CN207761662U - Tunnelling supporting robot - Google Patents
Tunnelling supporting robot Download PDFInfo
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- CN207761662U CN207761662U CN201721200182.2U CN201721200182U CN207761662U CN 207761662 U CN207761662 U CN 207761662U CN 201721200182 U CN201721200182 U CN 201721200182U CN 207761662 U CN207761662 U CN 207761662U
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- walker
- lifting
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- 241001272996 Polyphylla fullo Species 0.000 claims abstract description 23
- 241001074085 Scophthalmus aquosus Species 0.000 claims abstract description 21
- 238000010276 construction Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 8
- 238000005086 pumping Methods 0.000 claims abstract description 6
- 238000009423 ventilation Methods 0.000 claims abstract description 3
- 238000005553 drilling Methods 0.000 claims description 22
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 230000001808 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000001141 propulsive Effects 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 5
- 238000000465 moulding Methods 0.000 claims description 4
- 230000003028 elevating Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 239000003638 reducing agent Substances 0.000 claims 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 abstract description 5
- 239000003245 coal Substances 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 abstract 1
- 230000032258 transport Effects 0.000 description 5
- 238000009412 basement excavation Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000000481 Breast Anatomy 0.000 description 1
- 101700050571 SUOX Proteins 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000005641 tunneling Effects 0.000 description 1
Abstract
The utility model discloses a kind of suitable for coal mine roadway, the tunnelling supporting robot of tunnel construction technology, it is characterized in that, being made of two fortune chassis of several sections, walker, the lifting platform on walker, brill anchor manipulator and hydraulic power unit on two fortune chassis and hydraulic operating system；Two fortune chassis tops are the U-type groove for the fortune belt conveyor of installation two for transporting spoil, lower part is circumferential closed ventilation slot, the top of U-type groove is equipped with the track for making walker run, on the operational platform, pumping plant and hydraulic operating system realize hydraulic connecting with above-mentioned multifunctional platform, all hydraulic motor of brill anchor manipulator and hydraulic cylinder for the pumping plant and hydraulic operating system installation；It is moved together with development machine when use, at the top of tunnel and two help to carry out suspension roof support, to achieve the purpose that parallel operations, to improve driving speed.
Description
Technical field
The utility model is related to tunnel, tunnel piercing support technologies.
Background technology
In recent years, although tunnelling machine is commonly used, driving speed does not still meet the needs of coal mining；
Main cause is the parallel operations that could not be solved the problems, such as between the driving aided processes such as master operation and supporting, that is, is not propped up when tunneling
It is not tunneled when shield, supporting, influences speed of application.Although the application of the technologies such as current digging and anchoring integrated machine makes driving speed and mechanization
Degree increases, reduces part labor intensity, but due to being unable to parallel operations, also can not meet and wanted to driving speed
It asks.
It is special due to coal mine roadway excavation operation environment although earth's surface tunnel piercing implement is also very advanced at present
Property, coal mine roadway excavation operation equipment and the application difference of earth's surface tunnel piercing implement are very big, develop compact-sized, performance
Stablize, really applicable tunnelling supporting robot has become urgent problem to be solved.
Invention content
In order to improve the Mechanization Level and its parallelization shop problem of tunnelling operation, the utility model proposes one kind
Suitable for the tunnelling supporting robot of coal mine roadway excavation operation particular surroundings, which can match with it
The multidirectional adjustable driving frame of set is used in conjunction with, and is realized parallel operations, is met the requirement of driving speed.
Its technical solution is：
A kind of tunnelling supporting robot, by two fortune chassis of several sections, the walker on two fortune chassis, installation
Lifting platform, brill anchor manipulator and hydraulic power unit and hydraulic operating system on walker are formed；
The construction of the two fortune chassis is that top is the U-type groove for the fortune belt conveyor of installation two for transporting spoil, lower part
For circumferential closed ventilating duct, ventilating duct both ends are equipped with the interface that is flexible coupling, and realize that bottom is transported in tunnelling two by the interface that is flexible coupling
The mutual ventilating duct of frame is flexible coupling, and realizes function of the wind turbine to automation examination；The both sides ledge top of the U-type groove
Portion is equipped with the track for making walker run, wherein a siding track is sleeve roller minor or bush roller chain type track：The row
It walks frame and is equipped with the driving wheel engaged with sleeve-barrel roollr, driving wheel rotation is driven by hydraulic motor, realizes that walker transports bottom two
It is run on frame；
The lifting platform is the lifting platform for transporting and installing adjustable support, by hydraulic cylinder and radial type retraction rack
Composition；Lifting platform arranges two, and arrangement spacing is equal to arrangement spacing of the multidirectional adjustable driving frame in tunnel, and spacing can
Fine tuning；
The construction of the brill anchor manipulator is made of crank arm mechanism, lifting arm mechanism, guide rail type jumbolter；
The crank arm mechanism is by being fixed on the rotary motor and mounted on cranking arm of cranking arm bored on anchor manipulator mounting platform
Composition of cranking arm on rotary motor, rotary motor of cranking arm drive, which is cranked arm, does 360 degree of horizontal rotations, cooperation lifting arm mechanism rotation,
Guide rail type jumbolter can be made to rotate to designated position；
The lifting arm mechanism is four-bar mechanism mechanism, by rear portion fix connecting rod, upper links, preceding end link, under
Portion's extensible link constitutes basic four-bar mechanism；Lower part extensible link is oil cylinder, and guide tracked anchor can be achieved in the flexible of oil cylinder
It is rotated centered on end link and the articulated shaft of upper links before bar drill machine, to compensate because the drill boom generated when lifting tilts partially
Difference；Rear portion is fixed between connecting rod and upper links and is equipped with drill boom lifting cylinder, and four-bar mechanism is made to move up and down；Front end connects
Drill boom rotary motor is installed, rear portion fixes connecting rod and is mounted on cranking arm for crank arm mechanism by lifting arm rotary motor again on bar
On, realize the horizontal rotation of lifting arm mechanism；
The guide rail type jumbolter is by gadder, the linear guide, chain propulsive mechanism, drilling machine propulsion motor, drilling machine
Creep into motor composition；Guide rail type jumbolter is mounted on by gadder on drill boom rotary motor, and realization is pivoted；Gadder
Upper arrangement the linear guide and chain propulsive mechanism, arrangement drilling machine creeps into motor in the linear guide, and drilling machine propulsion motor drives chain
Propulsive mechanism is run, and chain propulsive mechanism drives drilling machine to creep into motor operation, realizes the brill anchor operation of guide rail type jumbolter；
Above-mentioned multifunctional platform, all hydraulic gear motor of brill anchor manipulator and hydraulic cylinder and pumping plant and hydraulic operation
System realizes hydraulic connecting.Above-mentioned brill anchor manipulator can arrange more on mounting platform, realize porous while operation.
Above-mentioned all working motor is hydraulic motor decelerator or hydraulic motor, and above-mentioned work motor can be by electricity
Dynamic, Pneumatic power device substitutes.
The application method and good effect of the utility model be：
1, in use, via in the tunnel of tunnelling machine driving, arranging two fortune of tunnelling supporting robot
Chassis, two transport two fortune belt conveyors of arrangement and walker on chassis, arrange that lifting platform, brill anchor manipulator are installed on walker
Platform and hydraulic power unit and hydraulic operating system；Anchor manipulator is bored in installation on boring anchor manipulator mounting platform, thus by lane
Road driving supporting robot is assembled into complete machine, and tunnelling supporting robot front end is hinged with aircraft tail shelf is tunneled, can be with
Tunnelling machine moves together；Make the two fortune belts that the conveyer on tunnelling machine is overlapped in tunnelling supporting robot
Conveyer front end, two fortune belt conveyor rear ends are overlapped on the elevating conveyor that other transporting equipments are reprinted；Simultaneously bottom is transported by two
It is flexible coupling between the often section ventilating duct of frame, and is connected with wind turbine；When tunnelling machine works, the spoil that gets off is dug from tunnelling
The conveyer of machine is transported on two fortune belt conveyors of tunnelling supporting robot, and two fortune belt conveyors are transported to other
It is transported on transporting equipment；It, will if just dress artificial first quarrels adjustable support after tunnelling machine is tunneled to certain length range
Driving frame conveyer is mounted on each adjustable support, can operate tunnelling supporting machine under the shielding of adjustable support
The brill anchor manipulator of people is helped to beat square and installs anchor pole at the top of tunnel with two, with the driving forward of tunnelling machine, leads to
The lifting platform crossed on walker, which packs up the adjustable support for having beaten anchor pole position below, is transported to next new supporting position；Such as
This supporting in driving, is carried out at the same time, to achieve the purpose that parallel operations, the Homes Using TV of development machine is made to significantly improve, to
Improve driving speed.
Description of the drawings
Fig. 1 .1 are the overall structure front view of embodiment；
Fig. 1 .2 are the vertical view of Fig. 1 .1；
Fig. 2 .1 are the front view sectional view of two fortune chassis of embodiment；
Fig. 2 .2 are the vertical view of Fig. 2 .1；
Fig. 2 .3 are the left view of Fig. 2 .2：
Fig. 2 .4 are the front view sectional view of the walker of embodiment；
Fig. 2 .5 are the vertical view of Fig. 2 .4；
Fig. 2 .6 are the left view of Fig. 2 .4：
Fig. 3 .1 are the structure chart for boring anchor manipulator, and a kind of unfolded state is shown in figure；
Fig. 3 .2 are the structure chart for boring anchor manipulator, and another unfolded state is shown in figure；
Fig. 4 is the structure chart of guide rail type jumbolter.
Description of the drawings：1- bis- transport chassis, 2- walkers, 3- tracks, 3a- be flexible coupling interface 4- hydraulic power units and hydraulic pressure behaviour
Make system, 5- lifting platforms, 6- lifts arm mechanism, 7- guide rail type jumbolters, and 8- bores anchor manipulator mounting platform, and 9- cranks arm revolution
Motor, 10- crank arm, 11- lifting arm rotary motors, 12- drill boom rotary motors, and 13- bis- transports belt conveyor, 14-U type grooves, 15-
Ventilating duct, 16- sleeve roller minor tracks, 17- running motors, 17a- driving wheels, 17b- driven wheels, 18- drill booms lifting oil
Connecting rod is fixed at cylinder, the lower parts 19- extensible link, end link before 20-, 21- upper links, the rear portions 22-, 23- chain propulsive mechanisms,
24- drilling machine propulsion motors, 25- drilling machines creep into motor, 26- borer rails, 27- gadders.
Specific implementation mode
As shown in Fig. 1 .1 and 1.2, a kind of tunnelling supporting robot by two fortune chassis 1, is mounted on two fortune chassis 1
Walker 2, the lifting platform 5 on walker 2, bore anchor manipulator and hydraulic power unit and hydraulic operating system 4 is formed；
For the construction of the two fortune chassis 1 as shown in Fig. 2 .1, Fig. 2 .2, Fig. 2 .3, top is the fortune of installation two for transporting spoil
The U-type groove 14 of belt conveyor 13, lower part are circumferential closed ventilating duct 15, and 15 both ends of ventilating duct are equipped with the interface 3a that is flexible coupling,
It realizes that tunnelling two transports the mutual ventilating duct of chassis and is flexible coupling by the interface 3a that is flexible coupling, realizes wind turbine to driving face
The function of ventilation；It is equipped with the track 3 for making walker run at the top of the both sides ledge of the U-type groove 14, wherein a siding track is
Sleeve roller minor track 16 or bush roller chain type track；
As shown in Fig. 2 .4, Fig. 2 .5, Fig. 2 .6, above-mentioned walker 2 is welded by high-strength steel sheet, and both sides are " H " type frame
Body is connected and is welded as a whole by intermediate connection box beam, forms frame structure.Found out by figure, the front and back ends of walker 2
It is respectively equipped with the driving wheel 17a engaged with sleeve-barrel roollr on side, driving wheel 17a rotations, row are driven by running motor 17
The other side for walking frame 2 is equipped with driven wheel 17b；Realize that walker 2 is run on two fortune chassis 1.
Two fortune chassis 1 are " 3H " box-beam structure, i.e. " H " molding box girder construction of both sides provides enough vertical direction supports
Power, intermediate " H " molding box girder construction provide enough anti-twisting properties." H " molding box beam of both sides is that high intensity plate sheet welding forms, and is led to
It crosses two intermediate wave-shape boards and connects and be welded as entirety, the use of wave-shape board not only increases the antitorque energy of bending resistance of chassis entirety
Power, and it is light-weight.
The lifting platform 5 is the lifting platform for transporting and installing adjustable support, is shunk by hydraulic cylinder and radial type
Frame forms；Lifting platform arranges two, and arrangement spacing is equal to arrangement spacing of the multidirectional adjustable driving frame in tunnel, and spacing
It is fine-tuning；
The construction of the brill anchor manipulator by crank arm mechanism, lifts arm mechanism 6, guide tracked as shown in Fig. 3 .1, Fig. 3 .2
Jumbolter 7 forms；
The crank arm mechanism is by being fixed on the rotary motor 9 and mounted on song of cranking arm bored on anchor manipulator mounting platform 8
10 compositions of cranking arm on revolution of arm motor 9, rotary motor 9 of cranking arm drive, which is cranked arm, 10 does 360 degree of horizontal rotation, cooperation lifting arm machine
Structure can be such that drill boom rotates to designated position；The body structures that 10 use steel plates of cranking arm are welded, intermediate arrangement is longitudinally, laterally
Gusset, it is good rigidity, light-weight.
The lifting arm mechanism 6 is four-bar mechanism, by rear portion fix connecting rod 22, upper links 21, preceding end link 20,
Lower part extensible link 19 constitutes basic four-bar mechanism；Lower part extensible link 19 is oil cylinder, and the flexible of oil cylinder can be achieved to lead
It is rotated centered on end link 20 and the articulated shaft of upper links 21 before rail jumbolter, to compensate the brill because being generated when lifting
Arm dip deviation；Rear portion is fixed between connecting rod 22 and upper links 21 and is equipped with drill boom lifting cylinder 18, and four-bar mechanism is made to do
Elevating movement；Drill boom rotary motor 12 is installed, rear portion fixes connecting rod 22 and passes through lifting arm rotary motor again on preceding end link 20
11 are mounted on the cranking arm on 10 of crank arm mechanism, realize the horizontal rotation of lifting arm mechanism.
It is that steel plate welds L-type structure that connecting rod 22 is fixed at the rear portion, and two plate faces of L-type are supported with triangle gusset.
The preceding end link 20 is welded for steel plate, is reinforced using bar shaped gusset, enhances its bending resistance, anti-twisting property.
The upper links 21, the frame structure being welded using H profile steel, i.e. two H profile steel horizontal alignment arrangements,
Both ends are shut with H profile steel, to increase width, improve the horizontal anti-twisting property of double leval jib.
As shown in figure 4, the guide rail type jumbolter 7 by gadder 27, borer rail 26, chain propulsive mechanism 23,
Drilling machine propulsion motor 24, drilling machine drilling motor 25 are formed；Guide rail type jumbolter 7 is mounted on drill boom rotary motor 12, real
Now it is pivoted；Arrange that guide rail 26, chain propulsive mechanism 23, drilling machine propulsion motor 24, drilling machine creep into motor 25 on gadder 27,
Realize the brill anchor operation of guide rail type jumbolter；
Above-mentioned brill anchor manipulator can arrange more on mounting platform, and realization is porous to be operated simultaneously.When arranging two, institute
The gadder 26 stated uses H-type structure, front and back ends chain pulley seat to be fixed on rack both ends；Length of the borer rail 26 along gadder
Direction is fixed on the web of H profile steel；The axis of two sprocket wheels is on web central plane, two chain wheel radials and web central plane
Vertically.
Two sprocket wheels of above-mentioned chain propulsive mechanism 23 are separately mounted on front and back ends chain pulley seat；Front and back ends chain pulley seat
It is box-structure, sprocket wheel is penetrated on intermediate axis, axis both ends is packed on the bearing block on chain pulley seat babinet, and front end is driven
End, rear end is drive end, is driven by drilling machine propulsion motor 24, drives and promotes chain rotation；Above-mentioned drilling machine drilling motor 25 is responsible for
Drilling rod rotation is driven, is mounted on borer rail 27,25 both ends of drilling machine drilling motor are connect with the both ends of chain are promoted respectively, even
Connect place's setting chain stretching device；It promotes chain to haul drilling motor back-and-forth motion to realize into boring and move back brill.
Above-mentioned all working motor is hydraulic motor decelerator or hydraulic motor, and above-mentioned work motor can be by electricity
Dynamic, Pneumatic power device substitutes.
The pumping plant and hydraulic operating system 4 is mounted on walker 2, pumping plant and hydraulic operating system 4 with it is above-mentioned more
Function platform, all hydraulic motor for boring anchor manipulator and hydraulic cylinder realize hydraulic connecting.
Claims (5)
1. a kind of tunnelling supporting robot, which is characterized in that by two fortune chassis of several sections, the row on two fortune chassis
It walks frame, the lifting platform on walker, brill anchor manipulator and hydraulic power unit and hydraulic operating system is formed；
The construction of the two fortune chassis is that top is the U-type groove for the fortune belt conveyor of installation two for transporting spoil, lower part four
The ventilating duct of face closure is often flexible coupling between section ventilating duct, ventilation function is realized after connecting wind turbine；The both sides of the U-type groove
The track for making walker run is equipped at the top of ledge, wherein a siding track is sleeve roller minor or bush roller chain type track；Institute
The walker stated is equipped with the driving wheel engaged with sleeve-barrel roollr, drives driving wheel rotation by hydraulic motor, realizes that walker exists
It is run on two fortune chassis；
The lifting platform is the lifting platform for transporting and installing adjustable support, by hydraulic cylinder and radial type retraction rack group
At；Lifting platform arranges two, and arrangement spacing is equal to arrangement spacing of the multidirectional adjustable driving frame in tunnel, and spacing can be micro-
It adjusts；
The construction of the brill anchor manipulator is made of crank arm mechanism, lifting arm mechanism, guide rail type jumbolter；
The crank arm mechanism by be fixed on bore anchor manipulator mounting platform on crank arm rotary motor and mounted on crank arm revolution
Composition of cranking arm on motor, rotary motor of cranking arm drive, which is cranked arm, does 360 degree of horizontal rotations, cooperation double leval jib elevating mechanism rotation,
Drill boom can be made to rotate to designated position；
The lifting arm mechanism is four-bar mechanism mechanism, connecting rod is fixed by rear portion, upper links, preceding end link, lower part can
Shrinking connecting-rod constitutes basic four-bar mechanism；Lower part extensible link is oil cylinder, and guide tracked anchor pole brill can be achieved in the flexible of oil cylinder
It is rotated centered on end link and the articulated shaft of upper links before machine, to compensate the drill boom dip deviation because being generated when lifting；Afterwards
Portion fixes between connecting rod and upper links and is equipped with drill boom lifting cylinder, and four-bar mechanism is made to move up and down；On preceding end link
Drill boom rotary motor is installed, rear portion is fixed connecting rod and is mounted on the cranking arm of crank arm mechanism by lifting arm rotary motor again, real
Now lift the horizontal rotation of arm mechanism；
The guide rail type jumbolter is by borer rail, chain propulsive mechanism, advancing hydraulic pressure motor, drilling hydraulic motor institute group
At；Guide rail type jumbolter is mounted on by gadder on drill boom rotary motor, and realization is pivoted；
Rotary motor of cranking arm, drill boom rotary motor, the lifting arm rotary motor of above-mentioned brill anchor manipulator are hydraulic reducer motor；
Above-mentioned lifting platform, all hydraulic gear motor of brill anchor manipulator and hydraulic cylinder and pumping plant and hydraulic operating system realize hydraulic pressure
Connection.
2. tunnelling supporting as described in claim 1 robot, which is characterized in that arrange the linear guide, chain on gadder
Push structure, advancing hydraulic pressure motor, drilling hydraulic motor, realize the drilling operation of guide rail type jumbolter.
3. tunnelling supporting as described in claim 1 robot, which is characterized in that the brill anchor manipulator can be flat in installation
More are arranged on platform, realization is porous to be operated simultaneously.
4. the tunnelling supporting robot as described in claims 1 or 2 or 3, which is characterized in that two fortune chassis are " 3H " box beam
Structure, i.e. both sides are " H " molding box beam made of high intensity plate sheet welding, are connected by intermediate wave-shape board and are welded as entirety.
5. the tunnelling supporting robot as described in claims 1 or 2 or 3, which is characterized in that the brill anchor manipulator
Preceding end link is the steel plate that bar shaped gusset is reinforced, and upper links use the frame structure that H profile steel is welded, i.e. two H profile steels
Horizontal alignment arranges that both ends are shut with H profile steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721200182.2U CN207761662U (en) | 2017-09-09 | 2017-09-09 | Tunnelling supporting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721200182.2U CN207761662U (en) | 2017-09-09 | 2017-09-09 | Tunnelling supporting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207761662U true CN207761662U (en) | 2018-08-24 |
Family
ID=63179360
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721200182.2U Active CN207761662U (en) | 2017-09-09 | 2017-09-09 | Tunnelling supporting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207761662U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112443326A (en) * | 2021-02-01 | 2021-03-05 | 天地科技股份有限公司 | Top anchor drilling machine damping adjustment mechanism and tunneling and anchoring integrated machine thereof |
| CN112502755A (en) * | 2021-02-01 | 2021-03-16 | 天地科技股份有限公司 | Drilling integrated device and tunneling and anchoring integrated machine thereof |
| CN114406979A (en) * | 2022-02-25 | 2022-04-29 | 德威土行孙工程机械（北京）有限公司 | Universal manipulator capable of being flexibly adjusted |
| CN115788298A (en) * | 2023-02-03 | 2023-03-14 | 张家口市宣化金科钻孔机械有限公司 | Large-inclination-angle drilling machine |
-
2017
- 2017-09-09 CN CN201721200182.2U patent/CN207761662U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112443326A (en) * | 2021-02-01 | 2021-03-05 | 天地科技股份有限公司 | Top anchor drilling machine damping adjustment mechanism and tunneling and anchoring integrated machine thereof |
| CN112502755A (en) * | 2021-02-01 | 2021-03-16 | 天地科技股份有限公司 | Drilling integrated device and tunneling and anchoring integrated machine thereof |
| CN112443326B (en) * | 2021-02-01 | 2021-06-08 | 天地科技股份有限公司 | Top anchor drilling machine damping adjustment mechanism and tunneling and anchoring integrated machine thereof |
| CN114406979A (en) * | 2022-02-25 | 2022-04-29 | 德威土行孙工程机械（北京）有限公司 | Universal manipulator capable of being flexibly adjusted |
| CN115788298A (en) * | 2023-02-03 | 2023-03-14 | 张家口市宣化金科钻孔机械有限公司 | Large-inclination-angle drilling machine |
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