CN204899935U - All -hydraulic entry driving machine of 6 -degree of freedom series -parallel connection formula - Google Patents

Abstract

The utility model discloses a six-degree-of-freedom mixed-connection full-hydraulic roadheader, which comprises a loading part, a walking part, a scraper conveyor, a fuselage body, a two-degree-of-freedom revolving seat, a parallel working arm and a cutting head. The loading part is located at the front end of the fuselage body, and the fuselage body is installed on the walking part; the cutting head is connected with the fuselage body through a parallel working arm and a two-degree-of-freedom slewing seat in turn. The traveling part is driven by a traveling motor installed on the crawler frame. The scraper conveyor is driven by two transport motors installed at its tail to realize the transportation of materials. The cutting head is jointly driven by three cutting motors. The cutting head of the utility model has one independent movement in space, three independent rotations, a total of four independent degrees of freedom of motion, and two redundant rotations in the horizontal direction, and has the advantages of large working space and convenient attitude adjustment. The utility model also has the characteristics of compact structure, good control decoupling performance, convenient adjustment and maintenance, and the like.

Description

Six degrees of freedom hybrid fully hydraulic roadheader

technical field

The utility model relates to a roadheader, in particular to a six-degree-of-freedom mixed-connection full-hydraulic roadheader, which can at most simultaneously realize the movement of a cutting head with one translation and three rotations in a total of four independent degrees of freedom.

Background technique

my country's coal mining is dominated by underground mining. In 2005, 90.72% of the raw coal output of key state-owned coal mines came from underground mining. The occurrence conditions of coal seams in my country are complex and diverse, and the thickness of coal seams varies from a few tenths of meters to tens of meters. In order to mine coal, a large number of coal and rock roadways need to be excavated. At the same time, with the development of fully mechanized mining technology, super working faces with an annual output of several million tons or even tens of millions of tons have appeared in China, which has greatly increased the number of mining roadways consumed annually, thus making roadway excavation an efficient and intensive coal mine. The commonality and key technologies of production. Driving and mining are important production links in coal mine production, and the mining technology and equipment level are directly related to the ability and safety of coal mine production. High-efficiency mechanized tunneling and support technology is a necessary condition to ensure high production and high efficiency in mines, and it is also the development direction of roadway tunneling technology. Therefore, as the main equipment for comprehensive mechanized coal mining, the roadheader must have the advantages of safety, high efficiency and good roadway quality.

There are mainly three efficient tunneling methods for coal roadways in my country: the first one is the matching operation line of the cantilever roadheader and the single bolter drilling rig, also known as comprehensive mechanized tunneling of coal roadways, which has been widely used in key state-owned coal mines in my country, and there are many tunneling machines It is a cantilever-type coal roadheader, which has a wide range of applications; the second type is the matching operation line of continuous miner and bolter, which has been popularized and applied in Shendong, Wanli and other mining areas in my country and the Ordos area. The main excavation machines are Continuous mining machine, which requires multi-lane excavation and cross-transposition construction; the third type is the integrated excavation of bolter diggers, which has only been tried in a few mining areas. The coal roadway excavation in most of the domestic mining areas is still dominated by cantilever roadheaders, combined with loaders, retractable belt conveyors (or scraper conveyors), single-bolt drilling rigs, ventilation and dust removal equipment, and power supply systems. Composed of comprehensive mechanized tunneling system.

The cantilever roadway boring machine is a comprehensive mining equipment, which integrates cutting, walking, loading, spraying and dust removal. It includes multiple mechanisms and has multiple functions. It is the main equipment for coal mining at present. According to the direction of the cutting head rotating shaft and the working arm, the cantilever roadheader can be divided into two types: horizontal axis type and vertical axis type.

From the late 1930s, people began to use roadheaders to dig roadways. In 1949, the Soviet Union made the πκ-2M type roadheader, and in 1956, the πκ-3 type roadheader was produced. The F5 roadheader developed in Hungary in 1958 was popularized and used. Since the 1960s, roadheaders have become one of the indispensable production equipment in major coal-producing countries, and countries are competing to develop roadheaders. The UK introduced the πκ-3 roadheader in 1960, and developed and produced Dosco MK2, MK2A and RH roadheaders on this basis. On the basis of introducing the roadheaders from the Soviet Union and the United Kingdom, Japan improved and developed the MRH series roadheaders. West Germany made the Beetle and EV roadheaders. In 1962, my country started the development of roadheaders. At first, it was improved on the basis of Soviet πκ-2M and πκ-3 type roadheaders, and then started to be developed. The ELMA type and EM1-30 were initially finalized and produced in small batches. Briquette Roadheading Machine. In 1979, my country imported more than 100 coal and semi-coal roadway boring machines from the United Kingdom, Japan, the Soviet Union and other countries, and used them in some mining bureaus across the country, achieving good technical and economic results. By the beginning of this century, with the needs of the rapid development of the mining industry, heavy-duty roadheaders have developed rapidly in my country after more than 20 years of research. The design and manufacturing level of cantilever roadheaders have been relatively advanced. Machine manufacturing base and application market. The road heading machine industry has become a key supporting development industry for domestic high-end equipment manufacturing and strategic emerging industries. my country's road heading machine market has promising prospects and huge market demand.

At present, the cantilever of most cantilever-type roadheaders adopts a series structure, such as the cantilever-type roadheader produced by Sany Heavy Industry, the cantilever-type roadheader produced by Sandvik, etc. Its own weight and the reaction force generated by cutting the rock mass are all borne by the rotary platform, and the rotary platform needs to provide rotation while bearing the load. Therefore, in actual use, the bearing load of the rotating platform is heavy, the wear is serious, and the rigidity requirement of the rotating platform is high, making it difficult to manufacture. At the same time, the roadheader crushes coal and rock mainly through the cutting tool to crack the rock, so it bears a large load and requires greater rigidity, strength and good structural stability. There are also relatively strict requirements for the tunnel type and tunnel line of the excavation tunnel. Require. However, the current cantilever type tunneling machine with series mechanism has poor structural stability, the whole machine is relatively heavy and bulky, the system inertia is large, and the dynamic performance is not good; the movement track is single, and the whole machine needs to be adjusted in real time when repairing the roadway. With more energy, the surface smoothness of the excavated roadway is not good, which is not conducive to support management and other post-work.

The biggest difference between the full hydraulic roadheader and the traditional roadheader is that the rotation of the cutting head is also driven by hydraulic pressure. Simple, making the whole machine more safe and reliable in terms of explosion-proof performance. In addition, the cutting head driven by a hydraulic motor can reduce the speed and increase the cutting force as the hardness of the coal seam or rock increases, which is more suitable for the complex working conditions of the coal mine.

Aiming at the problems of insufficient freedom of movement and limited working space of existing roadheaders, existing patent documents have also proposed some solutions. For example, a Chinese patent with application number 201210289363.2 discloses a roadheader propulsion device and full-face tunneling The propulsion device of the roadheader and the roadheader forms a redundantly driven 6SPS six-degree-of-freedom parallel mechanism. The mechanism does not have decoupling and is difficult to control; due to the use of a large number of difficult-to-process ball joints, it is difficult to manufacture the equipment and increase the cost. the working space of the cutting head. The Chinese patent application number 201510146648.4 discloses a roadheader with a cantilever using a parallel mechanism. The structure of the parallel mechanism used is 2RPS+2SPS. Although the cutting head has four degrees of freedom in space, its rotation degrees of freedom The amplitude is limited, which affects the actual working space of the cutting head. The model selection of the parallel mechanism in the above design scheme is unreasonable, the strength of the selected support chain is not high, and the range of motion realized by the parallel mechanism cannot meet the needs of underground work. Although the parallel mechanism has the characteristics of high structural rigidity, high positioning and motion precision, strong bearing capacity, and many degrees of freedom of movement, it also has shortcomings such as small working space. The cantilever of the roadheader solves the technical problems existing in the existing roadheader.

The utility model relates to a six-degree-of-freedom mixed-type full-hydraulic roadheader that adopts a hybrid mechanism as the cantilever of the roadheader. Its cutting head has three independent rotations and one independent movement in space, and there are two in the horizontal direction. Redundant rotation, that is, left and right swing and up and down pitch movement are realized by two rotating pairs, which can not only expand the rotation range of the cutting head, but also help to adjust the posture of the cutting head, and can realize the cutting operation of the cutting head in a horizontal state; In addition, the utility model has good control decoupling performance, convenient adjustment and maintenance, and can overcome the technical defects existing in the existing roadheader.

Contents of the invention

The purpose of this utility model is to provide a six-degree-of-freedom mixed-type full-hydraulic roadheader for the deficiencies of the prior art. Its cutting head has three independent rotations and one independent movement in the space, and there are two Redundant rotation, left and right swinging and up and down pitching movements are all realized by two rotating pairs, which can not only overcome the defects of less freedom of movement and small movement range of the working arm of the existing roadheader, but also realize the cutting operation of the cutting head in a horizontal state , good control decoupling, easy adjustment and maintenance.

The technical problems to be solved by the utility model are realized by the following technical solutions.

A six-degree-of-freedom mixed-type full-hydraulic roadheader includes a loading part, a traveling part, a scraper conveyor, a fuselage body, a two-degree-of-freedom slewing seat, a parallel working arm, and a cutting head. Wherein, the loading part for loading materials such as rocks and coal blocks is located at the front end of the fuselage body, and is located below the cutting head and the parallel working arm. The loading part includes a blade, a star wheel, a blade lift cylinder and a front The chute, the star wheel has two groups and is symmetrically installed on the shovel plate, and is used to transport the material on the shovel plate backward to enter the front chute; the front chute is located in the middle of the rear part of the shovel plate, The blade is connected with the fuselage body through a hinge, and the blade lift cylinder is used to adjust the pitch angle of the blade, and the two ends of the blade lift cylinder are connected with the blade and the fuselage body through hinges. The walking part includes a crawler frame, a crawler belt and a traveling motor. The traveling motor is installed on the crawler frame to provide power for the crawler belt; the output end of the traveling motor is provided with a driving wheel; the crawler belt is wrapped on the crawler frame and meshed with the driving wheel. The scraper conveyor is located in the middle of the fuselage body and includes a transport motor, a rear chute and a scraper chain. The transport motor is located at the tail of the rear chute and is connected with the rear chute by screws. The rear chute is obliquely installed in the middle of the fuselage body, and the front end of the rear chute is lower than the rear end. The fuselage body is installed on the running part, and is fixedly connected with the track frame of the running part. An operation console is arranged on the left side of the middle part of the fuselage body, and a rear lighting is provided above the tail of the fuselage body. The lamp is provided with a rear outrigger under the tail of the fuselage body. The two-degree-of-freedom slewing seat is used to realize the functions of pitch adjustment of the cutting head, left-right swing adjustment in the horizontal plane, and support connection. The front end of the slewing seat is fixedly connected with the parallel working arm by bolts. The parallel working arm is located between the two-degree-of-freedom slewing base and the cutting head, and is used to realize the three adjustment functions of the cutting head pitch adjustment, left-right swing adjustment, and telescopic adjustment along the cutting head's own axis. The cutting head is used for cutting rock or coal seam, and the cutting head is installed on the front end of the parallel working arm, and is fixedly connected with the parallel working arm through bolts.

The two-degree-of-freedom revolving seat includes a revolving base, a revolving oil cylinder, a connecting beam, a pitching oil cylinder and a rear arm guard. The rear end of the slewing base is connected to the fuselage body through a slewing support bearing, and the front end of the slewing base is connected to the rear end of the connecting beam through a hinge. There are two rotary oil cylinders, which are symmetrically arranged on both sides of the rotary base, and are used to drive the rotary base to rotate around the vertical axis; the rear end of the rotary oil cylinder is connected to the fuselage body through a hinge, and the front end of the rotary oil cylinder It is connected with the swivel base through a hinge. The pitching cylinder is used to adjust the pitching angle of the connecting beam, the rear end of the pitching cylinder is connected to the rotary base through a hinge, and the front end of the pitching cylinder is connected to the connecting beam through a hinge. Two symmetrically arranged double-ear hinge seats are arranged on both sides of the front end of the connecting beam, and two symmetrically arranged single-ear hinge seats are arranged on both sides of the rear end of the connecting beam. The reinforcing rib and the transverse reinforcing plate are provided with installation and operation holes on the top of the front end of the connecting beam. The rear arm guard is located above the connecting beam to prevent broken rocks or coal from falling into the two-degree-of-freedom slewing seat and protect the pitch cylinder; the rear arm guard and the connecting beam are fixed by screws even.

The parallel working arm includes a fixed platform, an outer kinematic chain, an intermediate kinematic chain, a moving platform and a forearm guard. Wherein, the fixed platform and the connecting beam in the two-degree-of-freedom revolving base are connected by bolts; there are three outer kinematic chains, and they are arranged symmetrically between the fixed platform and the moving platform. Both ends are connected with the fixed platform and the moving platform by screws; the front and rear ends of the middle kinematic chain are fixedly connected with the fixed platform and the moving platform respectively; On the outer kinematic chain above the kinematic chain, it is used to prevent the rock or coal generated after cutting from entering the inside of the parallel working arm, so as to protect the outer kinematic chain and the middle kinematic chain.

The moving platform includes a rear mounting base, a T-shaped connecting column and a front mounting base. Wherein, the section of the T-shaped connecting column presents a T shape, and the front and rear ends of the T-shaped connecting column are fixedly connected with the front mounting seat and the rear mounting seat respectively; the front mounting seat and the cutting head They are connected by bolts; a pipeline hole is provided on the rear mounting base, and a motor mounting hole is provided on the front mounting base.

The outer kinematic chain includes rear universal joints, double-row hydraulic cylinders and front universal joints. Wherein, the rear end of the rear universal joint is installed on the fixed platform through screws, the rear end of the double-row hydraulic cylinder is fixedly connected with the front end of the rear universal joint, and the front end of the double-row hydraulic cylinder is connected with the front universal joint. The rear end of the joint is fixedly connected, and the front end of the front universal joint is connected with the moving platform by screws. One axis of the cross shaft of the rear universal joint is parallel to one axis of the cross shaft of the front universal joint, and the other axis of the cross shaft of the rear universal joint is parallel to the other axis of the cross shaft of the front universal joint In the same direction, the axes of the cross shafts of the three rear universal joints installed on the fixed platform remain parallel; in the same direction, the axes of the cross shafts of the three front universal joints installed on the moving platform axes remain parallel.

The middle kinematic chain includes a rear hinge, a middle hydraulic cylinder and a front hinge. Wherein, the rear hinge is fixed on the fixed platform by screws, the front and rear ends of the middle hydraulic cylinder are fixedly connected with the front hinge and the rear hinge respectively, and the front hinge is fixed on the moving platform by screws. on the rear mount of the platform. The axis of the rear hinge is parallel to an axis of the cross shaft of the rear universal joint, the axis of the front hinge is parallel to an axis of the cross shaft of the front universal joint, and the axis of the rear hinge perpendicular to the axis of the front hinge.

The cutting head includes a cutting motor, a cutting head body, a driving gear, a driven gear, a driven shaft and a pick. Among them, there are three cutting motors, and they are symmetrically installed on the front mounting seat of the moving platform by screws to provide power for the driving gear; the driving gear is installed on the output shaft of the cutting motor, and is connected with the cutting motor The output shaft is connected through a flat key; the driven gear is installed on the driven shaft and connected with the driven shaft through a flat key, and the driven gear is meshed with three driving gears at the same time; The front end of the driven shaft is connected to the cutting head body through a bearing, and the rear end of the driven shaft is connected to the front mounting seat of the moving platform through a bearing; the picks are installed and arranged outside the cutting head body in a spiral shape On the side, and on the outer surface of the pick, a diamond-like carbon coating is provided.

The scale constraint relationship between the axis of the cross shaft of the rear universal joint and the front universal joint, and the scale constraint relationship between the axis of the rear hinge and the cross shaft of the rear universal joint, the axis of the front hinge and the axis of the front universal joint The scale constraint relationship between the axes of the cross shaft and the scale constraint relationship between the axes of the rear hinge and the front hinge jointly determine the freedom of movement of the parallel working arm.

The walking motor, transport motor and cutting motor described in the utility model all adopt hydraulic motors.

From a mechanical point of view, the two-degree-of-freedom slewing seat is a two-degree-of-freedom series mechanism of a RR structure, and the axes of the two revolving pairs R are perpendicular to each other; the parallel working arm is a four-dimensional structure of a 3UPU+RPR The branched chain parallel mechanism has a total of three degrees of freedom in space, one moving and two independent rotations. The two-degree-of-freedom slewing base and the parallel working arm constitute a {-3UPU+RPR-}-RR structure hybrid mechanism. The symbol R represents the revolving joint, the symbol U represents the universal joint, and the symbol P represents the moving joint. The hybrid mechanism {-3UPU+RPR-}-RR has a total of five degrees of freedom in one movement and four rotations, of which two rotations are redundant degrees of freedom, and the cutting head is driven by the cutting motor to rotate around the driven The rotation of the shaft axis is the sixth degree of freedom of motion of the cutting head. The cutting head, the parallel working arm and the two-degree-of-freedom revolving seat constitute a hybrid mechanism with the structure {-3UPU+RPR-}-RR-R.

When in use, the posture of the cutting head can be determined according to the actual cutting operation needs of the cutting head of the roadheader. The large left and right swing of the cutting head can be realized by the telescopic control of the rotary oil cylinder to control the left and right swing of the rotary base. The large up and down pitch adjustment of the head can be realized by the telescopic control of the pitch cylinder to control the pitch of the connecting beam. The small up and down pitch adjustment of the cutting head can also be controlled by the telescopic control of the double-row hydraulic cylinder in the outer kinematic chain. It can be realized by bending down; the expansion and contraction of the cutting head can be realized by controlling the expansion and contraction of the double-row hydraulic cylinder and the middle hydraulic cylinder in the parallel working arm; the rotation of the cutting head around its own axis is mainly achieved by the rotation of the driven gear and the driven shaft driven by the cutting motor accomplish. In the actual cutting operation, the adjustment of the working posture of the cutting head needs to be realized by controlling the rotation or movement in multiple directions at the same time.

The beneficial effect of the utility model is that, compared with the existing technology, the cutting head of the utility model not only rotates around itself, but also has three independent rotations and one independent movement in space, and two rotations in the horizontal direction are redundant. Rotation, that is, left and right swinging and up and down pitching movements are realized by two rotating pairs, which can not only expand the rotation range of the cutting head, but also help to adjust the posture of the cutting head, and can realize the cutting operation in the horizontal state of the rotation axis of the cutting head; The utility model adopts a full hydraulic drive mode, and the rotation of the cutting head is also driven by a hydraulic motor. As the hardness of the coal seam or rock increases, the speed is reduced and the cutting force is increased, which is more suitable for the complex working conditions of the coal mine. In addition, the utility model also has the characteristics of compact structure, good control decoupling, convenient adjustment and maintenance, etc., and can overcome the technical defects of existing roadheaders. It can be used as a boring machine for ground tunnel construction and other purposes.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a schematic diagram of the assembly relationship of the two-degree-of-freedom revolving seat, the parallel working arm and the cutting head of the present invention;

Fig. 3 is the structural representation of the connecting beam of the present utility model;

Fig. 4 is the structural representation of parallel working arm of the present utility model;

Fig. 5 is the structural schematic diagram of the middle kinematic chain of the parallel working arm of the present utility model;

Fig. 6 is a structural schematic diagram of the moving platform of the parallel working arm of the present invention;

Fig. 7 is a structural schematic diagram of the cutting head of the present invention.

Detailed ways

In order to make the technical means, creative features, goals and effects achieved by the utility model easy to understand, the utility model will be further elaborated below in conjunction with specific embodiments and illustrations.

As shown in Figures 1 and 2, a six-degree-of-freedom hybrid full-hydraulic roadheader includes a loading part 1, a walking part 2, a scraper conveyor 3, a fuselage body 4, a two-degree-of-freedom slewing seat 5, and a parallel working Arm 6 and cutting head 7. Among them, the loading part 1 for loading materials such as rocks and coal blocks is located at the front end of the fuselage body 4, and is located below the cutting head 7 and the parallel working arm 6. The loading part 1 includes a shovel 11 and a star wheel 12. 1. Shovel plate lifting cylinder 13 and front chute 14, the star wheel 12 has two groups and is symmetrically installed on the shovel plate 11, and is used to transport the material on the shovel plate 11 backwards to enter the front chute 14; The front chute 14 is located in the middle of the rear part of the blade 11, the blade 11 is connected to the fuselage body 4 through a hinge, the blade lift cylinder 13 is used to adjust the pitch angle of the blade 11, and the blade lifts Both ends of the oil cylinder 13 are connected with the shovel plate 11 and the fuselage body 4 through hinges. The traveling part 2 includes a crawler frame 21 , a crawler belt 22 and a traveling motor 23 . The traveling motor 23 is installed on the crawler frame 21 to provide power for the crawler belt 22; the output end of the traveling motor 23 is provided with a driving wheel 24; The scraper conveyor 3 is located in the middle of the fuselage body 4 and includes a transport motor 31 , a rear chute 32 and a scraper chain 33 . Described transport motor 31 is positioned at the afterbody of rear chute 32, and is connected with rear chute 32 by screw, and described rear chute 32 is obliquely installed in the middle part of fuselage body 4, and the front end of rear chute 32 is lower than rear end. The fuselage body 4 is installed on the running part 2, and is fixedly connected with the crawler frame 21 of the running part 2, and an operation console 41 is arranged on the left side of the middle part of the fuselage body 4. A rear light 42 is provided above the tail of the body, and a rear leg 43 is provided below the tail of the fuselage body 4 . The two-degree-of-freedom revolving base 5 is used to realize the functions of pitch adjustment of the cutting head 7, left-right swing adjustment in the horizontal plane, and support connection. Connection, the front end of the two-degree-of-freedom revolving base 5 is fixedly connected with the parallel working arm 6 through bolts. The parallel working arm 6 is located between the two-degree-of-freedom revolving base 5 and the cutting head 7, and is used to realize the three major adjustment functions of the cutting head 7, including pitch adjustment, left and right swing adjustment, and telescopic adjustment along the axis of the cutting head 7 itself. The cutting head 7 is used for cutting rock or coal seam, and the cutting head 7 is installed on the front end of the parallel working arm 6, and is fixedly connected with the parallel working arm 6 by bolts.

As shown in FIG. 1 , FIG. 2 and FIG. 3 , the two-degree-of-freedom revolving base 5 includes a revolving base 51 , a revolving cylinder 52 , a connecting beam 53 , a pitching cylinder 54 and a rear arm guard 55 . The rear end of the revolving base 51 is connected to the fuselage body 4 through a slewing support bearing, and the front end of the revolving base 51 is connected to the rear end of the connecting beam 53 through a hinge. There are two rotary cylinders 52, which are symmetrically arranged on both sides of the rotary base 51, and are used to drive the rotary base 51 to rotate around the vertical axis; the rear end of the rotary cylinder 52 is connected to the fuselage body 4 through a hinge , The front end of the rotary oil cylinder 52 is connected with the rotary base 51 through a hinge. The pitching cylinder 54 is used to adjust the pitching angle of the connecting beam 53, the rear end of the pitching cylinder 54 is connected with the rotary base 51 through a hinge, and the front end of the pitching cylinder 54 is connected with the connecting beam 53 through a hinge. Two symmetrically arranged two-ear hinge seats 531 are arranged on both sides of the front end of the connecting beam 53 , and two symmetrically arranged one-ear hinge seats 532 are arranged on both sides of the rear end of the connecting beam 53 . There are longitudinal ribs 533 and transverse reinforcement plates 534 inside, and an installation operation hole 535 is provided at the top of the front end of the connecting beam 53 . The rear arm guard 55 is located above the connecting beam 53, and is used to prevent broken rocks or coal from falling into the two-degree-of-freedom revolving seat 5, and to protect the pitch cylinder 54; the rear arm guard 55 is connected to The beams 53 are fixedly connected by screws.

As shown in FIGS. 1 , 2 , 4 and 5 , the parallel working arm 6 includes a fixed platform 61 , an outer kinematic chain 62 , an intermediate kinematic chain 63 , a moving platform 64 and a forearm guard 65 . Wherein, the fixed platform 61 is connected with the connecting beam 53 in the two-degree-of-freedom revolving base 5 through bolts; the outer kinematic chains 62 have three, and are symmetrically arranged between the fixed platform 61 and the moving platform 64, so The two ends of the outer kinematic chain 62 are respectively connected with the fixed platform 61 and the moving platform 64 by screws; the front and rear ends of the middle kinematic chain 63 are respectively fixedly connected with the fixed platform 61 and the moving platform 64; The above-mentioned forearm guard 65 is fixedly installed on the outer kinematic chain 62 above the middle kinematic chain 63 by screws, and is used to prevent the rock or coal produced after cutting from entering the inside of the parallel working arm 6, so as to protect the outer kinematic chain 62 and the middle kinematic chain. Kinetic chain63.

As shown in FIG. 2 , FIG. 4 and FIG. 6 , the moving platform 64 includes a rear mounting base 641 , a T-shaped connecting column 642 and a front mounting base 643 . Wherein, the section of the T-shaped connecting column 642 is T-shaped, and the front and rear ends of the T-shaped connecting column 642 are fixedly connected with the front mounting base 643 and the rear mounting base 641 respectively; The seat 643 is connected with the cutting head 7 by bolts; the rear mounting seat 641 is provided with a pipeline hole 6411 , and the front mounting seat 643 is provided with a motor mounting hole 6431 .

As shown in FIG. 1 , FIG. 2 and FIG. 4 , the outer kinematic chain 62 includes a rear universal joint 621 , a double-row hydraulic cylinder 622 and a front universal joint 623 . Wherein, the rear end of the rear universal joint 621 is installed on the fixed platform 61 by screws, the rear end of the double-row hydraulic cylinder 622 is fixedly connected with the front end of the rear universal joint 621, and the rear end of the double-row hydraulic cylinder 622 The front end is fixedly connected with the rear end of the front universal joint 623, and the front end of the front universal joint 623 is connected with the moving platform 64 by screws. An axis of the cross shaft of the rear universal joint 621 is parallel to an axis of the cross shaft of the front universal joint 623, and another axis of the cross shaft of the rear universal joint 621 is parallel to the cross shaft of the front universal joint 623. In the same direction, the axes of the cross shafts of the three rear universal joints 621 installed on the fixed platform 61 remain parallel; in the same direction, the axes of the three cross shafts installed on the moving platform 64 The axes of the cross shafts of the front gimbal 623 remain parallel.

As shown in FIG. 1 , FIG. 2 , FIG. 4 and FIG. 5 , the middle kinematic chain 63 includes a rear hinge 631 , a middle hydraulic cylinder 632 and a front hinge 633 . Wherein, the rear hinge 631 is fixedly installed on the fixed platform 61 by screws, the front and rear ends of the middle hydraulic cylinder 632 are fixedly connected with the front hinge 633 and the rear hinge 631 respectively, and the front hinge 633 It is fixed on the rear mount 641 of the moving platform 64 by screws. The axis of the rear hinge 631 is parallel to an axis of the cross shaft of the rear universal joint 621, the axis of the front hinge 633 is parallel to an axis of the cross shaft of the front universal joint 623, and the The axis of the rear hinge 631 and the axis of the front hinge 633 are perpendicular to each other.

As shown in FIGS. 1 , 2 , 6 and 7 , the cutting head 7 includes a cutting motor 71 , a cutting head body 72 , a driving gear 73 , a driven gear 74 , a driven shaft 75 and a pick 76 . Wherein, there are three cutting motors 71, and they are symmetrically mounted on the front mount 643 of the moving platform 64 by screws to provide power for the driving gear 73; the driving gear 73 is installed on the output shaft of the cutting motor 71 and connected with the output shaft of the cutting motor 71 through a flat key; the driven gear 74 is installed on the driven shaft 75 and connected with the driven shaft 75 through a flat key, and the driven gear 74 Mesh with three driving gears 73 simultaneously; The front end of described driven shaft 75 is connected with cutting head body 72 by bearing, and the rear end of driven shaft 75 is connected with the front mount 643 of moving platform 64 by bearing; The picks 76 are installed and arranged on the outer surface of the cutting head body 72 in a helical shape, and a diamond-like carbon coating is provided on the outer surfaces of the picks 76 .

The dimensional constraint relationship between the axis of the cross shaft of the rear universal joint 621 and the front universal joint 623, the scale constraint relationship between the rear hinge 631 and the axis of the cross shaft of the rear universal joint 621, and the axis of the front hinge 633 The scale constraint relationship between the axis of the cross shaft of the front universal joint 623 and the scale constraint relationship between the axes of the rear hinge 631 and the front hinge 633 jointly determine the freedom of movement of the parallel working arm 6 .

The traveling motor 23 described in the utility model, the transport motor 31 and the cutting motor 71 all adopt hydraulic motors.

During use, the posture of the cutting head 7 can be determined according to the actual cutting operation needs of the cutting head 7 of the roadheader. The left and right large swing of the cutting head 7 can be realized by the telescopic control of the rotary base 51 by the telescopic control of the rotary oil cylinder 52, and the small left and right swing of the cutting head 7 can also be controlled by the telescopic control of the double-row hydraulic cylinder 622 in the outer kinematic chain 62. 64 left and right swings to achieve; cutting head 7 large pitch adjustment can be realized through the telescopic control of the pitch cylinder 54 to control the pitch of the connecting beam 53, the small pitch adjustment of the cutting head 7 can also be through the outer kinematic chain 62 The telescopic control of the middle double-row hydraulic cylinder 622 realizes the pitching of the brake platform 64; the stretching of the cutting head 7 can be realized by controlling the stretching of the double-row hydraulic cylinder 622 and the middle hydraulic cylinder 632 in the parallel working arm 6; The rotation of its own axis is mainly realized by the cutting motor 71 driving the rotation of the driven gear 74 and the driven shaft 75 . In the actual cutting operation, the adjustment of the working posture of the cutting head 7 needs to be realized by controlling the rotation or movement in multiple directions at the same time.

The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of protection claimed by the utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (3)

1. A six-degree-of-freedom mixed-type full-hydraulic roadheader, comprising a loading unit, a walking unit, a scraper conveyor, a fuselage body, a two-degree-of-freedom slewing seat, a parallel working arm and a cutting head, characterized in that: the described The loading part is located at the front end of the fuselage body and below the cutting head and the parallel working arm. The loading part includes a shovel, a star wheel, a shovel lifting cylinder and a front chute. The star wheels have two sets and are symmetrical Installed on the shovel plate, the front chute is located in the middle of the rear part of the shovel plate, the shovel plate is connected to the fuselage body through a hinge, and the two ends of the shovel plate lifting cylinder are connected to the shovel plate and the fuselage body. Connected by a hinge; the walking part includes a crawler frame, a crawler belt and a traveling motor, the traveling motor is installed on the crawler frame, a driving wheel is provided at the output end of the traveling motor, and the crawler belt is wrapped on the crawler frame, and is connected with the crawler frame. The driving wheels are meshed; the scraper conveyor is located in the middle of the fuselage body, including a transport motor, a rear chute and a scraper chain, and the transport motor is located at the tail of the rear chute, and is connected to the rear chute by screws , the rear chute is obliquely installed in the middle of the fuselage body, and the front end of the rear chute is lower than the rear end; the fuselage body is installed on the running part and is firmly connected with the track frame of the running part. The left side of the middle part of the fuselage body is provided with an operation platform, a rear light is provided above the tail of the fuselage body, and a rear outrigger is provided below the tail of the fuselage body; the rear of the two-degree-of-freedom revolving base The end is connected with the fuselage body through the slewing support bearing, and the front end of the two-degree-of-freedom slewing seat is fixedly connected with the parallel working arm through bolts; the parallel working arm is located between the two-degree-of-freedom slewing seat and the cutting head. The cutting head is installed at the front end of the parallel working arm, and is fixedly connected with the parallel working arm by bolts; The two-degree-of-freedom slewing seat includes a slewing base, a slewing cylinder, a connecting beam, a pitching cylinder and a rear arm guard. The rear end of the slewing base is connected to the fuselage body through a slewing bearing. The front end of the rotary cylinder is connected to the rear end of the connecting beam through a hinge; there are two rotary cylinders, which are symmetrically arranged on both sides of the rotary base, the rear end of the rotary cylinder is connected to the fuselage body through a hinge, and the rotary cylinder The front end is connected to the slewing base through a hinge; the rear end of the pitching cylinder is connected to the slewing base through a hinge, and the front end of the pitching cylinder is connected to the connecting beam through a hinge; longitudinal reinforcing ribs are arranged inside the connecting beam and a transverse reinforcing plate, and an installation operation hole is provided on the top of the front end of the connecting beam; the rear arm guard is located above the connecting beam, and is fixedly connected with the connecting beam through screws; The parallel working arm includes a fixed platform, an outer kinematic chain, an intermediate kinematic chain, a moving platform and a forearm guard, and the fixed platform is connected to the connecting beam in the two-degree-of-freedom slewing base by bolts; the outer kinematic There are three chains, which are arranged symmetrically between the fixed platform and the moving platform. The two ends of the outer kinematic chain are connected with the fixed platform and the moving platform by screws; the front and rear ends of the middle kinematic chain are respectively It is fixedly connected with the fixed platform and the moving platform; the forearm shield is fixed and installed on the outer kinematic chain above the middle kinematic chain by screws; The moving platform includes a rear mounting seat, a T-shaped connecting column and a front mounting seat, and the front and rear ends of the T-shaped connecting column are fixedly connected with the front mounting seat and the rear mounting seat respectively. The seat and the cutting head are connected by bolts, a pipeline hole is provided on the rear mounting seat, and a motor mounting hole is provided on the front mounting seat. 2. A six-degree-of-freedom hybrid full-hydraulic roadheader according to claim 1, characterized in that: said outer kinematic chain comprises a rear universal joint, double-row hydraulic cylinders and a front universal joint, said The rear end of the rear universal joint is installed on the fixed platform through screws, the rear end of the double-row hydraulic cylinder is fixedly connected with the front end of the rear universal joint, and the front end of the double-row hydraulic cylinder is connected with the rear end of the front universal joint. Fixed connection, the front end of the front universal joint is connected with the moving platform by screws; an axis of the cross shaft of the rear universal joint is parallel to an axis of the cross shaft of the front universal joint, and the rear universal joint The other axis of the cross shaft of the joint is parallel to the other axis of the cross shaft of the front universal joint; in the same direction, the axes of the cross shafts of the three rear universal joints installed on the fixed platform remain parallel; In the same direction, the axes of the cross shafts of the three front universal joints installed on the moving platform are kept parallel; The middle kinematic chain includes a rear hinge, a middle hydraulic cylinder and a front hinge, the rear hinge is fixed on a fixed platform by screws, and the front and rear ends of the middle hydraulic cylinder are respectively connected to the front hinge and the rear hinge. The front hinge is fixed on the moving platform by screws; the axis of the rear hinge is parallel to an axis of the cross shaft of the rear universal joint, and the axis of the front hinge is parallel to the axis of the front universal joint. An axis of the cross shaft of the joint is parallel to each other, and the axis of the rear hinge and the axis of the front hinge are perpendicular to each other. 3. A six-degree-of-freedom hybrid full-hydraulic roadheader according to claim 1, wherein the cutting head includes a cutting motor, a cutting head body, a driving gear, a driven gear, a driven shaft and There are three cutting motors, and they are symmetrically installed on the front mounting seat of the moving platform through screws; the driving gear is installed on the output shaft of the cutting motor, and is connected with the output shaft of the cutting motor through a flat key. connection; the driven gear is installed on the driven shaft, and is connected with the driven shaft through a flat key, and the driven gear is meshed with three driving gears at the same time; the front end of the driven shaft passes through The bearing is connected with the cutting head body, and the rear end of the driven shaft is connected with the front mount of the moving platform through the bearing; The outer surface of the pick is provided with a diamond-like carbon coating.