electric-control system 2.5, manually-operated running part 1, support portion 2, back, shovel board portion 7 adjust then, guarantee that the development machine stand aligns with the tunnel center line.At this moment, body horizontal support 4.6, back support level support 2.1, shovel board portion 7 and support portion, back ground supports 2.4 support to place, and guarantee when development machine breaks rock work steady.
Section checkout gear in the electric-control system carries out comprehensive scanning to the tunnel work plane, Industrial Personal Computer (IPC) is according to whole shapes of detected tunnel work plane and positional information, automatically write down the size and the shape in tunnel, major parameter according to operator's input calculates boring distribution form (as shown in Figure 6) again, and the planning of the track of holing, the course of work, and describe to the operator by display unit; The operator judges that track is reasonable, automatically calculate in the course of work attitude information in each each joint of the arm of rock drilling constantly and corresponding with it hydraulic system, the controlling parameter of electric-control system by the operation Industrial Personal Computer (IPC) again, preserve all information and form operational order, wait pending.
The operator moves to the front end extreme position by the slide unit 4.1 on the operating desk 4.2 control bodies 4, Industrial Personal Computer (IPC) calculates brokenly the home of rock arm 6.2 according to the attitude information of rock drilling track and rock drilling arm, interfere with rock drilling arm 5.2 in the boring procedure preventing, preservation information, be converted into control instruction and carry out, electricly move to the home that calculates with the broken rock arm 6.2 of hydraulic means control.The display interface of operating desk as shown in Figure 7 during boring.
The B rock drilling stage
Industrial Personal Computer (IPC) accesses control instruction and passes to PLC from control module, PLC control rock drilling arm 5.2 is carried out boring work, boring procedure full automatic working.The pressure of the drill of propeller 5.4 advances the oil cylinder working-pressure transmitter to detect by propeller, regulates by hydraulic system.The ballistic work height of hydraulic gate 5.3 is regulated by hydraulic system pressure and is realized.Water is cooled off and chip removal drill steel.
The antecedent condition that Industrial Personal Computer (IPC) calculates drilling track automatically is to avoid three rock drilling arms 5.2 to run foul of each other; but still to monitor the locus of each arm in the boring procedure in real time; in case the possibility of collision occurs; automatically protect at once; stop current boring work, seek next suitable bore position and recomputate drilling track.
Can prop up crag in order to ensure rock drilling arm 5.2 propellers 5.4 holes smoothly, setting pressure transmitter monitor force changes on the propeller compensating cylinder, and pass to controller and judge whether to prop up crag, if unusual rock drilling arm 5.2 shrinks immediately, seek bore position feeding once more, boring again;
Boring work can be divided into perforate and two stages of boring, hydraulic gate 5.3 is with low-power, low frequency of impact constant speed perforate when carrying out perforate work, propeller 5.4 advances with low the pressure of the drill, can judge whether the perforate success by the radial pressure transmitter that propeller front end clamper place is provided with.If the perforate success enters the boring stage, control system is regulated parameter automatically makes hydraulic gate 5.3 with total power, HI high impact frequency, the boring of permanent drilling speed.If the guard process that pre-sets is carried out in boring failure, control system propeller 5.4 is recalled, reorientated, perforate.Each component locations of boring procedure and attitude are as shown in Figure 9.
Because operating mode and condition during hydraulic gate 5.3 borings are disliked slightly very much, a large amount of dusts of generation and rubble are often owing to chip removal does not make freely that " card pricker " phenomenon appears in hammer drill 5.3.Equally, can judge whether occur " card pricker " in the boring procedure by pressure transmitter.If " card pricker " is serious, then propeller 5.4 bounces back automatically, and hydraulic gate 5.3 stops automatically impacting but continues revolution, until unfreezing; If " card pricker " phenomenon is slight, can suitably reduce the pressure of the drill of propeller 5.4.
After each boring finished, Industrial Personal Computer (IPC) was by the PF cylinder pressure fast return of PLC control propeller 5.4, and hydraulic gate 5.3 stops to impact, and revolution and cooling water continue to retreat to extreme position until propeller 5.4.After the fast return, seek next boring point and repeat above boring procedure, finish until all drillman according to predefined track.Whether boring work is finished can be judged that the operator also can artificially monitor by monitoring, the logging program of control system.After boring work was all finished, Industrial Personal Computer (IPC) accessed and calculates good rock drilling arm 5.2 safe placement locations in advance, and control system drives hydraulic actuator moves into place rock drilling arm 5.2.
C breaks the rock stage
Break rock arm 6.2 work tracks and adopt zoning plans, Industrial Personal Computer (IPC) can take into full account the anticollision problem when the rock track is broken in calculating automatically, make the track that obtains reasonable as far as possible.Industrial Personal Computer (IPC) accesses from control module and calculates good broken rock arm 6.2 movement locus in advance, each degree of freedom increment of motion of broken rock arm 6.2 each moment attitude correspondence is changed into control instruction and passes to PLC, and PLC controls brokenly rock arm 6.2 by electric-control system 2.5, hydraulic system 2.6 and carries out work.Broken rock process is similarly full automatic working, judges brokenly the various operating modes of rock according to the state of quartering hammer PF cylinder pressure pressure transmitter, thereby implements different operations.Hydraulic breaking hammer 6.3 can not be above 10 seconds at the impact duration of same position.The ballistic work height of hydraulic breaking hammer 6.3 can be regulated the adjusting nut of hydraulic breaking hammer 6.3 sidepieces and realize.In the broken rock process water spray dust suppression device 6.5 constantly water spray to drill steel cool off, dedusting.
After broken rock arm 6.2 put in place, telescopic oil cylinder was overhanging, and hydraulic breaking hammer 6.3 compresses crag.Can compress crag in order to ensure broken rock arm 6.2 and break rock work smoothly, advance setting pressure transmitter monitor force variation on the oil cylinder, judge according to detected force value whether quartering hammer 6.3 compresses crag at broken rock arm 6.2.The pressure judgment value must be considered the component that 6.3 body weight of quartering hammer produce in the advancing hydraulic pressure direction.Computational process is finished by Industrial Personal Computer (IPC), and angle is measured by inclinator.If unusual, broken rock arm 6.2 shrinks immediately, seeks rational position again and compresses crag once more.Broken each component locations of rock process and attitude are as shown in figure 10.
Hydraulic breaking hammer 6.3 circulation impacts break rock, and broken rock arm 6.2 advances oil cylinder to keep constant pressure.Hydraulic breaking hammer 6.3 begins to carry out the work of impact cutting rock after compressing crag, utilizes timer to determine that single-point impacts duration, by judging brokenly that rock arm 6.2 advances the stroke of oil cylinder whether to reach capacity definite this time broken rock to impact and whether finishes.If broken rock duration reaches capacity greater than 10 seconds, PF cylinder pressure stroke, decidable impact cutting rock success this time, the hydraulic cylinder retraction is sought next impact position according to setting track; If broken rock arm 6.2 each joint freedom degrees amplitude of variation are excessive, can think and produce big slippage between tup and the crag, this moment, hydraulic cylinder bounced back immediately, repeat the location of this location point, broken rock work, if produce slippage once more, control program automatically with this location point deletion, jump to the next position point and carry out the impact cutting rock.
Broken rock arm 6.2 is according to track and the broken rock of control program repeated stock, and laser detector is monitored in real time to the broken rock degree of depth.If the broken rock degree of depth of whole tunnel work plane reaches 800mm, Industrial Personal Computer (IPC) judges that automatically this impact cutting rock circulation finishes, and body slide unit 4.1 retractions prepare to carry out rewinding work.
The D rewinding stage
Industrial Personal Computer (IPC) control electric-control system 2.5, hydraulic system 2.6 make body horizontal support 4.6, back support level support 2.1 and all regain, and a fortune portion 3 motors and shovel board portion 7 star-wheel motor runnings begin to carry out rewinding, haul work.Can utilize brokenly recovering hopper 6.4 on the rock arm 6.2 to assist rewinding in the rewinding process, improve rewinding efficient.Rewinding is carried out in 7 liftings of shovel board portion, running part 1 reach.The operator judges whether rewinding work finishes, and the manually-operated Industrial Personal Computer (IPC) jumps to step (2) if rewinding finishes then, carries out next working cycles.By tape deck and checkout gear, the broken rock cycle-index of record and total broken rock footage drilled if the broken rock degree of depth of accumulative total reaches 3300mm, stop brokenly the rock circulation, go on foot work once.Each component locations of rewinding process and attitude are as shown in figure 11.
E back chipping, bolt support stage
When the broken rock degree of depth of accumulative total reaches 3300mm, body 4 slide unit cylinder pushes slide units 4.1 retractions, body horizontal support 4.6, back support level support 2.1 and all regain, the broken 6.2 pairs of tunnel work planes of rock arm of Industrial Personal Computer (IPC) control carry out finishing process, guarantee cross section, tunnel quality, for next working cycles is prepared.The operator judges back chipping after hours, and Industrial Personal Computer (IPC) accesses the bolt support program, finishes to assist according to three rock drilling arms of track use and plays anchor pole work, and the course of work is consistent with broken rock process.After finishing, all processes enters next work systemic circulation.Each component locations of bolt support process and attitude are as shown in figure 12.
The entire work process flow process as shown in Figure 8.
Claims (10)
1. hard rock hydraulic crushing formula development machine, it is characterized in that: this development machine comprises running part, support portion, back, a fortune portion, body, rock drilling portion, broken petrosa, shovel board portion, body is arranged on the running part, the front portion of body is provided with rock drilling portion, broken petrosa and shovel board portion, and the rear portion of body is provided with support portion, back, a fortune portion.
2. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: rock drilling portion is provided with rock drilling portion mount pad, rock drilling arm, hydraulic gate, propeller, one end of rock drilling arm is connected with rock drilling portion mount pad, the other end of rock drilling arm is connected with propeller, and hydraulic gate is installed on the propeller.
3. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: broken petrosa is provided with brokenly rock arm Connection Block, broken rock arm, hydraulic breaking hammer, recovering hopper, water spray dust suppression device, one end of broken rock arm is connected with broken rock arm Connection Block, the other end of broken rock arm connects recovering hopper, on the broken rock arm hydraulic breaking hammer is installed, the front end of hydraulic breaking hammer is installed drill steel, and the next door of drill steel is provided with and the drill steel dust suppression device of spraying water accordingly.
4. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: the support portion, back is provided with support portion, back horizontal support, back support platform, back support and connection seat, support portion, back ground supports, back support platform both sides are provided with support portion, back horizontal support, back support platform front end is provided with back support and connection seat, and back support platform bottom is provided with support portion, back ground supports.
5. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: body is provided with body frame and slide unit, slide unit is arranged in the body top, and slide unit is provided with at least one rock drilling arm installation site, on rock drilling arm installation site rock drilling portion is installed respectively; Also be provided with at least one broken rock arm installation site on the slide unit, broken petrosa is installed respectively on broken rock arm installation site.
6. according to the described hard rock hydraulic crushing of claim 5 formula development machine, it is characterized in that: the design of the both sides of leading portion has the body horizontal support in the body.
7. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: shovel board portion is provided with revolution star-wheel or crab claw, the terminal auxiliary material collecting device of broken rock arm.
8. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: also comprise electric-control system, the core of electric-control system is Industrial Personal Computer (IPC) and master controller, Industrial Personal Computer (IPC) is as host computer, master controller is as slave computer, master controller adopts programmable logic controller PLC, and the I/O card is adopted in the communication between Industrial Personal Computer (IPC) and the master controller.
9. according to the described hard rock hydraulic crushing of claim 8 formula development machine, it is characterized in that: be respectively equipped with sensor in running part, support portion, back, a fortune portion, body, rock drilling portion, broken petrosa, the shovel board portion, sensor detects data and passes to separately master controller by the CAN bus, master controller is transferred to host computer by the CAN card, host computer is by after calculating, concrete motion control is required to be transferred to slave computer by the mode of instruction, and slave computer is controlled the motion of each degree of freedom and is realized the local closed loop of each degree of freedom.
10. according to the described hard rock hydraulic crushing of claim 1 formula development machine, it is characterized in that: also comprise hydraulic system, the oil sources of hydraulic system adopts two load-sensitive variable pumps, one is connected with hydraulic impact hammer, another is connected with hydraulic actuator, and the control of hydraulic system is adopted and manually added electromagnetism proportional multi-path valve.
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| CN2010202076553U CN201714390U (en) | 2010-05-31 | 2010-05-31 | Hard rock hydraulic crushing type boring machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010202076553U CN201714390U (en) | 2010-05-31 | 2010-05-31 | Hard rock hydraulic crushing type boring machine |
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| CN201714390U true CN201714390U (en) | 2011-01-19 |
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| CN102261250A (en) * | 2010-05-31 | 2011-11-30 | 三一重型装备有限公司 | Hydraulic crushing-type excavator for hard rock |
| CN102561433A (en) * | 2012-03-17 | 2012-07-11 | 徐州东方传动机械有限公司 | Drilling, crushing, digging and loading integrated machine for all-hydraulic tunneling |
| CN102996140A (en) * | 2012-12-14 | 2013-03-27 | 三一重型装备有限公司 | Heading machine and body frame thereof |
| CN103075098A (en) * | 2013-01-09 | 2013-05-01 | 孙跃强 | Thousand-palm compound wagon drill |
| CN103206218A (en) * | 2013-03-29 | 2013-07-17 | 辽宁工程技术大学 | Drilling and blasting device loaded on hard rock tunneling machine and hard rock tunneling method |
| CN103206220A (en) * | 2013-03-29 | 2013-07-17 | 辽宁工程技术大学 | Drilling device loaded on hard rock tunneling machine and hard rock tunneling method |
| CN103643958A (en) * | 2013-12-13 | 2014-03-19 | 中铁二十三局集团有限公司 | Construction method for excavating weak surrounding rock tunnel by hydraulic breaking hammer |
| CN103883330A (en) * | 2012-12-19 | 2014-06-25 | 赵兵 | Rectangular full-face rock tunneling machine |
| CN104295303A (en) * | 2014-09-29 | 2015-01-21 | 辽宁鑫众重工装备有限公司 | Rock drilling heading machine |
| CN104314582A (en) * | 2014-10-29 | 2015-01-28 | 广西恒日科技有限公司 | Hard rock tunnel boring machine |
| CN104564089A (en) * | 2014-12-31 | 2015-04-29 | 闫振东 | Rock roadway quick tunneling process of impact crushing rock roadway tunneling machine |
| CN104675774A (en) * | 2015-03-13 | 2015-06-03 | 辽宁瑞丰专用车制造有限公司 | Hydraulic system of rock drilling machine |
| CN110206528A (en) * | 2019-05-31 | 2019-09-06 | 中煤科工集团西安研究院有限公司 | For fully-mechanized mining working passing fault shot-hole rig and borehole construction method |
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| CN112879027A (en) * | 2021-01-12 | 2021-06-01 | 安徽理工大学 | Efficient heading machine for mine tunnel |
| CN114102604A (en) * | 2021-12-17 | 2022-03-01 | 哈尔滨工业大学 | Hole sequence automatic planning method applied to three-arm rock drilling jumbo |
| CN115539033A (en) * | 2022-09-16 | 2022-12-30 | 安徽理工大学 | Green blasting device for hard rock driving working face of mine |
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| CN102261250A (en) * | 2010-05-31 | 2011-11-30 | 三一重型装备有限公司 | Hydraulic crushing-type excavator for hard rock |
| CN102561433A (en) * | 2012-03-17 | 2012-07-11 | 徐州东方传动机械有限公司 | Drilling, crushing, digging and loading integrated machine for all-hydraulic tunneling |
| CN102996140A (en) * | 2012-12-14 | 2013-03-27 | 三一重型装备有限公司 | Heading machine and body frame thereof |
| CN102996140B (en) * | 2012-12-14 | 2016-03-02 | 三一重型装备有限公司 | Development machine and body frame thereof |
| CN103883330A (en) * | 2012-12-19 | 2014-06-25 | 赵兵 | Rectangular full-face rock tunneling machine |
| CN103883330B (en) * | 2012-12-19 | 2016-01-20 | 赵兵 | Rectangle tunneling boring rock tunnel development machine |
| CN103075098A (en) * | 2013-01-09 | 2013-05-01 | 孙跃强 | Thousand-palm compound wagon drill |
| CN103206220A (en) * | 2013-03-29 | 2013-07-17 | 辽宁工程技术大学 | Drilling device loaded on hard rock tunneling machine and hard rock tunneling method |
| CN103206220B (en) * | 2013-03-29 | 2015-01-14 | 辽宁工程技术大学 | Drilling device loaded on hard rock tunneling machine and hard rock tunneling method |
| CN103206218A (en) * | 2013-03-29 | 2013-07-17 | 辽宁工程技术大学 | Drilling and blasting device loaded on hard rock tunneling machine and hard rock tunneling method |
| CN103643958B (en) * | 2013-12-13 | 2016-01-20 | 中铁二十三局集团有限公司 | Hydraulic breaking hammer excavation Modelling of Tunnel Excavation in Soft Rock method |
| CN103643958A (en) * | 2013-12-13 | 2014-03-19 | 中铁二十三局集团有限公司 | Construction method for excavating weak surrounding rock tunnel by hydraulic breaking hammer |
| CN104295303A (en) * | 2014-09-29 | 2015-01-21 | 辽宁鑫众重工装备有限公司 | Rock drilling heading machine |
| CN104314582A (en) * | 2014-10-29 | 2015-01-28 | 广西恒日科技有限公司 | Hard rock tunnel boring machine |
| CN104564089A (en) * | 2014-12-31 | 2015-04-29 | 闫振东 | Rock roadway quick tunneling process of impact crushing rock roadway tunneling machine |
| CN104675774A (en) * | 2015-03-13 | 2015-06-03 | 辽宁瑞丰专用车制造有限公司 | Hydraulic system of rock drilling machine |
| US10480319B2 (en) | 2016-09-22 | 2019-11-19 | Bouygues Travaux Publics | Automated device for drilling a hole in the vault and walls of a tunnel and for installing an anchoring element into said hole |
| CN110206528A (en) * | 2019-05-31 | 2019-09-06 | 中煤科工集团西安研究院有限公司 | For fully-mechanized mining working passing fault shot-hole rig and borehole construction method |
| CN110682256A (en) * | 2019-10-23 | 2020-01-14 | 李志明 | Large-scale dangerous rock knocking equipment for copper mine tunnel |
| CN112879027A (en) * | 2021-01-12 | 2021-06-01 | 安徽理工大学 | Efficient heading machine for mine tunnel |
| CN114102604A (en) * | 2021-12-17 | 2022-03-01 | 哈尔滨工业大学 | Hole sequence automatic planning method applied to three-arm rock drilling jumbo |
| CN114102604B (en) * | 2021-12-17 | 2024-04-05 | 哈尔滨工业大学 | Automatic hole sequence planning method applied to three-arm drill jumbo |
| CN115539033A (en) * | 2022-09-16 | 2022-12-30 | 安徽理工大学 | Green blasting device for hard rock driving working face of mine |
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